adhoc - adhoc_bc0ec864.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 20
max_output_tokens: null
max_speed_frac: 0.25
model: claude-fable-5-1
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: chat
wire_capture: true
seed: 0
max steps: 900
duration: 235.3 s
total steps: 83

operator

scenes

trials

errored

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

Grader notes

trial 01

Trial 0 transcript

Run video

top_cam · left_cam · right_cam

system

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

user

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

Raw transcript

system

user

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

step 0

assistant

I'll start by moving the right arm forward and lower toward the blue piece visible in the right wrist camera, keeping the gripper open, to refine its position.

agent noteThe right wrist camera shows the blue puzzle piece with its knob slightly ahead and just left of center; the board is further ahead and to the left. Moving the right arm forward and down to get a closer look before aligning over the knob.

move_to

right_x0.3600right_y0.0100right_z0.1200right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.0204, 0.7925, 0.6033, -0.3794, -0.0216, -0.0406, 0.9993, -0.0158, 0.7914, 0.609, -0.3756, -0.0212, -0.0154, 0.9993] state[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1802 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0026 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.4991, -1.3744, 10.4137, 1.8339, -0.0366, 0.1685, -0.0806, -0.841, -1.1829, 9.853, 1.7753, -0.0611, -0.0073, -0.0806] 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

I'll start by moving the right arm forward and lower toward the blue piece visible in the right wrist camera, keeping the gripper open, to refine its position.

move_to({"targets": {"right_x": 0.36, "right_y": 0.01, "right_z": 0.12, "right_gripper": 1.0}, "note": "The right wrist camera shows the blue puzzle piece with its knob slightly ahead and just left of center; the board is further ahead and to the left. Moving the right arm forward and down to get a closer look before aligning over the knob."})

tool

executing move_to over 5 steps (0.5s)

step 5

assistant

agent noteThe knob is now nearly centered in the right wrist camera, slightly ahead of the gripper. Moving forward a few centimeters and lowering toward the knob while keeping the jaws open.

move_to

right_x0.3750right_y0.0100right_z0.0500right_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, 0.7979, 0.6044, -0.3809, -0.0216, -0.0418, 0.9993, 0.0208, 1.1641, 0.5137, -0.0315, -0.0032, -0.012, 0.9993] state[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1789 left_yaw=0.001 left_pitch=-0.0057 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3384 right_y=0.0112 right_z=0.0985 right_yaw=0.0196 right_pitch=-0.1241 right_roll=-0.0067 right_gripper=0.9993 state[joint_eff]: [-0.212, -1.5385, 6.9812, 1.7265, -0.0366, -0.0659, -0.0171, 0.1983, -4.4513, 6.653, 1.8974, 0.1343, 0.1001, -0.0757] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.375, "right_y": 0.01, "right_z": 0.05, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The knob is now nearly centered in the right wrist camera, slightly ahead of the gripper. Moving forward a few centimeters and lowering toward the knob while keeping the jaws open."})

tool

executing move_to over 5 steps (0.5s)

step 10

assistant

agent noteThe knob is centered horizontally in the wrist camera but appears slightly ahead of the fingertips; the gripper is at about 2.7 cm height. Nudging forward and slightly down so the open jaws straddle the knob.

move_to

right_x0.3750right_y0.0100right_z0.0200right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8001, 0.6041, -0.3809, -0.0216, -0.0414, 0.9993, 0.0193, 1.4933, 0.3969, 0.4004, -0.0051, -0.0135, 0.9994] state[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1781 left_yaw=0.0008 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3541 right_y=0.0113 right_z=0.0266 right_yaw=0.0205 right_pitch=-0.1382 right_roll=-0.0067 right_gripper=0.9994 state[joint_eff]: [-0.335, -1.4017, 7.0769, 1.7118, -0.0659, -0.0464, -0.0171, -0.7863, -6.0103, 4.9709, 2.1172, -0.105, -0.0708, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.375, "right_y": 0.01, "right_z": 0.02, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The knob is centered horizontally in the wrist camera but appears slightly ahead of the fingertips; the gripper is at about 2.7 cm height. Nudging forward and slightly down so the open jaws straddle the knob."})

tool

executing move_to over 5 steps (0.5s)

step 15

assistant

agent noteThe arm only reached x=0.353 and the knob still looks ahead of the fingertips in the wrist view. Pushing further forward (x=0.40) at low height to bring the jaws around the knob.

move_to

right_x0.4000right_y0.0120right_z0.0150right_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, 0.8013, 0.6041, -0.3805, -0.0216, -0.0414, 0.9993, 0.0193, 1.5448, 0.3355, 0.5617, -0.0124, -0.0154, 0.9993] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1779 left_yaw=0.0008 left_pitch=-0.0092 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3526 right_y=0.0126 right_z=0.0193 right_yaw=0.0277 right_pitch=-0.0897 right_roll=-0.0039 right_gripper=0.9993 state[joint_eff]: [-0.1299, -1.0051, 7.0906, 1.6972, -0.0171, -0.0708, -0.0171, -0.4991, -4.7932, 5.2171, 1.9756, 0.0366, -0.0269, -0.0806] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.012, "right_z": 0.015, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The arm only reached x=0.353 and the knob still looks ahead of the fingertips in the wrist view. Pushing further forward (x=0.40) at low height to bring the jaws around the knob."})

tool

executing move_to over 4 steps (0.4s)

step 19

assistant

agent noteThe arm did not move at all on the last command, likely an IK limit at such a low height with forward reach. Trying a smaller forward step with slightly more height and matching the current pitch so the solver tracks it.

move_to

right_x0.3800right_y0.0120right_z0.0350right_pitch-0.1000right_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, 0.8013, 0.6041, -0.3805, -0.0216, -0.0414, 0.9993, 0.0193, 1.5448, 0.3355, 0.5617, -0.0124, -0.0154, 0.9993] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1779 left_yaw=0.0008 left_pitch=-0.0092 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3526 right_y=0.0126 right_z=0.0193 right_yaw=0.0277 right_pitch=-0.0897 right_roll=-0.0039 right_gripper=0.9993 state[joint_eff]: [-0.1573, -1.2103, 7.2137, 1.7265, -0.0415, -0.0611, -0.0122, -0.3761, -4.8205, 5.2308, 1.9316, 0.0171, -0.0513, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_y": 0.012, "right_z": 0.035, "right_pitch": -0.1, "right_gripper": 1.0}, "note": "The arm did not move at all on the last command, likely an IK limit at such a low height with forward reach. Trying a smaller forward step with slightly more height and matching the current pitch so the solver tracks it."})

tool

executing move_to over 3 steps (0.3s)

step 22

assistant

agent noteThe right arm has ignored two consecutive commands and stayed put at x=0.353, z=0.019; it appears stuck in an IK/joint-limit pose. Lifting back up to z=0.08 to free the arm before re-approaching the knob with a different descent.

