adhoc

completed
2026-09-03T01:45:24.990834+00:00 inspect-robots 0.58.0git unknown
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
309.2 s
total steps
112
operator
0
scenes
1
trials
1
errored
0

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

done

Operator judgements

partial

Grader notes

trial 04
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
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.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
I'll start with a modest probe motion to learn how the right arm's frame maps to the cameras: move forward and lower toward the puzzle piece.
agent noteThe right wrist camera shows the blue puzzle piece just ahead and slightly left of the gripper, with the board far ahead-left. Moving the right arm forward and down a little to see how the piece shifts in the cameras before committing to a grasp.
move_to
right_x0.3400right_z0.1200
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.0204, 0.7918, 0.6037, -0.379, -0.0216, -0.0376, 0.999, -0.0166, 0.7918, 0.6098, -0.3756, -0.0208, -0.0154, 0.9991] state[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1807 left_yaw=0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.999 right_x=0.2959 right_y=0.0024 right_z=0.1842 right_yaw=-0.0007 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9991 state[joint_eff]: [-0.4855, -1.3607, 10.4274, 1.7998, -0.0366, 0.2076, -0.1148, -0.7453, -1.1556, 9.8803, 1.7265, -0.0415, -0.0122, -0.105] 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 with a modest probe motion to learn how the right arm's frame maps to the cameras: move forward and lower toward the puzzle piece.
move_to({"targets": {"right_x": 0.34, "right_z": 0.12}, "note": "The right wrist camera shows the blue puzzle piece just ahead and slightly left of the gripper, with the board far ahead-left. Moving the right arm forward and down a little to see how the piece shifts in the cameras before committing to a grasp."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteThe right wrist camera now shows the puzzle piece a few centimeters ahead and slightly left of the gripper center. Moving forward and lower to hover just above the knob before descending for the grasp.
move_to
right_x0.3800right_y0.0100right_z0.0600
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.7979, 0.6048, -0.3809, -0.0216, -0.0414, 0.9989, -0.0177, 1.0676, 0.4644, -0.0708, -0.0212, -0.0154, 0.9991] state[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1791 left_yaw=0.0026 left_pitch=-0.0069 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3214 right_y=0.0016 right_z=0.0999 right_yaw=-0.0014 right_pitch=-0.1163 right_roll=0.0019 right_gripper=0.9991 state[joint_eff]: [-0.1983, -1.5795, 7.0085, 1.7363, -0.0513, -0.0171, -0.0171, 0.4171, -3.5077, 6.5983, 2.0733, -0.0415, -0.0122, -0.022] 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": 0.38, "right_y": 0.01, "right_z": 0.06}, "note": "The right wrist camera now shows the puzzle piece a few centimeters ahead and slightly left of the gripper center. Moving forward and lower to hover just above the knob before descending for the grasp."})
tool
executing move_to over 5 steps (0.5s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe wrist camera shows the knob still ahead of the fingertips and slightly left; the tool has also tipped back (pitch -0.23). Correcting pitch to level and moving further forward so the knob sits between the jaws.
move_to
right_x0.4000right_y0.0150right_z0.0500right_pitch0.0000
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, 0.8017, 0.6041, -0.3813, -0.0212, -0.0418, 0.999, 0.0154, 1.4452, 0.4957, 0.1589, -0.0078, -0.0113, 0.9991] state[eef_state]: left_x=0.2951 left_y=0.0014 left_z=0.1776 left_yaw=0.0025 left_pitch=-0.0118 left_roll=-0.0038 left_gripper=0.999 right_x=0.3518 right_y=0.0104 right_z=0.0344 right_yaw=0.0182 right_pitch=-0.2332 right_roll=-0.0029 right_gripper=0.9991 state[joint_eff]: [-0.335, -1.3607, 7.1043, 1.7167, -0.0415, -0.0562, -0.0073, 0.4308, -5.7368, 8.1436, 2.0, 0.0757, 0.1343, -0.0122] 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": 0.4, "right_y": 0.015, "right_z": 0.05, "right_pitch": 0.0}, "note": "The wrist camera shows the knob still ahead of the fingertips and slightly left; the tool has also tipped back (pitch -0.23). Correcting pitch to level and moving further forward so the knob sits between the jaws."})
tool
executing move_to over 8 steps (0.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe arm barely moved last step (x only reached 0.354, pitch stayed -0.21), suggesting the IK is struggling low and forward. Raising to z=0.09 while pushing forward to x=0.40 to get the knob under the gripper before descending again.
move_to
right_x0.4000right_y0.0150right_z0.0900right_pitch0.0000
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, 0.8032, 0.6041, -0.3809, -0.0212, -0.0418, 0.9989, 0.02, 1.4727, 0.4648, 0.2436, -0.0048, -0.012, 0.9991] state[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1773 left_yaw=0.0025 left_pitch=-0.013 left_roll=-0.0038 left_gripper=0.9989 right_x=0.3537 right_y=0.0115 right_z=0.029 right_yaw=0.0205 right_pitch=-0.2069 right_roll=-0.0057 right_gripper=0.9991 state[joint_eff]: [-0.2393, -1.4154, 7.0632, 1.6972, -0.0269, -0.0464, -0.0171, -0.4581, -6.1744, 5.4632, 1.7607, -0.1001, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.015, "right_z": 0.09, "right_pitch": 0.0}, "note": "The arm barely moved last step (x only reached 0.354, pitch stayed -0.21), suggesting the IK is struggling low and forward. Raising to z=0.09 while pushing forward to x=0.40 to get the knob under the gripper before descending again."})
tool
executing move_to over 7 steps (0.7s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe wrist camera now shows the knob centered between the two fingertips, slightly ahead. Descending to just above the table so the jaws straddle the knob.
move_to
right_x0.4000right_y0.0180right_z0.0200right_pitch0.0000
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, 0.8051, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0269, 1.4727, 0.5365, 0.2916, -0.0044, -0.0124, 0.9991] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1768 left_yaw=0.0028 left_pitch=-0.0149 left_roll=-0.0035 left_gripper=0.999 right_x=0.3848 right_y=0.0147 right_z=0.0649 right_yaw=0.0272 right_pitch=-0.0871 right_roll=-0.0063 right_gripper=0.9991 state[joint_eff]: [-0.1846, -1.4701, 7.0496, 1.746, -0.0708, -0.0366, -0.0073, 0.0615, -6.4068, 7.8701, 1.917, 0.0171, -0.022, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.018, "right_z": 0.02, "right_pitch": 0.0}, "note": "The wrist camera now shows the knob centered between the two fingertips, slightly ahead. Descending to just above the table so the jaws straddle the knob."})
tool
executing move_to over 3 steps (0.3s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe gripper is at table height with the knob visible between the jaws in the wrist camera. Closing the gripper to grasp the knob.
move_to
right_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, 0.8078, 0.6037, -0.3817, -0.0216, -0.0418, 0.9989, 0.0345, 1.7237, 0.4706, 0.5793, -0.001, -0.0116, 0.9991] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1757 left_yaw=0.0028 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3863 right_y=0.0171 right_z=0.0051 right_yaw=0.0315 right_pitch=-0.1164 right_roll=-0.0078 right_gripper=0.9991 state[joint_eff]: [-0.1573, -1.3607, 7.0496, 1.7167, -0.0562, -0.022, -0.0171, 0.2803, -8.9094, 4.9299, 2.2637, 0.0366, -0.3101, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The gripper is at table height with the knob visible between the jaws in the wrist camera. Closing the gripper to grasp the knob."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe gripper closed on nothing: the wrist camera shows the knob still ahead of the closed fingertips, so the grasp point was a few centimeters short. Reopening the gripper and advancing about 4 cm forward at low height to put the knob between the jaws.
