adhoc - adhoc_9cdbe3a3.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
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: messages
wire_capture: true
seed: 0
max steps: 900
duration: 597.4 s
total steps: 408

operator

scenes

trials

errored

scene-0

completed

put the screwdriver into the toaster

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

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 40 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. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. 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: put the screwdriver into the toaster

Raw transcript

system

user

Goal: put the screwdriver into the toaster

step 0

assistant

agent noteScrewdriver lies near table centre, slightly left, oriented forward-back; toaster is at the far left. Flying the left gripper to hover above the estimated screwdriver position.

move_to

left_x0.3000left_y-0.2600left_z0.1500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.0204, 0.794, 0.6029, -0.3794, -0.0219, -0.0246, 0.9993, -0.0185, 0.7929, 0.6102, -0.3763, -0.0204, -0.0151, 0.999] state[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1796 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0017 right_z=0.1839 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999 state[joint_eff]: [-0.3897, -1.4974, 10.4547, 1.8193, -0.0171, 0.0904, -0.0855, -0.759, -1.3197, 9.853, 1.746, -0.0122, -0.0073, -0.1197] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.3, "left_y": -0.26, "left_z": 0.15, "left_gripper": 1.0}, "note": "Screwdriver lies near table centre, slightly left, oriented forward-back; toaster is at the far left. Flying the left gripper to hover above the estimated screwdriver position."})

tool

executing move_to over 24 steps (2.4s)

step 24

assistant

agent noteWrist camera shows the screwdriver lying radially on the jaw column with its handle right under the fingertips. Descending to table level to grasp across the handle/shaft.

move_to

left_x0.3050left_y-0.2500left_z0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-1.0489, 1.5532, 0.976, -0.3798, -0.7967, -0.7628, 0.9993, -0.0193, 0.7971, 0.6132, -0.3901, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.2945 left_y=-0.2516 left_z=0.1345 left_yaw=-0.0188 left_pitch=-0.0389 left_roll=0.033 left_gripper=0.9993 right_x=0.2948 right_y=0.0016 right_z=0.1813 right_yaw=-0.0004 right_pitch=-0.0149 right_roll=0.0005 right_gripper=0.9989 state[joint_eff]: [-0.4034, -7.0632, 9.306, 1.1795, -0.5397, -0.1148, -0.0855, -0.294, -1.5795, 6.8171, 1.8535, -0.0366, -0.0611, -0.0171] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.305, "left_y": -0.25, "left_z": 0.0, "left_gripper": 1.0}, "note": "Wrist camera shows the screwdriver lying radially on the jaw column with its handle right under the fingertips. Descending to table level to grasp across the handle/shaft."})

tool

executing move_to over 9 steps (0.9s)

step 33

assistant

Handle is centered between the jaws; closing.

agent noteThe screwdriver handle sits centred between the open jaws at table level. Closing the gripper to grasp the handle.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-1.021, 1.8843, 0.7372, 0.1711, -0.7883, -0.7429, 0.9991, -0.0193, 0.7971, 0.6132, -0.3939, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.3011 left_y=-0.2447 left_z=0.0034 left_yaw=-0.0059 left_pitch=-0.0553 left_roll=0.0619 left_gripper=0.9991 right_x=0.2942 right_y=0.0016 right_z=0.1805 right_yaw=-0.0004 right_pitch=-0.0187 right_roll=0.0006 right_gripper=0.9989 state[joint_eff]: [0.4855, -6.7624, 3.8359, 0.735, -0.1245, 0.1734, -0.1099, -0.294, -1.2513, 7.0222, 1.7558, -0.0269, -0.0806, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

Handle is centered between the jaws; closing.

move_to({"targets": {"left_gripper": 0.0}, "note": "The screwdriver handle sits centred between the open jaws at table level. Closing the gripper to grasp the handle."})

tool

executing move_to over 10 steps (1.0s)

step 43

assistant

agent noteGripper settled at 0.32 (~3 cm), consistent with the handle. Lifting to verify the screwdriver comes with the jaws.

move_to

left_z0.2200

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-1.0214, 1.8973, 0.7338, 0.202, -0.7895, -0.7506, 0.3186, -0.0193, 0.7971, 0.6132, -0.395, -0.0204, -0.0151, 0.9989] state[eef_state]: left_x=0.3022 left_y=-0.2466 left_z=0.0015 left_yaw=-0.0021 left_pitch=-0.0466 left_roll=0.0438 left_gripper=0.3186 right_x=0.2941 right_y=0.0015 right_z=0.1802 right_yaw=-0.0008 right_pitch=-0.0198 right_roll=0.0004 right_gripper=0.9989 state[joint_eff]: [-0.1436, -8.9778, 4.6974, 0.8718, -0.3248, 0.0171, 1.0232, -0.1846, -1.2513, 7.0632, 1.746, -0.0415, -0.0562, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.22}, "note": "Gripper settled at 0.32 (~3 cm), consistent with the handle. Lifting to verify the screwdriver comes with the jaws."})

tool

executing move_to over 15 steps (1.5s)

step 58

assistant

agent noteScrewdriver is lifted and held with its shaft pointing forward. Carrying it high toward the toaster at the far left while starting to yaw so the shaft will align with the toaster slots.

move_to

left_x0.4200left_y-0.1000left_z0.3300left_yaw0.8000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-1.0214, 1.5425, 1.2263, -0.6827, -0.7704, -0.7624, 0.3201, -0.0193, 0.8005, 0.6132, -0.4118, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.3015 left_y=-0.2499 left_z=0.1913 left_yaw=-0.0048 left_pitch=-0.0793 left_roll=0.0578 left_gripper=0.3201 right_x=0.292 right_y=0.0016 right_z=0.1759 right_yaw=-0.0004 right_pitch=-0.04 right_roll=0.001 right_gripper=0.9989 state[joint_eff]: [-0.0889, -9.0735, 9.7299, 1.1697, -0.4957, 0.0708, 0.8864, -0.3487, -1.4564, 7.3641, 1.873, -0.0464, -0.0415, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.1, "left_z": 0.33, "left_yaw": 0.8}, "note": "Screwdriver is lifted and held with its shaft pointing forward. Carrying it high toward the toaster at the far left while starting to yaw so the shaft will align with the toaster slots."})

tool

executing move_to over 14 steps (1.4s)

step 72

assistant

agent noteWrist view shows the toaster's two slots just ahead of the screwdriver tip, roughly aligned with the shaft. Advancing along the tool direction so the tip sits over the slot.

move_to

left_x0.4700left_y-0.0300left_z0.3000left_yaw0.7500

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.548, 2.006, 2.2517, -1.5387, -0.8421, -1.1549, 0.3208, -0.0193, 0.8043, 0.6132, -0.4133, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.4168 left_y=-0.0958 left_z=0.2888 left_yaw=0.7433 left_pitch=-0.1261 left_roll=0.0467 left_gripper=0.3208 right_x=0.292 right_y=0.0016 right_z=0.1745 right_yaw=-0.0004 right_pitch=-0.0454 right_roll=0.0011 right_gripper=0.9989 state[joint_eff]: [0.212, -9.1145, 8.9368, 0.569, -0.9841, -0.1587, 0.4713, -0.0752, -1.3744, 7.0085, 1.7363, -0.0415, -0.0464, -0.0122] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.47, "left_y": -0.03, "left_z": 0.3, "left_yaw": 0.75}, "note": "Wrist view shows the toaster's two slots just ahead of the screwdriver tip, roughly aligned with the shaft. Advancing along the tool direction so the tip sits over the slot."})

tool

executing move_to over 6 steps (0.6s)

step 78

assistant

agent noteFrom this closer view the toaster slots run perpendicular to the screwdriver shaft (along the arm's y axis). Yawing the tool to point along +y and repositioning so the shaft lines up with the slot.

move_to

left_x0.5300left_y-0.0700left_z0.3000left_yaw1.5700

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.3454, 2.0769, 2.3425, -1.4425, -0.7502, -0.9504, 0.3206, -0.0193, 0.8043, 0.6132, -0.4129, -0.0204, -0.0151, 0.9989] state[eef_state]: left_x=0.4608 left_y=-0.034 left_z=0.2812 left_yaw=0.783 left_pitch=-0.1736 left_roll=0.0615 left_gripper=0.3206 right_x=0.2921 right_y=0.0016 right_z=0.1746 right_yaw=-0.0007 right_pitch=-0.045 right_roll=0.0008 right_gripper=0.9989 state[joint_eff]: [0.212, -10.7829, 8.5402, 1.0525, -0.6276, 0.2418, 0.7253, -0.3624, -1.3197, 7.2821, 1.6728, -0.0317, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.53, "left_y": -0.07, "left_z": 0.3, "left_yaw": 1.57}, "note": "From this closer view the toaster slots run perpendicular to the screwdriver shaft (along the arm's y axis). Yawing the tool to point along +y and repositioning so the shaft lines up with the slot."})

tool

executing move_to over 6 steps (0.6s)

step 84

assistant

agent noteThe arm fell short of its target (reach limit) and the wrist view shows the toaster just to the tool's right, i.e. further forward in x. Moving forward and up more modestly to get the shaft over the toaster top.

move_to

left_x0.5000left_y0.0000left_z0.2700left_yaw1.5700

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.2157, 2.2215, 2.159, -1.562, -0.8482, -1.6104, 0.3207, -0.0193, 0.8074, 0.6132, -0.4137, -0.0204, -0.0151, 0.9989] state[eef_state]: left_x=0.4374 left_y=0.0435 left_z=0.1802 left_yaw=1.3731 left_pitch=-0.1519 left_roll=0.0314 left_gripper=0.3207 right_x=0.2922 right_y=0.0016 right_z=0.1736 right_yaw=-0.0007 right_pitch=-0.0488 right_roll=0.0009 right_gripper=0.9989 state[joint_eff]: [0.335, -8.9094, 4.9983, 0.5153, -0.4225, -0.105, 0.8913, -0.0068, -0.9368, 7.0496, 1.6972, -0.0171, -0.0708, -0.0122] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.5, "left_y": 0.0, "left_z": 0.27, "left_yaw": 1.57}, "note": "The arm fell short of its target (reach limit) and the wrist view shows the toaster just to the tool's right, i.e. further forward in x. Moving forward and up more modestly to get the shaft over the toaster top."})

tool

executing move_to over 6 steps (0.6s)

step 90

assistant

agent noteThe arm is stalled beside the toaster (likely the gripper body is against its side, near the y bound). Backing off, raising, and returning to yaw 0 so the wrist camera can look down over the toaster top.

move_to

left_x0.3400left_y-0.0600left_z0.3000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.2138, 2.2322, 2.1223, -1.6112, -0.8143, -1.7252, 0.3238, -0.0193, 0.8101, 0.6132, -0.4149, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.4222 left_y=0.0434 left_z=0.1642 left_yaw=1.4576 left_pitch=-0.177 left_roll=0.0447 left_gripper=0.3238 right_x=0.2922 right_y=0.0016 right_z=0.1726 right_yaw=-0.0004 right_pitch=-0.0526 right_roll=0.0012 right_gripper=0.9989 state[joint_eff]: [0.1573, -11.3846, 6.2701, 0.3883, -0.7839, 0.1099, 0.5934, -0.1983, -1.5521, 7.1453, 1.6825, -0.0415, -0.022, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.34, "left_y": -0.06, "left_z": 0.3, "left_yaw": 0.0}, "note": "The arm is stalled beside the toaster (likely the gripper body is against its side, near the y bound). Backing off, raising, and returning to yaw 0 so the wrist camera can look down over the toaster top."})

tool

executing move_to over 10 steps (1.0s)

step 100

assistant

agent noteThe arm is still hung up next to the toaster with the tool pitched oddly. Retreating toward the base with a smaller yaw change to free it.

move_to

left_x0.3000left_y-0.0800left_z0.2000left_yaw0.6000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.3183, 1.9682, 1.7805, -1.3548, -0.6109, -1.4979, 0.3279, -0.0193, 0.8135, 0.6132, -0.4129, -0.0204, -0.0151, 0.9989] state[eef_state]: left_x=0.3937 left_y=-0.0193 left_z=0.1542 left_yaw=1.1856 left_pitch=-0.3896 left_roll=0.0187 left_gripper=0.3279 right_x=0.2926 right_y=0.0016 right_z=0.1721 right_yaw=-0.0007 right_pitch=-0.0542 right_roll=0.001 right_gripper=0.9989 state[joint_eff]: [2.7009, -13.6, 7.9385, 1.0281, -0.5055, 0.0952, 0.4225, -0.1162, -1.2786, 7.1453, 1.7802, -0.022, -0.0415, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). 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": {"left_x": 0.3, "left_y": -0.08, "left_z": 0.2, "left_yaw": 0.6}, "note": "The arm is still hung up next to the toaster with the tool pitched oddly. Retreating toward the base with a smaller yaw change to free it."})

tool

executing move_to over 8 steps (0.8s)

step 108

assistant

agent noteArm is free again and the top view shows the toaster in the far-left corner with slots running along the arm's y axis. Moving to a staging pose with the shaft yawed toward +y and pitched down, ready to approach over the toaster top.

move_to

left_x0.4000left_y-0.1200left_z0.2600left_yaw1.2000left_pitch0.4000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.5686, 1.5059, 1.3846, -1.2415, -0.551, -1.1667, 0.3313, -0.0193, 0.8185, 0.6132, -0.4129, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.3035 left_y=-0.0799 left_z=0.1897 left_yaw=0.6529 left_pitch=-0.4159 left_roll=0.0163 left_gripper=0.3313 right_x=0.2929 right_y=0.0016 right_z=0.1707 right_yaw=-0.0004 right_pitch=-0.0591 right_roll=0.0013 right_gripper=0.9989 state[joint_eff]: [-0.2393, -6.2564, 5.8051, 0.8425, -0.6325, 0.2369, 0.3492, -0.335, -1.3333, 7.0496, 1.7509, -0.0513, -0.0855, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.12, "left_z": 0.26, "left_yaw": 1.2, "left_pitch": 0.4}, "note": "Arm is free again and the top view shows the toaster in the far-left corner with slots running along the arm's y axis. Moving to a staging pose with the shaft yawed toward +y and pitched down, ready to approach over the toaster top."})

tool

executing move_to over 28 steps (2.8s)

step 136

assistant

agent noteWrist view shows the toaster top with a slot just to the tool's right, running along the shaft direction. Shifting the grasp point forward in x to bring the shaft over the slot while pitching the tip further down.

move_to

left_x0.4900left_y-0.0400left_z0.2300left_yaw1.4000left_pitch0.5000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.4622, 2.1529, 1.8645, -1.5539, -1.2945, -1.8507, 0.3333, -0.0193, 0.8185, 0.6132, -0.4156, -0.0204, -0.0151, 0.9989] state[eef_state]: left_x=0.4221 left_y=-0.0164 left_z=0.2067 left_yaw=1.1713 left_pitch=0.304 left_roll=0.0143 left_gripper=0.3333 right_x=0.2926 right_y=0.0016 right_z=0.1702 right_yaw=-0.0007 right_pitch=-0.0618 right_roll=0.0011 right_gripper=0.9989 state[joint_eff]: [0.3624, -10.9333, 8.4444, -0.3346, -1.0525, 0.1441, 0.188, -0.0479, -1.3607, 7.0496, 1.7021, -0.0562, -0.0415, -0.0122] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.49, "left_y": -0.04, "left_z": 0.23, "left_yaw": 1.4, "left_pitch": 0.5}, "note": "Wrist view shows the toaster top with a slot just to the tool's right, running along the shaft direction. Shifting the grasp point forward in x to bring the shaft over the slot while pitching the tip further down."})

tool

executing move_to over 7 steps (0.7s)

step 143

assistant

agent noteThe toaster top edge now appears behind-right of the tool, so the shaft has overshot toward the fence in y. Pulling back in y (the controller has been overshooting positive y at this yaw) with the tip pitched fully down to place it over the slot.

move_to

left_x0.5000left_y-0.1400left_z0.2500left_yaw1.5700left_pitch0.6000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.231, 2.4462, 2.3127, -1.5581, -1.4433, -1.7775, 0.3355, -0.0193, 0.8223, 0.6132, -0.4164, -0.0204, -0.0151, 0.9989] state[eef_state]: left_x=0.4908 left_y=0.0683 left_z=0.2163 left_yaw=1.3929 left_pitch=0.4423 left_roll=-0.0787 left_gripper=0.3355 right_x=0.2927 right_y=0.0016 right_z=0.169 right_yaw=-0.0007 right_pitch=-0.0664 right_roll=0.0012 right_gripper=0.9989 state[joint_eff]: [-0.8957, -11.6991, 5.8735, -0.3834, -0.8816, 0.2076, 0.2222, -0.2393, -1.6752, 7.241, 1.6825, -0.0562, -0.0757, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.5, "left_y": -0.14, "left_z": 0.25, "left_yaw": 1.57, "left_pitch": 0.6}, "note": "The toaster top edge now appears behind-right of the tool, so the shaft has overshot toward the fence in y. Pulling back in y (the controller has been overshooting positive y at this yaw) with the tip pitched fully down to place it over the slot."})

tool

executing move_to over 19 steps (1.9s)

step 162

assistant

agent noteThe arm ended up further toward the fence (y=0.09) instead of pulling back—the IK is not tracking at this yaw and reach. Retreating to a safe pose near the base to re-plan the approach.

move_to

left_x0.3200left_y-0.1000left_z0.2500left_yaw0.8000left_pitch0.0000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.1654, 2.6923, 2.8143, -1.4429, -1.5188, -1.4208, 0.3376, -0.0193, 0.8242, 0.6132, -0.4194, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.5358 left_y=0.0931 left_z=0.2394 left_yaw=1.4413 left_pitch=0.5177 left_roll=-0.0997 left_gripper=0.3376 right_x=0.2923 right_y=0.0016 right_z=0.1679 right_yaw=-0.0004 right_pitch=-0.0713 right_roll=0.0015 right_gripper=0.9989 state[joint_eff]: [0.2803, -12.9162, 8.1573, 0.6764, -1.1062, 0.1929, 0.2027, -0.3624, -1.5385, 7.2, 1.746, -0.0171, -0.0513, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.32, "left_y": -0.1, "left_z": 0.25, "left_yaw": 0.8, "left_pitch": 0.0}, "note": "The arm ended up further toward the fence (y=0.09) instead of pulling back\u2014the IK is not tracking at this yaw and reach. Retreating to a safe pose near the base to re-plan the approach."})

tool

executing move_to over 18 steps (1.8s)

step 180

assistant

agent noteClear wrist view: the toaster sits ahead-left with its slots running along the arm's x direction, starting about at x≈0.45. Moving to yaw 0 with the tip pitched down so the shaft points along the slot, hovering above its near end.

move_to

left_x0.3600left_y0.0200left_z0.2800left_yaw0.0000left_pitch0.6000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.7582, 1.668, 1.5452, -1.3464, -1.0061, -1.5734, 0.3395, -0.0193, 0.8295, 0.6132, -0.4202, -0.0204, -0.0151, 0.9989] state[eef_state]: left_x=0.3321 left_y=-0.104 left_z=0.2407 left_yaw=0.8029 left_pitch=0.0063 left_roll=-0.0948 left_gripper=0.3395 right_x=0.2925 right_y=0.0016 right_z=0.1663 right_yaw=-0.0007 right_pitch=-0.0774 right_roll=0.0014 right_gripper=0.9989 state[joint_eff]: [-0.2256, -9.9214, 5.9009, 0.398, -0.7009, -0.1294, 0.188, -0.2256, -1.7436, 7.0085, 1.7411, -0.022, -0.0708, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": 0.02, "left_z": 0.28, "left_yaw": 0.0, "left_pitch": 0.6}, "note": "Clear wrist view: the toaster sits ahead-left with its slots running along the arm's x direction, starting about at x\u22480.45. Moving to yaw 0 with the tip pitched down so the shaft points along the slot, hovering above its near end."})

tool

executing move_to over 20 steps (2.0s)

step 200

assistant

agent noteThe wrist camera now shows both toaster slots straight ahead running along the shaft, with the shaft aligned over the left slot. Advancing and lowering slightly so the tip reaches into the slot.

move_to

left_x0.4000left_y0.0350left_z0.2400left_yaw0.0000left_pitch0.6000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [0.1051, 0.963, 0.4938, 0.3664, 0.0303, -0.1204, 0.3411, -0.0193, 0.8318, 0.6132, -0.4206, -0.0204, -0.0151, 0.9989] state[eef_state]: left_x=0.3587 left_y=0.0361 left_z=0.2464 left_yaw=0.136 left_pitch=0.4641 left_roll=-0.1227 left_gripper=0.3411 right_x=0.2926 right_y=0.0016 right_z=0.1656 right_yaw=-0.0007 right_pitch=-0.0801 right_roll=0.0015 right_gripper=0.9989 state[joint_eff]: [0.1983, -2.7282, 7.8017, 2.5763, 0.1685, 0.2076, 0.1587, -0.0889, -1.6068, 7.0085, 1.6923, -0.022, -0.0855, -0.0122] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": 0.035, "left_z": 0.24, "left_yaw": 0.0, "left_pitch": 0.6}, "note": "The wrist camera now shows both toaster slots straight ahead running along the shaft, with the shaft aligned over the left slot. Advancing and lowering slightly so the tip reaches into the slot."})

tool

executing move_to over 5 steps (0.5s)

step 205

assistant

agent noteThe tip is now over the toaster's top surface just short of the slot openings, aligned with the left slot. Advancing another 3 cm so the tip drops into the slot.

move_to

left_x0.4300left_y0.0400left_z0.2200left_yaw0.0000left_pitch0.6000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [0.1799, 1.2667, 0.4644, 0.6769, 0.1951, -0.1261, 0.3426, -0.0193, 0.8349, 0.6132, -0.421, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.3952 left_y=0.0407 left_z=0.1993 left_yaw=0.06 left_pitch=0.4422 left_roll=-0.1509 left_gripper=0.3426 right_x=0.2927 right_y=0.0016 right_z=0.1647 right_yaw=-0.0004 right_pitch=-0.0835 right_roll=0.0018 right_gripper=0.9989 state[joint_eff]: [0.253, -5.053, 7.8701, 2.5079, 0.2271, 0.0073, 0.1441, -0.2803, -1.6889, 7.0906, 1.6581, -0.0122, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.43, "left_y": 0.04, "left_z": 0.22, "left_yaw": 0.0, "left_pitch": 0.6}, "note": "The tip is now over the toaster's top surface just short of the slot openings, aligned with the left slot. Advancing another 3 cm so the tip drops into the slot."})

tool

executing move_to over 6 steps (0.6s)

step 211

assistant

agent noteThe arm stalled in x — the screwdriver tip appears to be pressing against the toaster's near top edge. Lifting while advancing so the tip clears the edge and comes over the slot.