move_to

right_x0.3600right_y0.0120right_z0.0800right_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, 0.8013, 0.6041, -0.3805, -0.0216, -0.0414, 0.9993, 0.0193, 1.5448, 0.3355, 0.5617, -0.0124, -0.0154, 0.9993] state[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1779 left_yaw=0.0008 left_pitch=-0.0092 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3526 right_y=0.0126 right_z=0.0193 right_yaw=0.0277 right_pitch=-0.0897 right_roll=-0.0039 right_gripper=0.9993 state[joint_eff]: [-0.0205, -1.0598, 7.3778, 1.7167, -0.0366, -0.0806, -0.0171, -0.3077, -4.6564, 5.1077, 1.9316, -0.0122, -0.0317, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.012, "right_z": 0.08, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The right arm has ignored two consecutive commands and stayed put at x=0.353, z=0.019; it appears stuck in an IK/joint-limit pose. Lifting back up to z=0.08 to free the arm before re-approaching the knob with a different descent."})

tool

executing move_to over 4 steps (0.4s)

step 26

assistant

agent noteThe arm freed up and is now at z=0.068 with the knob centered between the two finger silhouettes in the wrist camera, slightly ahead. Descending to z=0.03 with a small forward shift so the open jaws straddle the knob.

move_to

right_x0.3720right_y0.0130right_z0.0300right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8055, 0.6041, -0.3801, -0.0216, -0.0414, 0.9993, 0.0193, 1.3445, 0.374, 0.4015, -0.0185, -0.0158, 0.9993] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1768 left_yaw=0.0008 left_pitch=-0.013 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3565 right_y=0.0137 right_z=0.0683 right_yaw=0.033 right_pitch=-0.0111 right_roll=-0.0016 right_gripper=0.9993 state[joint_eff]: [-0.3487, -1.1145, 7.1863, 1.7949, -0.0513, -0.0415, -0.0122, -0.294, -4.7658, 7.7333, 1.746, 0.0562, -0.022, -0.0757] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.372, "right_y": 0.013, "right_z": 0.03, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The arm freed up and is now at z=0.068 with the knob centered between the two finger silhouettes in the wrist camera, slightly ahead. Descending to z=0.03 with a small forward shift so the open jaws straddle the knob."})

tool

executing move_to over 3 steps (0.3s)

step 29

assistant

agent noteGripper is low (z≈0.013) and the knob is centered between the finger silhouettes but still appears a bit ahead of the fingertips. Sliding forward about 2.5 cm at low height so the knob sits between the jaws before closing.

move_to

right_x0.3850right_y0.0140right_z0.0200right_pitch-0.1000right_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, 0.8089, 0.6037, -0.3813, -0.0216, -0.0414, 0.9993, 0.0193, 1.5948, 0.3599, 0.5705, -0.0238, -0.0158, 0.9993] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0179 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3579 right_y=0.0147 right_z=0.0125 right_yaw=0.0377 right_pitch=-0.1064 right_roll=0.003 right_gripper=0.9993 state[joint_eff]: [-0.0889, -1.5658, 7.0496, 1.7167, -0.0415, -0.0366, -0.0171, -0.5949, -7.7197, 4.7795, 2.4444, -0.0317, -0.0269, -0.0757] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.385, "right_y": 0.014, "right_z": 0.02, "right_pitch": -0.1, "right_gripper": 1.0}, "note": "Gripper is low (z\u22480.013) and the knob is centered between the finger silhouettes but still appears a bit ahead of the fingertips. Sliding forward about 2.5 cm at low height so the knob sits between the jaws before closing."})

tool

executing move_to over 3 steps (0.3s)

step 32

assistant

agent noteThe knob is still centered in the wrist camera but above the fingertips, meaning it is ahead of the grasp point; the top camera confirms the gripper is just short of the blue disc. Advancing another ~2.5 cm at the same low height.

move_to

right_x0.4000right_y0.0160right_z0.0200right_pitch-0.0800right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.6299, 0.4133, 0.5755, -0.0284, -0.0204, 0.9994] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=0.001 left_pitch=-0.0179 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3744 right_y=0.0158 right_z=0.0192 right_yaw=0.044 right_pitch=-0.083 right_roll=0.0017 right_gripper=0.9994 state[joint_eff]: [-0.2393, -1.2923, 7.0222, 1.7216, -0.0269, -0.0366, -0.0171, -0.6359, -5.5316, 6.0923, 1.4969, -0.0611, -0.0024, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.016, "right_z": 0.02, "right_pitch": -0.08, "right_gripper": 1.0}, "note": "The knob is still centered in the wrist camera but above the fingertips, meaning it is ahead of the grasp point; the top camera confirms the gripper is just short of the blue disc. Advancing another ~2.5 cm at the same low height."})

tool

executing move_to over 2 steps (0.2s)

step 34

assistant

agent noteThe arm slipped slightly back to x=0.369 and sank to z=0.012, so the fingertips may be dragging on the table and stalling forward motion. Raising to z=0.045 while advancing to x=0.41 so the jaws clear the table and reach over the knob.

move_to

right_x0.4100right_y0.0160right_z0.0450right_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, 0.8089, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.6299, 0.4179, 0.5312, -0.028, -0.02, 0.9994] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=0.001 left_pitch=-0.0179 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3694 right_y=0.0157 right_z=0.0121 right_yaw=0.0435 right_pitch=-0.1227 right_roll=0.0027 right_gripper=0.9994 state[joint_eff]: [-0.1299, -1.0462, 7.3641, 1.7118, -0.0757, -0.0317, -0.0073, -0.4581, -5.5316, 6.1333, 1.746, -0.022, -0.0317, -0.0757] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.41, "right_y": 0.016, "right_z": 0.045, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The arm slipped slightly back to x=0.369 and sank to z=0.012, so the fingertips may be dragging on the table and stalling forward motion. Raising to z=0.045 while advancing to x=0.41 so the jaws clear the table and reach over the knob."})

tool

executing move_to over 5 steps (0.5s)

step 39

assistant

agent noteThe arm is frozen again at the low pose (x=0.369, z=0.012) — this rig stalls when asked to move forward near table height. Lifting to z=0.09 (which unstuck it before) while moving forward to x=0.40, so I can then descend straight down onto the knob.

move_to

right_x0.4000right_y0.0160right_z0.0900right_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, 0.8089, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.6299, 0.4179, 0.5312, -0.028, -0.02, 0.9994] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=0.001 left_pitch=-0.0179 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3694 right_y=0.0157 right_z=0.0121 right_yaw=0.0435 right_pitch=-0.1227 right_roll=0.0027 right_gripper=0.9994 state[joint_eff]: [-0.1162, -1.3607, 7.0085, 1.7607, -0.0464, -0.0708, -0.0171, -0.6496, -5.3949, 5.8735, 1.7265, -0.0464, -0.0513, -0.0757] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.016, "right_z": 0.09, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The arm is frozen again at the low pose (x=0.369, z=0.012) \u2014 this rig stalls when asked to move forward near table height. Lifting to z=0.09 (which unstuck it before) while moving forward to x=0.40, so I can then descend straight down onto the knob."})

tool

executing move_to over 6 steps (0.6s)

step 45

assistant

agent noteNow at x=0.40, z=0.08 the knob sits squarely between the two finger silhouettes in the wrist camera. Descending straight down to z=0.03 so the jaws surround the knob.