move_to
right_gripper1.0000right_x0.4250right_z0.0300
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.807, 0.6041, -0.3809, -0.0216, -0.0418, 0.9989, 0.0345, 1.7348, 0.4622, 0.6132, -0.0044, -0.012, 0.0132] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0028 left_pitch=-0.0168 left_roll=-0.0035 left_gripper=0.9989 right_x=0.3872 right_y=0.0177 right_z=0.0049 right_yaw=0.0347 right_pitch=-0.1019 right_roll=-0.0059 right_gripper=0.0132 state[joint_eff]: [-0.1846, -1.2513, 7.2547, 1.7265, -0.0757, -0.0513, -0.0073, -0.0479, -7.3368, 5.2444, 1.3553, 0.0171, 0.0024, 1.2137] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.425, "right_z": 0.03}, "note": "The gripper closed on nothing: the wrist camera shows the knob still ahead of the closed fingertips, so the grasp point was a few centimeters short. Reopening the gripper and advancing about 4 cm forward at low height to put the knob between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe wrist camera now shows the knob between the two open jaws, near the fingertips. Lowering to table height and nudging forward 1 cm so the jaws surround the knob before closing.
move_to
right_x0.4300right_z0.0050
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0345, 1.7351, 0.6144, 0.4492, -0.0128, -0.025, 0.9947] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0028 left_pitch=-0.0171 left_roll=-0.0035 left_gripper=0.9989 right_x=0.4166 right_y=0.0202 right_z=0.0246 right_yaw=0.0487 right_pitch=-0.1141 right_roll=-0.0109 right_gripper=0.9947 state[joint_eff]: [-0.3214, -1.306, 7.2547, 1.6923, -0.0415, -0.0171, -0.0122, -0.4991, -6.0786, 7.5145, 1.6337, 0.0708, 0.1734, 0.0415] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_z": 0.005}, "note": "The wrist camera now shows the knob between the two open jaws, near the fingertips. Lowering to table height and nudging forward 1 cm so the jaws surround the knob before closing."})
tool
executing move_to over 2 steps (0.2s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe knob is now centered between the fingertips at table height in the wrist view. Closing the gripper to grasp the knob.
move_to
right_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, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0345, 1.8011, 0.6319, 0.477, -0.0139, -0.028, 0.9956] state[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0028 left_pitch=-0.0171 left_roll=-0.0035 left_gripper=0.9989 right_x=0.4208 right_y=0.0206 right_z=0.0097 right_yaw=0.0514 right_pitch=-0.1347 right_roll=-0.0123 right_gripper=0.9956 state[joint_eff]: [-0.0752, -1.2376, 7.159, 1.6874, -0.0464, -0.0659, -0.0073, -0.4718, -7.1453, 5.8735, 1.6337, -0.0757, 0.0024, 0.0611] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The knob is now centered between the fingertips at table height in the wrist view. Closing the gripper to grasp the knob."})
tool
executing move_to over 10 steps (1.0s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe gripper stopped at 0.24 with rising effort and the wrist camera shows the knob held between the jaws. Lifting the piece and starting to move toward the board, which in the top camera sits to the left of the piece (the right arm's +y direction).
move_to
right_z0.0800right_y0.1200
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.9989, 0.0345, 1.8397, 0.6426, 0.5301, -0.0273, -0.0345, 0.2427] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0028 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.9989 right_x=0.4288 right_y=0.0232 right_z=0.0079 right_yaw=0.0662 right_pitch=-0.1093 right_roll=-0.0095 right_gripper=0.2427 state[joint_eff]: [-0.1573, -1.4701, 7.241, 1.707, -0.0708, -0.0317, -0.0073, -0.4171, -6.8718, 5.2581, 1.6484, 0.0415, 0.022, 1.0281] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08, "right_y": 0.12}, "note": "The gripper stopped at 0.24 with rising effort and the wrist camera shows the knob held between the jaws. Lifting the piece and starting to move toward the board, which in the top camera sits to the left of the piece (the right arm's +y direction)."})
tool
executing move_to over 9 steps (0.9s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe piece is lifted and held by the knob; in the top camera the board's circular groove lies roughly 20 cm further in the arm's +y direction at about the same x. Moving most of that distance at a safe height, then I'll fine-align over the groove.
move_to
right_y0.2600right_z0.0800right_x0.4200
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, -0.3809, -0.0212, -0.0418, 0.999, 0.3401, 1.7153, 0.8051, 0.1844, 0.1753, 0.1246, 0.2463] state[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0025 left_pitch=-0.0191 left_roll=-0.0036 left_gripper=0.999 right_x=0.4223 right_y=0.1206 right_z=0.0548 right_yaw=0.1131 right_pitch=-0.1548 right_roll=-0.0218 right_gripper=0.2463 state[joint_eff]: [-0.1299, -1.1829, 7.0359, 1.6972, -0.0366, -0.0366, -0.0073, 0.1983, -11.1521, 7.9658, 1.663, 0.2515, 0.188, 1.033] approver: 2 step(s) modified (delta_clamped ×2). 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_y": 0.26, "right_z": 0.08, "right_x": 0.42}, "note": "The piece is lifted and held by the knob; in the top camera the board's circular groove lies roughly 20 cm further in the arm's +y direction at about the same x. Moving most of that distance at a safe height, then I'll fine-align over the groove."})
tool
executing move_to over 12 steps (1.2s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe wrist camera shows the board's circular groove peeking out left of and slightly behind the held piece, so the piece needs to shift roughly 4 cm further +y and 2 cm back. Adjusting position while staying above the board.
move_to
right_y0.3000right_x0.3950right_z0.0700
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, -0.3809, -0.0216, -0.0418, 0.9989, 0.6895, 1.8866, 1.1439, -0.0689, 0.3931, 0.3424, 0.2464] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0191 left_roll=-0.0034 left_gripper=0.9989 right_x=0.4139 right_y=0.2582 right_z=0.0724 right_yaw=0.1594 right_pitch=-0.1769 right_roll=-0.031 right_gripper=0.2464 state[joint_eff]: [-0.3624, -1.306, 7.2137, 1.7265, -0.0269, -0.022, -0.0171, 0.3077, -9.1009, 8.1846, 1.4237, 0.4127, 0.1636, 1.033] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.3, "right_x": 0.395, "right_z": 0.07}, "note": "The wrist camera shows the board's circular groove peeking out left of and slightly behind the held piece, so the piece needs to shift roughly 4 cm further +y and 2 cm back. Adjusting position while staying above the board."})
tool
executing move_to over 4 steps (0.4s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe wrist view shows the groove now mostly under the piece but still offset to the image-left (arm +y) and slightly forward by about 2-3 cm. Shifting a bit more +y and forward, leveling the pitch, and lowering closer to the board.
move_to
right_y0.3250right_x0.4050right_z0.0450right_pitch-0.0500
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.7876, 1.932, 1.19, -0.1196, 0.4355, 0.4015, 0.2464] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0191 left_roll=-0.0034 left_gripper=0.999 right_x=0.3921 right_y=0.2932 right_z=0.0631 right_yaw=0.187 right_pitch=-0.2016 right_roll=-0.0411 right_gripper=0.2464 state[joint_eff]: [-0.1846, -1.3333, 7.0085, 1.7265, -0.0757, -0.0464, -0.0073, 0.253, -9.1282, 8.3487, 1.4335, 0.4615, 0.1343, 1.0281] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.325, "right_x": 0.405, "right_z": 0.045, "right_pitch": -0.05}, "note": "The wrist view shows the groove now mostly under the piece but still offset to the image-left (arm +y) and slightly forward by about 2-3 cm. Shifting a bit more +y and forward, leveling the pitch, and lowering closer to the board."})
tool
executing move_to over 6 steps (0.6s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe arm barely tracked the last command (y only 0.299, z unchanged), likely an IK stall; the groove is still offset toward image-left (+y) beneath the piece. Retrying with a smaller step in y and z only, leaving orientation free.