move_to

left_x0.4400left_y0.0400left_z0.2700left_yaw0.0000left_pitch0.6000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [0.1848, 1.2915, 0.4644, 0.7605, 0.218, -0.1291, 0.3432, -0.0193, 0.8352, 0.6132, -0.4202, -0.0204, -0.0151, 0.9989] state[eef_state]: left_x=0.3991 left_y=0.0394 left_z=0.2102 left_yaw=0.0412 left_pitch=0.5004 left_roll=-0.1481 left_gripper=0.3432 right_x=0.2928 right_y=0.0016 right_z=0.1647 right_yaw=-0.0007 right_pitch=-0.0831 right_roll=0.0015 right_gripper=0.9989 state[joint_eff]: [-0.1983, -5.5453, 8.0615, 2.5665, 0.2125, -0.0024, 0.0562, -0.1573, -1.5248, 7.1179, 1.6728, -0.0366, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": 0.04, "left_z": 0.27, "left_yaw": 0.0, "left_pitch": 0.6}, "note": "The arm stalled in x \u2014 the screwdriver tip appears to be pressing against the toaster's near top edge. Lifting while advancing so the tip clears the edge and comes over the slot."})

tool

executing move_to over 4 steps (0.4s)

step 215

assistant

agent noteThe arm did not move at all on the last command—it seems stuck against the toaster or a joint limit. Backing up slightly and reducing pitch to free it before re-approaching.

move_to

left_x0.3700left_y0.0300left_z0.2500left_yaw0.0000left_pitch0.3000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [0.1848, 1.2915, 0.4644, 0.7605, 0.2184, -0.1291, 0.3434, -0.0193, 0.8356, 0.6132, -0.4202, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.3991 left_y=0.0393 left_z=0.2102 left_yaw=0.0408 left_pitch=0.5004 left_roll=-0.1481 left_gripper=0.3434 right_x=0.2928 right_y=0.0016 right_z=0.1646 right_yaw=-0.0004 right_pitch=-0.0835 right_roll=0.0018 right_gripper=0.9989 state[joint_eff]: [-0.2256, -5.5316, 7.8974, 2.5421, 0.2564, 0.0024, -0.0024, -0.0615, -1.4838, 7.0222, 1.6435, -0.0171, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.37, "left_y": 0.03, "left_z": 0.25, "left_yaw": 0.0, "left_pitch": 0.3}, "note": "The arm did not move at all on the last command\u2014it seems stuck against the toaster or a joint limit. Backing up slightly and reducing pitch to free it before re-approaching."})

tool

executing move_to over 7 steps (0.7s)

step 222

assistant

agent noteArm is free; the tip sits at the toaster's near top edge with the slot openings a few cm further ahead. Moving up and forward so the tip hovers just above the left slot before lowering.

move_to

left_x0.4400left_y0.0350left_z0.2700left_yaw0.0000left_pitch0.6000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [0.1898, 1.0657, 0.6415, 0.1432, 0.2375, -0.1127, 0.344, -0.0193, 0.8391, 0.6132, -0.4202, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.3732 left_y=0.033 left_z=0.2301 left_yaw=0.0322 left_pitch=0.2903 left_roll=-0.169 left_gripper=0.344 right_x=0.293 right_y=0.0016 right_z=0.1637 right_yaw=-0.0004 right_pitch=-0.087 right_roll=0.0018 right_gripper=0.9989 state[joint_eff]: [0.0889, -4.9436, 10.9333, 2.21, 0.1929, 0.1294, 0.0562, -0.1846, -1.6068, 6.9949, 1.6679, -0.0269, -0.0611, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": 0.035, "left_z": 0.27, "left_yaw": 0.0, "left_pitch": 0.6}, "note": "Arm is free; the tip sits at the toaster's near top edge with the slot openings a few cm further ahead. Moving up and forward so the tip hovers just above the left slot before lowering."})

tool

executing move_to over 11 steps (1.1s)

step 233

assistant

agent noteThe tip is now hovering over the near end of the left slot. Lowering a few centimetres so the tip drops into the slot.

move_to

left_x0.4400left_y0.0370left_z0.1900left_yaw0.0000left_pitch0.6000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [0.1761, 1.383, 0.6407, 0.606, 0.244, -0.1593, 0.3441, -0.0193, 0.8429, 0.6132, -0.421, -0.0204, -0.0151, 0.9989] state[eef_state]: left_x=0.4315 left_y=0.0371 left_z=0.2174 left_yaw=0.0309 left_pitch=0.4291 left_roll=-0.1956 left_gripper=0.3441 right_x=0.2931 right_y=0.0015 right_z=0.1625 right_yaw=-0.0007 right_pitch=-0.0915 right_roll=0.0017 right_gripper=0.9989 state[joint_eff]: [-0.3487, -6.0923, 10.8376, 2.7033, 0.1148, -0.1001, -0.0073, -0.1573, -1.7846, 7.0222, 1.6484, -0.0171, -0.0611, -0.0122] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": 0.037, "left_z": 0.19, "left_yaw": 0.0, "left_pitch": 0.6}, "note": "The tip is now hovering over the near end of the left slot. Lowering a few centimetres so the tip drops into the slot."})

tool

executing move_to over 6 steps (0.6s)

step 239

assistant

agent noteThe tip is touching down at the near end of the left slot. Nudging forward and down so the tip slides into the slot opening.

move_to

left_x0.4550left_y0.0370left_z0.1550left_yaw0.0000left_pitch0.6000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [0.1837, 1.6268, 0.5282, 1.0317, 0.2707, -0.1818, 0.3443, -0.0193, 0.8429, 0.6132, -0.4202, -0.0204, -0.0151, 0.9989] state[eef_state]: left_x=0.4403 left_y=0.0374 left_z=0.1689 left_yaw=0.0213 left_pitch=0.4958 left_roll=-0.2116 left_gripper=0.3443 right_x=0.2932 right_y=0.0015 right_z=0.1626 right_yaw=-0.0007 right_pitch=-0.0908 right_roll=0.0017 right_gripper=0.9989 state[joint_eff]: [0.4581, -6.3932, 5.1897, 1.9951, 0.1685, -0.0024, 0.0073, -0.2393, -1.5385, 6.9949, 1.6581, -0.0415, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.455, "left_y": 0.037, "left_z": 0.155, "left_yaw": 0.0, "left_pitch": 0.6}, "note": "The tip is touching down at the near end of the left slot. Nudging forward and down so the tip slides into the slot opening."})

tool

executing move_to over 4 steps (0.4s)

step 243

assistant

agent noteThe shaft now runs along the left slot with the tip apparently inside it (descent stopped lower than the toaster top). Pushing a little further forward and down to seat the screwdriver deeper before releasing.

move_to

left_x0.4650left_y0.0380left_z0.1300left_yaw0.0000left_pitch0.6000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [0.1848, 1.8065, 0.5217, 1.3342, 0.2787, -0.1864, 0.3445, -0.0193, 0.8448, 0.6132, -0.4213, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.4489 left_y=0.0381 left_z=0.1627 left_yaw=0.0051 left_pitch=0.61 left_roll=-0.1938 left_gripper=0.3445 right_x=0.2931 right_y=0.0016 right_z=0.1619 right_yaw=-0.0004 right_pitch=-0.0938 right_roll=0.002 right_gripper=0.9989 state[joint_eff]: [-0.0342, -5.2718, 6.8308, 0.8913, 0.0757, -0.1587, 0.0171, -0.2803, -1.6615, 7.0222, 1.6532, -0.0562, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.465, "left_y": 0.038, "left_z": 0.13, "left_yaw": 0.0, "left_pitch": 0.6}, "note": "The shaft now runs along the left slot with the tip apparently inside it (descent stopped lower than the toaster top). Pushing a little further forward and down to seat the screwdriver deeper before releasing."})

tool

executing move_to over 3 steps (0.3s)

step 246

assistant

agent noteThe arm is blocked—the screwdriver is wedged with its tip in the slot and can't go deeper while held. Opening the gripper to release it into the toaster.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [0.1848, 1.8339, 0.5217, 1.3865, 0.2787, -0.2008, 0.3446, -0.0193, 0.8448, 0.6132, -0.4202, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.4495 left_y=0.0383 left_z=0.1635 left_yaw=0.0114 left_pitch=0.6329 left_roll=-0.2062 left_gripper=0.3446 right_x=0.2933 right_y=0.0016 right_z=0.1621 right_yaw=-0.0004 right_pitch=-0.0927 right_roll=0.002 right_gripper=0.9989 state[joint_eff]: [-0.212, -5.9556, 6.0923, 1.4286, 0.1197, -0.0415, -0.0073, -0.1299, -1.3744, 6.9812, 1.6874, -0.0513, -0.0464, -0.0122] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "The arm is blocked\u2014the screwdriver is wedged with its tip in the slot and can't go deeper while held. Opening the gripper to release it into the toaster."})

tool

executing move_to over 7 steps (0.7s)

step 253

assistant

agent noteThe screwdriver slid off and now lies on the table just right of the toaster, oriented roughly along the arm's y axis. Flying above it with the tool yawed 90° so the jaws will close across the shaft.

move_to

left_x0.3700left_y-0.1100left_z0.1500left_yaw1.5700left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [0.1894, 1.8351, 0.5243, 1.3777, 0.2783, -0.2089, 0.9953, -0.0193, 0.8455, 0.6132, -0.421, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.4501 left_y=0.0405 left_z=0.1619 left_yaw=0.0225 left_pitch=0.6249 left_roll=-0.2175 left_gripper=0.9953 right_x=0.2932 right_y=0.0016 right_z=0.1618 right_yaw=-0.0004 right_pitch=-0.0942 right_roll=0.002 right_gripper=0.9989 state[joint_eff]: [-0.6085, -5.6957, 6.4479, 1.4921, 0.105, 0.0366, -0.1929, -0.0889, -1.6068, 7.2821, 1.7021, -0.0317, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.37, "left_y": -0.11, "left_z": 0.15, "left_yaw": 1.57, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The screwdriver slid off and now lies on the table just right of the toaster, oriented roughly along the arm's y axis. Flying above it with the tool yawed 90\u00b0 so the jaws will close across the shaft."})

tool

executing move_to over 21 steps (2.1s)

step 274

assistant

agent noteThe wrist view shows the screwdriver lying along the arm's x axis right beside the toaster's near side, ahead-left of the tool. Returning to yaw 0 (which tracks accurately) and hovering over it to grasp across the shaft.

move_to

left_x0.4000left_y0.0300left_z0.1500left_yaw0.0000left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.3882, 2.1632, 1.8725, -1.3506, -1.0126, -2.064, 0.9983, -0.0193, 0.8501, 0.6128, -0.4377, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.4353 left_y=-0.0122 left_z=0.1553 left_yaw=1.4325 left_pitch=-0.0208 left_roll=-0.3368 left_gripper=0.9983 right_x=0.2908 right_y=0.0017 right_z=0.1571 right_yaw=-0.0003 right_pitch=-0.1159 right_roll=0.0024 right_gripper=0.9989 state[joint_eff]: [3.2205, -10.2632, 5.9829, -0.5006, -0.2711, -0.0952, -0.1929, -0.1983, -1.9487, 7.0359, 1.8193, -0.0415, -0.0659, -0.0122] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": 0.03, "left_z": 0.15, "left_yaw": 0.0, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The wrist view shows the screwdriver lying along the arm's x axis right beside the toaster's near side, ahead-left of the tool. Returning to yaw 0 (which tracks accurately) and hovering over it to grasp across the shaft."})

tool

executing move_to over 10 steps (1.0s)

step 284

assistant

agent noteTop view now clearly shows the screwdriver on open table at about (0.33, -0.07), pointing forward-right. Hovering above it with the tool yawed to align with the shaft, compensating for the yaw-dependent grasp-point offset seen earlier.

move_to

left_x0.2900left_y0.0200left_z0.1500left_yaw-1.2000left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [0.1886, 1.3613, 0.7284, -0.0265, 0.0982, -0.5598, 0.9983, -0.0193, 0.8555, 0.6128, -0.4423, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.3882 left_y=0.0601 left_z=0.1232 left_yaw=0.3852 left_pitch=-0.1644 left_roll=-0.4907 left_gripper=0.9983 right_x=0.2903 right_y=0.0017 right_z=0.1548 right_yaw=-0.0003 right_pitch=-0.1259 right_roll=0.0026 right_gripper=0.9989 state[joint_eff]: [-0.0342, -5.4632, 8.1026, 1.7411, 0.2271, 0.2711, -0.188, -0.335, -2.0308, 6.9812, 1.6777, -0.0611, -0.0708, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.29, "left_y": 0.02, "left_z": 0.15, "left_yaw": -1.2, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "Top view now clearly shows the screwdriver on open table at about (0.33, -0.07), pointing forward-right. Hovering above it with the tool yawed to align with the shaft, compensating for the yaw-dependent grasp-point offset seen earlier."})

tool

executing move_to over 11 steps (1.1s)

step 295

assistant

agent noteThe arm barely moved toward the last target and is hovering facing the toaster's side. Taking a smaller intermediate step back toward the base with a partial yaw so the IK tracks.

move_to

left_x0.3000left_y-0.0500left_z0.1800left_yaw-0.5000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [0.2317, 1.3228, 0.6064, 0.0944, 0.242, -0.445, 0.9983, -0.0193, 0.8566, 0.6128, -0.4419, -0.0204, -0.0151, 0.9989] state[eef_state]: left_x=0.3747 left_y=0.0486 left_z=0.1117 left_yaw=0.2452 left_pitch=-0.1076 left_roll=-0.4917 left_gripper=0.9983 right_x=0.2904 right_y=0.0016 right_z=0.1545 right_yaw=-0.0006 right_pitch=-0.1266 right_roll=0.0024 right_gripper=0.9989 state[joint_eff]: [0.0752, -6.2564, 7.241, 1.9072, 0.0513, -0.0073, -0.1929, -0.1436, -1.7026, 6.9402, 1.663, -0.0317, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.18, "left_yaw": -0.5, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The arm barely moved toward the last target and is hovering facing the toaster's side. Taking a smaller intermediate step back toward the base with a partial yaw so the IK tracks."})

tool

executing move_to over 9 steps (0.9s)

step 304

assistant

agent noteWrist view shows the screwdriver lying along the tool's forward axis with its handle just ahead of the fingertips. Advancing ~4 cm along the tool axis and descending to table level to grasp the handle.

move_to

left_x0.3400left_y-0.0560left_z0.0000left_yaw-0.4000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [0.1089, 0.955, 0.6327, -0.3561, 0.4519, 0.2222, 0.9983, -0.0193, 0.8616, 0.6128, -0.4572, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.3035 left_y=-0.0408 left_z=0.1632 left_yaw=-0.3976 left_pitch=-0.032 left_roll=-0.0874 left_gripper=0.9983 right_x=0.2882 right_y=0.0017 right_z=0.1503 right_yaw=-0.0002 right_pitch=-0.1468 right_roll=0.003 right_gripper=0.9989 state[joint_eff]: [-0.335, -2.4547, 9.9077, 1.746, 0.3053, 0.1978, -0.1929, -0.3624, -1.6342, 6.9949, 1.8339, -0.0269, -0.0757, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.34, "left_y": -0.056, "left_z": 0.0, "left_yaw": -0.4, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Wrist view shows the screwdriver lying along the tool's forward axis with its handle just ahead of the fingertips. Advancing ~4 cm along the tool axis and descending to table level to grasp the handle."})

tool

executing move_to over 11 steps (1.1s)

step 315

assistant

agent noteThe handle is between the open jaws at table level. Closing to grasp it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.0074, 1.6722, 0.2657, 0.7551, 0.3351, 0.2111, 0.9983, -0.0193, 0.8665, 0.6128, -0.4656, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.3341 left_y=-0.057 left_z=-0.0007 left_yaw=-0.4133 left_pitch=-0.0397 left_roll=-0.0199 left_gripper=0.9983 right_x=0.287 right_y=0.0017 right_z=0.1474 right_yaw=-0.0002 right_pitch=-0.1602 right_roll=0.0032 right_gripper=0.9989 state[joint_eff]: [-0.4308, -4.3419, 3.0838, 0.486, -0.0171, -0.0904, -0.188, -0.0479, -1.9624, 6.9128, 1.6679, -0.0317, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The handle is between the open jaws at table level. Closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 325

assistant

agent noteGrasp settled at 0.24, holding the handle with the tip pointing back toward the base. Lifting and starting to turn the tool around (via -1.6 rad) so the tip will point forward toward the toaster.

move_to

left_x0.3300left_y-0.1500left_z0.2000left_yaw-1.6000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.0071, 1.6817, 0.26, 0.7776, 0.3218, 0.2092, 0.2383, -0.0193, 0.8673, 0.6128, -0.4648, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.3347 left_y=-0.0546 left_z=-0.0016 left_yaw=-0.4008 left_pitch=-0.0361 left_roll=-0.0112 left_gripper=0.2383 right_x=0.2872 right_y=0.0017 right_z=0.1473 right_yaw=-0.0002 right_pitch=-0.1602 right_roll=0.0032 right_gripper=0.9989 state[joint_eff]: [-0.1162, -5.9692, 4.0821, 1.3993, 0.1636, -0.0415, 1.0427, -0.212, -1.7162, 7.1179, 1.5702, -0.0317, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.33, "left_y": -0.15, "left_z": 0.2, "left_yaw": -1.6, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Grasp settled at 0.24, holding the handle with the tip pointing back toward the base. Lifting and starting to turn the tool around (via -1.6 rad) so the tip will point forward toward the toaster."})

tool

executing move_to over 14 steps (1.4s)

step 339

assistant

agent noteScrewdriver is held with the handle now pointing to the arm's right. Continuing the turn to yaw ≈ -3.0 so the tip points forward toward the toaster.

move_to

left_x0.3300left_y-0.1200left_z0.2200left_yaw-3.0000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.0044, 1.7924, 1.4765, -1.1393, 0.9401, 1.4124, 0.2433, -0.0193, 0.8707, 0.6128, -0.4667, -0.0204, -0.0151, 0.9989] state[eef_state]: left_x=0.3489 left_y=-0.1406 left_z=0.1776 left_yaw=-1.4945 left_pitch=-0.0558 left_roll=-0.0044 left_gripper=0.2433 right_x=0.287 right_y=0.0017 right_z=0.1461 right_yaw=-0.0005 right_pitch=-0.1655 right_roll=0.0031 right_gripper=0.9989 state[joint_eff]: [-0.5402, -9.0598, 7.4462, 0.1197, 0.8718, 0.2418, 1.033, -0.1573, -1.8667, 6.9402, 1.6142, -0.0317, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 339): [image omitted: streamed camera frame] camera 'left_cam' (step 339): [image omitted: streamed camera frame] camera 'right_cam' (step 339): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.33, "left_y": -0.12, "left_z": 0.22, "left_yaw": -3.0, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Screwdriver is held with the handle now pointing to the arm's right. Continuing the turn to yaw \u2248 -3.0 so the tip points forward toward the toaster."})

tool

executing move_to over 10 steps (1.0s)

step 349

assistant

agent noteThe arm swung back to a folded pose near the base (x≈0.06) while completing the turn; the screwdriver is still held. Moving up and forward to unfold it with the tool now pointing backward (tip toward +x).

move_to

left_x0.2800left_y-0.2500left_z0.2500left_yaw-3.0000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.9321, 1.9209, 1.4483, -1.5318, 0.8291, 2.0766, 0.2477, -0.0193, 0.8749, 0.6128, -0.4648, -0.0204, -0.0147, 0.9989] state[eef_state]: left_x=0.0629 left_y=-0.2972 left_z=0.1303 left_yaw=-2.8524 left_pitch=-0.0901 left_roll=-0.0358 left_gripper=0.2477 right_x=0.2875 right_y=0.0017 right_z=0.1453 right_yaw=-0.0007 right_pitch=-0.1678 right_roll=0.0034 right_gripper=0.9989 state[joint_eff]: [0.7316, -10.5915, 5.6, -0.3736, 0.5543, 0.0659, 1.0281, -0.1983, -1.4838, 6.9128, 1.6581, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 349): [image omitted: streamed camera frame] camera 'left_cam' (step 349): [image omitted: streamed camera frame] camera 'right_cam' (step 349): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.28, "left_y": -0.25, "left_z": 0.25, "left_yaw": -3.0, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The arm swung back to a folded pose near the base (x\u22480.06) while completing the turn; the screwdriver is still held. Moving up and forward to unfold it with the tool now pointing backward (tip toward +x)."})

tool

executing move_to over 17 steps (1.7s)

step 366

assistant

agent noteThe arm is stuck folded near its base at the reversed yaw. Raising it and yawing back toward -1.6 to unfold, since that orientation tracked well earlier.

move_to

left_x0.2000left_y-0.3000left_z0.3000left_yaw-1.6000left_pitch0.0000left_roll0.0000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-1.005, 2.0132, 1.565, -1.5711, 0.8242, 2.0781, 0.2477, -0.0193, 0.8772, 0.6128, -0.4652, -0.0204, -0.0147, 0.9989] state[eef_state]: left_x=0.0528 left_y=-0.3184 left_z=0.1275 left_yaw=-2.9296 left_pitch=-0.0891 left_roll=-0.0502 left_gripper=0.2477 right_x=0.2875 right_y=0.0017 right_z=0.1446 right_yaw=-0.0007 right_pitch=-0.1705 right_roll=0.0035 right_gripper=0.9989 state[joint_eff]: [-0.8821, -9.4974, 7.706, -0.4664, 0.9011, 0.1343, 1.0281, -0.0479, -1.7573, 7.0769, 1.619, -0.022, -0.0366, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.2, "left_y": -0.3, "left_z": 0.3, "left_yaw": -1.6, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The arm is stuck folded near its base at the reversed yaw. Raising it and yawing back toward -1.6 to unfold, since that orientation tracked well earlier."})

tool

executing move_to over 12 steps (1.2s)

step 378

assistant

agent noteArm is unfolded and still holding the screwdriver with the tip pointing toward the fence side (+y). Moving over toward the toaster with the tip pitched down so it can be lowered into the near slot from the side.

move_to

left_x0.4700left_y-0.0600left_z0.2600left_yaw-1.6000left_pitch-0.6000left_roll0.0000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.6556, 1.4002, 1.4029, -1.0058, 0.7811, 0.7837, 0.2477, -0.0193, 0.8829, 0.6128, -0.4713, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.1841 left_y=-0.294 left_z=0.2681 left_yaw=-1.7135 left_pitch=-0.0722 left_roll=-0.0329 left_gripper=0.2477 right_x=0.2866 right_y=0.0017 right_z=0.142 right_yaw=-0.0001 right_pitch=-0.1823 right_roll=0.0037 right_gripper=0.9989 state[joint_eff]: [-0.1299, -6.6667, 8.9231, 1.5995, 0.5104, 0.0659, 1.0281, -0.3624, -2.0855, 6.9949, 1.619, -0.0464, -0.0464, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 378): [image omitted: streamed camera frame] camera 'left_cam' (step 378): [image omitted: streamed camera frame] camera 'right_cam' (step 378): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.47, "left_y": -0.06, "left_z": 0.26, "left_yaw": -1.6, "left_pitch": -0.6, "left_roll": 0.0}, "note": "Arm is unfolded and still holding the screwdriver with the tip pointing toward the fence side (+y). Moving over toward the toaster with the tip pitched down so it can be lowered into the near slot from the side."})

tool

executing move_to over 22 steps (2.2s)

step 400

assistant

agent noteThe arm stopped short at x≈0.40 (reach limit at this height), so the tip is still in front of the toaster. Trying a lower, further-forward target to bring the tilted tip over the toaster's near slot.