move_to

right_x0.4000right_y0.0160right_z0.0300right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.4815, 0.5434, 0.3805, -0.0315, -0.0238, 0.9994] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=0.001 left_pitch=-0.0179 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3989 right_y=0.0168 right_z=0.0825 right_yaw=0.0483 right_pitch=0.0006 right_roll=-0.0017 right_gripper=0.9994 state[joint_eff]: [-0.1709, -1.3607, 7.0085, 1.7753, -0.0806, -0.0659, -0.0171, -0.4308, -6.5709, 6.8308, 1.5653, -0.0269, -0.0171, -0.0806] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.016, "right_z": 0.03, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "Now at x=0.40, z=0.08 the knob sits squarely between the two finger silhouettes in the wrist camera. Descending straight down to z=0.03 so the jaws surround the knob."})

tool

executing move_to over 4 steps (0.4s)

step 49

assistant

agent noteThe gripper is at table height with the knob framed between the two jaw silhouettes in the wrist camera. Closing the gripper while nudging slightly forward to grasp the knob.

move_to

right_x0.3950right_y0.0160right_z0.0120right_pitch-0.1000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8116, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.6932, 0.4652, 0.5678, -0.0315, -0.0238, 0.9993] state[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1747 left_yaw=0.001 left_pitch=-0.0206 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3858 right_y=0.0166 right_z=0.0124 right_yaw=0.0484 right_pitch=-0.102 right_roll=0.0013 right_gripper=0.9993 state[joint_eff]: [-0.1436, -1.5385, 7.1453, 1.6874, -0.0415, -0.0611, -0.0171, -0.6222, -7.1316, 4.8615, 2.4542, -0.0708, -0.0513, -0.0757] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.395, "right_y": 0.016, "right_z": 0.012, "right_pitch": -0.1, "right_gripper": 0.0}, "note": "The gripper is at table height with the knob framed between the two jaw silhouettes in the wrist camera. Closing the gripper while nudging slightly forward to grasp the knob."})

tool

executing move_to over 10 steps (1.0s)

step 59

assistant

agent noteThe jaws closed on nothing — the wrist camera shows the knob still ahead of the closed fingertips, so the grasp point stopped ~3 cm short. Opening the gripper and lifting to z=0.08 while moving forward to x=0.43, since forward motion only succeeds at height on this rig.

move_to

right_x0.4300right_y0.0160right_z0.0800right_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, 0.812, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.7107, 0.4751, 0.5568, -0.0353, -0.0345, 0.0105] state[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1746 left_yaw=0.001 left_pitch=-0.021 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3859 right_y=0.0173 right_z=0.0071 right_yaw=0.0574 right_pitch=-0.1205 right_roll=-0.0041 right_gripper=0.0105 state[joint_eff]: [-0.3487, -1.388, 7.0632, 1.7363, -0.0317, -0.0806, -0.0073, -0.2667, -5.0803, 7.0496, 1.7216, -0.0269, 0.0562, 0.8523] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.43, "right_y": 0.016, "right_z": 0.08, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The jaws closed on nothing \u2014 the wrist camera shows the knob still ahead of the closed fingertips, so the grasp point stopped ~3 cm short. Opening the gripper and lifting to z=0.08 while moving forward to x=0.43, since forward motion only succeeds at height on this rig."})

tool

executing move_to over 10 steps (1.0s)

step 69

assistant

agent noteAt x=0.418, z=0.053 the knob now appears low in the wrist camera, directly between the two open jaws — it should be under the grasp point. Descending straight down to table height with the jaws open.

move_to

right_x0.4250right_y0.0180right_z0.0120right_pitch-0.0500right_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, 0.812, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.6463, 0.6224, 0.3973, -0.0494, -0.0418, 0.9953] state[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1746 left_yaw=0.001 left_pitch=-0.021 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4181 right_y=0.0204 right_z=0.0528 right_yaw=0.0731 right_pitch=-0.0679 right_roll=-0.0037 right_gripper=0.9953 state[joint_eff]: [-0.1299, -1.3197, 7.2137, 1.6923, -0.0659, -0.0562, -0.0122, -1.1009, -9.6205, 8.1026, 1.7314, -0.0269, 0.0073, -0.1929] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.425, "right_y": 0.018, "right_z": 0.012, "right_pitch": -0.05, "right_gripper": 1.0}, "note": "At x=0.418, z=0.053 the knob now appears low in the wrist camera, directly between the two open jaws \u2014 it should be under the grasp point. Descending straight down to table height with the jaws open."})

tool

executing move_to over 3 steps (0.3s)

step 72

assistant

agent noteThe wrist camera now shows the knob sitting right between the two open jaws at table height. Closing the gripper to grasp the knob.

move_to

right_x0.4200right_y0.0200right_z0.0080right_pitch-0.1000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8135, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0174, 1.8095, 0.5964, 0.5453, -0.054, -0.0422, 0.9986] state[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1742 left_yaw=0.001 left_pitch=-0.0225 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4178 right_y=0.0204 right_z=0.0076 right_yaw=0.0755 right_pitch=-0.1089 right_roll=0.0011 right_gripper=0.9986 state[joint_eff]: [-0.3487, -1.3607, 7.0085, 1.6923, -0.0855, -0.0562, -0.0073, -0.7863, -8.4991, 4.7111, 2.2198, -0.0757, -0.0562, -0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.02, "right_z": 0.008, "right_pitch": -0.1, "right_gripper": 0.0}, "note": "The wrist camera now shows the knob sitting right between the two open jaws at table height. Closing the gripper to grasp the knob."})

tool

executing move_to over 10 steps (1.0s)

step 82

assistant

agent noteThe gripper closed fully (0.01) twice without capturing the knob — the wrist camera shows the knob still just ahead of the closed fingertips. With only two LLM calls left in the budget there is not enough room to re-grasp, lift, transport and place the piece into the board groove.

give_up

hindsightRig facts learned: (1) The blue puzzle piece started ~0.43-0.45 m ahead of the right arm base at near y≈0.02; the knob is roughly 2 cm tall so the grasp z should be ~0.01-0.02. (2) The right wrist camera looks forward/down: an object that appears centered horizontally between the two jaw silhouettes but ABOVE the fingertips is still several cm AHEAD of the grasp point — you need to see the knob at the very bottom of the image, low between the jaws, before closing. Don't trust "centered" alone. (3) Near table height (z<0.03) the IK controller frequently stalls completely on forward (+x) commands and also sags ~1.5 cm below the commanded z and pitches −0.1 rad. Forward moves only work reliably at z≥0.08; so approach by going forward at height, then descend straight down. (4) The approver clamps steps hard, so a single move only covers ~1.5-2 cm in x at low height; plan for many small moves and don't waste budget. (5) The board with the circular groove is to the left of the piece (around right_y≈+0.15-0.2, x≈0.4 from the top camera view). (6) With a 20-call budget, spend at most ~6 calls on the grasp; verify grasp via gripper value (>0.1 means something is held; 0.01 means missed).