move_to
right_y0.3200right_z0.0400
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, -0.3809, -0.0212, -0.0418, 0.9989, 0.8066, 1.9377, 1.1984, -0.1253, 0.4522, 0.416, 0.2469] state[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0025 left_pitch=-0.0191 left_roll=-0.0036 left_gripper=0.9989 right_x=0.3886 right_y=0.2991 right_z=0.0636 right_yaw=0.1849 right_pitch=-0.1966 right_roll=-0.0428 right_gripper=0.2469 state[joint_eff]: [-0.0889, -1.3333, 7.0085, 1.6972, -0.0073, -0.0513, -0.0171, -0.1983, -9.6068, 8.1026, 1.3504, 0.359, 0.1587, 0.9402] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.32, "right_z": 0.04}, "note": "The arm barely tracked the last command (y only 0.299, z unchanged), likely an IK stall; the groove is still offset toward image-left (+y) beneath the piece. Retrying with a smaller step in y and z only, leaving orientation free."})
tool
executing move_to over 2 steps (0.2s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe arm has not moved for two commands, so the IK appears stuck at this pose. Lifting up to z=0.09 with a neutral orientation while shifting +y to unstick it, then I'll descend over the groove which sits image-left/up (arm +y and slightly +x) of the piece.
move_to
right_x0.4000right_y0.3300right_z0.0900right_yaw0.0000right_pitch0.0000right_roll0.0000
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, -0.3809, -0.0216, -0.0418, 0.9989, 0.8066, 1.9377, 1.1984, -0.1257, 0.4522, 0.416, 0.2497] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0191 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3885 right_y=0.299 right_z=0.0636 right_yaw=0.1848 right_pitch=-0.1969 right_roll=-0.043 right_gripper=0.2497 state[joint_eff]: [-0.3624, -1.347, 7.0222, 1.7314, -0.0415, -0.0806, -0.0073, -0.253, -9.6068, 8.3077, 1.3504, 0.2955, 0.1294, 0.9206] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.33, "right_z": 0.09, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "The arm has not moved for two commands, so the IK appears stuck at this pose. Lifting up to z=0.09 with a neutral orientation while shifting +y to unstick it, then I'll descend over the groove which sits image-left/up (arm +y and slightly +x) of the piece."})
tool
executing move_to over 7 steps (0.7s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe wrist camera now shows the blue piece squarely over the board with the board's edge showing evenly above it, so the groove should be directly below. Lowering the piece onto the board to seat it in the groove.
move_to
right_x0.3950right_y0.3300right_z0.0300right_pitch0.0000
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, -0.3809, -0.0212, -0.0418, 0.9989, 0.9062, 2.0212, 1.2896, -0.1169, 0.6487, 0.5407, 0.2513] state[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0025 left_pitch=-0.0191 left_roll=-0.0036 left_gripper=0.9989 right_x=0.3876 right_y=0.3274 right_z=0.0726 right_yaw=0.0746 right_pitch=-0.0838 right_roll=-0.0475 right_gripper=0.2513 state[joint_eff]: [-0.0752, -1.3333, 7.0496, 1.707, -0.0366, -0.0415, -0.0122, 0.4718, -9.7709, 8.7179, 1.7509, 0.6471, 0.2027, 0.8913] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.395, "right_y": 0.33, "right_z": 0.03, "right_pitch": 0.0}, "note": "The wrist camera now shows the blue piece squarely over the board with the board's edge showing evenly above it, so the groove should be directly below. Lowering the piece onto the board to seat it in the groove."})
tool
executing move_to over 3 steps (0.3s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe piece is over the board, which frames it evenly in the wrist camera; z is at 0.036 so the piece is probably just above or resting on the board. Lowering the last couple centimeters and releasing the gripper to drop the piece into the groove.
move_to
right_z0.0100right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only. state[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.9096, 2.1036, 1.2137, 0.0738, 0.6868, 0.5186, 0.2538] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0191 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3905 right_y=0.3254 right_z=0.0364 right_yaw=0.0644 right_pitch=-0.0416 right_roll=-0.0603 right_gripper=0.2538 state[joint_eff]: [-0.1026, -1.1829, 7.241, 1.6874, -0.0757, -0.0562, -0.0073, -0.0752, -10.6051, 5.5179, 1.6581, 0.3687, -0.1001, 0.7448] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.01, "right_gripper": 1.0}, "note": "The piece is over the board, which frames it evenly in the wrist camera; z is at 0.036 so the piece is probably just above or resting on the board. Lowering the last couple centimeters and releasing the gripper to drop the piece into the groove."})
tool
executing move_to over 8 steps (0.8s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteGrasped the round blue puzzle piece by its center knob with the right arm, carried it ~31 cm in +y to the board, and released it over the circular groove. The wrist camera shows the piece resting on the board over the groove, though it may be slightly offset (~1 cm toward -y/-x) and not fully seated; call budget did not allow a regrasp-and-nudge.
done
hindsightRig facts: right arm start pose x≈0.30,y≈0,z≈0.18 with gripper open. The blue piece sat at approx right (x=0.43, y=0.02); the board groove at approx (x=0.40, y=0.33). Table surface is near z≈0.005–0.01 for the grasp point; the knob was gripped at z≈0.008 with gripper closing to ~0.24. The wrist camera (right_cam) looks forward-down: image-up ≈ arm +x, image-left ≈ arm +y; the knob appears between the fingertips only when it is truly between them—if it looks 'just ahead' of the tips you are ~3-4 cm short, so first grasp attempt at x=0.387 closed on nothing while x=0.43 succeeded. The IK tends to tip pitch negative (-0.1 to -0.2) when reaching low/forward and sometimes stalls entirely (no motion for 2 commands) around y≈0.30, z≈0.06; lifting to z≈0.09 and commanding neutral yaw/pitch/roll unstuck it. Approver delta-clamps large steps, so combined moves of >5 cm get truncated—expect to re-command. For placement, align so the board edge frames the piece evenly in the wrist camera, then lower to z≈0.03 before releasing; better to lower to z≈0.015 while still gripped so the piece drops into the groove rather than resting on the rim. Budget of 20 calls is tight: aim to grasp in ≤6 moves.
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, -0.3809, -0.0216, -0.0418, 0.9989, 0.9096, 2.1368, 1.1915, 0.1684, 0.6838, 0.485, 0.9952] state[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0191 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3931 right_y=0.3294 right_z=0.0264 right_yaw=0.0852 right_pitch=-0.0177 right_roll=-0.0576 right_gripper=0.9952 state[joint_eff]: [-0.3077, -1.347, 7.0222, 1.7363, -0.0513, -0.0659, -0.0073, -0.0479, -11.2205, 5.641, 1.5751, 0.3248, 0.0122, -0.2564] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
done({"summary": "Grasped the round blue puzzle piece by its center knob with the right arm, carried it ~31 cm in +y to the board, and released it over the circular groove. The wrist camera shows the piece resting on the board over the groove, though it may be slightly offset (~1 cm toward -y/-x) and not fully seated; call budget did not allow a regrasp-and-nudge.", "hindsight": "Rig facts: right arm start pose x\u22480.30,y\u22480,z\u22480.18 with gripper open. The blue piece sat at approx right (x=0.43, y=0.02); the board groove at approx (x=0.40, y=0.33). Table surface is near z\u22480.005\u20130.01 for the grasp point; the knob was gripped at z\u22480.008 with gripper closing to ~0.24. The wrist camera (right_cam) looks forward-down: image-up \u2248 arm +x, image-left \u2248 arm +y; the knob appears between the fingertips only when it is truly between them\u2014if it looks 'just ahead' of the tips you are ~3-4 cm short, so first grasp attempt at x=0.387 closed on nothing while x=0.43 succeeded. The IK tends to tip pitch negative (-0.1 to -0.2) when reaching low/forward and sometimes stalls entirely (no motion for 2 commands) around y\u22480.30, z\u22480.06; lifting to z\u22480.09 and commanding neutral yaw/pitch/roll unstuck it. Approver delta-clamps large steps, so combined moves of >5 cm get truncated\u2014expect to re-command. For placement, align so the board edge frames the piece evenly in the wrist camera, then lower to z\u22480.03 before releasing; better to lower to z\u22480.015 while still gripped so the piece drops into the groove rather than resting on the rim. Budget of 20 calls is tight: aim to grasp in \u22646 moves."})
tool
done: Grasped the round blue puzzle piece by its center knob with the right arm, carried it ~31 cm in +y to the board, and released it over the circular groove. The wrist camera shows the piece resting on the board over the groove, though it may be slightly offset (~1 cm toward -y/-x) and not fully seated; call budget did not allow a regrasp-and-nudge.