move_to

left_x0.4900left_y-0.0600left_z0.2100left_yaw-1.6000left_pitch-0.6000left_roll0.0000

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.0444, 2.1357, 2.149, -1.5845, 0.4149, 1.499, 0.2477, -0.0193, 0.8856, 0.6128, -0.4831, -0.0208, -0.0147, 0.9989] state[eef_state]: left_x=0.4018 left_y=-0.0856 left_z=0.1667 left_yaw=-1.583 left_pitch=-0.5863 left_roll=-0.034 left_gripper=0.2477 right_x=0.2847 right_y=0.0018 right_z=0.1391 right_yaw=-0.0003 right_pitch=-0.1968 right_roll=0.0042 right_gripper=0.9989 state[joint_eff]: [0.3761, -11.0017, 8.2803, 0.359, 0.2466, 0.1538, 1.0281, -0.212, -1.9624, 7.0085, 1.6825, -0.0122, -0.022, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 400): [image omitted: streamed camera frame] camera 'left_cam' (step 400): [image omitted: streamed camera frame] camera 'right_cam' (step 400): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.49, "left_y": -0.06, "left_z": 0.21, "left_yaw": -1.6, "left_pitch": -0.6, "left_roll": 0.0}, "note": "The arm stopped short at x\u22480.40 (reach limit at this height), so the tip is still in front of the toaster. Trying a lower, further-forward target to bring the tilted tip over the toaster's near slot."})

tool

executing move_to over 7 steps (0.7s)

step 407

assistant

agent noteOut of LLM budget before completing. The screwdriver was grasped twice and brought to the toaster, but the toaster sits at the far-left corner (x≈0.47–0.6, y≈0–0.15 in the left frame), right at the arm's reach/fence limit, and its slots run along x. Getting the tip pointing forward-and-down over a slot requires either a reversed yaw (which drove the IK into a folded pose) or a reach beyond what the arm achieves at z≈0.2, so the screwdriver could not be inserted. It is currently still held by the left gripper in front of the toaster.

give_up

hindsight1) Toaster location (left-arm frame): body spans roughly x 0.47–0.60, y 0.0–0.15, top ≈ 0.13–0.17 m high; the two slots run along the arm's x axis (top_cam makes them look like they run along y – trust the wrist camera when hovering at yaw 0). 2) The screwdriver starts near (0.30, -0.25) lying along x with the handle toward the base; grasping the handle at yaw 0, z=0 works first try (gripper settles ≈0.32). 3) Key mistake: grasp it so the TIP points away from the base (i.e. grasp the handle from the tip side is impossible – instead, before grasping, plan the orientation): with yaw 0 and pitch +0.6 the forward end dips ~6 cm, so only the forward end can be inserted; the shaft's forward end must be the tip. If the handle ends up forward, turning the tool around (yaw ≈ ±3) makes the IK fold the arm to x≈0.05 and stall – avoid yaw beyond ~±1.7 while holding. 4) At yaw ≈ ±1.5 the grasp-point tracking is poor: readback often lands ~0.05–0.1 m off in y toward +y and x is capped around 0.43–0.49 at z 0.15–0.25 (reach limit); yaw 0 tracks accurately. 5) Toaster slot approach that nearly worked: yaw 0, pitch 0.6, grasp ≈ (0.44, 0.04, 0.17) put the tip over the near end of the left slot; but the arm stalls if the tip hits the toaster's front face (x≈0.48) – come in from z≥0.27 first. On release the screwdriver slid off the top, so it must be seated deeper (push forward along the slot) before opening. 6) Wrist camera can see the held screwdriver when it extends forward past the fingertips, which is useful for alignment.

Raw transcript

user

Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.0216, 2.2673, 2.2566, -1.5818, 0.392, 1.5288, 0.2477, -0.0193, 0.8856, 0.6128, -0.4892, -0.0208, -0.0151, 0.9989] state[eef_state]: left_x=0.4283 left_y=-0.0731 left_z=0.1388 left_yaw=-1.5941 left_pitch=-0.609 left_roll=-0.0453 left_gripper=0.2477 right_x=0.2837 right_y=0.0018 right_z=0.138 right_yaw=-0.0 right_pitch=-0.2029 right_roll=0.0041 right_gripper=0.9989 state[joint_eff]: [0.253, -11.7812, 8.841, 0.315, 0.2857, 0.2515, 1.0281, 0.0068, -1.7573, 6.9675, 1.619, -0.0366, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 407): [image omitted: streamed camera frame] camera 'left_cam' (step 407): [image omitted: streamed camera frame] camera 'right_cam' (step 407): [image omitted: streamed camera frame]

assistant

give_up({"reason": "Out of LLM budget before completing. The screwdriver was grasped twice and brought to the toaster, but the toaster sits at the far-left corner (x\u22480.47\u20130.6, y\u22480\u20130.15 in the left frame), right at the arm's reach/fence limit, and its slots run along x. Getting the tip pointing forward-and-down over a slot requires either a reversed yaw (which drove the IK into a folded pose) or a reach beyond what the arm achieves at z\u22480.2, so the screwdriver could not be inserted. It is currently still held by the left gripper in front of the toaster.", "hindsight": "1) Toaster location (left-arm frame): body spans roughly x 0.47\u20130.60, y 0.0\u20130.15, top \u2248 0.13\u20130.17 m high; the two slots run along the arm's x axis (top_cam makes them look like they run along y \u2013 trust the wrist camera when hovering at yaw 0). 2) The screwdriver starts near (0.30, -0.25) lying along x with the handle toward the base; grasping the handle at yaw 0, z=0 works first try (gripper settles \u22480.32). 3) Key mistake: grasp it so the TIP points away from the base (i.e. grasp the handle from the tip side is impossible \u2013 instead, before grasping, plan the orientation): with yaw 0 and pitch +0.6 the forward end dips ~6 cm, so only the forward end can be inserted; the shaft's forward end must be the tip. If the handle ends up forward, turning the tool around (yaw \u2248 \u00b13) makes the IK fold the arm to x\u22480.05 and stall \u2013 avoid yaw beyond ~\u00b11.7 while holding. 4) At yaw \u2248 \u00b11.5 the grasp-point tracking is poor: readback often lands ~0.05\u20130.1 m off in y toward +y and x is capped around 0.43\u20130.49 at z 0.15\u20130.25 (reach limit); yaw 0 tracks accurately. 5) Toaster slot approach that nearly worked: yaw 0, pitch 0.6, grasp \u2248 (0.44, 0.04, 0.17) put the tip over the near end of the left slot; but the arm stalls if the tip hits the toaster's front face (x\u22480.48) \u2013 come in from z\u22650.27 first. On release the screwdriver slid off the top, so it must be seated deeper (push forward along the slot) before opening. 6) Wrist camera can see the held screwdriver when it extends forward past the fingertips, which is useful for alignment."})

tool

give_up: Out of LLM budget before completing. The screwdriver was grasped twice and brought to the toaster, but the toaster sits at the far-left corner (x≈0.47–0.6, y≈0–0.15 in the left frame), right at the arm's reach/fence limit, and its slots run along x. Getting the tip pointing forward-and-down over a slot requires either a reversed yaw (which drove the IK into a folded pose) or a reach beyond what the arm achieves at z≈0.2, so the screwdriver could not be inserted. It is currently still held by the left gripper in front of the toaster.

Trial 0 Wire

Tools (trial initial)

[
  {
    "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].",
    "input_schema": {
      "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"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "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"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "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"
    },
    "name": "give_up"
  }
]

System (trial initial)

[
{
"cache_control": {
"type": "ephemeral"
},
"text": "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 40 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\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n (both face forward), each with its own base frame: +x forward, +y left,\n +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n With the tool pointing straight down the wrist reaches ~0.51 m from the\n base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n normalized fraction of that (0 closed, 1 open). After a full close the\n settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n and stays there for many seconds. Effort cannot tell an empty close\n from a grasp. Judge grasps by the settled reading, then by lifting\n 5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n at ~45°. It is not a plan view: you see the sides of objects, and image-y\n is compressed relative to image-x. Arm-forward is image-up, arm-right is\n image-right, the two bases sit just below the bottom edge, and an arm\n extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n px/cm in the far half of the frame where the arms work, rising to ≈ 8\n px/cm at the bottom edge, and x and y scales differ at the same spot.\n Derive the local scale from your first sizeable move and reuse it.\n Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n forward of the finger axis, so they look *past* the fingertips. Anything\n at or nearer than the grasp point is out of frame; the dark wedge at the\n bottom-centre is the jaws; a held object is never visible in its own\n wrist camera; the working arm hides from the top camera whatever it\n hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n at or below the bottom edge of the wrist image. An object that appears\n centred on the jaw column with clear space below it is still a few\n centimetres short of the fingertips, toward the base. The jaws converge\n on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n pitched forward, ≈ 200 with the tool vertical): a brief empty close\n shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n table and changes within a single frame (larger toward the bottom\n edge). To calibrate it, make a pure radial move of known size and read\n the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n 3 cm radial move and a 1.4 cm descent shift features about equally), so\n depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n toward the base. Rolling the wrist rotates the scene but the jaws still\n close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n description). The fence-side y bound is tight because a low fence runs\n along each outer table edge; the cross-over side reaches past the\n table's centre line, so any point on the table is reachable by at least\n one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n reach and with a load. Aim ~2 cm high when carrying and when clearing\n obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n unfold from there; if a move out of a folded pose stalls, first raise z\n and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n the shoulder stops tracking while its effort stays negative (still\n holding the arm up); effort flipping positive means the arm is pressing\n into the surface: back off. A grasped object touching down reads as a\n stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n more than ~1.5 cm means one of three things: the target was clipped to\n the workspace box (the tool description lists the bounds), the arm is\n at its reach or folded limit (the arm simply stops), or you are in\n contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n the tool about the grasp point; it does not move the grasp point\n sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n with the far-region scale from the facts, remembering the view is\n oblique: a target's image-y position over-states its distance from the\n base by the compression factor, and it sits in whichever arm's frame\n you convert to (the workspace box gives the base spacing for switching\n frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n look at the wrist camera. The object should sit on the jaw column\n (x ≈ 110). If it is fully visible with empty frame below it, advance\n 2–3 cm radially before descending, because the fingertips are further\n out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n retry once. If the second close is also empty, do not repeat it:\n re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n lift clear, then verify in the overhead frame after the arm has moved\n away. The working arm's occlusion of the top view is expected; do not\n retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n cross-over bound), so any object on the table is reachable by at least\n one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n moves, scale probes or table touches; the first task motion is the\n sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n off-centre. Align in the wrist view before closing, and close no further\n than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n and give up early; the operator can move it or widen the box for the\n next trial.\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.",
"type": "text"
}
]

call 0 attempt 0 · /messages · status 200 · 26.19 s

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

{
  "content": "Goal: put the screwdriver into the toaster",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0204, 0.794, 0.6029, -0.3794, -0.0219, -0.0246, 0.9993, -0.0185, 0.7929, 0.6102, -0.3763, -0.0204, -0.0151, 0.999]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1796 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0017 right_z=0.1839 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -1.4974, 10.4547, 1.8193, -0.0171, 0.0904, -0.0855, -0.759, -1.3197, 9.853, 1.746, -0.0122, -0.0073, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1cf407eaa053e350ce1ffa52dfe9caa3971b5e83aea0f2d8546a7d2c45d269c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e0fc16ffd5142a376b1672977ad0724fb4ef53da624bf0bd14df6704f22007a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c8494477f403e9aa5aaef669a79566923e08ef62801871326a5d22c34a8bf989",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 9.765 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0204, 0.794, 0.6029, -0.3794, -0.0219, -0.0246, 0.9993, -0.0185, 0.7929, 0.6102, -0.3763, -0.0204, -0.0151, 0.999]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1796 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0017 right_z=0.1839 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -1.4974, 10.4547, 1.8193, -0.0171, 0.0904, -0.0855, -0.759, -1.3197, 9.853, 1.746, -0.0122, -0.0073, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1cf407eaa053e350ce1ffa52dfe9caa3971b5e83aea0f2d8546a7d2c45d269c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e0fc16ffd5142a376b1672977ad0724fb4ef53da624bf0bd14df6704f22007a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8494477f403e9aa5aaef669a79566923e08ef62801871326a5d22c34a8bf989",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkBsKEAgRGAI4AUIIdGhpbmtpbmcSDHCuGhdon8RDmtamnRoMBw82ddr/aOCHB/3NIjALiyE2EQNFq+bZ9vTzs3/D1nPaEWiLFAwKlHkj0ZlW9Y32JysLFVAAMHJwpjZI7A8qrRqeqC3e0xkmuVU0Ezx6PfAPeklvYOaLcWinI936eElWK8fHy2Zc9wosRtfKbS3nboZler9y6QXbahX8Yy4jNZYsal4vdeCD6047MZTC0Fis0Sy+sBCZmJdw6TTmh2RJp+xYzH+1USEN7XudE2yoWXydAKTfME4m9JKe1QDDof0qoY8jhOlusUMEt8QKH+nmyZnhsf2UqDS79L+Oo4Mj96Gf8tOq272X2QKBy7ibOovjKom70Mkk2o+HtqUyIHMWy7Qo+k9v/zG1pkU+kQhX2iXN4uSyLX9a+/I01bg3QCZVGfPXYAP9bxklGPcE7iVot6bhP+a+kLMTyrpdD2DpzJ0upxxGSVdJD03KnwimbxCvbSjBd7vbOIsGtj3t3//Yc44HCiGu3p6OoX2dxaRdA1feeaXf6z/SJWq/im2rqdAgU5WbWHXf9AlowDdasEgtTmdOr+q6kLLI8nhcoVlw0lvNFxY/dbkg/eBJFBB44MbkxAYqbSPW8SfLR+UdpVF8YEr/C6Py6mJbuisdc3NNxJZeFNoWLxQ5yWO2W1NVozypMXwCBNQMhjlOaT14lIKVcKdFRIfufHIYjfCHlcE1z3tSMyk0fOfDkTQxXSZSpFKWxfQyXOxGdcbpTbI3Ati/EdogFGC3+0+nwJ7C4aQI+HST+NWqP8kBN10NcjrnKweSjffB2QPojc7dJwUQXrKGR2rQHUo07EtfiyEb7OVRwUNRhPoDe8hNY2YaTUbxYpX7Cc32QQHAvoqODZCbTsTJfAwL69AjkNuO5cFbPIGq6/xNMD+3YoWStV7CtfqFWbdb1jVUOX7/pJpxkwVpoWXkaLoRPLFZGfjg7xtR7UEh3jisNXvCXzKGgQgKV04VMjCHe5DGgQbzkjeTO+KsexYtYEcSa8klCrqDTB7jVMbOR+MWrpw3/cu61X4FWZOl3lraIXh2yXnyuYk3Ob/+PvB1dMW9PwSEwU6HZJC03s57jAxHt6FCn/FAI2Vizg0bc4letmA0u1XxOqIccyYCdLEaNUzUjhcbWtQtBWCSPcL2jJVAfDrgCBSNlDACnU1kkoCpXPZJ7Ejfk0BMZKK5no4dxiypB5EDg0Ut02QUr0z5PkgUkFwqaUHbHbBQ/1chowIaCFflZFQ9paSyHarjOzbPI2Ftl0+PkDqqSIimYG18JSc4KDuLg9lASoVpb2jYzQuzUR1+rmQXlqUZH+lju4g8YuAADH9Qtl4pb1fkRnEoh+G9nhESv/tfJLhtAuVDp3J3UUKi25jxfdSIJOd7QgDuLXUHXhZ9WficnC88Md+HvzZ8aIxPcfUzVXsFx1KHs3tkOqoSmVKD96jKofQMhc/H0FkPrVSzYUw1XDVKAlA/VEMb8xoJegLR9p8MRTEpmk1H+zmTseSjFIidSgaj8kL1rA2Sb+L/YI+b22Txkm+kninSA1U0PsjXLcaNgutcDYLQDxYOmNFhnZ6wJyr0oP0QiCO8ZKHBrEl1w/aoMXYnaTn+77igKTWuwtGYYe7cBklDsECHyiV67nkZfPZzelxjTeoxXAp/+UMvd6a2b1S8Rzxgx2ZsYDri3RKZqirA9M7l//wn4RmeU5iHW/8LUsctFUzkGkx1GcvLERgd/Tw04QVaNmkT5Ax36Cz9eYU5Mzc5uXAmkmO1Aoxr4s1TR5+7rygPJ4GKThccBy1r/4dnO/d/1Hvm2d5Zz0gJzVocvEgtzJcff+NwELAgsvn4JxyIiUJhl1U1NM5wtr9uwQ5b6vUeOyob+F0/pzOUeljHsg5lBDfZCE0IFVQ4xA0+RfXAWZIpD8Dno19JVzPqoScXVZUghq5fMUdcb0i3FBLkHb0pxCB1CFM//+OV7F+O/1IAOa4sz5rrGCpqD3OVBt82C0Mu3maJ3NcvWa4kAVCSTTGGIwrIq6rc2jFqiISj+bLv6Y9e+g5jXrdLIV6QHSvRhOVu/zmBcTmhLiqfiKlQ1tdy27166znWRuugmY/oLva9vZlasSWNIpP93nKacR06z6//FBpUj4aLzpKkyMxCcvPrw93PTKfh1jJhWTvR25Vf+sK1+SKPVQmpLMUX9fzsj/6hJ7IqP1ZxbXRlpwr6uMj437kFIDyrKrimLL4YsqX7SQMSZwOvtlBf2A8QGRrCBCw0fD+Jb2d9DANJI7fPyGUiTl5h4LohTQdJJOf8qa4qEB4q+dGKK6MWaiUB6Kekn6safOCuAUM6Zp9C80RbV5VILDxxJqEZ0q2PxCm2WqvHtqPzzG72HLdSeEUS8sN/N69GJ0OA4AztEBaXNbGD4qhVA+GtIT5gSdaEmeX2P47tKKIyBPA+AdYCFhbnc2vyI8Nn+JCSfDZodidFb21gASY9vMvg0JlZQIWe+JUCUIDRSExeEh6Pd12V7rJXAy1m7NECMnDwTTlIqnXt9qBhWcU8af/JcQ8C+KckLz7o/8PR+WXB6pOO4f0DRSgzHVqgEMxfd6JSWpvs8WuN+S8Ev/TwwgDdEWE92hHb+d0wSOrT5gnZksC7aPipj3/ikXgr1AlPJTFjTrjx46wRJHpFASo6LhInyXZkH+LUHzgimIQ5Pdk+AUflyNxYowMl/vVLsITDuy20Xt5sgUYEQKO0BiD39w2K0MUyK/76nnnR6kra6DLU6THY+RtkdHuu/SEvz+RmMJuJtSEYazqx1BSp1rlh55M/JIUkzBgiYrWjovMkWKTp0e8A+1/7esevMRKUK97PGbwZG9zxGENRI64pFqkFAN/h8Atx0Bf8tK5mLv3mVTksytVFAUSQptxVtlPpdrBr9VL1Tiiwl21tiy6dTPoNSMoMvTtmqjpVowPGNzay9VR0dRxf8gBadlYDZU/NL1XVMwJnPbrNpD3biJ8sWOX+GDjn5T/z/QxyOqJ026NnWzr7a0y3HZIyaDcYL/bNwVG1k0jjVHTLbl360RMTEtudsd7jzCXuUtHid1zX4NwhjGIyHMsrVTd9ozgrW2YyzJYWVaTb61jgPCEIQiZrhpBjn2hV18G38zeL3rNYg2LXSWgwfHVmr3d182rpkWOGyobYmZllnISwaLf34nYS/2uSTbSqekUjpIQbYlwiL5wLs6tclqCct1eMJmXTsslq/gnMSq95KAsZbsbCuMud+XjNHzQEjKwXVL6nmsP8YQ98mWXVg+iCOBybCLtmN522+qOxOQyZfJghsR5BAslClJuU+aVLX44pbEtRc6ICvt8pBNG0zBNxP2y2iTYWoFlZqyheXdimtkUptl/bMyf+xDXvqyHubDsWsJr8iTcAuLLG8p0nDrn0EQlYhoaFUHVZxEWP+Y4g/CXhQF/OPWCaUlV8YoMdTwEv1giRlm/B0H85zFh9/RjBfUi9p3ciQ+CS9yjAf0u6RqHVDv0Bog1i/yxu3kpTECbE/nLSOUtE596KhnpSITYAJQD61NmyocwUcIRMCF3R3Y0wQ3mklXNOUk0lY6AL7hfxtvpZtcK/ID5MpoETRFH2JRIWo3Q+VeCttu7BARYvDnpX5VOfajarFoVpWrhG3e+T8IKbkt/ySRgS+yQ+tm80cXvMjHEq/0UCK99dY4hFT7kBWfJsF7k6piKNyFDZTB+jBwLPuYa4LpV+dpwh25Uln6MGIbchVCL53gbZPd2dYaQoPKzeBa6g6t/3vd1UxUGsC3qGaCHKX7CJztJh27HKldizdUTAgRUctnImykLTOZa/W55z2gqPqK1eQyrN50z4gIGR+BmFtyPmGjFbTxdQyzlu6B5FNBeqUcP96VGqRfo2Uansbzl7mZgty8MCPeEP/DtVfebl1fD7kuScpqeANka5nVXr4VFXlCDugv2o4+EJpUck/BS2vr/ykIG91s5gvq4aVOr+SiOzQyQp8fCr3Q3nCyQOHM9BfXJxmMg57hy+XyqKhwny2MJ7YxqucMUHkEsLIJjSELVVWFUFk+kMcTPNx2hfHiQ5+bf7C9k7qo1Gn+QrVEF5JID5v77keem/d1qOCg2EoAHFiZpwIPspVh35Ocop/17mtIVsC0UWdTnjRG9E9z6rg7Lho1GZtV5fEiA/2nvjEsgCUH/jy2l7eDYoHfF0HmhWfR33080vgFvt40q0A3RlznW1RIDBaR5UmKeKw4Ns+xRl6kR1EcwxJQ5QJSniRIDN28z6NKfT2ROFPN/7wzLmJdTzEND64H4yPWva1AUtaf8Xfxp74TvArZfHyWUPAaoSe+PxItNtTbaTBPGLsvjR6Z9SQuzn6O/Rqdny/g4KCYUZoMoy1VfX4c1NfwO7V5/3eEpzxLzu0HING6zq7k5C1YXxnom5yOO6PI8+caUvuMFFYKIb3w1Bpz3p2dAMDszJdSlWltL8PeiupUApT44f7vExGrFYdC2Co5zDQ4ckFdFt+XOJehaRGYuzSrbRUACIihbJbl6GOTTH4LICrV6nVYhjk3NHK0pJIBt7Go/XlyIoBUCGygMBSX9Rf6EI6L7AjfInOhuHeTGaieBaVqIjsG/9oTIuNFd7lpoVBpx87aErMMXU5vhHolp+dFMrcitmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0118UE8ifPB3y5XH6gT46aj9",
      "input": {
        "note": "Screwdriver lies near table centre, slightly left, oriented forward-back; toaster is at the far left. Flying the left gripper to hover above the estimated screwdriver position.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.3,
          "left_y": -0.26,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_0118UE8ifPB3y5XH6gT46aj9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0489, 1.5532, 0.976, -0.3798, -0.7967, -0.7628, 0.9993, -0.0193, 0.7971, 0.6132, -0.3901, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.2945 left_y=-0.2516 left_z=0.1345 left_yaw=-0.0188 left_pitch=-0.0389 left_roll=0.033 left_gripper=0.9993 right_x=0.2948 right_y=0.0016 right_z=0.1813 right_yaw=-0.0004 right_pitch=-0.0149 right_roll=0.0005 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -7.0632, 9.306, 1.1795, -0.5397, -0.1148, -0.0855, -0.294, -1.5795, 6.8171, 1.8535, -0.0366, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5725c891b64da4767312994f64bba1937425a885af5bb6e778a2d18d80b3fbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ce044f8b618f72464f6cb4f3204c5a252d085a7620701d22f36e3f25fc5c0a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d28a76ba479518f210873de27a6344bddfec13210b4b1cf76046ccd0db9c7f50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 4.534 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0204, 0.794, 0.6029, -0.3794, -0.0219, -0.0246, 0.9993, -0.0185, 0.7929, 0.6102, -0.3763, -0.0204, -0.0151, 0.999]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1796 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0017 right_z=0.1839 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -1.4974, 10.4547, 1.8193, -0.0171, 0.0904, -0.0855, -0.759, -1.3197, 9.853, 1.746, -0.0122, -0.0073, -0.1197]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0489, 1.5532, 0.976, -0.3798, -0.7967, -0.7628, 0.9993, -0.0193, 0.7971, 0.6132, -0.3901, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.2945 left_y=-0.2516 left_z=0.1345 left_yaw=-0.0188 left_pitch=-0.0389 left_roll=0.033 left_gripper=0.9993 right_x=0.2948 right_y=0.0016 right_z=0.1813 right_yaw=-0.0004 right_pitch=-0.0149 right_roll=0.0005 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -7.0632, 9.306, 1.1795, -0.5397, -0.1148, -0.0855, -0.294, -1.5795, 6.8171, 1.8535, -0.0366, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5725c891b64da4767312994f64bba1937425a885af5bb6e778a2d18d80b3fbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ce044f8b618f72464f6cb4f3204c5a252d085a7620701d22f36e3f25fc5c0a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d28a76ba479518f210873de27a6344bddfec13210b4b1cf76046ccd0db9c7f50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSgQoKEAgRGAI4AUIIdGhpbmtpbmcSDHZLbgWvUa2WX/753BoMjP18GeMxrSUQCiUhIjDw5Fcp1kHdAWlrfHVNzdJxUnFBbWQ2qMRB+pfrzNmXLFQ5eIsfdIfl20kvl4w/Ft0qngkW25+e6HjXNZ0f0IgKbqkE9GDUhH83Q+NUopT8G6gOHHAQWx0DDocD2OC85+U9lvPI6mJqU349uYEDBULUIOxq2Vt/qx9+t+Su1DrPtusimpAk2T5ch9rKqpgfYp1ihJUwFoQHAtWFbb1AB96QD+x7yH8Y+qqc/Bke/LS9WozZCmjLjH0GOhZE3T9W787G0JG+xUpc++u+pgFTbCnzOPI1DiChFYWHDSpiOztD5GxTfrlxkKWbeJlqEPt66DcQ1PZiN2gcUlHlrw5zjpyk6hLtFb34coau9dmjIVJLxQ9xFo7t0oMg9fSKGSxQp4vL0VTbKTkI0465FoEGtkYBJD2XsA38hWiEC4XsBSQpn43oO9PZYrsLgG8UUeUoH0IVbkGQlz/PdCYGsdlyWwV5Cq0CPGjDBtWAf81ESpXS27N9TGcPxRr7E2F262esu+15RGpO1DcvNWwRZAqpZ0je7yXWb4HsV5XNRgGnTu7QA2aFVxP9LNu0Iqu6tbEVIPO6uL1srYNmpYbX9xSsYSaU4axvyIt/nzXSRNLeoen4ALglle4mFL86awkcqMAc0krygZW5VZKeox9pZvFKlhwkTGeWmQsgWbxhuhBrzMP9aMYJY/UrZ0JPyVUQb3vvNV2S/BIEJlitOja25WwHwkOpm/tWZDm4yUmznnkcpct5opy9IsTVS5zFKX+DdBYVKdPwf35IAvL/AnYgPc7h2IMI8OeAb80Ox5TVF6J8gz2pi0zOaxhoYQSf4eEcX4BcOJCNGNbSSkatri3DkeCaEQwrRcJ+t3QN4GHBbMZ/wKv3JH/i5OZ10rzojKvW/iQ00BOLMO2akXzccsk4ZhR23dJRaNfEZMc4xz45MQYcqdxfTYbT4UH7TRWO644FZUxOuM4Lh5b49xdj93G0sSQ6CWVhnoHccv5vVt9brk/1lIUlvj3yJgywEAGXVs7lwfKNcGcyMOf3px0Fs8H7Gx5BzDqepKtiYL8t7qLNc9pU7wy35VjWNW2liAxKvYkPgzxjyLO0PR+BLZxhcVpbW5ZiplVoZzvjsH7GcmI6MI0NZoXULBUmU7TkCOxN9SSNbaXI2J2t9ZVATmDNgIv2Jhp9tu7NIiKX+YQH92F+1DLC88CB/iyPhSDV6NbP3Y+bZgM92dd3mydDvIwK9WxSW3Asl8RUJ+1o/FrR5Em89bNTkghS2yQCIWP2yGibEBfWdL23tts8uzkhumV2OF6ClzUJTz9Gda35g/N4Nt0+gjc3eD6zbdqoIf9aLDafuGfliL7UmG6aj69hQxUGIIaIXWsgdyZZIsFXfQ/EX2b/esoKOVweOwiKyNUaq5U2YdMzMJjzoxxUwLUJ/GoOyNT7Be/v5FR6iO8ifmiHoyxANklnhxVEFhYMVGYmxPEEHDGk3POjQbhLGaGAYcOkXTJqPSpySPQ5mTUHedms7npM1/yFjHwfR5J6ufrQElLDlf0K3vTqoDuts4HtH6/c9scaZBEqbFEBOWRDmaoBJf+RWTcIJUpLjm39tKELtLtpxD1xfF0yW2nmvgwefJOxQzUySE2VfKTRkM9WU4tkajtp7NMbC1jlpEoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014mwaoos3sjjzDCEe1YeSRC",
      "input": {
        "note": "Wrist camera shows the screwdriver lying radially on the jaw column with its handle right under the fingertips. Descending to table level to grasp across the handle/shaft.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.305,
          "left_y": -0.25,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_014mwaoos3sjjzDCEe1YeSRC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.021, 1.8843, 0.7372, 0.1711, -0.7883, -0.7429, 0.9991, -0.0193, 0.7971, 0.6132, -0.3939, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3011 left_y=-0.2447 left_z=0.0034 left_yaw=-0.0059 left_pitch=-0.0553 left_roll=0.0619 left_gripper=0.9991 right_x=0.2942 right_y=0.0016 right_z=0.1805 right_yaw=-0.0004 right_pitch=-0.0187 right_roll=0.0006 right_gripper=0.9989\nstate[joint_eff]: [0.4855, -6.7624, 3.8359, 0.735, -0.1245, 0.1734, -0.1099, -0.294, -1.2513, 7.0222, 1.7558, -0.0269, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aafe931f863a7c7f24bebc6f129b8f77745ab626ac440e41c3723c2c4c836151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a09371b4d6480f700ba2e5ecf4cd75859797bf4af1d7b08326166eff617057b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f4c52d3cce9113ff965b6a84f9f0f88901acac6040f92f11a0b2b99df220ffd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 4.86 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0204, 0.794, 0.6029, -0.3794, -0.0219, -0.0246, 0.9993, -0.0185, 0.7929, 0.6102, -0.3763, -0.0204, -0.0151, 0.999]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1796 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2959 right_y=0.0017 right_z=0.1839 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -1.4974, 10.4547, 1.8193, -0.0171, 0.0904, -0.0855, -0.759, -1.3197, 9.853, 1.746, -0.0122, -0.0073, -0.1197]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0489, 1.5532, 0.976, -0.3798, -0.7967, -0.7628, 0.9993, -0.0193, 0.7971, 0.6132, -0.3901, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.2945 left_y=-0.2516 left_z=0.1345 left_yaw=-0.0188 left_pitch=-0.0389 left_roll=0.033 left_gripper=0.9993 right_x=0.2948 right_y=0.0016 right_z=0.1813 right_yaw=-0.0004 right_pitch=-0.0149 right_roll=0.0005 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -7.0632, 9.306, 1.1795, -0.5397, -0.1148, -0.0855, -0.294, -1.5795, 6.8171, 1.8535, -0.0366, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.021, 1.8843, 0.7372, 0.1711, -0.7883, -0.7429, 0.9991, -0.0193, 0.7971, 0.6132, -0.3939, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3011 left_y=-0.2447 left_z=0.0034 left_yaw=-0.0059 left_pitch=-0.0553 left_roll=0.0619 left_gripper=0.9991 right_x=0.2942 right_y=0.0016 right_z=0.1805 right_yaw=-0.0004 right_pitch=-0.0187 right_roll=0.0006 right_gripper=0.9989\nstate[joint_eff]: [0.4855, -6.7624, 3.8359, 0.735, -0.1245, 0.1734, -0.1099, -0.294, -1.2513, 7.0222, 1.7558, -0.0269, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aafe931f863a7c7f24bebc6f129b8f77745ab626ac440e41c3723c2c4c836151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a09371b4d6480f700ba2e5ecf4cd75859797bf4af1d7b08326166eff617057b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f4c52d3cce9113ff965b6a84f9f0f88901acac6040f92f11a0b2b99df220ffd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Handle is centered between the jaws; closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015BQkkV56pinsYATuTLhNeZ",
      "input": {
        "note": "The screwdriver handle sits centred between the open jaws at table level. Closing the gripper to grasp the handle.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015BQkkV56pinsYATuTLhNeZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0214, 1.8973, 0.7338, 0.202, -0.7895, -0.7506, 0.3186, -0.0193, 0.7971, 0.6132, -0.395, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3022 left_y=-0.2466 left_z=0.0015 left_yaw=-0.0021 left_pitch=-0.0466 left_roll=0.0438 left_gripper=0.3186 right_x=0.2941 right_y=0.0015 right_z=0.1802 right_yaw=-0.0008 right_pitch=-0.0198 right_roll=0.0004 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -8.9778, 4.6974, 0.8718, -0.3248, 0.0171, 1.0232, -0.1846, -1.2513, 7.0632, 1.746, -0.0415, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bf5ebefd7b41cd58e998343f0c7e41056d77be48eedc034f8fe5e22478b1e71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f34ecbfdf5059919d36e2ddaeb1ac93c7b37b0803830a04b858666fc5d632471",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d554848995f66007c2bcde10a2e2335c10622ec45d745dc564558e010a657c60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 16.47 s