Raw transcript

user

Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8146, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.0151, 1.8244, 0.5877, 0.5835, -0.062, -0.0418, 0.01] state[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.174 left_yaw=0.001 left_pitch=-0.0233 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4188 right_y=0.0208 right_z=0.0062 right_yaw=0.0797 right_pitch=-0.0941 right_roll=0.0054 right_gripper=0.01 state[joint_eff]: [-0.3214, -1.4564, 7.1863, 1.7509, -0.0171, -0.0415, -0.0171, 0.0479, -8.1573, 5.4359, 1.4725, -0.0024, -0.0073, 0.8181] approver: 10 step(s) modified (delta_clamped ×10). 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

give_up({"reason": "The gripper closed fully (0.01) twice without capturing the knob \u2014 the wrist camera shows the knob still just ahead of the closed fingertips. With only two LLM calls left in the budget there is not enough room to re-grasp, lift, transport and place the piece into the board groove.", "hindsight": "Rig facts learned: (1) The blue puzzle piece started ~0.43-0.45 m ahead of the right arm base at near y\u22480.02; the knob is roughly 2 cm tall so the grasp z should be ~0.01-0.02. (2) The right wrist camera looks forward/down: an object that appears centered horizontally between the two jaw silhouettes but ABOVE the fingertips is still several cm AHEAD of the grasp point \u2014 you need to see the knob at the very bottom of the image, low between the jaws, before closing. Don't trust \"centered\" alone. (3) Near table height (z<0.03) the IK controller frequently stalls completely on forward (+x) commands and also sags ~1.5 cm below the commanded z and pitches \u22120.1 rad. Forward moves only work reliably at z\u22650.08; so approach by going forward at height, then descend straight down. (4) The approver clamps steps hard, so a single move only covers ~1.5-2 cm in x at low height; plan for many small moves and don't waste budget. (5) The board with the circular groove is to the left of the piece (around right_y\u2248+0.15-0.2, x\u22480.4 from the top camera view). (6) With a 20-call budget, spend at most ~6 calls on the grasp; verify grasp via gripper value (>0.1 means something is held; 0.01 means missed)."})

tool

give_up: The gripper closed fully (0.01) twice without capturing the knob — the wrist camera shows the knob still just ahead of the closed fingertips. With only two LLM calls left in the budget there is not enough room to re-grasp, lift, transport and place the piece into the board groove.

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 · 30.28 s

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

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6033, -0.3794, -0.0216, -0.0406, 0.9993, -0.0158, 0.7914, 0.609, -0.3756, -0.0212, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1802 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0026 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -1.3744, 10.4137, 1.8339, -0.0366, 0.1685, -0.0806, -0.841, -1.1829, 9.853, 1.7753, -0.0611, -0.0073, -0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e4807896da2ffce2dbdea08fea0c6a85353b8078995dd0529d8d6f99eabd04cf"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4d74d158e965f148e08312244e5ab8686f3e44a75194a144bcc4b81181659375"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1ad6e73eebecbf9d3d79e4a27c94bfba6abf20a0ad010a0a97f0093eb6312a62"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 1 attempt 0 · /chat/completions · status 200 · 17.53 s

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

{
  "content": "I'll start by moving the right arm forward and lower toward the blue piece visible in the right wrist camera, keeping the gripper open, to refine its position.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.36, \"right_y\": 0.01, \"right_z\": 0.12, \"right_gripper\": 1.0}, \"note\": \"The right wrist camera shows the blue puzzle piece with its knob slightly ahead and just left of center; the board is further ahead and to the left. Moving the right arm forward and down to get a closer look before aligning over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01KsvLpgcL8Jx5UUnkPFmVUX",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01KsvLpgcL8Jx5UUnkPFmVUX"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7979, 0.6044, -0.3809, -0.0216, -0.0418, 0.9993, 0.0208, 1.1641, 0.5137, -0.0315, -0.0032, -0.012, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1789 left_yaw=0.001 left_pitch=-0.0057 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3384 right_y=0.0112 right_z=0.0985 right_yaw=0.0196 right_pitch=-0.1241 right_roll=-0.0067 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.5385, 6.9812, 1.7265, -0.0366, -0.0659, -0.0171, 0.1983, -4.4513, 6.653, 1.8974, 0.1343, 0.1001, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a07312602c5bf1817e93496df9cda46d72a19a59c2d460288b6863a173fc5990"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:120d4bcd7aaa2c1257d5a399febceb70eb44c833839fa6562ccd97a799c1e00c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f730a6c1b0f24bb0fe4d814d32e0a0a8eef63550e3d6cd3b1d7095d6af09f314"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 2 attempt 0 · /chat/completions · status 200 · 9.956 s

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

message 2 changed as sent

message 2 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.0204, 0.7925, 0.6033, -0.3794, -0.0216, -0.0406, 0.9993, -0.0158, 0.7914, 0.609, -0.3756, -0.0212, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1802 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2958 right_y=0.0026 right_z=0.1839 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4991, -1.3744, 10.4137, 1.8339, -0.0366, 0.1685, -0.0806, -0.841, -1.1829, 9.853, 1.7753, -0.0611, -0.0073, -0.0806]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.375, \"right_y\": 0.01, \"right_z\": 0.05, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is now nearly centered in the right wrist camera, slightly ahead of the gripper. Moving forward a few centimeters and lowering toward the knob while keeping the jaws open.\"}",
        "name": "move_to"
      },
      "id": "toolu_011vjSaLgnX4VoDHhcMU3zmP",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_011vjSaLgnX4VoDHhcMU3zmP"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8001, 0.6041, -0.3809, -0.0216, -0.0414, 0.9993, 0.0193, 1.4933, 0.3969, 0.4004, -0.0051, -0.0135, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1781 left_yaw=0.0008 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3541 right_y=0.0113 right_z=0.0266 right_yaw=0.0205 right_pitch=-0.1382 right_roll=-0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.4017, 7.0769, 1.7118, -0.0659, -0.0464, -0.0171, -0.7863, -6.0103, 4.9709, 2.1172, -0.105, -0.0708, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:7159fda706f5ae438959396a2d4f825a669c09430a49e52aea2e6caf90ae5eec"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ca8dfcd26bcfd0127cfb8ea2a2b22dca15c23c9482675d9256750a7fcae9ed82"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f596f3fa41f16eaec47d10548f7f3c5d567881e61bf28423409dbe4fa9733854"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 3 attempt 0 · /chat/completions · status 200 · 7.546 s