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 · 39.17 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, 0.7918, 0.6037, -0.379, -0.0216, -0.0376, 0.999, -0.0166, 0.7918, 0.6098, -0.3756, -0.0208, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1807 left_yaw=0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.999 right_x=0.2959 right_y=0.0024 right_z=0.1842 right_yaw=-0.0007 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4855, -1.3607, 10.4274, 1.7998, -0.0366, 0.2076, -0.1148, -0.7453, -1.1556, 9.8803, 1.7265, -0.0415, -0.0122, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:80aa496dbd22e8d7e2323a05c12dda794d318297b3327ada6803cbbe65633774"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5f59b872bc0b244d4e25736ce591697148ad777806a11fc69173fc2a9467613c"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e7623ef1ddb92687fc1dcbee8866d66994b9a05896ab3cb324430f7d11229d20"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 80aa496dbd22
wire blob 5f59b872bc0b
wire blob e7623ef1ddb9
call 1 attempt 0 · /chat/completions · status 200 · 12.61 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "I'll start with a modest probe motion to learn how the right arm's frame maps to the cameras: move forward and lower toward the puzzle piece.",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.34, \"right_z\": 0.12}, \"note\": \"The right wrist camera shows the blue puzzle piece just ahead and slightly left of the gripper, with the board far ahead-left. Moving the right arm forward and down a little to see how the piece shifts in the cameras before committing to a grasp.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Y1GXuPNjbX29DAFPmHEDdZ",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01Y1GXuPNjbX29DAFPmHEDdZ"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.7979, 0.6048, -0.3809, -0.0216, -0.0414, 0.9989, -0.0177, 1.0676, 0.4644, -0.0708, -0.0212, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1791 left_yaw=0.0026 left_pitch=-0.0069 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3214 right_y=0.0016 right_z=0.0999 right_yaw=-0.0014 right_pitch=-0.1163 right_roll=0.0019 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.5795, 7.0085, 1.7363, -0.0513, -0.0171, -0.0171, 0.4171, -3.5077, 6.5983, 2.0733, -0.0415, -0.0122, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:df3552d7a615ab058510820665257035d43317bcf762065a5bcb2c55bc55fea9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8439298c9d33a64f9f09d3b50cf5bfc59f06e1f59d02da5beefb3fcd8cf85bb8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0e19e57fb6475c2b42a5d730cff1e6895b8dfa1075b047cbc06ad66ae625075f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob df3552d7a615
wire blob 8439298c9d33
wire blob 0e19e57fb647
call 2 attempt 0 · /chat/completions · status 200 · 8.858 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, 0.7918, 0.6037, -0.379, -0.0216, -0.0376, 0.999, -0.0166, 0.7918, 0.6098, -0.3756, -0.0208, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1807 left_yaw=0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.999 right_x=0.2959 right_y=0.0024 right_z=0.1842 right_yaw=-0.0007 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.4855, -1.3607, 10.4274, 1.7998, -0.0366, 0.2076, -0.1148, -0.7453, -1.1556, 9.8803, 1.7265, -0.0415, -0.0122, -0.105]",
      "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\": 0.01, \"right_z\": 0.06}, \"note\": \"The right wrist camera now shows the puzzle piece a few centimeters ahead and slightly left of the gripper center. Moving forward and lower to hover just above the knob before descending for the grasp.\"}",
        "name": "move_to"
      },
      "id": "toolu_01WaHmH2cB9zjQunH57xgPAF",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 5 steps (0.5s)",
  "role": "tool",
  "tool_call_id": "toolu_01WaHmH2cB9zjQunH57xgPAF"
}
{
  "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, 0.8017, 0.6041, -0.3813, -0.0212, -0.0418, 0.999, 0.0154, 1.4452, 0.4957, 0.1589, -0.0078, -0.0113, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0014 left_z=0.1776 left_yaw=0.0025 left_pitch=-0.0118 left_roll=-0.0038 left_gripper=0.999 right_x=0.3518 right_y=0.0104 right_z=0.0344 right_yaw=0.0182 right_pitch=-0.2332 right_roll=-0.0029 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.3607, 7.1043, 1.7167, -0.0415, -0.0562, -0.0073, 0.4308, -5.7368, 8.1436, 2.0, 0.0757, 0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:38e93e02c837f15f28d7504de9754929d2c0723627c000cfece5477cce08d370"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:49c868f6988837365c03b348c4fd7976eec159dda7ba17a75eed9b29f6de2316"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0aa1c1b8418b1884798842f5f764579a97cf8f10711b97fa2ddd2693d7350016"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 38e93e02c837
wire blob 49c868f69888
wire blob 0aa1c1b8418b
call 3 attempt 0 · /chat/completions · status 200 · 8.901 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, 0.6048, -0.3809, -0.0216, -0.0414, 0.9989, -0.0177, 1.0676, 0.4644, -0.0708, -0.0212, -0.0154, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0015 left_z=0.1791 left_yaw=0.0026 left_pitch=-0.0069 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3214 right_y=0.0016 right_z=0.0999 right_yaw=-0.0014 right_pitch=-0.1163 right_roll=0.0019 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -1.5795, 7.0085, 1.7363, -0.0513, -0.0171, -0.0171, 0.4171, -3.5077, 6.5983, 2.0733, -0.0415, -0.0122, -0.022]",
      "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\": 0.015, \"right_z\": 0.05, \"right_pitch\": 0.0}, \"note\": \"The wrist camera shows the knob still ahead of the fingertips and slightly left; the tool has also tipped back (pitch -0.23). Correcting pitch to level and moving further forward so the knob sits between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01EukjDbbNBdTZn5t9Qeazh1",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01EukjDbbNBdTZn5t9Qeazh1"
}
{
  "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, 0.8032, 0.6041, -0.3809, -0.0212, -0.0418, 0.9989, 0.02, 1.4727, 0.4648, 0.2436, -0.0048, -0.012, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1773 left_yaw=0.0025 left_pitch=-0.013 left_roll=-0.0038 left_gripper=0.9989 right_x=0.3537 right_y=0.0115 right_z=0.029 right_yaw=0.0205 right_pitch=-0.2069 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.4154, 7.0632, 1.6972, -0.0269, -0.0464, -0.0171, -0.4581, -6.1744, 5.4632, 1.7607, -0.1001, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1ddcd6293447a5f52f558651482b82062a58ffcdb829a173d57687f0627e7e61"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:dd4f25453f5548f4a4a61c896575c7e5e2b8e705bfdf25e130d07eddea2ad1c3"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:247098f4cc41401a6c8db660fa31818a282c3daba11af0da54866e614826d68c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 1ddcd6293447
wire blob dd4f25453f55
wire blob 247098f4cc41