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

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0489, 1.5532, 0.976, -0.3798, -0.7967, -0.7628, 0.9993, -0.0193, 0.7971, 0.6132, -0.3901, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.2945 left_y=-0.2516 left_z=0.1345 left_yaw=-0.0188 left_pitch=-0.0389 left_roll=0.033 left_gripper=0.9993 right_x=0.2948 right_y=0.0016 right_z=0.1813 right_yaw=-0.0004 right_pitch=-0.0149 right_roll=0.0005 right_gripper=0.9989\nstate[joint_eff]: [-0.4034, -7.0632, 9.306, 1.1795, -0.5397, -0.1148, -0.0855, -0.294, -1.5795, 6.8171, 1.8535, -0.0366, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.021, 1.8843, 0.7372, 0.1711, -0.7883, -0.7429, 0.9991, -0.0193, 0.7971, 0.6132, -0.3939, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3011 left_y=-0.2447 left_z=0.0034 left_yaw=-0.0059 left_pitch=-0.0553 left_roll=0.0619 left_gripper=0.9991 right_x=0.2942 right_y=0.0016 right_z=0.1805 right_yaw=-0.0004 right_pitch=-0.0187 right_roll=0.0006 right_gripper=0.9989\nstate[joint_eff]: [0.4855, -6.7624, 3.8359, 0.735, -0.1245, 0.1734, -0.1099, -0.294, -1.2513, 7.0222, 1.7558, -0.0269, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0214, 1.8973, 0.7338, 0.202, -0.7895, -0.7506, 0.3186, -0.0193, 0.7971, 0.6132, -0.395, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3022 left_y=-0.2466 left_z=0.0015 left_yaw=-0.0021 left_pitch=-0.0466 left_roll=0.0438 left_gripper=0.3186 right_x=0.2941 right_y=0.0015 right_z=0.1802 right_yaw=-0.0008 right_pitch=-0.0198 right_roll=0.0004 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -8.9778, 4.6974, 0.8718, -0.3248, 0.0171, 1.0232, -0.1846, -1.2513, 7.0632, 1.746, -0.0415, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bf5ebefd7b41cd58e998343f0c7e41056d77be48eedc034f8fe5e22478b1e71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f34ecbfdf5059919d36e2ddaeb1ac93c7b37b0803830a04b858666fc5d632471",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d554848995f66007c2bcde10a2e2335c10622ec45d745dc564558e010a657c60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSnAYKEAgRGAI4AUIIdGhpbmtpbmcSDEes/LKng9eaZzx9SxoM9k/Vap6Nfk8eVToiIjBin0FlJuIcsBtD9jUtpMJ/XBmbWajWFPXpcZvETsWrs2qAwLC91o6pucOYBo2M5WQquQWvV5YTxJbucewCfxbdnTd8IJeE05B2/HjZQlfNGhCNDiTZ/xRIyp1J3zgurcpI2qXjSBISSW7Tuhn7cpmh78J+7XtJayOhPlUyhFrwF5BKQJjZxgByVxPQpFt3Sddp+idSqLCEgTUvSICgfbG2kTvzfnp+pAfhQgiyzz8D0taXd3A2Gs9FTzgkklt5jCcbSDLcc2NvOerm3pYTZBi93FSXm8pB61hKzWSKCNnT+EbipayqjKT0bn0fls8qNi+hwi2p0EFuort0566NZM/squ453MDwYVwjI6p+EhbtTxpzh3F/FqOLCRx+3PBAerIIBZeUee+Ej2Cgei4OzpF01pkFV+whL2IO+CRE0qlaJqK33iRGilJHIn95CIP1q++qCr+ky0DcPYTStl9k4EI8PpWNY1ak2WlwNeWwuxZktfisr9TMLF0fPEbl9Cbq2qxiaZG3XS5DwZwL0ATtnzgEajZdxaO2ccE/KxQER73cUhUIn0T0YOTHv77bSfZ90iKU83WwCMp4wlJijLY2FTrdzPxBkwFozxFT4lt1QW2dD5KscxX6i2FmA3zHqEgidMuTvO3Ud+4cppjYTKhiRG5MuXMTx1cjby10invdW+7oFDhnv18SwFyx7v/R3H+XdsX332eWzlDp4J1jxVxjm+IMrifKPQr0eIs+5jqanMT1+BypQ725UiOfxXeXNkte31Bl7nPPtWLTkkY+DSVStshw9rLxjDwnL1FreKvUJASIdxXr6k2w2hVDxMMoXiKAmed+ce5KNNyWM5KD4chX2/xTTNkRu7JEq8eaaRiFDZSj5fEowGwLyP/BVAn9p3K2ytBPcLTMHfJbBUrnAwWVRnigDQHsJmT5mHt32SwSn7DOmZbmXEvd1/hNWrEWns1vFkSafmpdR9yQYIhlTCfzekpRfvRJGqRaAENeigdGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012axVDRogS5J7fh1ff1kVvU",
      "input": {
        "note": "Gripper settled at 0.32 (~3 cm), consistent with the handle. Lifting to verify the screwdriver comes with the jaws.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_012axVDRogS5J7fh1ff1kVvU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0214, 1.5425, 1.2263, -0.6827, -0.7704, -0.7624, 0.3201, -0.0193, 0.8005, 0.6132, -0.4118, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3015 left_y=-0.2499 left_z=0.1913 left_yaw=-0.0048 left_pitch=-0.0793 left_roll=0.0578 left_gripper=0.3201 right_x=0.292 right_y=0.0016 right_z=0.1759 right_yaw=-0.0004 right_pitch=-0.04 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -9.0735, 9.7299, 1.1697, -0.4957, 0.0708, 0.8864, -0.3487, -1.4564, 7.3641, 1.873, -0.0464, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc7bc3dc249cdafed3b690ea7e0e9c59ba706b9dbff9d2ce52f658519bd3a0d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14acefec7c1a6e8b1f5522fd89a7882026a81141ad4fbea42494705cbd93a334",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e99936409c6dca1f4d4f5ef8b95000b7d30faca09ac1cd8dd9baa80d343f0db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 15.79 s

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

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.021, 1.8843, 0.7372, 0.1711, -0.7883, -0.7429, 0.9991, -0.0193, 0.7971, 0.6132, -0.3939, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3011 left_y=-0.2447 left_z=0.0034 left_yaw=-0.0059 left_pitch=-0.0553 left_roll=0.0619 left_gripper=0.9991 right_x=0.2942 right_y=0.0016 right_z=0.1805 right_yaw=-0.0004 right_pitch=-0.0187 right_roll=0.0006 right_gripper=0.9989\nstate[joint_eff]: [0.4855, -6.7624, 3.8359, 0.735, -0.1245, 0.1734, -0.1099, -0.294, -1.2513, 7.0222, 1.7558, -0.0269, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0214, 1.8973, 0.7338, 0.202, -0.7895, -0.7506, 0.3186, -0.0193, 0.7971, 0.6132, -0.395, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3022 left_y=-0.2466 left_z=0.0015 left_yaw=-0.0021 left_pitch=-0.0466 left_roll=0.0438 left_gripper=0.3186 right_x=0.2941 right_y=0.0015 right_z=0.1802 right_yaw=-0.0008 right_pitch=-0.0198 right_roll=0.0004 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -8.9778, 4.6974, 0.8718, -0.3248, 0.0171, 1.0232, -0.1846, -1.2513, 7.0632, 1.746, -0.0415, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0214, 1.5425, 1.2263, -0.6827, -0.7704, -0.7624, 0.3201, -0.0193, 0.8005, 0.6132, -0.4118, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3015 left_y=-0.2499 left_z=0.1913 left_yaw=-0.0048 left_pitch=-0.0793 left_roll=0.0578 left_gripper=0.3201 right_x=0.292 right_y=0.0016 right_z=0.1759 right_yaw=-0.0004 right_pitch=-0.04 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -9.0735, 9.7299, 1.1697, -0.4957, 0.0708, 0.8864, -0.3487, -1.4564, 7.3641, 1.873, -0.0464, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc7bc3dc249cdafed3b690ea7e0e9c59ba706b9dbff9d2ce52f658519bd3a0d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14acefec7c1a6e8b1f5522fd89a7882026a81141ad4fbea42494705cbd93a334",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e99936409c6dca1f4d4f5ef8b95000b7d30faca09ac1cd8dd9baa80d343f0db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ETHxGwnnsJ9aS3JMHPd7uP",
      "input": {
        "note": "Screwdriver is lifted and held with its shaft pointing forward. Carrying it high toward the toaster at the far left while starting to yaw so the shaft will align with the toaster slots.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.1,
          "left_yaw": 0.8,
          "left_z": 0.33
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01ETHxGwnnsJ9aS3JMHPd7uP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.548, 2.006, 2.2517, -1.5387, -0.8421, -1.1549, 0.3208, -0.0193, 0.8043, 0.6132, -0.4133, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4168 left_y=-0.0958 left_z=0.2888 left_yaw=0.7433 left_pitch=-0.1261 left_roll=0.0467 left_gripper=0.3208 right_x=0.292 right_y=0.0016 right_z=0.1745 right_yaw=-0.0004 right_pitch=-0.0454 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.212, -9.1145, 8.9368, 0.569, -0.9841, -0.1587, 0.4713, -0.0752, -1.3744, 7.0085, 1.7363, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec85de7f1e94d7154e5dd365aa3d21b7576aee6957935d12d6c8b393f45e5884",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:275c64e88a924dfc2f23e98f5fa85a35fce8d0fc40e0de835f598ed5d87d0864",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ffdf8055045ff99064d68980a240d214b61f0445b6bdd624e98425fe1fa05994",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 27.24 s

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

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0214, 1.8973, 0.7338, 0.202, -0.7895, -0.7506, 0.3186, -0.0193, 0.7971, 0.6132, -0.395, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3022 left_y=-0.2466 left_z=0.0015 left_yaw=-0.0021 left_pitch=-0.0466 left_roll=0.0438 left_gripper=0.3186 right_x=0.2941 right_y=0.0015 right_z=0.1802 right_yaw=-0.0008 right_pitch=-0.0198 right_roll=0.0004 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -8.9778, 4.6974, 0.8718, -0.3248, 0.0171, 1.0232, -0.1846, -1.2513, 7.0632, 1.746, -0.0415, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0214, 1.5425, 1.2263, -0.6827, -0.7704, -0.7624, 0.3201, -0.0193, 0.8005, 0.6132, -0.4118, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3015 left_y=-0.2499 left_z=0.1913 left_yaw=-0.0048 left_pitch=-0.0793 left_roll=0.0578 left_gripper=0.3201 right_x=0.292 right_y=0.0016 right_z=0.1759 right_yaw=-0.0004 right_pitch=-0.04 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -9.0735, 9.7299, 1.1697, -0.4957, 0.0708, 0.8864, -0.3487, -1.4564, 7.3641, 1.873, -0.0464, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.548, 2.006, 2.2517, -1.5387, -0.8421, -1.1549, 0.3208, -0.0193, 0.8043, 0.6132, -0.4133, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4168 left_y=-0.0958 left_z=0.2888 left_yaw=0.7433 left_pitch=-0.1261 left_roll=0.0467 left_gripper=0.3208 right_x=0.292 right_y=0.0016 right_z=0.1745 right_yaw=-0.0004 right_pitch=-0.0454 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.212, -9.1145, 8.9368, 0.569, -0.9841, -0.1587, 0.4713, -0.0752, -1.3744, 7.0085, 1.7363, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec85de7f1e94d7154e5dd365aa3d21b7576aee6957935d12d6c8b393f45e5884",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:275c64e88a924dfc2f23e98f5fa85a35fce8d0fc40e0de835f598ed5d87d0864",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffdf8055045ff99064d68980a240d214b61f0445b6bdd624e98425fe1fa05994",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GCgSofhLPjvgjm5mgnqufd",
      "input": {
        "note": "Wrist view shows the toaster's two slots just ahead of the screwdriver tip, roughly aligned with the shaft. Advancing along the tool direction so the tip sits over the slot.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.03,
          "left_yaw": 0.75,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GCgSofhLPjvgjm5mgnqufd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.3454, 2.0769, 2.3425, -1.4425, -0.7502, -0.9504, 0.3206, -0.0193, 0.8043, 0.6132, -0.4129, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4608 left_y=-0.034 left_z=0.2812 left_yaw=0.783 left_pitch=-0.1736 left_roll=0.0615 left_gripper=0.3206 right_x=0.2921 right_y=0.0016 right_z=0.1746 right_yaw=-0.0007 right_pitch=-0.045 right_roll=0.0008 right_gripper=0.9989\nstate[joint_eff]: [0.212, -10.7829, 8.5402, 1.0525, -0.6276, 0.2418, 0.7253, -0.3624, -1.3197, 7.2821, 1.6728, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8983503c510cdb319696652a0981402ccf76c22fa9682827c08c3c832f50c9ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b431b340b945ff424c2daf2b7c6517376046704c3f94c0d55abcec64a2b37e60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fba9fd2de7e5654274b18d8487c55c022effd895a0a854ddaade674db3ba96ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 19.77 s