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

message 5 changed as sent

message 5 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7979, 0.6044, -0.3809, -0.0216, -0.0418, 0.9993, 0.0208, 1.1641, 0.5137, -0.0315, -0.0032, -0.012, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1789 left_yaw=0.001 left_pitch=-0.0057 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3384 right_y=0.0112 right_z=0.0985 right_yaw=0.0196 right_pitch=-0.1241 right_roll=-0.0067 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.5385, 6.9812, 1.7265, -0.0366, -0.0659, -0.0171, 0.1983, -4.4513, 6.653, 1.8974, 0.1343, 0.1001, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.375, \"right_y\": 0.01, \"right_z\": 0.02, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The knob is centered horizontally in the wrist camera but appears slightly ahead of the fingertips; the gripper is at about 2.7 cm height. Nudging forward and slightly down so the open jaws straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01VwRBWFXLC13UTx3yFng3uE",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01VwRBWFXLC13UTx3yFng3uE"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8013, 0.6041, -0.3805, -0.0216, -0.0414, 0.9993, 0.0193, 1.5448, 0.3355, 0.5617, -0.0124, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1779 left_yaw=0.0008 left_pitch=-0.0092 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3526 right_y=0.0126 right_z=0.0193 right_yaw=0.0277 right_pitch=-0.0897 right_roll=-0.0039 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -1.0051, 7.0906, 1.6972, -0.0171, -0.0708, -0.0171, -0.4991, -4.7932, 5.2171, 1.9756, 0.0366, -0.0269, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d20bb068822c90fde4c89970870da0de26d96cb6ef7eed1f0680279d0851b621"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:42491e3877d34048b4fbed92bb00739b2d1a6d74d9bd89672a0a5293e7889b6d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:790e8ec0c4f822be9ffbdebcddc151b889523f32430cba0db127c433e6f7dd8b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 4 attempt 0 · /chat/completions · status 200 · 8.558 s

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

message 8 changed as sent

message 8 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8001, 0.6041, -0.3809, -0.0216, -0.0414, 0.9993, 0.0193, 1.4933, 0.3969, 0.4004, -0.0051, -0.0135, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1781 left_yaw=0.0008 left_pitch=-0.0084 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3541 right_y=0.0113 right_z=0.0266 right_yaw=0.0205 right_pitch=-0.1382 right_roll=-0.0067 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.4017, 7.0769, 1.7118, -0.0659, -0.0464, -0.0171, -0.7863, -6.0103, 4.9709, 2.1172, -0.105, -0.0708, -0.0757]\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\": 0.4, \"right_y\": 0.012, \"right_z\": 0.015, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm only reached x=0.353 and the knob still looks ahead of the fingertips in the wrist view. Pushing further forward (x=0.40) at low height to bring the jaws around the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_012MpwiLPauvD6KDbvoukDqb",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_012MpwiLPauvD6KDbvoukDqb"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8013, 0.6041, -0.3805, -0.0216, -0.0414, 0.9993, 0.0193, 1.5448, 0.3355, 0.5617, -0.0124, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1779 left_yaw=0.0008 left_pitch=-0.0092 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3526 right_y=0.0126 right_z=0.0193 right_yaw=0.0277 right_pitch=-0.0897 right_roll=-0.0039 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.2103, 7.2137, 1.7265, -0.0415, -0.0611, -0.0122, -0.3761, -4.8205, 5.2308, 1.9316, 0.0171, -0.0513, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ea87ff36984a7579101656d021a28a3c2be0cb6bf1b24e6045bb2afe58447dad"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e687085b879ad661b0911eda137acfaf12dca4c6fb8e877920d0984e5a5c8ab6"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:bec67d75da11677031d4c54fd66094ce28a4864aa72f8480b88a5ed76960c54f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 5 attempt 0 · /chat/completions · status 200 · 10.99 s

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

message 11 changed as sent

message 11 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8013, 0.6041, -0.3805, -0.0216, -0.0414, 0.9993, 0.0193, 1.5448, 0.3355, 0.5617, -0.0124, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1779 left_yaw=0.0008 left_pitch=-0.0092 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3526 right_y=0.0126 right_z=0.0193 right_yaw=0.0277 right_pitch=-0.0897 right_roll=-0.0039 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -1.0051, 7.0906, 1.6972, -0.0171, -0.0708, -0.0171, -0.4991, -4.7932, 5.2171, 1.9756, 0.0366, -0.0269, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.38, \"right_y\": 0.012, \"right_z\": 0.035, \"right_pitch\": -0.1, \"right_gripper\": 1.0}, \"note\": \"The arm did not move at all on the last command, likely an IK limit at such a low height with forward reach. Trying a smaller forward step with slightly more height and matching the current pitch so the solver tracks it.\"}",
        "name": "move_to"
      },
      "id": "toolu_01FNEeeeRG37GUempvhbfjQa",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01FNEeeeRG37GUempvhbfjQa"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8013, 0.6041, -0.3805, -0.0216, -0.0414, 0.9993, 0.0193, 1.5448, 0.3355, 0.5617, -0.0124, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1779 left_yaw=0.0008 left_pitch=-0.0092 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3526 right_y=0.0126 right_z=0.0193 right_yaw=0.0277 right_pitch=-0.0897 right_roll=-0.0039 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -1.0598, 7.3778, 1.7167, -0.0366, -0.0806, -0.0171, -0.3077, -4.6564, 5.1077, 1.9316, -0.0122, -0.0317, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c668394f9f2c1e57e31cafa9d6846bd93f53a78bee49f09ff68ac08a1af70c5c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:21a8923b48df4f8736015348a87bcf55b5d7e4eef01ac5c0ba02901f649fdcc0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:50c5a10fa43c8a3906f1c61bb57e55da895526fe019880762c3155aea10c61a9"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 6 attempt 0 · /chat/completions · status 200 · 11 s

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

message 14 changed as sent

message 14 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8013, 0.6041, -0.3805, -0.0216, -0.0414, 0.9993, 0.0193, 1.5448, 0.3355, 0.5617, -0.0124, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1779 left_yaw=0.0008 left_pitch=-0.0092 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3526 right_y=0.0126 right_z=0.0193 right_yaw=0.0277 right_pitch=-0.0897 right_roll=-0.0039 right_gripper=0.9993\nstate[joint_eff]: [-0.1573, -1.2103, 7.2137, 1.7265, -0.0415, -0.0611, -0.0122, -0.3761, -4.8205, 5.2308, 1.9316, 0.0171, -0.0513, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.36, \"right_y\": 0.012, \"right_z\": 0.08, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The right arm has ignored two consecutive commands and stayed put at x=0.353, z=0.019; it appears stuck in an IK/joint-limit pose. Lifting back up to z=0.08 to free the arm before re-approaching the knob with a different descent.\"}",
        "name": "move_to"
      },
      "id": "toolu_01K3WyvBFtckVaEtWhYh5DBr",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01K3WyvBFtckVaEtWhYh5DBr"
}