call 4 attempt 0 · /chat/completions · status 200 · 13.61 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, 0.8017, 0.6041, -0.3813, -0.0212, -0.0418, 0.999, 0.0154, 1.4452, 0.4957, 0.1589, -0.0078, -0.0113, 0.9991]\nstate[eef_state]: left_x=0.2951 left_y=0.0014 left_z=0.1776 left_yaw=0.0025 left_pitch=-0.0118 left_roll=-0.0038 left_gripper=0.999 right_x=0.3518 right_y=0.0104 right_z=0.0344 right_yaw=0.0182 right_pitch=-0.2332 right_roll=-0.0029 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -1.3607, 7.1043, 1.7167, -0.0415, -0.0562, -0.0073, 0.4308, -5.7368, 8.1436, 2.0, 0.0757, 0.1343, -0.0122]\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\": 0.015, \"right_z\": 0.09, \"right_pitch\": 0.0}, \"note\": \"The arm barely moved last step (x only reached 0.354, pitch stayed -0.21), suggesting the IK is struggling low and forward. Raising to z=0.09 while pushing forward to x=0.40 to get the knob under the gripper before descending again.\"}",
        "name": "move_to"
      },
      "id": "toolu_016Sj5yUGATmSNmANXBVWo9o",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_016Sj5yUGATmSNmANXBVWo9o"
}
{
  "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, 0.8051, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0269, 1.4727, 0.5365, 0.2916, -0.0044, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1768 left_yaw=0.0028 left_pitch=-0.0149 left_roll=-0.0035 left_gripper=0.999 right_x=0.3848 right_y=0.0147 right_z=0.0649 right_yaw=0.0272 right_pitch=-0.0871 right_roll=-0.0063 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.4701, 7.0496, 1.746, -0.0708, -0.0366, -0.0073, 0.0615, -6.4068, 7.8701, 1.917, 0.0171, -0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:48b176b24e0d89b48e8ca91dac81710346ea36ff8772f43f11e93a7de228d788"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:880eb9bcdbe2a9a3cdf9800fe30cb3ecd592cb90d430d570571da944d3428291"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1ef05bc69f7354b34a2d36c95aa99c92f51b575bfaacbb08927ff1bfb40703f7"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 48b176b24e0d
wire blob 880eb9bcdbe2
wire blob 1ef05bc69f73
call 5 attempt 0 · /chat/completions · status 200 · 6.837 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, 0.8032, 0.6041, -0.3809, -0.0212, -0.0418, 0.9989, 0.02, 1.4727, 0.4648, 0.2436, -0.0048, -0.012, 0.9991]\nstate[eef_state]: left_x=0.2953 left_y=0.0014 left_z=0.1773 left_yaw=0.0025 left_pitch=-0.013 left_roll=-0.0038 left_gripper=0.9989 right_x=0.3537 right_y=0.0115 right_z=0.029 right_yaw=0.0205 right_pitch=-0.2069 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.4154, 7.0632, 1.6972, -0.0269, -0.0464, -0.0171, -0.4581, -6.1744, 5.4632, 1.7607, -0.1001, -0.0415, -0.0171]\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\": 0.018, \"right_z\": 0.02, \"right_pitch\": 0.0}, \"note\": \"The wrist camera now shows the knob centered between the two fingertips, slightly ahead. Descending to just above the table so the jaws straddle the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01B6z9cNz2ZFpbkYAaXKxphe",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01B6z9cNz2ZFpbkYAaXKxphe"
}
{
  "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, 0.8078, 0.6037, -0.3817, -0.0216, -0.0418, 0.9989, 0.0345, 1.7237, 0.4706, 0.5793, -0.001, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1757 left_yaw=0.0028 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3863 right_y=0.0171 right_z=0.0051 right_yaw=0.0315 right_pitch=-0.1164 right_roll=-0.0078 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.3607, 7.0496, 1.7167, -0.0562, -0.022, -0.0171, 0.2803, -8.9094, 4.9299, 2.2637, 0.0366, -0.3101, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:6e290ea18d3a360b1319fb303b16cea89c56bbeb1414d000497058ac022496cd"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:cf1cbe8f10d70c2bf259059621faea04c05fae009e81d868738b5e6f41eb4608"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:630a741426267cdc649f3b491e9726b92c0d01a75acf66d088748febe609603f"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 6e290ea18d3a
wire blob cf1cbe8f10d7
wire blob 630a74142626
call 6 attempt 0 · /chat/completions · status 200 · 12.8 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, 0.8051, 0.6041, -0.3809, -0.0216, -0.0418, 0.999, 0.0269, 1.4727, 0.5365, 0.2916, -0.0044, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1768 left_yaw=0.0028 left_pitch=-0.0149 left_roll=-0.0035 left_gripper=0.999 right_x=0.3848 right_y=0.0147 right_z=0.0649 right_yaw=0.0272 right_pitch=-0.0871 right_roll=-0.0063 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -1.4701, 7.0496, 1.746, -0.0708, -0.0366, -0.0073, 0.0615, -6.4068, 7.8701, 1.917, 0.0171, -0.022, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_gripper\": 0.0}, \"note\": \"The gripper is at table height with the knob visible between the jaws in the wrist camera. Closing the gripper to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_014VnNuGNUtw2jB11F5f8Qvj",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_014VnNuGNUtw2jB11F5f8Qvj"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6041, -0.3809, -0.0216, -0.0418, 0.9989, 0.0345, 1.7348, 0.4622, 0.6132, -0.0044, -0.012, 0.0132]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0028 left_pitch=-0.0168 left_roll=-0.0035 left_gripper=0.9989 right_x=0.3872 right_y=0.0177 right_z=0.0049 right_yaw=0.0347 right_pitch=-0.1019 right_roll=-0.0059 right_gripper=0.0132\nstate[joint_eff]: [-0.1846, -1.2513, 7.2547, 1.7265, -0.0757, -0.0513, -0.0073, -0.0479, -7.3368, 5.2444, 1.3553, 0.0171, 0.0024, 1.2137]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:33605cc7b19612ce93091a51f429d44285f8433f1178fde9fd43f232703ca791"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2fede096d1ad35a82abec6a3244a1633ce9c6410fba9d839204b937a27dfca2e"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4602e6004491ebf36947808ec922b7a1877022e05c1b8e21db9dd962a2f0df35"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 33605cc7b196
wire blob 2fede096d1ad
wire blob 4602e6004491
call 7 attempt 0 · /chat/completions · status 200 · 8.11 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, 0.8078, 0.6037, -0.3817, -0.0216, -0.0418, 0.9989, 0.0345, 1.7237, 0.4706, 0.5793, -0.001, -0.0116, 0.9991]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1757 left_yaw=0.0028 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3863 right_y=0.0171 right_z=0.0051 right_yaw=0.0315 right_pitch=-0.1164 right_roll=-0.0078 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -1.3607, 7.0496, 1.7167, -0.0562, -0.022, -0.0171, 0.2803, -8.9094, 4.9299, 2.2637, 0.0366, -0.3101, -0.0171]\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_gripper\": 1.0, \"right_x\": 0.425, \"right_z\": 0.03}, \"note\": \"The gripper closed on nothing: the wrist camera shows the knob still ahead of the closed fingertips, so the grasp point was a few centimeters short. Reopening the gripper and advancing about 4 cm forward at low height to put the knob between the jaws.\"}",
        "name": "move_to"
      },
      "id": "toolu_01KyipqGvRb6sg83HCyaB6bz",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01KyipqGvRb6sg83HCyaB6bz"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0345, 1.7351, 0.6144, 0.4492, -0.0128, -0.025, 0.9947]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0028 left_pitch=-0.0171 left_roll=-0.0035 left_gripper=0.9989 right_x=0.4166 right_y=0.0202 right_z=0.0246 right_yaw=0.0487 right_pitch=-0.1141 right_roll=-0.0109 right_gripper=0.9947\nstate[joint_eff]: [-0.3214, -1.306, 7.2547, 1.6923, -0.0415, -0.0171, -0.0122, -0.4991, -6.0786, 7.5145, 1.6337, 0.0708, 0.1734, 0.0415]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:517c611c13da40ee7cce89397cf1c284cc4fe90c114d704360adf95894d3f3a9"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:1f936bd49a83c8fc92581f69cfd25017be8f51904c86d8b2d16c9859a50c01c0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:340c86daf0c3a388e0ad8d8573d1325259420b36f4a29c68eac66fccf5e0a200"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 517c611c13da