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

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.0214, 1.5425, 1.2263, -0.6827, -0.7704, -0.7624, 0.3201, -0.0193, 0.8005, 0.6132, -0.4118, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3015 left_y=-0.2499 left_z=0.1913 left_yaw=-0.0048 left_pitch=-0.0793 left_roll=0.0578 left_gripper=0.3201 right_x=0.292 right_y=0.0016 right_z=0.1759 right_yaw=-0.0004 right_pitch=-0.04 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [-0.0889, -9.0735, 9.7299, 1.1697, -0.4957, 0.0708, 0.8864, -0.3487, -1.4564, 7.3641, 1.873, -0.0464, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.548, 2.006, 2.2517, -1.5387, -0.8421, -1.1549, 0.3208, -0.0193, 0.8043, 0.6132, -0.4133, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4168 left_y=-0.0958 left_z=0.2888 left_yaw=0.7433 left_pitch=-0.1261 left_roll=0.0467 left_gripper=0.3208 right_x=0.292 right_y=0.0016 right_z=0.1745 right_yaw=-0.0004 right_pitch=-0.0454 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.212, -9.1145, 8.9368, 0.569, -0.9841, -0.1587, 0.4713, -0.0752, -1.3744, 7.0085, 1.7363, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.3454, 2.0769, 2.3425, -1.4425, -0.7502, -0.9504, 0.3206, -0.0193, 0.8043, 0.6132, -0.4129, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4608 left_y=-0.034 left_z=0.2812 left_yaw=0.783 left_pitch=-0.1736 left_roll=0.0615 left_gripper=0.3206 right_x=0.2921 right_y=0.0016 right_z=0.1746 right_yaw=-0.0007 right_pitch=-0.045 right_roll=0.0008 right_gripper=0.9989\nstate[joint_eff]: [0.212, -10.7829, 8.5402, 1.0525, -0.6276, 0.2418, 0.7253, -0.3624, -1.3197, 7.2821, 1.6728, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8983503c510cdb319696652a0981402ccf76c22fa9682827c08c3c832f50c9ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b431b340b945ff424c2daf2b7c6517376046704c3f94c0d55abcec64a2b37e60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fba9fd2de7e5654274b18d8487c55c022effd895a0a854ddaade674db3ba96ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01REc8dGfRgM1C6GaBzLrfr9",
      "input": {
        "note": "From this closer view the toaster slots run perpendicular to the screwdriver shaft (along the arm's y axis). Yawing the tool to point along +y and repositioning so the shaft lines up with the slot.",
        "targets": {
          "left_x": 0.53,
          "left_y": -0.07,
          "left_yaw": 1.57,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01REc8dGfRgM1C6GaBzLrfr9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.2157, 2.2215, 2.159, -1.562, -0.8482, -1.6104, 0.3207, -0.0193, 0.8074, 0.6132, -0.4137, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4374 left_y=0.0435 left_z=0.1802 left_yaw=1.3731 left_pitch=-0.1519 left_roll=0.0314 left_gripper=0.3207 right_x=0.2922 right_y=0.0016 right_z=0.1736 right_yaw=-0.0007 right_pitch=-0.0488 right_roll=0.0009 right_gripper=0.9989\nstate[joint_eff]: [0.335, -8.9094, 4.9983, 0.5153, -0.4225, -0.105, 0.8913, -0.0068, -0.9368, 7.0496, 1.6972, -0.0171, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50267512cff8c09307e917bb82bc24a11a4d1428b68229e3e78b9ab1c720aa2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b2698db4df7b41a64cd5d214befc972725fb8dd4090abe211cb514c01a5b3b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:920fd5aea02d0b7106e21da24c7c5cdd038277d28d0bc7a232582758f8e365cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 12.05 s

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

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.548, 2.006, 2.2517, -1.5387, -0.8421, -1.1549, 0.3208, -0.0193, 0.8043, 0.6132, -0.4133, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4168 left_y=-0.0958 left_z=0.2888 left_yaw=0.7433 left_pitch=-0.1261 left_roll=0.0467 left_gripper=0.3208 right_x=0.292 right_y=0.0016 right_z=0.1745 right_yaw=-0.0004 right_pitch=-0.0454 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.212, -9.1145, 8.9368, 0.569, -0.9841, -0.1587, 0.4713, -0.0752, -1.3744, 7.0085, 1.7363, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.3454, 2.0769, 2.3425, -1.4425, -0.7502, -0.9504, 0.3206, -0.0193, 0.8043, 0.6132, -0.4129, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4608 left_y=-0.034 left_z=0.2812 left_yaw=0.783 left_pitch=-0.1736 left_roll=0.0615 left_gripper=0.3206 right_x=0.2921 right_y=0.0016 right_z=0.1746 right_yaw=-0.0007 right_pitch=-0.045 right_roll=0.0008 right_gripper=0.9989\nstate[joint_eff]: [0.212, -10.7829, 8.5402, 1.0525, -0.6276, 0.2418, 0.7253, -0.3624, -1.3197, 7.2821, 1.6728, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.2157, 2.2215, 2.159, -1.562, -0.8482, -1.6104, 0.3207, -0.0193, 0.8074, 0.6132, -0.4137, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4374 left_y=0.0435 left_z=0.1802 left_yaw=1.3731 left_pitch=-0.1519 left_roll=0.0314 left_gripper=0.3207 right_x=0.2922 right_y=0.0016 right_z=0.1736 right_yaw=-0.0007 right_pitch=-0.0488 right_roll=0.0009 right_gripper=0.9989\nstate[joint_eff]: [0.335, -8.9094, 4.9983, 0.5153, -0.4225, -0.105, 0.8913, -0.0068, -0.9368, 7.0496, 1.6972, -0.0171, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50267512cff8c09307e917bb82bc24a11a4d1428b68229e3e78b9ab1c720aa2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b2698db4df7b41a64cd5d214befc972725fb8dd4090abe211cb514c01a5b3b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:920fd5aea02d0b7106e21da24c7c5cdd038277d28d0bc7a232582758f8e365cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fo6d8NJgNHUNtrYMtWAoHT",
      "input": {
        "note": "The arm fell short of its target (reach limit) and the wrist view shows the toaster just to the tool's right, i.e. further forward in x. Moving forward and up more modestly to get the shaft over the toaster top.",
        "targets": {
          "left_x": 0.5,
          "left_y": 0.0,
          "left_yaw": 1.57,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Fo6d8NJgNHUNtrYMtWAoHT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.2138, 2.2322, 2.1223, -1.6112, -0.8143, -1.7252, 0.3238, -0.0193, 0.8101, 0.6132, -0.4149, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4222 left_y=0.0434 left_z=0.1642 left_yaw=1.4576 left_pitch=-0.177 left_roll=0.0447 left_gripper=0.3238 right_x=0.2922 right_y=0.0016 right_z=0.1726 right_yaw=-0.0004 right_pitch=-0.0526 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [0.1573, -11.3846, 6.2701, 0.3883, -0.7839, 0.1099, 0.5934, -0.1983, -1.5521, 7.1453, 1.6825, -0.0415, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c4e53717842673259abd293d4eb2790bec5e6cafeba6f893124813cd2952f47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af6dee2b2f226979ecee3ddf27fd1ac176bdf4b848a3e707202feacfadf681b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:014f5a80ea0d9670b9bfc9af9fa7490567de3594e6148d15be0b9df7e5672f40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 8.381 s

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

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.3454, 2.0769, 2.3425, -1.4425, -0.7502, -0.9504, 0.3206, -0.0193, 0.8043, 0.6132, -0.4129, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4608 left_y=-0.034 left_z=0.2812 left_yaw=0.783 left_pitch=-0.1736 left_roll=0.0615 left_gripper=0.3206 right_x=0.2921 right_y=0.0016 right_z=0.1746 right_yaw=-0.0007 right_pitch=-0.045 right_roll=0.0008 right_gripper=0.9989\nstate[joint_eff]: [0.212, -10.7829, 8.5402, 1.0525, -0.6276, 0.2418, 0.7253, -0.3624, -1.3197, 7.2821, 1.6728, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.2157, 2.2215, 2.159, -1.562, -0.8482, -1.6104, 0.3207, -0.0193, 0.8074, 0.6132, -0.4137, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4374 left_y=0.0435 left_z=0.1802 left_yaw=1.3731 left_pitch=-0.1519 left_roll=0.0314 left_gripper=0.3207 right_x=0.2922 right_y=0.0016 right_z=0.1736 right_yaw=-0.0007 right_pitch=-0.0488 right_roll=0.0009 right_gripper=0.9989\nstate[joint_eff]: [0.335, -8.9094, 4.9983, 0.5153, -0.4225, -0.105, 0.8913, -0.0068, -0.9368, 7.0496, 1.6972, -0.0171, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.2138, 2.2322, 2.1223, -1.6112, -0.8143, -1.7252, 0.3238, -0.0193, 0.8101, 0.6132, -0.4149, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4222 left_y=0.0434 left_z=0.1642 left_yaw=1.4576 left_pitch=-0.177 left_roll=0.0447 left_gripper=0.3238 right_x=0.2922 right_y=0.0016 right_z=0.1726 right_yaw=-0.0004 right_pitch=-0.0526 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [0.1573, -11.3846, 6.2701, 0.3883, -0.7839, 0.1099, 0.5934, -0.1983, -1.5521, 7.1453, 1.6825, -0.0415, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c4e53717842673259abd293d4eb2790bec5e6cafeba6f893124813cd2952f47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af6dee2b2f226979ecee3ddf27fd1ac176bdf4b848a3e707202feacfadf681b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:014f5a80ea0d9670b9bfc9af9fa7490567de3594e6148d15be0b9df7e5672f40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015WPdjW3TGpdyEyvCN1ReH5",
      "input": {
        "note": "The arm is stalled beside the toaster (likely the gripper body is against its side, near the y bound). Backing off, raising, and returning to yaw 0 so the wrist camera can look down over the toaster top.",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.06,
          "left_yaw": 0.0,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015WPdjW3TGpdyEyvCN1ReH5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.3183, 1.9682, 1.7805, -1.3548, -0.6109, -1.4979, 0.3279, -0.0193, 0.8135, 0.6132, -0.4129, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3937 left_y=-0.0193 left_z=0.1542 left_yaw=1.1856 left_pitch=-0.3896 left_roll=0.0187 left_gripper=0.3279 right_x=0.2926 right_y=0.0016 right_z=0.1721 right_yaw=-0.0007 right_pitch=-0.0542 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [2.7009, -13.6, 7.9385, 1.0281, -0.5055, 0.0952, 0.4225, -0.1162, -1.2786, 7.1453, 1.7802, -0.022, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fe04c0a9ad3a5d235c73fd0cc534b31b6c404c05ba1bd6496d68852470d0e44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:056570403839cc05dac40bc9c72332fe9581ca88b269d828e31024c6c2fedb66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:724c2526c455a0c289efe7749554e39beeea848e40e7ee1c11e6ffd8643503a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 27.6 s

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

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.2157, 2.2215, 2.159, -1.562, -0.8482, -1.6104, 0.3207, -0.0193, 0.8074, 0.6132, -0.4137, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4374 left_y=0.0435 left_z=0.1802 left_yaw=1.3731 left_pitch=-0.1519 left_roll=0.0314 left_gripper=0.3207 right_x=0.2922 right_y=0.0016 right_z=0.1736 right_yaw=-0.0007 right_pitch=-0.0488 right_roll=0.0009 right_gripper=0.9989\nstate[joint_eff]: [0.335, -8.9094, 4.9983, 0.5153, -0.4225, -0.105, 0.8913, -0.0068, -0.9368, 7.0496, 1.6972, -0.0171, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.2138, 2.2322, 2.1223, -1.6112, -0.8143, -1.7252, 0.3238, -0.0193, 0.8101, 0.6132, -0.4149, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4222 left_y=0.0434 left_z=0.1642 left_yaw=1.4576 left_pitch=-0.177 left_roll=0.0447 left_gripper=0.3238 right_x=0.2922 right_y=0.0016 right_z=0.1726 right_yaw=-0.0004 right_pitch=-0.0526 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [0.1573, -11.3846, 6.2701, 0.3883, -0.7839, 0.1099, 0.5934, -0.1983, -1.5521, 7.1453, 1.6825, -0.0415, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.3183, 1.9682, 1.7805, -1.3548, -0.6109, -1.4979, 0.3279, -0.0193, 0.8135, 0.6132, -0.4129, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3937 left_y=-0.0193 left_z=0.1542 left_yaw=1.1856 left_pitch=-0.3896 left_roll=0.0187 left_gripper=0.3279 right_x=0.2926 right_y=0.0016 right_z=0.1721 right_yaw=-0.0007 right_pitch=-0.0542 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [2.7009, -13.6, 7.9385, 1.0281, -0.5055, 0.0952, 0.4225, -0.1162, -1.2786, 7.1453, 1.7802, -0.022, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fe04c0a9ad3a5d235c73fd0cc534b31b6c404c05ba1bd6496d68852470d0e44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:056570403839cc05dac40bc9c72332fe9581ca88b269d828e31024c6c2fedb66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:724c2526c455a0c289efe7749554e39beeea848e40e7ee1c11e6ffd8643503a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQStAkKEAgRGAI4AUIIdGhpbmtpbmcSDDXreZDP6YoSXZzE9BoMJhDeH+jeehThU/PtIjAdHCP6WBPfggB940WKASvekvLS4nJtpivAGRCsEeB85NoCOfXbmGveNv655L+e9o8q0QgquK5vyFeNjdLwlaXA+8auAJpEE9JRB3YhoqSk+pb9J4S+A6xoUQAG0TOoREHXXlTAdck/wr9lUYRCr3WbRMHD2jvltiBT4qKK6ZCAyCRvRtRDI2XGS9HFVIA1qFTgX92yKvoCrB9fpO9GV+X5nU7IZrb717Dk6t+Z3H2T3gTn2D/CUbSMTReINyYPdlAvr4XAdEfKThyQa/eqJ7vhTxRR2TjHO1cX2bRE0wXi0rHLRF/Ygno30CT+/fh+4SEe7AIaFqkMWGhyubqyRFLNenvhxjfEzg0NJzAjAblmdvUJ/ruhLTfvrGLBmiX1LGpj9AcAvYZSdhbBlzBACJ12YrEMNA+DhIsn4yf4PbATMNVJvn8p5DeshhOKqa16pOK8MXiRkS2IsJF5Do9V5XlzYfOAPZKhpwbSAGsHXgcAOoPcLb0n6DsdLpHHEOdORcZ0AlEKHU5JAmdMbyby13NWqNV3W66Ccth/xc2LXURKN1fX3Xg4+l0+zr8UITeFVjiBqhSENOkqJVKYZCc8svv8bHvdcF8uU0sInmaRsfLm/dMmQmwb/1pT452PprX39xZ0On9FmUiZII30uaJ85T+Lxae3Pus/cKRiSb8+zTyTzJ2PaJLyeudiiL3SNJlEtblicUiV68q+EkqaHErAhMYVHN2GeMDa5mtqfmp9pWOmT74G2fcFrwT1Hm2w1Gky+3jAD0wfu+rANCQDusR3ZuXX+lAn5ygn96f6f5X9LX35s+5xijYKWY0hLYqWYJ24La04XtVyvEqCLHuRAuvVNYLZ5srRMTWuIXvJQTL/l71E/H5+OF9Y3klTRnisacVdEL40lm8A9WZF0RjvAIrinfDIhDGaUpHOd3qqRRMfXPbafw7qQeYRQhKcow2O9raNmnN1Zta7n9tWhR7KLuFijop/nc4GvMUyTCd3nAXqNV0JcusdhD61EUEbdK2FX6dDfDCiSutlyB+GiM1b96FHvuDsE9BWe2OdDBEoSVPe5GpAYLCREdd4J+tNE3AddT7O71tA9cSI2Ztn/jqTP1oVRzK9aFsbRj3lQWiNzt8CFF4jmRmeQFhldzGcDE4kIreOIjZCHOIx4rWpzZ6jnIY/7J7joQ+AydhEuiWszrbTdgKB0FavjnMZWqg+Ussqb8fdzEbJA1makWtVwhIL3SJk0tLK+tRd2OxY9er/JxzY6RJW7ghguaFKa3dUSYNJR8RROlTJ1n43L4hKaJZcJeWCyzOsHcSnppsBAP31Ps/sEXJ8ZPNUfDOlI7uFEyVYlf6jlTtdlTQs11OW7FUuhwqDxZNEdTnQo89PrXvE8Bi7UDr5zHPHEyw9/3J0qGSFwtZQ83VIW4+2UjxH2fdPDqxmf239rIN33KYW4RpbEu9BpujpzVzmnDs+Irq1aWVHBHDybFnrqPgmq1YGzXhi+uPCifJInoACAsieQfNcTT+gwxEdlccoY8q9rlm+sVMALX/il+2Xi+PXGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DXsGcXFWUFmBGqoJ2WNJun",
      "input": {
        "note": "The arm is still hung up next to the toaster with the tool pitched oddly. Retreating toward the base with a smaller yaw change to free it.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.08,
          "left_yaw": 0.6,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01DXsGcXFWUFmBGqoJ2WNJun",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.5686, 1.5059, 1.3846, -1.2415, -0.551, -1.1667, 0.3313, -0.0193, 0.8185, 0.6132, -0.4129, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3035 left_y=-0.0799 left_z=0.1897 left_yaw=0.6529 left_pitch=-0.4159 left_roll=0.0163 left_gripper=0.3313 right_x=0.2929 right_y=0.0016 right_z=0.1707 right_yaw=-0.0004 right_pitch=-0.0591 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -6.2564, 5.8051, 0.8425, -0.6325, 0.2369, 0.3492, -0.335, -1.3333, 7.0496, 1.7509, -0.0513, -0.0855, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f481e8ef8779e1f3e87497c18624849e65d108db7ef3e2cdaba343bce90094f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eff3e7324dd068d37b70f2e2dedcb6498670abdf61275468049efcf5fe9d81a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c351c54e73eaf398abd227d97b02813e634e9dbfdf3042a56fdd0ddd447252b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 14.24 s

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

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.2138, 2.2322, 2.1223, -1.6112, -0.8143, -1.7252, 0.3238, -0.0193, 0.8101, 0.6132, -0.4149, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4222 left_y=0.0434 left_z=0.1642 left_yaw=1.4576 left_pitch=-0.177 left_roll=0.0447 left_gripper=0.3238 right_x=0.2922 right_y=0.0016 right_z=0.1726 right_yaw=-0.0004 right_pitch=-0.0526 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [0.1573, -11.3846, 6.2701, 0.3883, -0.7839, 0.1099, 0.5934, -0.1983, -1.5521, 7.1453, 1.6825, -0.0415, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.3183, 1.9682, 1.7805, -1.3548, -0.6109, -1.4979, 0.3279, -0.0193, 0.8135, 0.6132, -0.4129, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3937 left_y=-0.0193 left_z=0.1542 left_yaw=1.1856 left_pitch=-0.3896 left_roll=0.0187 left_gripper=0.3279 right_x=0.2926 right_y=0.0016 right_z=0.1721 right_yaw=-0.0007 right_pitch=-0.0542 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [2.7009, -13.6, 7.9385, 1.0281, -0.5055, 0.0952, 0.4225, -0.1162, -1.2786, 7.1453, 1.7802, -0.022, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.5686, 1.5059, 1.3846, -1.2415, -0.551, -1.1667, 0.3313, -0.0193, 0.8185, 0.6132, -0.4129, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3035 left_y=-0.0799 left_z=0.1897 left_yaw=0.6529 left_pitch=-0.4159 left_roll=0.0163 left_gripper=0.3313 right_x=0.2929 right_y=0.0016 right_z=0.1707 right_yaw=-0.0004 right_pitch=-0.0591 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -6.2564, 5.8051, 0.8425, -0.6325, 0.2369, 0.3492, -0.335, -1.3333, 7.0496, 1.7509, -0.0513, -0.0855, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f481e8ef8779e1f3e87497c18624849e65d108db7ef3e2cdaba343bce90094f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eff3e7324dd068d37b70f2e2dedcb6498670abdf61275468049efcf5fe9d81a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c351c54e73eaf398abd227d97b02813e634e9dbfdf3042a56fdd0ddd447252b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NoS8HL9kxrL22URvWpRrDo",
      "input": {
        "note": "Arm is free again and the top view shows the toaster in the far-left corner with slots running along the arm's y axis. Moving to a staging pose with the shaft yawed toward +y and pitched down, ready to approach over the toaster top.",
        "targets": {
          "left_pitch": 0.4,
          "left_x": 0.4,
          "left_y": -0.12,
          "left_yaw": 1.2,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 28 steps (2.8s)",
      "tool_use_id": "toolu_01NoS8HL9kxrL22URvWpRrDo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.4622, 2.1529, 1.8645, -1.5539, -1.2945, -1.8507, 0.3333, -0.0193, 0.8185, 0.6132, -0.4156, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4221 left_y=-0.0164 left_z=0.2067 left_yaw=1.1713 left_pitch=0.304 left_roll=0.0143 left_gripper=0.3333 right_x=0.2926 right_y=0.0016 right_z=0.1702 right_yaw=-0.0007 right_pitch=-0.0618 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.3624, -10.9333, 8.4444, -0.3346, -1.0525, 0.1441, 0.188, -0.0479, -1.3607, 7.0496, 1.7021, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bf7b237834695594b400baeb1649c96f67c4836d3f631d7ec20730a5d4e042d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:472ddb162f28586a9e1619fc6aea805f3eb47f4d0b7c18f1772b9c2dbc010bac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70aeda8e9470b6623184424064824767777f60c44b73bcf5ee5495b234c5a0d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 16.21 s