{
  "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, 0.8055, 0.6041, -0.3801, -0.0216, -0.0414, 0.9993, 0.0193, 1.3445, 0.374, 0.4015, -0.0185, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1768 left_yaw=0.0008 left_pitch=-0.013 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3565 right_y=0.0137 right_z=0.0683 right_yaw=0.033 right_pitch=-0.0111 right_roll=-0.0016 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.1145, 7.1863, 1.7949, -0.0513, -0.0415, -0.0122, -0.294, -4.7658, 7.7333, 1.746, 0.0562, -0.022, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:74de2802ec02707af23191f402cbd289962d32bdbe456335375a0e256002db26"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a0d11c14d8a71c30ecef83f949298e56722bf95bf1f661a114dac34e837a893d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2c06408eefcaa847f66058036e849127ef010f41da3893510c70a3c28d4a5f91"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 7 attempt 0 · /chat/completions · status 200 · 12.06 s

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

message 17 changed as sent

message 17 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8013, 0.6041, -0.3805, -0.0216, -0.0414, 0.9993, 0.0193, 1.5448, 0.3355, 0.5617, -0.0124, -0.0154, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=0.0015 left_z=0.1779 left_yaw=0.0008 left_pitch=-0.0092 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3526 right_y=0.0126 right_z=0.0193 right_yaw=0.0277 right_pitch=-0.0897 right_roll=-0.0039 right_gripper=0.9993\nstate[joint_eff]: [-0.0205, -1.0598, 7.3778, 1.7167, -0.0366, -0.0806, -0.0171, -0.3077, -4.6564, 5.1077, 1.9316, -0.0122, -0.0317, -0.0757]\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\": 0.372, \"right_y\": 0.013, \"right_z\": 0.03, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm freed up and is now at z=0.068 with the knob centered between the two finger silhouettes in the wrist camera, slightly ahead. Descending to z=0.03 with a small forward shift so the open jaws straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01QycbFUYihvKY4nwpMQmwBU",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01QycbFUYihvKY4nwpMQmwBU"
}

{
  "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, 0.6037, -0.3813, -0.0216, -0.0414, 0.9993, 0.0193, 1.5948, 0.3599, 0.5705, -0.0238, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0179 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3579 right_y=0.0147 right_z=0.0125 right_yaw=0.0377 right_pitch=-0.1064 right_roll=0.003 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.5658, 7.0496, 1.7167, -0.0415, -0.0366, -0.0171, -0.5949, -7.7197, 4.7795, 2.4444, -0.0317, -0.0269, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c212cabb9418e5cbb96deb49b210066bf6aeedf11d2bc1e04ec81d857687d0a1"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e204c15b4e6a8a4dec7504aab74e4392117d2c18630502cac539499a74b8e398"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4ae6e741c462021de26e6b8a4b07c5afdaf1c5a6e2250f0f70e72fca1e29bb96"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 8 attempt 0 · /chat/completions · status 200 · 9.299 s

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

message 20 changed as sent

message 20 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8055, 0.6041, -0.3801, -0.0216, -0.0414, 0.9993, 0.0193, 1.3445, 0.374, 0.4015, -0.0185, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1768 left_yaw=0.0008 left_pitch=-0.013 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3565 right_y=0.0137 right_z=0.0683 right_yaw=0.033 right_pitch=-0.0111 right_roll=-0.0016 right_gripper=0.9993\nstate[joint_eff]: [-0.3487, -1.1145, 7.1863, 1.7949, -0.0513, -0.0415, -0.0122, -0.294, -4.7658, 7.7333, 1.746, 0.0562, -0.022, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.385, \"right_y\": 0.014, \"right_z\": 0.02, \"right_pitch\": -0.1, \"right_gripper\": 1.0}, \"note\": \"Gripper is low (z\\u22480.013) and the knob is centered between the finger silhouettes but still appears a bit ahead of the fingertips. Sliding forward about 2.5 cm at low height so the knob sits between the jaws before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_0194d9MmKHMv58dkMwnUGDXh",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_0194d9MmKHMv58dkMwnUGDXh"
}

{
  "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, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.6299, 0.4133, 0.5755, -0.0284, -0.0204, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=0.001 left_pitch=-0.0179 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3744 right_y=0.0158 right_z=0.0192 right_yaw=0.044 right_pitch=-0.083 right_roll=0.0017 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.2923, 7.0222, 1.7216, -0.0269, -0.0366, -0.0171, -0.6359, -5.5316, 6.0923, 1.4969, -0.0611, -0.0024, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cdc544c48f222f16878fe88608cd77365490a2c627e8caf2573c6793be5cb839"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:937752ee91a3c365c78315db5e20be278f2e7a21b25a035ac1f8ef398b3b7f27"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:59d5bbc7909a69d5a4c78583d587e55b049cab5d00e20397198d0e7986240e69"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 9 attempt 0 · /chat/completions · status 200 · 12.19 s

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

message 23 changed as sent

message 23 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3813, -0.0216, -0.0414, 0.9993, 0.0193, 1.5948, 0.3599, 0.5705, -0.0238, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=0.0008 left_pitch=-0.0179 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3579 right_y=0.0147 right_z=0.0125 right_yaw=0.0377 right_pitch=-0.1064 right_roll=0.003 right_gripper=0.9993\nstate[joint_eff]: [-0.0889, -1.5658, 7.0496, 1.7167, -0.0415, -0.0366, -0.0171, -0.5949, -7.7197, 4.7795, 2.4444, -0.0317, -0.0269, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.016, \"right_z\": 0.02, \"right_pitch\": -0.08, \"right_gripper\": 1.0}, \"note\": \"The knob is still centered in the wrist camera but above the fingertips, meaning it is ahead of the grasp point; the top camera confirms the gripper is just short of the blue disc. Advancing another ~2.5 cm at the same low height.\"}",
        "name": "move_to"
      },
      "id": "toolu_012KerAX98tYrKVhCjxd8pmV",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_012KerAX98tYrKVhCjxd8pmV"
}

{
  "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, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.6299, 0.4179, 0.5312, -0.028, -0.02, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=0.001 left_pitch=-0.0179 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3694 right_y=0.0157 right_z=0.0121 right_yaw=0.0435 right_pitch=-0.1227 right_roll=0.0027 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.0462, 7.3641, 1.7118, -0.0757, -0.0317, -0.0073, -0.4581, -5.5316, 6.1333, 1.746, -0.022, -0.0317, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:54710fc0505ad6b68941a3bd714ffb1e69506bc37160bc9f0fd26541f3bcac7f"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dfdf495395ecdf5fb9132d0305bf848b1991e654ccb405b6c30110068ac06413"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:b11e87aa6cc6094d254c4381ec5230ac108967aea88de00371dc3a422e286c46"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 10 attempt 0 · /chat/completions · status 200 · 11.18 s