wire blob 1f936bd49a83
wire blob 340c86daf0c3
call 8 attempt 0 · /chat/completions · status 200 · 5.786 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, 0.807, 0.6041, -0.3809, -0.0216, -0.0418, 0.9989, 0.0345, 1.7348, 0.4622, 0.6132, -0.0044, -0.012, 0.0132]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1762 left_yaw=0.0028 left_pitch=-0.0168 left_roll=-0.0035 left_gripper=0.9989 right_x=0.3872 right_y=0.0177 right_z=0.0049 right_yaw=0.0347 right_pitch=-0.1019 right_roll=-0.0059 right_gripper=0.0132\nstate[joint_eff]: [-0.1846, -1.2513, 7.2547, 1.7265, -0.0757, -0.0513, -0.0073, -0.0479, -7.3368, 5.2444, 1.3553, 0.0171, 0.0024, 1.2137]\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\": 0.43, \"right_z\": 0.005}, \"note\": \"The wrist camera now shows the knob between the two open jaws, near the fingertips. Lowering to table height and nudging forward 1 cm so the jaws surround the knob before closing.\"}",
        "name": "move_to"
      },
      "id": "toolu_016hSr4jXEkHur1CR8Ukq4Ku",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_016hSr4jXEkHur1CR8Ukq4Ku"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0345, 1.8011, 0.6319, 0.477, -0.0139, -0.028, 0.9956]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0028 left_pitch=-0.0171 left_roll=-0.0035 left_gripper=0.9989 right_x=0.4208 right_y=0.0206 right_z=0.0097 right_yaw=0.0514 right_pitch=-0.1347 right_roll=-0.0123 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -1.2376, 7.159, 1.6874, -0.0464, -0.0659, -0.0073, -0.4718, -7.1453, 5.8735, 1.6337, -0.0757, 0.0024, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:ee0a833ebf2a05b86d3b59ec09f196b10e2f982378fe239f187e8f37894cc7e2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:01558e4cc04cf109bf24990cfd8a3113f138d79b7297fd3d3741069a9e8b6c2b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:84436e8c989de1e63edb62bd8a346d2bac668ba3a7faef628a800d6a79792c53"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob ee0a833ebf2a
wire blob 01558e4cc04c
wire blob 84436e8c989d
call 9 attempt 0 · /chat/completions · status 200 · 14.23 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, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0345, 1.7351, 0.6144, 0.4492, -0.0128, -0.025, 0.9947]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0028 left_pitch=-0.0171 left_roll=-0.0035 left_gripper=0.9989 right_x=0.4166 right_y=0.0202 right_z=0.0246 right_yaw=0.0487 right_pitch=-0.1141 right_roll=-0.0109 right_gripper=0.9947\nstate[joint_eff]: [-0.3214, -1.306, 7.2547, 1.6923, -0.0415, -0.0171, -0.0122, -0.4991, -6.0786, 7.5145, 1.6337, 0.0708, 0.1734, 0.0415]\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_gripper\": 0.0}, \"note\": \"The knob is now centered between the fingertips at table height in the wrist view. Closing the gripper to grasp the knob.\"}",
        "name": "move_to"
      },
      "id": "toolu_01Wq4UtjDy8aZrKW4yBgMtQV",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 10 steps (1.0s)",
  "role": "tool",
  "tool_call_id": "toolu_01Wq4UtjDy8aZrKW4yBgMtQV"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6041, -0.3809, -0.0216, -0.0418, 0.9989, 0.0345, 1.8397, 0.6426, 0.5301, -0.0273, -0.0345, 0.2427]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0028 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.9989 right_x=0.4288 right_y=0.0232 right_z=0.0079 right_yaw=0.0662 right_pitch=-0.1093 right_roll=-0.0095 right_gripper=0.2427\nstate[joint_eff]: [-0.1573, -1.4701, 7.241, 1.707, -0.0708, -0.0317, -0.0073, -0.4171, -6.8718, 5.2581, 1.6484, 0.0415, 0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:115e759ce1e10804b016d98f1dc1260e6ccee59d74773935ef240c83c3002be2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:5d8118ebb8e9be33774eb1376c18903c51b150b453d5fecd9d73baeb8d8ef780"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:0c9c62d3bf35504199c2b57f4b70536c0bfe2f77918a47381c2964dfaf742023"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 115e759ce1e1
wire blob 5d8118ebb8e9
wire blob 0c9c62d3bf35
call 10 attempt 0 · /chat/completions · status 200 · 16.72 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, 0.807, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.0345, 1.8011, 0.6319, 0.477, -0.0139, -0.028, 0.9956]\nstate[eef_state]: left_x=0.2955 left_y=0.0015 left_z=0.1761 left_yaw=0.0028 left_pitch=-0.0171 left_roll=-0.0035 left_gripper=0.9989 right_x=0.4208 right_y=0.0206 right_z=0.0097 right_yaw=0.0514 right_pitch=-0.1347 right_roll=-0.0123 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -1.2376, 7.159, 1.6874, -0.0464, -0.0659, -0.0073, -0.4718, -7.1453, 5.8735, 1.6337, -0.0757, 0.0024, 0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.08, \"right_y\": 0.12}, \"note\": \"The gripper stopped at 0.24 with rising effort and the wrist camera shows the knob held between the jaws. Lifting the piece and starting to move toward the board, which in the top camera sits to the left of the piece (the right arm's +y direction).\"}",
        "name": "move_to"
      },
      "id": "toolu_012hMQanL5ft1pZcMKj6mNEc",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 9 steps (0.9s)",
  "role": "tool",
  "tool_call_id": "toolu_012hMQanL5ft1pZcMKj6mNEc"
}
{
  "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, -0.3809, -0.0212, -0.0418, 0.999, 0.3401, 1.7153, 0.8051, 0.1844, 0.1753, 0.1246, 0.2463]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0025 left_pitch=-0.0191 left_roll=-0.0036 left_gripper=0.999 right_x=0.4223 right_y=0.1206 right_z=0.0548 right_yaw=0.1131 right_pitch=-0.1548 right_roll=-0.0218 right_gripper=0.2463\nstate[joint_eff]: [-0.1299, -1.1829, 7.0359, 1.6972, -0.0366, -0.0366, -0.0073, 0.1983, -11.1521, 7.9658, 1.663, 0.2515, 0.188, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4273214d5ed32f2bd7e0addca4efb144deeaed38d14b3c9bf89ebb42c888f51d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f6751bedce30e05839eb5132707e9e009fe5e46e1a746b8381357b52f76a839d"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:c5eaf4a4f317ed3a1336d065d566dec8d3db31c870a488aa9d185db4ae61bd29"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 4273214d5ed3
wire blob f6751bedce30
wire blob c5eaf4a4f317
call 11 attempt 0 · /chat/completions · status 200 · 9.08 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, 0.6041, -0.3809, -0.0216, -0.0418, 0.9989, 0.0345, 1.8397, 0.6426, 0.5301, -0.0273, -0.0345, 0.2427]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1757 left_yaw=0.0028 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.9989 right_x=0.4288 right_y=0.0232 right_z=0.0079 right_yaw=0.0662 right_pitch=-0.1093 right_roll=-0.0095 right_gripper=0.2427\nstate[joint_eff]: [-0.1573, -1.4701, 7.241, 1.707, -0.0708, -0.0317, -0.0073, -0.4171, -6.8718, 5.2581, 1.6484, 0.0415, 0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_y\": 0.26, \"right_z\": 0.08, \"right_x\": 0.42}, \"note\": \"The piece is lifted and held by the knob; in the top camera the board's circular groove lies roughly 20 cm further in the arm's +y direction at about the same x. Moving most of that distance at a safe height, then I'll fine-align over the groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01DW247Bfquo4ToKgXKMKdbS",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 12 steps (1.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01DW247Bfquo4ToKgXKMKdbS"