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

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.3183, 1.9682, 1.7805, -1.3548, -0.6109, -1.4979, 0.3279, -0.0193, 0.8135, 0.6132, -0.4129, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3937 left_y=-0.0193 left_z=0.1542 left_yaw=1.1856 left_pitch=-0.3896 left_roll=0.0187 left_gripper=0.3279 right_x=0.2926 right_y=0.0016 right_z=0.1721 right_yaw=-0.0007 right_pitch=-0.0542 right_roll=0.001 right_gripper=0.9989\nstate[joint_eff]: [2.7009, -13.6, 7.9385, 1.0281, -0.5055, 0.0952, 0.4225, -0.1162, -1.2786, 7.1453, 1.7802, -0.022, -0.0415, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.5686, 1.5059, 1.3846, -1.2415, -0.551, -1.1667, 0.3313, -0.0193, 0.8185, 0.6132, -0.4129, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3035 left_y=-0.0799 left_z=0.1897 left_yaw=0.6529 left_pitch=-0.4159 left_roll=0.0163 left_gripper=0.3313 right_x=0.2929 right_y=0.0016 right_z=0.1707 right_yaw=-0.0004 right_pitch=-0.0591 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -6.2564, 5.8051, 0.8425, -0.6325, 0.2369, 0.3492, -0.335, -1.3333, 7.0496, 1.7509, -0.0513, -0.0855, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.4622, 2.1529, 1.8645, -1.5539, -1.2945, -1.8507, 0.3333, -0.0193, 0.8185, 0.6132, -0.4156, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4221 left_y=-0.0164 left_z=0.2067 left_yaw=1.1713 left_pitch=0.304 left_roll=0.0143 left_gripper=0.3333 right_x=0.2926 right_y=0.0016 right_z=0.1702 right_yaw=-0.0007 right_pitch=-0.0618 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.3624, -10.9333, 8.4444, -0.3346, -1.0525, 0.1441, 0.188, -0.0479, -1.3607, 7.0496, 1.7021, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bf7b237834695594b400baeb1649c96f67c4836d3f631d7ec20730a5d4e042d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:472ddb162f28586a9e1619fc6aea805f3eb47f4d0b7c18f1772b9c2dbc010bac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70aeda8e9470b6623184424064824767777f60c44b73bcf5ee5495b234c5a0d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSugwKEAgRGAI4AUIIdGhpbmtpbmcSDKKDT0DzGj3OAA9ydRoMcb5qLKwD7TjGCJW5IjBysLMjr1DFVZFWC2QGmqv2cqxJjm9IoC/XN+dQc98U6gaLM3PP7uzsSK0ZIX9JZ+8q1wtgO29TXHozTeEuCmlKTnibSVE8pGVERlKLZA5ew4xVE+LaG5StXXv9lH+s+SwmNfJogGUNjWIjm/ycN+xuNNZ0H0xH1UcclZmqHpsRFEAdciN8Y1XmbyNwYoBVnmKBgbXvwjJblontQlANikH6x9dKWdwpc/d12RT5OU86NPwBPxuOxFci1CAB4sd1xhTM+LSGfEwox1l6gh4b4ayhJ89Cn2CCtm1y9oKfvst2sXPW62bpeaCKl8Q0V37G0AgVUMFJ+doU9UwUESEvKIufKwso7nII75hl73RPdixUsAeB387etIkXIIvxOrQCijSrLaWVeBxHy16yul2aiVAGDPyy9uQBEK6FsFl45zJuOO060e8fjEmKEXqXDkWInzlUbLebBXFQxGePBfYife2h2qW8ZYKkKW8D5R5rXMRGmwQlA5QTbBiOnF7weovhlnncsxLFbWb3brv6XRqDPt1RT0Ut9lFk4/AIrUPwqljMvV+DxIe/smYONWwqQdejILesGappNtsSSMD6SIcUOh1Fg8UO0kTY0e9ejGTi9UZK/wp6TGgP2QB8899pr4SrH2T+59ZybiSRfS88N1v190A5zpv+UAfS31NlShxgOj1VtN19+vCl7oufw2HAf/Cf7ULVP5ptETDYRxTxYgaJe05sG9zBo2koHT3bpVLLshBkM7ZaUqY0AJDBxwGTOKWkAjQHD07Q19qPa9MYQIa6ETsj3ZJb+jtklERRNq2aF9F6ZkTy+ryzeCzIq/t4nS0my2qpxs6whw8BcwYbvWLb/G1NrAP+GRzcoiP2GsJT0g0hUQumMPbMo4Y0lVVBH3NRZUKA0h2hhqSyyegrn3a9TX9c2j/0ConFcKqWf9UMRGTlM0lQ0+4zdhWtsSAsjYfv7Mq7911ncsbqByU7RFUjNjK21E98Xye7GgziUltQF8p2OWonKUogBtq6uVrbV+eMiqQlhEvV/MJW9GQEnI9k4mHgLgDFSXPqNxHYDz7w5WiLmlYj6MuD+lLx6UTZz7quI22hOs7SLuEFLs14YZn/5Irm1upqw0kClZCRUtPxt9hj80SiSLxNP3kb5cqVip6W3ZV4R635RmY5jwKiyk6jmKdWhf3GkSua1pQXP5zZM0a/Kue+nZxKMr0ZA3Vi0Y6qO4a2AmwCqDgVWzMMNYPz2U8snjJzlYbUiw/xETW7kzJ7Xpp8cC6ccFt7xXJkHNh3pDsrt45GBsqnWk2vMZW0lO5tud0tUSsjEbvx0oiy7Rb5e1Q0HtGy93GR3bQSivaRuFJRSmRFrmfJZf/I3/tbp1L9tg+oEbo4j1y9Tzj3xl/BzJk1dSRyyd1n9OcUz7MrDMJC/Jzt9mZ/vKZSJdG/NOnxye/Dg8md6WDLu0khx7stq/kLk2d2tGMPRVOtPp2FzKWPNcCOb2ZPLT8+UXUEXWGT4v1HLhdcq6KsUiTVO/2QvKAkQxGmXEtyJrPnxCF5vYhoPlIIWBp8JmjhmI1zCA+q3NOKuUyG7TcFjF+AQrUwgpd+8loI0lvQXd9fqwPVFZFRYi7n9+PmTkiLBcuBIkcLdfQMBVlM/FI1kXse4tvxXCFh25iTzLumkn1Yi2qQv7ioGs4C4zAX+Rb+VWsh0/KtMgrOkmlbI6dRlGzhJ8pkNNxMGit7DFUg0QV80FLoj9qJxVHZW3sHggSwy/1TZTxqWnVU68QBHLsEQIMHmpjqulJmag3EpNRIYBjPVJDIzj40lCYgZwd9SkiQ42wAPu7sycirud/aTbr1fWQypLD/NyqblhLzRterkIIw4IYSJuS7E/Hb/SAGWA94CYOaiS4dNpxy5ZulkTAOsPjSKVBRNNvFX9XZp96AJVfLjafIQ1DuwgJH5UuHQ5PKgy1cVJw7lTKkwQY7UqXy7LNjy8lGHOW/cy92dLkBLRVzxBaGGLaQboDLXI2ip2JaEkAZyTqbfPD8Arxe+VHH6kJcBb24yo5Hne4zq1u1YGT0OEnbCie+eYGxwJwkbzYxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01REcs9GKEQGwfRMGQCqAbeW",
      "input": {
        "note": "Wrist view shows the toaster top with a slot just to the tool's right, running along the shaft direction. Shifting the grasp point forward in x to bring the shaft over the slot while pitching the tip further down.",
        "targets": {
          "left_pitch": 0.5,
          "left_x": 0.49,
          "left_y": -0.04,
          "left_yaw": 1.4,
          "left_z": 0.23
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01REcs9GKEQGwfRMGQCqAbeW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.231, 2.4462, 2.3127, -1.5581, -1.4433, -1.7775, 0.3355, -0.0193, 0.8223, 0.6132, -0.4164, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4908 left_y=0.0683 left_z=0.2163 left_yaw=1.3929 left_pitch=0.4423 left_roll=-0.0787 left_gripper=0.3355 right_x=0.2927 right_y=0.0016 right_z=0.169 right_yaw=-0.0007 right_pitch=-0.0664 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-0.8957, -11.6991, 5.8735, -0.3834, -0.8816, 0.2076, 0.2222, -0.2393, -1.6752, 7.241, 1.6825, -0.0562, -0.0757, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4721ceae375ddc2eaca72af5b397203f303d8ced690a62fab38be1dd38bce645",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f170e65a89ff899e5f89d6773d720df8913488e72e74c6d20ac075a4cb96572",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09c14d22943be3e3f147e0df451376b03ecf6109facc2f373990d8469a9333f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 8.817 s

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

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.5686, 1.5059, 1.3846, -1.2415, -0.551, -1.1667, 0.3313, -0.0193, 0.8185, 0.6132, -0.4129, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3035 left_y=-0.0799 left_z=0.1897 left_yaw=0.6529 left_pitch=-0.4159 left_roll=0.0163 left_gripper=0.3313 right_x=0.2929 right_y=0.0016 right_z=0.1707 right_yaw=-0.0004 right_pitch=-0.0591 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -6.2564, 5.8051, 0.8425, -0.6325, 0.2369, 0.3492, -0.335, -1.3333, 7.0496, 1.7509, -0.0513, -0.0855, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.4622, 2.1529, 1.8645, -1.5539, -1.2945, -1.8507, 0.3333, -0.0193, 0.8185, 0.6132, -0.4156, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4221 left_y=-0.0164 left_z=0.2067 left_yaw=1.1713 left_pitch=0.304 left_roll=0.0143 left_gripper=0.3333 right_x=0.2926 right_y=0.0016 right_z=0.1702 right_yaw=-0.0007 right_pitch=-0.0618 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.3624, -10.9333, 8.4444, -0.3346, -1.0525, 0.1441, 0.188, -0.0479, -1.3607, 7.0496, 1.7021, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.231, 2.4462, 2.3127, -1.5581, -1.4433, -1.7775, 0.3355, -0.0193, 0.8223, 0.6132, -0.4164, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4908 left_y=0.0683 left_z=0.2163 left_yaw=1.3929 left_pitch=0.4423 left_roll=-0.0787 left_gripper=0.3355 right_x=0.2927 right_y=0.0016 right_z=0.169 right_yaw=-0.0007 right_pitch=-0.0664 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-0.8957, -11.6991, 5.8735, -0.3834, -0.8816, 0.2076, 0.2222, -0.2393, -1.6752, 7.241, 1.6825, -0.0562, -0.0757, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4721ceae375ddc2eaca72af5b397203f303d8ced690a62fab38be1dd38bce645",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f170e65a89ff899e5f89d6773d720df8913488e72e74c6d20ac075a4cb96572",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09c14d22943be3e3f147e0df451376b03ecf6109facc2f373990d8469a9333f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014sqq4n4qoFfcL4sJTGmRNo",
      "input": {
        "note": "The toaster top edge now appears behind-right of the tool, so the shaft has overshot toward the fence in y. Pulling back in y (the controller has been overshooting positive y at this yaw) with the tip pitched fully down to place it over the slot.",
        "targets": {
          "left_pitch": 0.6,
          "left_x": 0.5,
          "left_y": -0.14,
          "left_yaw": 1.57,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_014sqq4n4qoFfcL4sJTGmRNo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.1654, 2.6923, 2.8143, -1.4429, -1.5188, -1.4208, 0.3376, -0.0193, 0.8242, 0.6132, -0.4194, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.5358 left_y=0.0931 left_z=0.2394 left_yaw=1.4413 left_pitch=0.5177 left_roll=-0.0997 left_gripper=0.3376 right_x=0.2923 right_y=0.0016 right_z=0.1679 right_yaw=-0.0004 right_pitch=-0.0713 right_roll=0.0015 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -12.9162, 8.1573, 0.6764, -1.1062, 0.1929, 0.2027, -0.3624, -1.5385, 7.2, 1.746, -0.0171, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35dbb43ceff5706a28293e60ad5e26a65ac2d8b8afae53beb452dea1cabec970",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b0ba23c7df749db0987e1a7d4aecd8845c9a6276b3f325cb3a4a76008bffe13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a1fda7a6a316b7f72fc1323254a01f332c937ab73a09bea5f3653704637bb78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 32.31 s

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

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.4622, 2.1529, 1.8645, -1.5539, -1.2945, -1.8507, 0.3333, -0.0193, 0.8185, 0.6132, -0.4156, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4221 left_y=-0.0164 left_z=0.2067 left_yaw=1.1713 left_pitch=0.304 left_roll=0.0143 left_gripper=0.3333 right_x=0.2926 right_y=0.0016 right_z=0.1702 right_yaw=-0.0007 right_pitch=-0.0618 right_roll=0.0011 right_gripper=0.9989\nstate[joint_eff]: [0.3624, -10.9333, 8.4444, -0.3346, -1.0525, 0.1441, 0.188, -0.0479, -1.3607, 7.0496, 1.7021, -0.0562, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.231, 2.4462, 2.3127, -1.5581, -1.4433, -1.7775, 0.3355, -0.0193, 0.8223, 0.6132, -0.4164, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4908 left_y=0.0683 left_z=0.2163 left_yaw=1.3929 left_pitch=0.4423 left_roll=-0.0787 left_gripper=0.3355 right_x=0.2927 right_y=0.0016 right_z=0.169 right_yaw=-0.0007 right_pitch=-0.0664 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-0.8957, -11.6991, 5.8735, -0.3834, -0.8816, 0.2076, 0.2222, -0.2393, -1.6752, 7.241, 1.6825, -0.0562, -0.0757, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.1654, 2.6923, 2.8143, -1.4429, -1.5188, -1.4208, 0.3376, -0.0193, 0.8242, 0.6132, -0.4194, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.5358 left_y=0.0931 left_z=0.2394 left_yaw=1.4413 left_pitch=0.5177 left_roll=-0.0997 left_gripper=0.3376 right_x=0.2923 right_y=0.0016 right_z=0.1679 right_yaw=-0.0004 right_pitch=-0.0713 right_roll=0.0015 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -12.9162, 8.1573, 0.6764, -1.1062, 0.1929, 0.2027, -0.3624, -1.5385, 7.2, 1.746, -0.0171, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35dbb43ceff5706a28293e60ad5e26a65ac2d8b8afae53beb452dea1cabec970",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b0ba23c7df749db0987e1a7d4aecd8845c9a6276b3f325cb3a4a76008bffe13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a1fda7a6a316b7f72fc1323254a01f332c937ab73a09bea5f3653704637bb78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSmAkKEAgRGAI4AUIIdGhpbmtpbmcSDFq5I+56z72N/wNDgRoMlcT0F/QBeNxmaEmBIjBtAVUcJ2Rj1H3sRyCk9kVAQpKEfoDKekEp5BtiNMUBZ5m6OILxtA1QNn/K7OfWm2QqtQjF6199ZdUTxmkmLcJamws4dXAOfDHVu99gZJoa1ArlgJ/L/EeepElZsE1bvlgF8TVdElVKSm4I35ilOPezaFPg5iAFeLq1MX40X9A1IWfzld8JdwYAGgDGzNVSzPYLNjXIEz1lKRMr+dP+x6fTzn76CsE2NwhCrpPGKgJ9u3lSxxPIhEGyN50nc8VoqnOtzseBrsE42K99dMFF9YHmLEwxuhRVpo3GuZL0Ios+TLk9HtiHUftDu8A/knjb6otCUbJkhbFvqoup0fPBjR/LZrh/un1H6HD6ttWScN2l0t9ZQwew+iGuDY6b2UCBUgwTicJ7+xTwINUeCDT0rcWdzrCrxPxCLvlyhBo4QTAjP/udcsSRLDK6wDBSCRFEcbbN/FsszDTmpTJjdX+C/urZtYRpsXsOo38cuoUFy33c2mY02rC3t5AcnqzFe78Hs14KY0EJqAGCfg83fDxXkVZV7/bUmc2qn6v3NcwVTTc2A1yfyBgQEQrrbPpweHn0aorQAMbh9DpqdAwtjiAEpH16Tv7fibuU6h5cMqFQbJupFKfBZFY/lwc0eVW+I5tYS0DPoUDc1UM0ZfhwXV8a7VUEYmfrQRfofBS4Rt00u5Kb7Cz8BSeuOSYagerBjN8Pj++0HQh01bTMuD6DO5beAu6EpD28qHAPg94Q0WuU8clrz3imrTrQsHVDA0jMoRjy1tI9Wdm6JP2+K8+JwgeV/6tvmtLa0pIStekpcp0rVo0XlmCYl0DfkEySrdmiIS6YkNekOeYYQC3K0XKNprhQ8Qj6awcAWBMsk8iPLvbQ0EFbwa3c9uvTRyF5LVVe7csT0MbkyDjll8AbjMd6aCV06YXLU/XXYEexju0g+Fu75bZ6MRH8CNdc9p3UHPeKdhjXuJgbGP/N8RY5GwnQDHV2DUCYC+FHtVuJ2MVoMIV7F7hbq0IvJt9PmacqR6q2+aDuri6M1ZSVl3Ova1nK4SMjRgpAUuBlwgMAbt1h1osq6UO5nhQlDRPRP5vxVKfLfB5PTDcO8j27CGdKxCCJDNsai6IFY/6CspxO7w5jnMcORebJJ2tODqsZInBZXoN6Ldn7THT1/+iuJh5N+B+99pWcWsqs9WZzEs0OOnwXoBCt/gcplk4JJE+GgQNMK/vuqVsy4EyeTFGnc3I+HIZXG1Km3R9yQFij/gvZmOrOpQ9UB8rUY2Eb/6sz1uX8d1FMtWmVHtpcSWugsuf3kVt89XdKKK0hUIsBKw0xr2bJfm81PhQoQsTYXQcx7nql7fLb3fvZbYKeOFZPQb1vVNRNSe/D5ttj3zw4fO0a1pk0Qop1fdZmIYVXywSvN3nNQuHh+iF0gaL+3myTKe8J7shygIs5yWyQ6J5s6+T+PPovp38XluVYGFhqDmgGvPelFl9clW9m0mMY/+/rehGvdRPCTKruixgkWpxCnXj755wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VLivBaXih7wNpwixrfeWpk",
      "input": {
        "note": "The arm ended up further toward the fence (y=0.09) instead of pulling back—the IK is not tracking at this yaw and reach. Retreating to a safe pose near the base to re-plan the approach.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.32,
          "left_y": -0.1,
          "left_yaw": 0.8,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01VLivBaXih7wNpwixrfeWpk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.7582, 1.668, 1.5452, -1.3464, -1.0061, -1.5734, 0.3395, -0.0193, 0.8295, 0.6132, -0.4202, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3321 left_y=-0.104 left_z=0.2407 left_yaw=0.8029 left_pitch=0.0063 left_roll=-0.0948 left_gripper=0.3395 right_x=0.2925 right_y=0.0016 right_z=0.1663 right_yaw=-0.0007 right_pitch=-0.0774 right_roll=0.0014 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -9.9214, 5.9009, 0.398, -0.7009, -0.1294, 0.188, -0.2256, -1.7436, 7.0085, 1.7411, -0.022, -0.0708, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:354b78a0f2e3248a5173815a8f1108f164ce82d8131058872ddf99e403b41918",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be1d37b7f814ae78ce5561de93d411eb60c0ad7ff28d02dccdcbe787bb8555f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe8f718c76da3ff31bbc946d29c7fd4269d2a16beed64ee5e861e2a6ff5b7252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 11.06 s

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

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.231, 2.4462, 2.3127, -1.5581, -1.4433, -1.7775, 0.3355, -0.0193, 0.8223, 0.6132, -0.4164, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4908 left_y=0.0683 left_z=0.2163 left_yaw=1.3929 left_pitch=0.4423 left_roll=-0.0787 left_gripper=0.3355 right_x=0.2927 right_y=0.0016 right_z=0.169 right_yaw=-0.0007 right_pitch=-0.0664 right_roll=0.0012 right_gripper=0.9989\nstate[joint_eff]: [-0.8957, -11.6991, 5.8735, -0.3834, -0.8816, 0.2076, 0.2222, -0.2393, -1.6752, 7.241, 1.6825, -0.0562, -0.0757, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.1654, 2.6923, 2.8143, -1.4429, -1.5188, -1.4208, 0.3376, -0.0193, 0.8242, 0.6132, -0.4194, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.5358 left_y=0.0931 left_z=0.2394 left_yaw=1.4413 left_pitch=0.5177 left_roll=-0.0997 left_gripper=0.3376 right_x=0.2923 right_y=0.0016 right_z=0.1679 right_yaw=-0.0004 right_pitch=-0.0713 right_roll=0.0015 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -12.9162, 8.1573, 0.6764, -1.1062, 0.1929, 0.2027, -0.3624, -1.5385, 7.2, 1.746, -0.0171, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.7582, 1.668, 1.5452, -1.3464, -1.0061, -1.5734, 0.3395, -0.0193, 0.8295, 0.6132, -0.4202, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3321 left_y=-0.104 left_z=0.2407 left_yaw=0.8029 left_pitch=0.0063 left_roll=-0.0948 left_gripper=0.3395 right_x=0.2925 right_y=0.0016 right_z=0.1663 right_yaw=-0.0007 right_pitch=-0.0774 right_roll=0.0014 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -9.9214, 5.9009, 0.398, -0.7009, -0.1294, 0.188, -0.2256, -1.7436, 7.0085, 1.7411, -0.022, -0.0708, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:354b78a0f2e3248a5173815a8f1108f164ce82d8131058872ddf99e403b41918",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be1d37b7f814ae78ce5561de93d411eb60c0ad7ff28d02dccdcbe787bb8555f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe8f718c76da3ff31bbc946d29c7fd4269d2a16beed64ee5e861e2a6ff5b7252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WqoUqenpijYAQ3q2eENhgm",
      "input": {
        "note": "Clear wrist view: the toaster sits ahead-left with its slots running along the arm's x direction, starting about at x≈0.45. Moving to yaw 0 with the tip pitched down so the shaft points along the slot, hovering above its near end.",
        "targets": {
          "left_pitch": 0.6,
          "left_x": 0.36,
          "left_y": 0.02,
          "left_yaw": 0.0,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01WqoUqenpijYAQ3q2eENhgm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1051, 0.963, 0.4938, 0.3664, 0.0303, -0.1204, 0.3411, -0.0193, 0.8318, 0.6132, -0.4206, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3587 left_y=0.0361 left_z=0.2464 left_yaw=0.136 left_pitch=0.4641 left_roll=-0.1227 left_gripper=0.3411 right_x=0.2926 right_y=0.0016 right_z=0.1656 right_yaw=-0.0007 right_pitch=-0.0801 right_roll=0.0015 right_gripper=0.9989\nstate[joint_eff]: [0.1983, -2.7282, 7.8017, 2.5763, 0.1685, 0.2076, 0.1587, -0.0889, -1.6068, 7.0085, 1.6923, -0.022, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0e87d50b64fba882fef04f5ee0bbaa9259d86f4bc2e9f72a2780e5b395a416e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0f49dcbb2e02058853e0cee5b63d3a3d92a2d1733db80f505b3be4bd09c1957",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ccd913b39b893290e98a96ad5ae72665ebfcce596da95e8b8337f51a86ebbdd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 10.25 s