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

message 26 changed as sent

message 26 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.6299, 0.4133, 0.5755, -0.0284, -0.0204, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=0.001 left_pitch=-0.0179 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3744 right_y=0.0158 right_z=0.0192 right_yaw=0.044 right_pitch=-0.083 right_roll=0.0017 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.2923, 7.0222, 1.7216, -0.0269, -0.0366, -0.0171, -0.6359, -5.5316, 6.0923, 1.4969, -0.0611, -0.0024, -0.0757]\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\": 0.41, \"right_y\": 0.016, \"right_z\": 0.045, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm slipped slightly back to x=0.369 and sank to z=0.012, so the fingertips may be dragging on the table and stalling forward motion. Raising to z=0.045 while advancing to x=0.41 so the jaws clear the table and reach over the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_018SUb7fWooPALjsDPfGY6pr",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_018SUb7fWooPALjsDPfGY6pr"
}

{
  "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, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.6299, 0.4179, 0.5312, -0.028, -0.02, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=0.001 left_pitch=-0.0179 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3694 right_y=0.0157 right_z=0.0121 right_yaw=0.0435 right_pitch=-0.1227 right_roll=0.0027 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -1.3607, 7.0085, 1.7607, -0.0464, -0.0708, -0.0171, -0.6496, -5.3949, 5.8735, 1.7265, -0.0464, -0.0513, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e09ad274384e271cbd623f9b1cf5844440265c8d925bc2afb2641885901648ba"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d17e604a944ec8fe14022f6f209504fc3816c4e795fbf3b5cd68c00bce9f4f4b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5446cde4f54f1d9e2c87f51578de775494e409849468b0e12e70ed4e62564385"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 11 attempt 0 · /chat/completions · status 200 · 6.99 s

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

message 29 changed as sent

message 29 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.6299, 0.4179, 0.5312, -0.028, -0.02, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=0.001 left_pitch=-0.0179 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3694 right_y=0.0157 right_z=0.0121 right_yaw=0.0435 right_pitch=-0.1227 right_roll=0.0027 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -1.0462, 7.3641, 1.7118, -0.0757, -0.0317, -0.0073, -0.4581, -5.5316, 6.1333, 1.746, -0.022, -0.0317, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.016, \"right_z\": 0.09, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The arm is frozen again at the low pose (x=0.369, z=0.012) \\u2014 this rig stalls when asked to move forward near table height. Lifting to z=0.09 (which unstuck it before) while moving forward to x=0.40, so I can then descend straight down onto the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Q1p5EVbQkN2VcDFbkH4kFT",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01Q1p5EVbQkN2VcDFbkH4kFT"
}

{
  "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, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.4815, 0.5434, 0.3805, -0.0315, -0.0238, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=0.001 left_pitch=-0.0179 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3989 right_y=0.0168 right_z=0.0825 right_yaw=0.0483 right_pitch=0.0006 right_roll=-0.0017 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.3607, 7.0085, 1.7753, -0.0806, -0.0659, -0.0171, -0.4308, -6.5709, 6.8308, 1.5653, -0.0269, -0.0171, -0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ae297f787e78cefd316c39a85bc5a46401d11a8438b395c99321e1c54a048a34"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:3f09b113e03c8fa74af9114757bb2e6676bd313df462cf2086272c39f3539a44"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:d53f8478932d89fd1d2cc82d0aaf5a8ed7b346cc30e35cd146b79b1cfae85145"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 12 attempt 0 · /chat/completions · status 200 · 11.09 s

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

message 32 changed as sent

message 32 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.6299, 0.4179, 0.5312, -0.028, -0.02, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=0.001 left_pitch=-0.0179 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3694 right_y=0.0157 right_z=0.0121 right_yaw=0.0435 right_pitch=-0.1227 right_roll=0.0027 right_gripper=0.9994\nstate[joint_eff]: [-0.1162, -1.3607, 7.0085, 1.7607, -0.0464, -0.0708, -0.0171, -0.6496, -5.3949, 5.8735, 1.7265, -0.0464, -0.0513, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.4, \"right_y\": 0.016, \"right_z\": 0.03, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"Now at x=0.40, z=0.08 the knob sits squarely between the two finger silhouettes in the wrist camera. Descending straight down to z=0.03 so the jaws surround the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01TycBSb1wgdW6RTmmoyCM7M",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_01TycBSb1wgdW6RTmmoyCM7M"
}

{
  "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, 0.8116, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.6932, 0.4652, 0.5678, -0.0315, -0.0238, 0.9993]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1747 left_yaw=0.001 left_pitch=-0.0206 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3858 right_y=0.0166 right_z=0.0124 right_yaw=0.0484 right_pitch=-0.102 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.5385, 7.1453, 1.6874, -0.0415, -0.0611, -0.0171, -0.6222, -7.1316, 4.8615, 2.4542, -0.0708, -0.0513, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:29a8020ee51077cacebab12182ef3c42b3f32b233f59c6c3f22b0d1c9034b053"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:83bdc0dec77fa07640a387827262b764beea1708c9305742d77401bd6facc47b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:793bfacf57af31dfaa84e292874668c07e58cbe909c764622b816368fe3f53db"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 13 attempt 0 · /chat/completions · status 200 · 15.42 s

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

message 35 changed as sent

message 35 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.4815, 0.5434, 0.3805, -0.0315, -0.0238, 0.9994]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1755 left_yaw=0.001 left_pitch=-0.0179 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3989 right_y=0.0168 right_z=0.0825 right_yaw=0.0483 right_pitch=0.0006 right_roll=-0.0017 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.3607, 7.0085, 1.7753, -0.0806, -0.0659, -0.0171, -0.4308, -6.5709, 6.8308, 1.5653, -0.0269, -0.0171, -0.0806]\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\": 0.395, \"right_y\": 0.016, \"right_z\": 0.012, \"right_pitch\": -0.1, \"right_gripper\": 0.0}, \"note\": \"The gripper is at table height with the knob framed between the two jaw silhouettes in the wrist camera. Closing the gripper while nudging slightly forward to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_0117jaGTmpMQ8XoQp1xNqRw9",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_0117jaGTmpMQ8XoQp1xNqRw9"
}

{
  "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, 0.812, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.7107, 0.4751, 0.5568, -0.0353, -0.0345, 0.0105]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1746 left_yaw=0.001 left_pitch=-0.021 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3859 right_y=0.0173 right_z=0.0071 right_yaw=0.0574 right_pitch=-0.1205 right_roll=-0.0041 right_gripper=0.0105\nstate[joint_eff]: [-0.3487, -1.388, 7.0632, 1.7363, -0.0317, -0.0806, -0.0073, -0.2667, -5.0803, 7.0496, 1.7216, -0.0269, 0.0562, 0.8523]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:a54d19cd88a298cccca431fc96c420587c4876df2a89a027f833b6a9faafbe0d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:44b8ecbe297a5e730cb76a04dce6d94e4cb3e649b564db967a362ea8d6da7a25"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f8c038d75bb4642ed38620672e96791ffeff4179beff46b73b91f021ad6178fb"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 14 attempt 0 · /chat/completions · status 200 · 9.539 s