}
{
  "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, -0.3809, -0.0216, -0.0418, 0.9989, 0.6895, 1.8866, 1.1439, -0.0689, 0.3931, 0.3424, 0.2464]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0191 left_roll=-0.0034 left_gripper=0.9989 right_x=0.4139 right_y=0.2582 right_z=0.0724 right_yaw=0.1594 right_pitch=-0.1769 right_roll=-0.031 right_gripper=0.2464\nstate[joint_eff]: [-0.3624, -1.306, 7.2137, 1.7265, -0.0269, -0.022, -0.0171, 0.3077, -9.1009, 8.1846, 1.4237, 0.4127, 0.1636, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:11fb738d6596c325628fd611038e5cd76b43641ceb6feafaa5d106272c690533"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:534dd2ac439926f57f05a1750a8b5a1394e63667abd5c371712a117e6f0ff66a"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:718ddc0b0563d4117f42682a4bf3241fce5de52680dce2783fc0e9bad23b437b"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 11fb738d6596
wire blob 534dd2ac4399
wire blob 718ddc0b0563
call 12 attempt 0 · /chat/completions · status 200 · 9.605 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, -0.3809, -0.0212, -0.0418, 0.999, 0.3401, 1.7153, 0.8051, 0.1844, 0.1753, 0.1246, 0.2463]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0025 left_pitch=-0.0191 left_roll=-0.0036 left_gripper=0.999 right_x=0.4223 right_y=0.1206 right_z=0.0548 right_yaw=0.1131 right_pitch=-0.1548 right_roll=-0.0218 right_gripper=0.2463\nstate[joint_eff]: [-0.1299, -1.1829, 7.0359, 1.6972, -0.0366, -0.0366, -0.0073, 0.1983, -11.1521, 7.9658, 1.663, 0.2515, 0.188, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_y\": 0.3, \"right_x\": 0.395, \"right_z\": 0.07}, \"note\": \"The wrist camera shows the board's circular groove peeking out left of and slightly behind the held piece, so the piece needs to shift roughly 4 cm further +y and 2 cm back. Adjusting position while staying above the board.\"}",
        "name": "move_to"
      },
      "id": "toolu_012Rg1Hq54YhWmKt29FXq8Jh",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 4 steps (0.4s)",
  "role": "tool",
  "tool_call_id": "toolu_012Rg1Hq54YhWmKt29FXq8Jh"
}
{
  "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, -0.3809, -0.0216, -0.0418, 0.999, 0.7876, 1.932, 1.19, -0.1196, 0.4355, 0.4015, 0.2464]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0191 left_roll=-0.0034 left_gripper=0.999 right_x=0.3921 right_y=0.2932 right_z=0.0631 right_yaw=0.187 right_pitch=-0.2016 right_roll=-0.0411 right_gripper=0.2464\nstate[joint_eff]: [-0.1846, -1.3333, 7.0085, 1.7265, -0.0757, -0.0464, -0.0073, 0.253, -9.1282, 8.3487, 1.4335, 0.4615, 0.1343, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:f2dd129e4b85d4d9fc21f2feb8fefa43094f5bb8d9b295d8881db8d83c5e9a64"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:953695c47603242e4f582d377b8a2710d857336d65f4e710ca450a5f4db9c8c8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4fbfd0f8e91c43eff6264799864f0037812eb948438c3e77c76c6574885819e2"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob f2dd129e4b85
wire blob 953695c47603
wire blob 4fbfd0f8e91c
call 13 attempt 0 · /chat/completions · status 200 · 8.603 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, -0.3809, -0.0216, -0.0418, 0.9989, 0.6895, 1.8866, 1.1439, -0.0689, 0.3931, 0.3424, 0.2464]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0191 left_roll=-0.0034 left_gripper=0.9989 right_x=0.4139 right_y=0.2582 right_z=0.0724 right_yaw=0.1594 right_pitch=-0.1769 right_roll=-0.031 right_gripper=0.2464\nstate[joint_eff]: [-0.3624, -1.306, 7.2137, 1.7265, -0.0269, -0.022, -0.0171, 0.3077, -9.1009, 8.1846, 1.4237, 0.4127, 0.1636, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_y\": 0.325, \"right_x\": 0.405, \"right_z\": 0.045, \"right_pitch\": -0.05}, \"note\": \"The wrist view shows the groove now mostly under the piece but still offset to the image-left (arm +y) and slightly forward by about 2-3 cm. Shifting a bit more +y and forward, leveling the pitch, and lowering closer to the board.\"}",
        "name": "move_to"
      },
      "id": "toolu_01PTB6uoP9WwX8vLNki8gxaM",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 6 steps (0.6s)",
  "role": "tool",
  "tool_call_id": "toolu_01PTB6uoP9WwX8vLNki8gxaM"
}
{
  "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, -0.3809, -0.0212, -0.0418, 0.9989, 0.8066, 1.9377, 1.1984, -0.1253, 0.4522, 0.416, 0.2469]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0025 left_pitch=-0.0191 left_roll=-0.0036 left_gripper=0.9989 right_x=0.3886 right_y=0.2991 right_z=0.0636 right_yaw=0.1849 right_pitch=-0.1966 right_roll=-0.0428 right_gripper=0.2469\nstate[joint_eff]: [-0.0889, -1.3333, 7.0085, 1.6972, -0.0073, -0.0513, -0.0171, -0.1983, -9.6068, 8.1026, 1.3504, 0.359, 0.1587, 0.9402]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:736fa93d8d1a65070e483539b2bb71eb88e0289666444aa234d2c2f917bcc3df"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:892d826cdf387eef7cfcf54431abc4fb42afafe422effa75440202cc3835bce2"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:4650e2f5c9d30e317f13029ac957671f4956d6c89b0ff08b0e999ed804d9b664"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 736fa93d8d1a
wire blob 892d826cdf38
wire blob 4650e2f5c9d3
call 14 attempt 0 · /chat/completions · status 200 · 13.41 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, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.999, 0.7876, 1.932, 1.19, -0.1196, 0.4355, 0.4015, 0.2464]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0191 left_roll=-0.0034 left_gripper=0.999 right_x=0.3921 right_y=0.2932 right_z=0.0631 right_yaw=0.187 right_pitch=-0.2016 right_roll=-0.0411 right_gripper=0.2464\nstate[joint_eff]: [-0.1846, -1.3333, 7.0085, 1.7265, -0.0757, -0.0464, -0.0073, 0.253, -9.1282, 8.3487, 1.4335, 0.4615, 0.1343, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_y\": 0.32, \"right_z\": 0.04}, \"note\": \"The arm barely tracked the last command (y only 0.299, z unchanged), likely an IK stall; the groove is still offset toward image-left (+y) beneath the piece. Retrying with a smaller step in y and z only, leaving orientation free.\"}",
        "name": "move_to"
      },
      "id": "toolu_01No8WnhCWqYjs8o69j6t7Nj",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 2 steps (0.2s)",
  "role": "tool",
  "tool_call_id": "toolu_01No8WnhCWqYjs8o69j6t7Nj"
}
{
  "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, -0.3809, -0.0216, -0.0418, 0.9989, 0.8066, 1.9377, 1.1984, -0.1257, 0.4522, 0.416, 0.2497]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0191 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3885 right_y=0.299 right_z=0.0636 right_yaw=0.1848 right_pitch=-0.1969 right_roll=-0.043 right_gripper=0.2497\nstate[joint_eff]: [-0.3624, -1.347, 7.0222, 1.7314, -0.0415, -0.0806, -0.0073, -0.253, -9.6068, 8.3077, 1.3504, 0.2955, 0.1294, 0.9206]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:11940cfdafab6a9be50eddaff9d757ecb633ac9a962d98e45bb3d7c7883d2290"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:87c55839ea04c283114e56ed1ca24cfd85e9a198d23b96e3506a9f0a7bdbc2bb"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:e9b64df0dcaa0fb721febbdef05f23912cfe018dd687d406f791f75892e91941"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 11940cfdafab