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

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.1654, 2.6923, 2.8143, -1.4429, -1.5188, -1.4208, 0.3376, -0.0193, 0.8242, 0.6132, -0.4194, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.5358 left_y=0.0931 left_z=0.2394 left_yaw=1.4413 left_pitch=0.5177 left_roll=-0.0997 left_gripper=0.3376 right_x=0.2923 right_y=0.0016 right_z=0.1679 right_yaw=-0.0004 right_pitch=-0.0713 right_roll=0.0015 right_gripper=0.9989\nstate[joint_eff]: [0.2803, -12.9162, 8.1573, 0.6764, -1.1062, 0.1929, 0.2027, -0.3624, -1.5385, 7.2, 1.746, -0.0171, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.7582, 1.668, 1.5452, -1.3464, -1.0061, -1.5734, 0.3395, -0.0193, 0.8295, 0.6132, -0.4202, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3321 left_y=-0.104 left_z=0.2407 left_yaw=0.8029 left_pitch=0.0063 left_roll=-0.0948 left_gripper=0.3395 right_x=0.2925 right_y=0.0016 right_z=0.1663 right_yaw=-0.0007 right_pitch=-0.0774 right_roll=0.0014 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -9.9214, 5.9009, 0.398, -0.7009, -0.1294, 0.188, -0.2256, -1.7436, 7.0085, 1.7411, -0.022, -0.0708, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1051, 0.963, 0.4938, 0.3664, 0.0303, -0.1204, 0.3411, -0.0193, 0.8318, 0.6132, -0.4206, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3587 left_y=0.0361 left_z=0.2464 left_yaw=0.136 left_pitch=0.4641 left_roll=-0.1227 left_gripper=0.3411 right_x=0.2926 right_y=0.0016 right_z=0.1656 right_yaw=-0.0007 right_pitch=-0.0801 right_roll=0.0015 right_gripper=0.9989\nstate[joint_eff]: [0.1983, -2.7282, 7.8017, 2.5763, 0.1685, 0.2076, 0.1587, -0.0889, -1.6068, 7.0085, 1.6923, -0.022, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0e87d50b64fba882fef04f5ee0bbaa9259d86f4bc2e9f72a2780e5b395a416e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0f49dcbb2e02058853e0cee5b63d3a3d92a2d1733db80f505b3be4bd09c1957",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccd913b39b893290e98a96ad5ae72665ebfcce596da95e8b8337f51a86ebbdd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KKzXcdp3jxCJZdyHVxXTrk",
      "input": {
        "note": "The wrist camera now shows both toaster slots straight ahead running along the shaft, with the shaft aligned over the left slot. Advancing and lowering slightly so the tip reaches into the slot.",
        "targets": {
          "left_pitch": 0.6,
          "left_x": 0.4,
          "left_y": 0.035,
          "left_yaw": 0.0,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01KKzXcdp3jxCJZdyHVxXTrk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1799, 1.2667, 0.4644, 0.6769, 0.1951, -0.1261, 0.3426, -0.0193, 0.8349, 0.6132, -0.421, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3952 left_y=0.0407 left_z=0.1993 left_yaw=0.06 left_pitch=0.4422 left_roll=-0.1509 left_gripper=0.3426 right_x=0.2927 right_y=0.0016 right_z=0.1647 right_yaw=-0.0004 right_pitch=-0.0835 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [0.253, -5.053, 7.8701, 2.5079, 0.2271, 0.0073, 0.1441, -0.2803, -1.6889, 7.0906, 1.6581, -0.0122, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e76037265f6ec4598c82a5bff95a566438240c5fa6e24a401a3adbc7f666132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45b66c11cba95785e1fb61cf4d95c9bc94bd671ee4f323143141baaba220df57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5332e7789301bb69652b0116c320233295e421afc5486096e09ae699279204ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 12.74 s

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

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.7582, 1.668, 1.5452, -1.3464, -1.0061, -1.5734, 0.3395, -0.0193, 0.8295, 0.6132, -0.4202, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3321 left_y=-0.104 left_z=0.2407 left_yaw=0.8029 left_pitch=0.0063 left_roll=-0.0948 left_gripper=0.3395 right_x=0.2925 right_y=0.0016 right_z=0.1663 right_yaw=-0.0007 right_pitch=-0.0774 right_roll=0.0014 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -9.9214, 5.9009, 0.398, -0.7009, -0.1294, 0.188, -0.2256, -1.7436, 7.0085, 1.7411, -0.022, -0.0708, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1051, 0.963, 0.4938, 0.3664, 0.0303, -0.1204, 0.3411, -0.0193, 0.8318, 0.6132, -0.4206, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3587 left_y=0.0361 left_z=0.2464 left_yaw=0.136 left_pitch=0.4641 left_roll=-0.1227 left_gripper=0.3411 right_x=0.2926 right_y=0.0016 right_z=0.1656 right_yaw=-0.0007 right_pitch=-0.0801 right_roll=0.0015 right_gripper=0.9989\nstate[joint_eff]: [0.1983, -2.7282, 7.8017, 2.5763, 0.1685, 0.2076, 0.1587, -0.0889, -1.6068, 7.0085, 1.6923, -0.022, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1799, 1.2667, 0.4644, 0.6769, 0.1951, -0.1261, 0.3426, -0.0193, 0.8349, 0.6132, -0.421, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3952 left_y=0.0407 left_z=0.1993 left_yaw=0.06 left_pitch=0.4422 left_roll=-0.1509 left_gripper=0.3426 right_x=0.2927 right_y=0.0016 right_z=0.1647 right_yaw=-0.0004 right_pitch=-0.0835 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [0.253, -5.053, 7.8701, 2.5079, 0.2271, 0.0073, 0.1441, -0.2803, -1.6889, 7.0906, 1.6581, -0.0122, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e76037265f6ec4598c82a5bff95a566438240c5fa6e24a401a3adbc7f666132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45b66c11cba95785e1fb61cf4d95c9bc94bd671ee4f323143141baaba220df57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5332e7789301bb69652b0116c320233295e421afc5486096e09ae699279204ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V21qxW4m3r6nD8djZSacdv",
      "input": {
        "note": "The tip is now over the toaster's top surface just short of the slot openings, aligned with the left slot. Advancing another 3 cm so the tip drops into the slot.",
        "targets": {
          "left_pitch": 0.6,
          "left_x": 0.43,
          "left_y": 0.04,
          "left_yaw": 0.0,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01V21qxW4m3r6nD8djZSacdv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1848, 1.2915, 0.4644, 0.7605, 0.218, -0.1291, 0.3432, -0.0193, 0.8352, 0.6132, -0.4202, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3991 left_y=0.0394 left_z=0.2102 left_yaw=0.0412 left_pitch=0.5004 left_roll=-0.1481 left_gripper=0.3432 right_x=0.2928 right_y=0.0016 right_z=0.1647 right_yaw=-0.0007 right_pitch=-0.0831 right_roll=0.0015 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -5.5453, 8.0615, 2.5665, 0.2125, -0.0024, 0.0562, -0.1573, -1.5248, 7.1179, 1.6728, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e914af8d3b703d521f4319c5d03473397ef11175f52c7acbdf9ab7bf460ce6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f51b9131fbe4d599bf162e802494986780fa26b9a467427eefa8dc4552e99ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7bf97d03888ff089a4039f26147f9d79fcc08ce7c4b7eb26187036e93f204405",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 7.758 s

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

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1051, 0.963, 0.4938, 0.3664, 0.0303, -0.1204, 0.3411, -0.0193, 0.8318, 0.6132, -0.4206, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3587 left_y=0.0361 left_z=0.2464 left_yaw=0.136 left_pitch=0.4641 left_roll=-0.1227 left_gripper=0.3411 right_x=0.2926 right_y=0.0016 right_z=0.1656 right_yaw=-0.0007 right_pitch=-0.0801 right_roll=0.0015 right_gripper=0.9989\nstate[joint_eff]: [0.1983, -2.7282, 7.8017, 2.5763, 0.1685, 0.2076, 0.1587, -0.0889, -1.6068, 7.0085, 1.6923, -0.022, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1799, 1.2667, 0.4644, 0.6769, 0.1951, -0.1261, 0.3426, -0.0193, 0.8349, 0.6132, -0.421, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3952 left_y=0.0407 left_z=0.1993 left_yaw=0.06 left_pitch=0.4422 left_roll=-0.1509 left_gripper=0.3426 right_x=0.2927 right_y=0.0016 right_z=0.1647 right_yaw=-0.0004 right_pitch=-0.0835 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [0.253, -5.053, 7.8701, 2.5079, 0.2271, 0.0073, 0.1441, -0.2803, -1.6889, 7.0906, 1.6581, -0.0122, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1848, 1.2915, 0.4644, 0.7605, 0.218, -0.1291, 0.3432, -0.0193, 0.8352, 0.6132, -0.4202, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3991 left_y=0.0394 left_z=0.2102 left_yaw=0.0412 left_pitch=0.5004 left_roll=-0.1481 left_gripper=0.3432 right_x=0.2928 right_y=0.0016 right_z=0.1647 right_yaw=-0.0007 right_pitch=-0.0831 right_roll=0.0015 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -5.5453, 8.0615, 2.5665, 0.2125, -0.0024, 0.0562, -0.1573, -1.5248, 7.1179, 1.6728, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e914af8d3b703d521f4319c5d03473397ef11175f52c7acbdf9ab7bf460ce6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f51b9131fbe4d599bf162e802494986780fa26b9a467427eefa8dc4552e99ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bf97d03888ff089a4039f26147f9d79fcc08ce7c4b7eb26187036e93f204405",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS3gkKEAgRGAI4AUIIdGhpbmtpbmcSDN5AI5cnkdiGmsTDqBoM/HiUmctRW1F686PbIjCOSQtg0H0uXbN4keBy4cAjtWgAz7HYAkCsxhGF5ykGF8iQ/bdOvomP4t0w4Nr4BA8q+whyzE/IPpN23BRS7m1TQSV1Snef4FBNbfk8PiPC0iihZ6TU2EUUMLeY0iMzt2N3hgEwNs/kDWx6qW7BJFKEF9vn/mc0Ksv+EkpPYecseoeFtODzEJiaJxk2pqKqQvsNK15rtaEFUk0bEhNbD3lfKbbJmEPmljmY1jBpyU1aog/kY+XclNrCQMNRJ5b6MetT2VvbG9gOgBbJn+i7+tTzb6vCfbUJbV35IVejHnASU4oRpXvbuCM2HqFbrGWJaJ8zSw1dXztLQEhquF9VfPFgcBZEcvRoUYaUSdC/av2jfz8qo2TIUO0vBY9f9ynOpFOKq0Q8rK/jB64rPaJJCBkf66MiOoCen2h0Vm7tTw3VQQF0RMEcYUvwQK02jXVHRYqDH8SneFhbAIPCmFWp5kKO26fVWceMVI3Nce+SUcj4auAHwf4f5aMFhA/mvrrZPDU8cRMAW5D0Nd4mIC1GWkBsAZdOTYXj+zoQwGInA8JJgU+6SXBsueWQuw0ngyOhPgPWvWICJdHeUj/JnCRh1qgNgbBtZy1YvhtWHxJW0APSZIgqE0mCvS3IA9e3OMTa5AhCri3sGO3KTP7KJ4RIiPwTYuSPNqhuS2Bcvx5iyXa2jko9RWFBrDDaFpcUbePL3ywxrrWSCOg3vtUyZjTHBE784MRkH1UoQbJXoJw7dRQU4QFINrELbV0w7Nld8AqGi+nDfohXXl2PIB9ixyU5cbkIim8V0u0ANVKdryR0O7x49vihZTfBKAovghEAy8cXbQ4Yvs/9gpQe+n87JFQ/UtEviOkeMeN+5C1rFU6H2ZERzSc707+HBLieUvbcJD+1Ip7U+RUQLu12MtLZp7RRVkEZ7kXc01c/E1qni/0fuzhjySSp+LoFhZ8g2cMBDFPMQBO3SDnPzgkLMM1LHFZc1ZXLxzmfyudor0fS4ay8MghD6QYh1yA/nGKuw9HO4u11BNQl5zIzEylNcdlyvjR3+l0HLU43KoxnrQ21z51KQ9ID4zGwf7RSAtveSkv9UABM+BJJqpX3vPxDNS4C+l5vtBb2/fFCO/kbRW7kzouvlHPfIrUAQjkfk4bq/AHA2gRdtmWeN64hisJX45XIs8w27+X114PYWoZbMmH0EZZ1y3K20o6PdTsAii5Bq8U3AxmBehh9i9D2iP7O+wqK3Trwcim8FaPrC84vAC9HHMEh66ZTJe+F2Gvgggy3mNEz8po6L4bU+yw7qpssIMHOvRqFfeJYmKcRLLeFmIxg5caHZCFHLcJjZ4NcN2mZ/JmkTkLpbW/KYDt6HUNKbJ3de78rKOiTBbC9zG7QF8cxvM1TqxEnb06DsHH63YuxsT7cmR2V9Uz4EQr8Gsu/d4k2GswOadCOcsZjm5qM1mVzMCZTHHfYl3KY8VVp/mpSqj6hnFHen8NTTCwnyHR2vLij9MczbQvSh9a84JBejNSRxIfs4AHAoibPP5pA9TToVOKDIm9H/zUW/++8DyPxL0YhJhgMP1I1VAxnhjFtBEgdJXIm5egvrSToL9PzjQAl2FaOVGl8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013G1Ze3iFjcJLtd2ggG7Dwu",
      "input": {
        "note": "The arm stalled in x — the screwdriver tip appears to be pressing against the toaster's near top edge. Lifting while advancing so the tip clears the edge and comes over the slot.",
        "targets": {
          "left_pitch": 0.6,
          "left_x": 0.44,
          "left_y": 0.04,
          "left_yaw": 0.0,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013G1Ze3iFjcJLtd2ggG7Dwu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1848, 1.2915, 0.4644, 0.7605, 0.2184, -0.1291, 0.3434, -0.0193, 0.8356, 0.6132, -0.4202, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3991 left_y=0.0393 left_z=0.2102 left_yaw=0.0408 left_pitch=0.5004 left_roll=-0.1481 left_gripper=0.3434 right_x=0.2928 right_y=0.0016 right_z=0.1646 right_yaw=-0.0004 right_pitch=-0.0835 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -5.5316, 7.8974, 2.5421, 0.2564, 0.0024, -0.0024, -0.0615, -1.4838, 7.0222, 1.6435, -0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1478b34ae878e16ab37084365e8dbce6e1248822f12e715e3e50ad6deae6cad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6bd75aaa87b05d0e927d52512cb1f8041fef7afb2ce3cb8ffa28ca2290dc0c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:980dc1a4fa0b5cf78b449d15cccf1f2d2c86607deee23cf6c13ace8235f2894e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 11.56 s

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

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1799, 1.2667, 0.4644, 0.6769, 0.1951, -0.1261, 0.3426, -0.0193, 0.8349, 0.6132, -0.421, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3952 left_y=0.0407 left_z=0.1993 left_yaw=0.06 left_pitch=0.4422 left_roll=-0.1509 left_gripper=0.3426 right_x=0.2927 right_y=0.0016 right_z=0.1647 right_yaw=-0.0004 right_pitch=-0.0835 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [0.253, -5.053, 7.8701, 2.5079, 0.2271, 0.0073, 0.1441, -0.2803, -1.6889, 7.0906, 1.6581, -0.0122, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1848, 1.2915, 0.4644, 0.7605, 0.218, -0.1291, 0.3432, -0.0193, 0.8352, 0.6132, -0.4202, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3991 left_y=0.0394 left_z=0.2102 left_yaw=0.0412 left_pitch=0.5004 left_roll=-0.1481 left_gripper=0.3432 right_x=0.2928 right_y=0.0016 right_z=0.1647 right_yaw=-0.0007 right_pitch=-0.0831 right_roll=0.0015 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -5.5453, 8.0615, 2.5665, 0.2125, -0.0024, 0.0562, -0.1573, -1.5248, 7.1179, 1.6728, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1848, 1.2915, 0.4644, 0.7605, 0.2184, -0.1291, 0.3434, -0.0193, 0.8356, 0.6132, -0.4202, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3991 left_y=0.0393 left_z=0.2102 left_yaw=0.0408 left_pitch=0.5004 left_roll=-0.1481 left_gripper=0.3434 right_x=0.2928 right_y=0.0016 right_z=0.1646 right_yaw=-0.0004 right_pitch=-0.0835 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -5.5316, 7.8974, 2.5421, 0.2564, 0.0024, -0.0024, -0.0615, -1.4838, 7.0222, 1.6435, -0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1478b34ae878e16ab37084365e8dbce6e1248822f12e715e3e50ad6deae6cad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6bd75aaa87b05d0e927d52512cb1f8041fef7afb2ce3cb8ffa28ca2290dc0c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:980dc1a4fa0b5cf78b449d15cccf1f2d2c86607deee23cf6c13ace8235f2894e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSzAgKEAgRGAI4AUIIdGhpbmtpbmcSDEddfm/+G9jLfYA7PRoMj5uzqTOmfm/wpQloIjCe76uKZ1cjfX17hbE3QzpmVt6wanTh3NupLwYkeGOwixMlnTsvfavmzjwNL/E2BhQq6QdpEbyw6WBlmINCRBI1yS4TyObLHk9X1aklJPp21hmGqI6eDs6Qvp0Ersp4tlI2/8loNOoH0EjVBr7RtHcNQURadqR44coswiaWxsBRqu96Uq1KOth2n6m41QGGFOLq65ad/Bzgy1c90AjHEkOmkTuJ9AExqtfTALwXtTcz3nDB38EOMZa8eFoneuFGPayFb9zZ6tw2OkNuPvpckiKfGOpxofwN2mDtPmd8hQWJLX0asS0zD4Dk0HBc5/mdCtJ/GjLIveMtG7cBeLMRk8+oyO6Ihn3CEo+SDxs88ZIH9LbQlmcKGk43DMa+Ilq93hQ33X8tc7cMxIf/yriFcTy8IrTdLQNgg8ri88mdmyuhijRWG8EyyLFn5pSt7yDFpOdmYPB3PJiWZPrUjyuPckBxZf/yTWqdMgTkjUwd9AdhjvzSGA+1DQgMeIPqe10IaLlO3V+/0R2Slp6zl/X3SI1XFWEywXv5vsiBWRbtBYw3g19nY2vOBu4clcDaR1sPoXOZndUkkDlYzjWI96E3ynyYG6m8MNB3fUJGuKcox71ejrCYAfHtQMSTf0KyTKeNlVKbijFNNGkfpUmS5gyEMQO09OHnFXi1aZVSA60DoiN+2BJfuQPVYyDV/4B0KDCuzSKeVqdQwL0/t/GvdoiFLMjP9+wparE4oq7RGxiZkx6SN6tndxtaSOheiE9YG/n0WR2SWKnFLEQ+sMCWI61XETlO9LKjhVSRk/Ccak3WtZmx2q8CgAkYcWpy6Oowwrc2ZT1jwA6QFQi14rzghRPnXkS3aOtvo8wzHF9Iolq9+ele1FxurvnL38P77C0rX/wjnvqZzcJa2kmLJ3XKYZkWesX7P5ys4dN3AVRkkRwTkzKLBX3PgqxTUH9oK6eqlVkrGPh3ZwuB6Owa5F5k5iZOge0doCwy0+J9Idb++X+4zwM+aZYraBIlp+T2xhcxTBd8F6+Vv3MKbY1l72z2Lt3UNPvclULu1Lmo1uZ4b2q1B39WPKK+dbqC8S/sa+lZbO53/XcA30iggcbk8CVWP6bEHgLIb2xIDZA4LYbBcmtjtoxv4VeoX7dLjyyFEP4PX3HvJW36PiC1lor+jtJ5AEObne9Tg4/bjBhhwXJ6JZtsD4PlJCR5V4F/wncDcw0vcpcbQ4KWD9+30XqHWW174xc3yzUbZUAsufN3TWcy9U3LhXk1m7phR88QlzutocvCYa+N7evMcXvBoiAPKsGOGdw1XgYa3t0RSh+zienJwRwik2AVsfvbbGeiY7stlUwNVDU8u7/EU2YwICSD97vnyh9IACmtgpvNGgeOsLS6Rw5uEViWp8LI0f6mS9kyovLrNhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EGerCCyKsSmXyHWZ1x9a4u",
      "input": {
        "note": "The arm did not move at all on the last command—it seems stuck against the toaster or a joint limit. Backing up slightly and reducing pitch to free it before re-approaching.",
        "targets": {
          "left_pitch": 0.3,
          "left_x": 0.37,
          "left_y": 0.03,
          "left_yaw": 0.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01EGerCCyKsSmXyHWZ1x9a4u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1898, 1.0657, 0.6415, 0.1432, 0.2375, -0.1127, 0.344, -0.0193, 0.8391, 0.6132, -0.4202, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3732 left_y=0.033 left_z=0.2301 left_yaw=0.0322 left_pitch=0.2903 left_roll=-0.169 left_gripper=0.344 right_x=0.293 right_y=0.0016 right_z=0.1637 right_yaw=-0.0004 right_pitch=-0.087 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -4.9436, 10.9333, 2.21, 0.1929, 0.1294, 0.0562, -0.1846, -1.6068, 6.9949, 1.6679, -0.0269, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a9492ac8ee22be453cedb9b4479a448c1d9255a94d2f79d7fcc345c450a459e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6a6f2b7e680e0d24ce3a9146541a72d7defbadf3463423bd9025f525c6fbf62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:afeda51c8225b3e0d8a897b9b403f99ddcdcbbf34b9549fd720716c4ae06b53a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 10.88 s