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

message 38 changed as sent

message 38 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8116, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.6932, 0.4652, 0.5678, -0.0315, -0.0238, 0.9993]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1747 left_yaw=0.001 left_pitch=-0.0206 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3858 right_y=0.0166 right_z=0.0124 right_yaw=0.0484 right_pitch=-0.102 right_roll=0.0013 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.5385, 7.1453, 1.6874, -0.0415, -0.0611, -0.0171, -0.6222, -7.1316, 4.8615, 2.4542, -0.0708, -0.0513, -0.0757]",
      "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\": 0.016, \"right_z\": 0.08, \"right_pitch\": 0.0, \"right_gripper\": 1.0}, \"note\": \"The jaws closed on nothing \\u2014 the wrist camera shows the knob still ahead of the closed fingertips, so the grasp point stopped ~3 cm short. Opening the gripper and lifting to z=0.08 while moving forward to x=0.43, since forward motion only succeeds at height on this rig.\"}",
        "name": "move_to"
      },
      "id": "toolu_017q7TrAKGjDpXnP5JqwKUGj",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_017q7TrAKGjDpXnP5JqwKUGj"
}

{
  "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, 0.812, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.6463, 0.6224, 0.3973, -0.0494, -0.0418, 0.9953]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1746 left_yaw=0.001 left_pitch=-0.021 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4181 right_y=0.0204 right_z=0.0528 right_yaw=0.0731 right_pitch=-0.0679 right_roll=-0.0037 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -1.3197, 7.2137, 1.6923, -0.0659, -0.0562, -0.0122, -1.1009, -9.6205, 8.1026, 1.7314, -0.0269, 0.0073, -0.1929]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1b7a701944cb0720c78566f2e133fc41897ec6b4f27db5bef6734455b6acc48c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:9e3d0045390ceddeb1d162a0d3e96cda1a9841fa3f37fdf3da88526748df619b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:df9403d7c9418f8e0c00986435e72ef0997ba20aad3f5f548f1d8cfa957ddc2e"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 15 attempt 0 · /chat/completions · status 200 · 6.368 s

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

message 41 changed as sent

message 41 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.812, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.7107, 0.4751, 0.5568, -0.0353, -0.0345, 0.0105]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1746 left_yaw=0.001 left_pitch=-0.021 left_roll=-0.0005 left_gripper=0.9993 right_x=0.3859 right_y=0.0173 right_z=0.0071 right_yaw=0.0574 right_pitch=-0.1205 right_roll=-0.0041 right_gripper=0.0105\nstate[joint_eff]: [-0.3487, -1.388, 7.0632, 1.7363, -0.0317, -0.0806, -0.0073, -0.2667, -5.0803, 7.0496, 1.7216, -0.0269, 0.0562, 0.8523]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.425, \"right_y\": 0.018, \"right_z\": 0.012, \"right_pitch\": -0.05, \"right_gripper\": 1.0}, \"note\": \"At x=0.418, z=0.053 the knob now appears low in the wrist camera, directly between the two open jaws \\u2014 it should be under the grasp point. Descending straight down to table height with the jaws open.\"}",
        "name": "move_to"
      },
      "id": "toolu_01EPyvaQkfmHPkFPagcvRCH2",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01EPyvaQkfmHPkFPagcvRCH2"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8135, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0174, 1.8095, 0.5964, 0.5453, -0.054, -0.0422, 0.9986]\nstate[eef_state]: left_x=0.2958 left_y=0.0015 left_z=0.1742 left_yaw=0.001 left_pitch=-0.0225 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4178 right_y=0.0204 right_z=0.0076 right_yaw=0.0755 right_pitch=-0.1089 right_roll=0.0011 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -1.3607, 7.0085, 1.6923, -0.0855, -0.0562, -0.0073, -0.7863, -8.4991, 4.7111, 2.2198, -0.0757, -0.0562, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:16ef1aba2c63c7cd3695aa4992909588801ec6df73d2eb3fd032c1e2be5d2656"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2c198db1b9efd958f7413132a643314eb61ad424bcfa05798d8d0913f951e59a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:adc66b3ecc0a3a7aa9335e699266424c6b8ebfe50342bb40ee87e4384a26a980"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}

call 16 attempt 0 · /chat/completions · status 200 · 15.76 s

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

message 44 changed as sent

message 44 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.812, 0.6037, -0.3813, -0.0216, -0.0418, 0.9993, 0.0193, 1.6463, 0.6224, 0.3973, -0.0494, -0.0418, 0.9953]\nstate[eef_state]: left_x=0.2957 left_y=0.0015 left_z=0.1746 left_yaw=0.001 left_pitch=-0.021 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4181 right_y=0.0204 right_z=0.0528 right_yaw=0.0731 right_pitch=-0.0679 right_roll=-0.0037 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -1.3197, 7.2137, 1.6923, -0.0659, -0.0562, -0.0122, -1.1009, -9.6205, 8.1026, 1.7314, -0.0269, 0.0073, -0.1929]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.42, \"right_y\": 0.02, \"right_z\": 0.008, \"right_pitch\": -0.1, \"right_gripper\": 0.0}, \"note\": \"The wrist camera now shows the knob sitting right between the two open jaws at table height. Closing the gripper to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_013T1cnmdzuZrS6ze2R4tUwS",
      "type": "function"
    }
  ]
}

{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_013T1cnmdzuZrS6ze2R4tUwS"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8146, 0.6037, -0.3809, -0.0216, -0.0418, 0.9993, 0.0151, 1.8244, 0.5877, 0.5835, -0.062, -0.0418, 0.01]\nstate[eef_state]: left_x=0.296 left_y=0.0015 left_z=0.174 left_yaw=0.001 left_pitch=-0.0233 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4188 right_y=0.0208 right_z=0.0062 right_yaw=0.0797 right_pitch=-0.0941 right_roll=0.0054 right_gripper=0.01\nstate[joint_eff]: [-0.3214, -1.4564, 7.1863, 1.7509, -0.0171, -0.0415, -0.0171, 0.0479, -8.1573, 5.4359, 1.4725, -0.0024, -0.0073, 0.8181]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:11644eb017107a524dc70177947941b436e4f3f4707d0bfc94470299bb0954c4"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0658a0511f85900bf6e3f51b48543547eca5ef9c4dcbd8630acc96cec860d7c5"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:504d718cf6a7f21689696aa36d8612051fd1c891baf7d8aa267e53b7c3cc5bfb"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}