wire blob 87c55839ea04
wire blob e9b64df0dcaa
call 15 attempt 0 · /chat/completions · status 200 · 8.793 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, 0.8089, 0.6037, -0.3809, -0.0212, -0.0418, 0.9989, 0.8066, 1.9377, 1.1984, -0.1253, 0.4522, 0.416, 0.2469]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0025 left_pitch=-0.0191 left_roll=-0.0036 left_gripper=0.9989 right_x=0.3886 right_y=0.2991 right_z=0.0636 right_yaw=0.1849 right_pitch=-0.1966 right_roll=-0.0428 right_gripper=0.2469\nstate[joint_eff]: [-0.0889, -1.3333, 7.0085, 1.6972, -0.0073, -0.0513, -0.0171, -0.1983, -9.6068, 8.1026, 1.3504, 0.359, 0.1587, 0.9402]",
      "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\": 0.33, \"right_z\": 0.09, \"right_yaw\": 0.0, \"right_pitch\": 0.0, \"right_roll\": 0.0}, \"note\": \"The arm has not moved for two commands, so the IK appears stuck at this pose. Lifting up to z=0.09 with a neutral orientation while shifting +y to unstick it, then I'll descend over the groove which sits image-left/up (arm +y and slightly +x) of the piece.\"}",
        "name": "move_to"
      },
      "id": "toolu_01HrifL23MpVSkQhZBKopcX7",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 7 steps (0.7s)",
  "role": "tool",
  "tool_call_id": "toolu_01HrifL23MpVSkQhZBKopcX7"
}
{
  "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, -0.3809, -0.0212, -0.0418, 0.9989, 0.9062, 2.0212, 1.2896, -0.1169, 0.6487, 0.5407, 0.2513]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0025 left_pitch=-0.0191 left_roll=-0.0036 left_gripper=0.9989 right_x=0.3876 right_y=0.3274 right_z=0.0726 right_yaw=0.0746 right_pitch=-0.0838 right_roll=-0.0475 right_gripper=0.2513\nstate[joint_eff]: [-0.0752, -1.3333, 7.0496, 1.707, -0.0366, -0.0415, -0.0122, 0.4718, -9.7709, 8.7179, 1.7509, 0.6471, 0.2027, 0.8913]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:2dfc62e957cb7b29253ce90df502850cac831ac130647d970663085654679f11"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:04aba151d5bf43f004293a94832ab85c4baf1aac22f33e5ca266e0fc4808615b"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:8e257a409b28751d894bb6b829b1fdb0955c98c18bd1b3adcf296d57bebe183c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 2dfc62e957cb
wire blob 04aba151d5bf
wire blob 8e257a409b28
call 16 attempt 0 · /chat/completions · status 200 · 6.02 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, 0.8089, 0.6037, -0.3809, -0.0216, -0.0418, 0.9989, 0.8066, 1.9377, 1.1984, -0.1257, 0.4522, 0.416, 0.2497]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0191 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3885 right_y=0.299 right_z=0.0636 right_yaw=0.1848 right_pitch=-0.1969 right_roll=-0.043 right_gripper=0.2497\nstate[joint_eff]: [-0.3624, -1.347, 7.0222, 1.7314, -0.0415, -0.0806, -0.0073, -0.253, -9.6068, 8.3077, 1.3504, 0.2955, 0.1294, 0.9206]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_x\": 0.395, \"right_y\": 0.33, \"right_z\": 0.03, \"right_pitch\": 0.0}, \"note\": \"The wrist camera now shows the blue piece squarely over the board with the board's edge showing evenly above it, so the groove should be directly below. Lowering the piece onto the board to seat it in the groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01BNmFY84PG7FGFXVD4C4F5y",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 3 steps (0.3s)",
  "role": "tool",
  "tool_call_id": "toolu_01BNmFY84PG7FGFXVD4C4F5y"
}
{
  "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, -0.3809, -0.0216, -0.0418, 0.9989, 0.9096, 2.1036, 1.2137, 0.0738, 0.6868, 0.5186, 0.2538]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0191 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3905 right_y=0.3254 right_z=0.0364 right_yaw=0.0644 right_pitch=-0.0416 right_roll=-0.0603 right_gripper=0.2538\nstate[joint_eff]: [-0.1026, -1.1829, 7.241, 1.6874, -0.0757, -0.0562, -0.0073, -0.0752, -10.6051, 5.5179, 1.6581, 0.3687, -0.1001, 0.7448]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:aedac3a49e2c625d3da621c0f24eab6ad502a46a75e618b5d33bbded992ea2b0"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:681000a3a2dc1082c6daa58890dbc58fd95f84fdc3cd53836f79d0012250e886"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:765a213aa54612235a530fd63d465223a44cbd475f4f9951eb8af6e3b058c56c"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob aedac3a49e2c
wire blob 681000a3a2dc
wire blob 765a213aa546
call 17 attempt 0 · /chat/completions · status 200 · 16.98 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the round blue puzzle piece by the knob at its center and place it into the matching circular groove in the board. Use your right arm only.\nstate[joint_pos]: [-0.02, 0.8089, 0.6037, -0.3809, -0.0212, -0.0418, 0.9989, 0.9062, 2.0212, 1.2896, -0.1169, 0.6487, 0.5407, 0.2513]\nstate[eef_state]: left_x=0.2956 left_y=0.0014 left_z=0.1755 left_yaw=0.0025 left_pitch=-0.0191 left_roll=-0.0036 left_gripper=0.9989 right_x=0.3876 right_y=0.3274 right_z=0.0726 right_yaw=0.0746 right_pitch=-0.0838 right_roll=-0.0475 right_gripper=0.2513\nstate[joint_eff]: [-0.0752, -1.3333, 7.0496, 1.707, -0.0366, -0.0415, -0.0122, 0.4718, -9.7709, 8.7179, 1.7509, 0.6471, 0.2027, 0.8913]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
{
  "content": "",
  "role": "assistant",
  "tool_calls": [
    {
      "function": {
        "arguments": "{\"targets\": {\"right_z\": 0.01, \"right_gripper\": 1.0}, \"note\": \"The piece is over the board, which frames it evenly in the wrist camera; z is at 0.036 so the piece is probably just above or resting on the board. Lowering the last couple centimeters and releasing the gripper to drop the piece into the groove.\"}",
        "name": "move_to"
      },
      "id": "toolu_01MiX48925Fmv3k9tfTfXWM3",
      "type": "function"
    }
  ]
}
{
  "content": "executing move_to over 8 steps (0.8s)",
  "role": "tool",
  "tool_call_id": "toolu_01MiX48925Fmv3k9tfTfXWM3"
}
{
  "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, -0.3809, -0.0216, -0.0418, 0.9989, 0.9096, 2.1368, 1.1915, 0.1684, 0.6838, 0.485, 0.9952]\nstate[eef_state]: left_x=0.2956 left_y=0.0015 left_z=0.1755 left_yaw=0.0028 left_pitch=-0.0191 left_roll=-0.0034 left_gripper=0.9989 right_x=0.3931 right_y=0.3294 right_z=0.0264 right_yaw=0.0852 right_pitch=-0.0177 right_roll=-0.0576 right_gripper=0.9952\nstate[joint_eff]: [-0.3077, -1.347, 7.0222, 1.7363, -0.0513, -0.0659, -0.0073, -0.0479, -11.2205, 5.641, 1.5751, 0.3248, 0.0122, -0.2564]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:35a10fefab84d8b1d65e60a96de622bd94af6bc3bfcfa9abb6d9a442caec37a8"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:df4077e6bd8f303b8c029984ad8383086371181b6fb2f3dffb8b74f02e6e5bac"
      },
      "type": "image_url"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "image_url": {
        "url": "data:image/png;base64,$blob:996b03c7b7ebc64d297461da32b88fdec2da58a2834875aa7c7b0dfe41ae7997"
      },
      "type": "image_url"
    }
  ],
  "role": "user"
}
wire blob 35a10fefab84
wire blob df4077e6bd8f
wire blob 996b03c7b7eb