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

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1848, 1.2915, 0.4644, 0.7605, 0.218, -0.1291, 0.3432, -0.0193, 0.8352, 0.6132, -0.4202, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3991 left_y=0.0394 left_z=0.2102 left_yaw=0.0412 left_pitch=0.5004 left_roll=-0.1481 left_gripper=0.3432 right_x=0.2928 right_y=0.0016 right_z=0.1647 right_yaw=-0.0007 right_pitch=-0.0831 right_roll=0.0015 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -5.5453, 8.0615, 2.5665, 0.2125, -0.0024, 0.0562, -0.1573, -1.5248, 7.1179, 1.6728, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1848, 1.2915, 0.4644, 0.7605, 0.2184, -0.1291, 0.3434, -0.0193, 0.8356, 0.6132, -0.4202, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3991 left_y=0.0393 left_z=0.2102 left_yaw=0.0408 left_pitch=0.5004 left_roll=-0.1481 left_gripper=0.3434 right_x=0.2928 right_y=0.0016 right_z=0.1646 right_yaw=-0.0004 right_pitch=-0.0835 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -5.5316, 7.8974, 2.5421, 0.2564, 0.0024, -0.0024, -0.0615, -1.4838, 7.0222, 1.6435, -0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1898, 1.0657, 0.6415, 0.1432, 0.2375, -0.1127, 0.344, -0.0193, 0.8391, 0.6132, -0.4202, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3732 left_y=0.033 left_z=0.2301 left_yaw=0.0322 left_pitch=0.2903 left_roll=-0.169 left_gripper=0.344 right_x=0.293 right_y=0.0016 right_z=0.1637 right_yaw=-0.0004 right_pitch=-0.087 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -4.9436, 10.9333, 2.21, 0.1929, 0.1294, 0.0562, -0.1846, -1.6068, 6.9949, 1.6679, -0.0269, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a9492ac8ee22be453cedb9b4479a448c1d9255a94d2f79d7fcc345c450a459e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6a6f2b7e680e0d24ce3a9146541a72d7defbadf3463423bd9025f525c6fbf62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afeda51c8225b3e0d8a897b9b403f99ddcdcbbf34b9549fd720716c4ae06b53a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014ce7nBs9WAekHFKKHPBSm5",
      "input": {
        "note": "Arm is free; the tip sits at the toaster's near top edge with the slot openings a few cm further ahead. Moving up and forward so the tip hovers just above the left slot before lowering.",
        "targets": {
          "left_pitch": 0.6,
          "left_x": 0.44,
          "left_y": 0.035,
          "left_yaw": 0.0,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_014ce7nBs9WAekHFKKHPBSm5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1761, 1.383, 0.6407, 0.606, 0.244, -0.1593, 0.3441, -0.0193, 0.8429, 0.6132, -0.421, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4315 left_y=0.0371 left_z=0.2174 left_yaw=0.0309 left_pitch=0.4291 left_roll=-0.1956 left_gripper=0.3441 right_x=0.2931 right_y=0.0015 right_z=0.1625 right_yaw=-0.0007 right_pitch=-0.0915 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.3487, -6.0923, 10.8376, 2.7033, 0.1148, -0.1001, -0.0073, -0.1573, -1.7846, 7.0222, 1.6484, -0.0171, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5acb8ca469978ecacc7ffc72e315fd0ad9b430b714c351350decc3089bc1bc9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:517edea9ec82e92f39b9f6f230cb039c1dc13e37365b8b437033b646a6128ab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c3ee00ffacc8ada4b084edf804e08238e39afc39467c22f5db0a517d3fe6e6ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 10.72 s

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

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1848, 1.2915, 0.4644, 0.7605, 0.2184, -0.1291, 0.3434, -0.0193, 0.8356, 0.6132, -0.4202, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3991 left_y=0.0393 left_z=0.2102 left_yaw=0.0408 left_pitch=0.5004 left_roll=-0.1481 left_gripper=0.3434 right_x=0.2928 right_y=0.0016 right_z=0.1646 right_yaw=-0.0004 right_pitch=-0.0835 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -5.5316, 7.8974, 2.5421, 0.2564, 0.0024, -0.0024, -0.0615, -1.4838, 7.0222, 1.6435, -0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1898, 1.0657, 0.6415, 0.1432, 0.2375, -0.1127, 0.344, -0.0193, 0.8391, 0.6132, -0.4202, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3732 left_y=0.033 left_z=0.2301 left_yaw=0.0322 left_pitch=0.2903 left_roll=-0.169 left_gripper=0.344 right_x=0.293 right_y=0.0016 right_z=0.1637 right_yaw=-0.0004 right_pitch=-0.087 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -4.9436, 10.9333, 2.21, 0.1929, 0.1294, 0.0562, -0.1846, -1.6068, 6.9949, 1.6679, -0.0269, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1761, 1.383, 0.6407, 0.606, 0.244, -0.1593, 0.3441, -0.0193, 0.8429, 0.6132, -0.421, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4315 left_y=0.0371 left_z=0.2174 left_yaw=0.0309 left_pitch=0.4291 left_roll=-0.1956 left_gripper=0.3441 right_x=0.2931 right_y=0.0015 right_z=0.1625 right_yaw=-0.0007 right_pitch=-0.0915 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.3487, -6.0923, 10.8376, 2.7033, 0.1148, -0.1001, -0.0073, -0.1573, -1.7846, 7.0222, 1.6484, -0.0171, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5acb8ca469978ecacc7ffc72e315fd0ad9b430b714c351350decc3089bc1bc9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:517edea9ec82e92f39b9f6f230cb039c1dc13e37365b8b437033b646a6128ab1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3ee00ffacc8ada4b084edf804e08238e39afc39467c22f5db0a517d3fe6e6ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7goKEAgRGAI4AUIIdGhpbmtpbmcSDCGDvZFAteZGxAIblRoMLRmoKkevkFgOrSE1IjDOSpYlugawpaKDAsmoFXXgLj4M0yQGCTzqK3KX92s7qmcidtgjR0udjZjcMBQ/3XAqiwqEoNUMFI15zV6AHb/ULuRM9N7eyDb34jKcJ2dAsLDlFfom5kZTVhliOwXOL1zJMNEBK0CNQEYPE9vaJcBrwKB78x1zvpRFgn5m+1yGiKSTWJIVqmak8pa8EPyHdoaIWCAQpcndDS8MrXTXGBPFcIII6TFkQja7VTSz8xBGdQl0PLKtew4dVBN9bI8DwT5bBQTzrH2flGQtGgB14vwjBS2wT3lk86BhjRjVfBcMfEY3WE4/U0Wl1CroQj4dNbGmR/+XAXSH8SNOB/RC6cLpR3aZ8NbgXWK+vDlc2DjGSfvlr2D7VotkFbgHbyPcP1hKuNmemxDboGovcGOJiVHaUFIN4y+1BfPEGzW17S4uyohlo9xK57+aIrM6Mcrc9u1OMe+hukidaG0U+Z4sTIHf0ufHoHj/kb8F44WEgz140OrJ+3/KXvMXOmimtxur/vK5gpDqEv13wUBFyH5plgaELUQ2AbS8zptin0VIS8YXe3lkq1SL0G7kDfmHKcEhQnQxIjIDWm3sd4Lrnx9Fg+VILmx5k7RcxC1NTiFmpGMt42QEtGsi/VtddEzxCiy92or4xV4lS3yY/0g4srRd+87PIp0qUQjaeP4RhrcDF+Iwlc5xrjN5yw8QpROsD+sTBDXCJW8dX4OgrnDoLxCsbmC0Paabhn+BXYpioOTwMkQfq792tU4RjudF8CehjYScI2m/rmnsBnZVFccR/qSTUlHt/7J4TZQsgm8ZUXD9BvqIBcME78K5539RmW6xfv8t8A8/KWpsNTKjTBGiQfDDsl75iWhj7FgNQCM0ufEVcOfoRKR4DhE57cgDgjQimLQNtpSIxcSRFvdRyYWXChG8tQ+FlstTPpIBudC5z2VzbI64u22tlF6/NwR1eACRW8CtvZTwlewogrpj3E4JJK2/H2WbCtP8qvcllyOGKvr2MmM4u2RfUyvLA/SxP73AqAGhGxAf3nNcAyWBNbUBsn3mAylxLmEQAMPxjnlK0AUpUT2ZXbOW1Dc2RV1UjvxkBsSwdprTKF3alk2SDdoZEvLaYkLbSCo9780CnsN6Yc/8EvZe2dlttgumn8OiGCcEoBeD44C0Ndh3gHUUo7YvjS64JmSv5HqtLSc9n75xaj42iajk7RcOD4exwrmEOdl3rZZNNQa4a3uK1f+BjHeiGgzrGTfLGMJtPsMJ354qlqFAJ0unt5JXEdNENpNiE9DjINKtw8jRxxUlwFPabNg1VX1dNDRIlZolX5wR7+BsqXp06qutQAy7etlQHVFqt/MZMaspPp2hCfxDWI+PZ4eQO0S1QApayfRH0L9+R3kZlEB3mZjSD/ZXOsE+cN0IGsmVu1xUkvihCzrSIXs2KCxDaCwlKTp6i4UyKMFc8SQwnHV+GPPSDogFYjftCn5j8Gf49rsbJRAxosS9MzGBonvp9SsMn/M3VXOSeM0jcPKP9ECSUTTzjrQn+w6kKUYJAdErUukqC7o7Ege//Jv5ncMHZ7+ltj+5+1uez+8947j6PIsxz1bMO3hg7YiITCIKDnQILVX7X5j3K2FDt/i1Rd+LlPq3OODYi3N9gt7pinQi4w5zZSndOCw2VTy55/Ighqb6x4sBu0ZtCrYreRO9HgPH8bL5XCnoNpc1SwYTAr0FISYfLJXRRvDln0tsfE6fIvpolSbWT/lGhy31AMQPZjKpw9bkb195leYubAGLpwzYQAKZDK2CnX6S5Q9qF69g7mOgpijqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C52WGajiHTu7j8s5vo7T89",
      "input": {
        "note": "The tip is now hovering over the near end of the left slot. Lowering a few centimetres so the tip drops into the slot.",
        "targets": {
          "left_pitch": 0.6,
          "left_x": 0.44,
          "left_y": 0.037,
          "left_yaw": 0.0,
          "left_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01C52WGajiHTu7j8s5vo7T89",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1837, 1.6268, 0.5282, 1.0317, 0.2707, -0.1818, 0.3443, -0.0193, 0.8429, 0.6132, -0.4202, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4403 left_y=0.0374 left_z=0.1689 left_yaw=0.0213 left_pitch=0.4958 left_roll=-0.2116 left_gripper=0.3443 right_x=0.2932 right_y=0.0015 right_z=0.1626 right_yaw=-0.0007 right_pitch=-0.0908 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [0.4581, -6.3932, 5.1897, 1.9951, 0.1685, -0.0024, 0.0073, -0.2393, -1.5385, 6.9949, 1.6581, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cd106d0e81e68fe5088a929d54e5c24953ad7cbcc6b084153ff0e21887c6254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecefbc50420af0f1c76b5fce389c4f2c8dc0f41d593bb8e07d19e14834cecfb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:777b1329658279871ee0a8fb71db1f872ce5359b37991d3156452ae1d10731f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 12.27 s

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

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1898, 1.0657, 0.6415, 0.1432, 0.2375, -0.1127, 0.344, -0.0193, 0.8391, 0.6132, -0.4202, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3732 left_y=0.033 left_z=0.2301 left_yaw=0.0322 left_pitch=0.2903 left_roll=-0.169 left_gripper=0.344 right_x=0.293 right_y=0.0016 right_z=0.1637 right_yaw=-0.0004 right_pitch=-0.087 right_roll=0.0018 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -4.9436, 10.9333, 2.21, 0.1929, 0.1294, 0.0562, -0.1846, -1.6068, 6.9949, 1.6679, -0.0269, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1761, 1.383, 0.6407, 0.606, 0.244, -0.1593, 0.3441, -0.0193, 0.8429, 0.6132, -0.421, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4315 left_y=0.0371 left_z=0.2174 left_yaw=0.0309 left_pitch=0.4291 left_roll=-0.1956 left_gripper=0.3441 right_x=0.2931 right_y=0.0015 right_z=0.1625 right_yaw=-0.0007 right_pitch=-0.0915 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.3487, -6.0923, 10.8376, 2.7033, 0.1148, -0.1001, -0.0073, -0.1573, -1.7846, 7.0222, 1.6484, -0.0171, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1837, 1.6268, 0.5282, 1.0317, 0.2707, -0.1818, 0.3443, -0.0193, 0.8429, 0.6132, -0.4202, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4403 left_y=0.0374 left_z=0.1689 left_yaw=0.0213 left_pitch=0.4958 left_roll=-0.2116 left_gripper=0.3443 right_x=0.2932 right_y=0.0015 right_z=0.1626 right_yaw=-0.0007 right_pitch=-0.0908 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [0.4581, -6.3932, 5.1897, 1.9951, 0.1685, -0.0024, 0.0073, -0.2393, -1.5385, 6.9949, 1.6581, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cd106d0e81e68fe5088a929d54e5c24953ad7cbcc6b084153ff0e21887c6254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecefbc50420af0f1c76b5fce389c4f2c8dc0f41d593bb8e07d19e14834cecfb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:777b1329658279871ee0a8fb71db1f872ce5359b37991d3156452ae1d10731f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WiipidGVdAT5kdgvi49tqj",
      "input": {
        "note": "The tip is touching down at the near end of the left slot. Nudging forward and down so the tip slides into the slot opening.",
        "targets": {
          "left_pitch": 0.6,
          "left_x": 0.455,
          "left_y": 0.037,
          "left_yaw": 0.0,
          "left_z": 0.155
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01WiipidGVdAT5kdgvi49tqj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1848, 1.8065, 0.5217, 1.3342, 0.2787, -0.1864, 0.3445, -0.0193, 0.8448, 0.6132, -0.4213, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4489 left_y=0.0381 left_z=0.1627 left_yaw=0.0051 left_pitch=0.61 left_roll=-0.1938 left_gripper=0.3445 right_x=0.2931 right_y=0.0016 right_z=0.1619 right_yaw=-0.0004 right_pitch=-0.0938 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -5.2718, 6.8308, 0.8913, 0.0757, -0.1587, 0.0171, -0.2803, -1.6615, 7.0222, 1.6532, -0.0562, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b0f30f5860cd5052abde2e031d2bad33d21d4ff9658711db5d036d3dab0e585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e3015081050b38596e42684bebe87b3d96a65e1bb27172d44b16142251161d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:28b1c01027c2c0b1ad5d2b89496ff11bdf32ead1e59bf0977dd5c1c6afdc1860",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 4.785 s

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

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1761, 1.383, 0.6407, 0.606, 0.244, -0.1593, 0.3441, -0.0193, 0.8429, 0.6132, -0.421, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4315 left_y=0.0371 left_z=0.2174 left_yaw=0.0309 left_pitch=0.4291 left_roll=-0.1956 left_gripper=0.3441 right_x=0.2931 right_y=0.0015 right_z=0.1625 right_yaw=-0.0007 right_pitch=-0.0915 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [-0.3487, -6.0923, 10.8376, 2.7033, 0.1148, -0.1001, -0.0073, -0.1573, -1.7846, 7.0222, 1.6484, -0.0171, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1837, 1.6268, 0.5282, 1.0317, 0.2707, -0.1818, 0.3443, -0.0193, 0.8429, 0.6132, -0.4202, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4403 left_y=0.0374 left_z=0.1689 left_yaw=0.0213 left_pitch=0.4958 left_roll=-0.2116 left_gripper=0.3443 right_x=0.2932 right_y=0.0015 right_z=0.1626 right_yaw=-0.0007 right_pitch=-0.0908 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [0.4581, -6.3932, 5.1897, 1.9951, 0.1685, -0.0024, 0.0073, -0.2393, -1.5385, 6.9949, 1.6581, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1848, 1.8065, 0.5217, 1.3342, 0.2787, -0.1864, 0.3445, -0.0193, 0.8448, 0.6132, -0.4213, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4489 left_y=0.0381 left_z=0.1627 left_yaw=0.0051 left_pitch=0.61 left_roll=-0.1938 left_gripper=0.3445 right_x=0.2931 right_y=0.0016 right_z=0.1619 right_yaw=-0.0004 right_pitch=-0.0938 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -5.2718, 6.8308, 0.8913, 0.0757, -0.1587, 0.0171, -0.2803, -1.6615, 7.0222, 1.6532, -0.0562, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b0f30f5860cd5052abde2e031d2bad33d21d4ff9658711db5d036d3dab0e585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e3015081050b38596e42684bebe87b3d96a65e1bb27172d44b16142251161d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28b1c01027c2c0b1ad5d2b89496ff11bdf32ead1e59bf0977dd5c1c6afdc1860",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YWzXXkgM4qTQWxnJcPcatq",
      "input": {
        "note": "The shaft now runs along the left slot with the tip apparently inside it (descent stopped lower than the toaster top). Pushing a little further forward and down to seat the screwdriver deeper before releasing.",
        "targets": {
          "left_pitch": 0.6,
          "left_x": 0.465,
          "left_y": 0.038,
          "left_yaw": 0.0,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01YWzXXkgM4qTQWxnJcPcatq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1848, 1.8339, 0.5217, 1.3865, 0.2787, -0.2008, 0.3446, -0.0193, 0.8448, 0.6132, -0.4202, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4495 left_y=0.0383 left_z=0.1635 left_yaw=0.0114 left_pitch=0.6329 left_roll=-0.2062 left_gripper=0.3446 right_x=0.2933 right_y=0.0016 right_z=0.1621 right_yaw=-0.0004 right_pitch=-0.0927 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -5.9556, 6.0923, 1.4286, 0.1197, -0.0415, -0.0073, -0.1299, -1.3744, 6.9812, 1.6874, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef9cc7069b60da72c6ecc01fc88fffb0437d3fe46ce352d3c63b931aae23f4d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bf02d506c307e2eb38dbd0695bd5f85549f6546b8449a0ece4f9af9e20ba9a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7dff10202f32ac04aaa2affa826e57f275e16fc75bc1a0b560aae93c943f0701",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 19.65 s

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

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1837, 1.6268, 0.5282, 1.0317, 0.2707, -0.1818, 0.3443, -0.0193, 0.8429, 0.6132, -0.4202, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4403 left_y=0.0374 left_z=0.1689 left_yaw=0.0213 left_pitch=0.4958 left_roll=-0.2116 left_gripper=0.3443 right_x=0.2932 right_y=0.0015 right_z=0.1626 right_yaw=-0.0007 right_pitch=-0.0908 right_roll=0.0017 right_gripper=0.9989\nstate[joint_eff]: [0.4581, -6.3932, 5.1897, 1.9951, 0.1685, -0.0024, 0.0073, -0.2393, -1.5385, 6.9949, 1.6581, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1848, 1.8065, 0.5217, 1.3342, 0.2787, -0.1864, 0.3445, -0.0193, 0.8448, 0.6132, -0.4213, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4489 left_y=0.0381 left_z=0.1627 left_yaw=0.0051 left_pitch=0.61 left_roll=-0.1938 left_gripper=0.3445 right_x=0.2931 right_y=0.0016 right_z=0.1619 right_yaw=-0.0004 right_pitch=-0.0938 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -5.2718, 6.8308, 0.8913, 0.0757, -0.1587, 0.0171, -0.2803, -1.6615, 7.0222, 1.6532, -0.0562, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1848, 1.8339, 0.5217, 1.3865, 0.2787, -0.2008, 0.3446, -0.0193, 0.8448, 0.6132, -0.4202, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4495 left_y=0.0383 left_z=0.1635 left_yaw=0.0114 left_pitch=0.6329 left_roll=-0.2062 left_gripper=0.3446 right_x=0.2933 right_y=0.0016 right_z=0.1621 right_yaw=-0.0004 right_pitch=-0.0927 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -5.9556, 6.0923, 1.4286, 0.1197, -0.0415, -0.0073, -0.1299, -1.3744, 6.9812, 1.6874, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef9cc7069b60da72c6ecc01fc88fffb0437d3fe46ce352d3c63b931aae23f4d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bf02d506c307e2eb38dbd0695bd5f85549f6546b8449a0ece4f9af9e20ba9a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dff10202f32ac04aaa2affa826e57f275e16fc75bc1a0b560aae93c943f0701",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSxAYKEAgRGAI4AUIIdGhpbmtpbmcSDDJ/wlx6eg26Dt/LlhoMM/o8cjXcIhUPIGb1IjCa/Uf9/hdghmYlnuYYFNI54LT11BbSFsq7Eq4H7HtMVysgMalIItbt3p29D9uf+N8q4QUxbcZ5j92nJab5KLjgncDh9fpxL6jc0b4di3fH33ywDm3o0MNYxU8P3LZ6jfUMMKnx/CqTXpOT6uAEgq5yOQ0VmzKDwX2fFA603YsO13XKmI53Om9XRpZYxpEYAu8Q1FMwyx55U6ip+m/f2OEPPwl6P+i6gsVTva2bOu8fHFW728cH3FvTROGPGG9LN20ZakA8gHPOk5omX/HmKeoMH1sL19kl1P9PCMehzXSkOgvHAurLHgM3h6vGoYZz8piH3OjLhDRO3Npam02Rp2aJeIxb25+g8DSXenqPiOVkD+cbSFZst8gb9/dUKAeQlwYTghP+79D25nkG8PV1C5TgiJytSy5KZTS48D+940MO0dSS2DZmq/u4aMMJ+RJ2vBwd07HeLXNfdjUwXWUcVXRY4OPFJ0me8W9NKEi13XUWUD65jGfuMUYVR8pa03c0t1RIuqc4AZfrb0SVkcHd3MyY6eT48RB6I2icUnWTQenQbq1Dcrbn4YnGtoS+A7cM7XkKC9lFN3Uh5F6kJ+3VsXXdRvP2aXSH6P6g0aV3iOsBD9b2cqxcwzNeX7E0ybUf2Kh0Ao2af5fLHsGr0Umxqoax8LJixqUVUiHgKQ8BeBX431A79V+KY72u1iMp+JoBHrqFwshv7znmvl9IOpS5Q66lc6tjBGJuRAk+DFZvCSOnIkrnUbeQE/k9zLM7SgdW8sEN+xI5vL5URKn04+USqSe+FKOQ4rJ9Y4G7zQwx0R+nxPrleo39bKkNihjft2rrdJx5G23bWTyE4uh2t4oO9XxsaTnJNEEnqu2NdGE6OzM5UJBVWGEkn5es9zMZf2AyS7wT9nL6EfUtEh0A0fFujnbKTiDhQsrBUqBmueAKR8xvyHnMYxbz5rLFRAQE2pawnMtkiUgljLckLz3XhMphHxI5TJs0zk1FWbCWeV7MPE/xAjD1wZq+4t7li8u5J6yATJHGXEWPEn3sfzDzClku1851xj7bkhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EEg9yDHiDEwGSZjeKKwTQf",
      "input": {
        "note": "The arm is blocked—the screwdriver is wedged with its tip in the slot and can't go deeper while held. Opening the gripper to release it into the toaster.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01EEg9yDHiDEwGSZjeKKwTQf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1894, 1.8351, 0.5243, 1.3777, 0.2783, -0.2089, 0.9953, -0.0193, 0.8455, 0.6132, -0.421, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4501 left_y=0.0405 left_z=0.1619 left_yaw=0.0225 left_pitch=0.6249 left_roll=-0.2175 left_gripper=0.9953 right_x=0.2932 right_y=0.0016 right_z=0.1618 right_yaw=-0.0004 right_pitch=-0.0942 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -5.6957, 6.4479, 1.4921, 0.105, 0.0366, -0.1929, -0.0889, -1.6068, 7.2821, 1.7021, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cce891a2fe1c6c686ace2d01b6ef1721f4330328552a3ca820fbeac62ec4e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c01046b029f1dcdb5dd925b62f7a62e5e42cf98c0a4b11b954180fea80741e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3887e64f607742c4dc0cfee6538d73663a6a6d6baca2e28a0acc80fda48e011a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 35.4 s

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

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1848, 1.8065, 0.5217, 1.3342, 0.2787, -0.1864, 0.3445, -0.0193, 0.8448, 0.6132, -0.4213, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4489 left_y=0.0381 left_z=0.1627 left_yaw=0.0051 left_pitch=0.61 left_roll=-0.1938 left_gripper=0.3445 right_x=0.2931 right_y=0.0016 right_z=0.1619 right_yaw=-0.0004 right_pitch=-0.0938 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -5.2718, 6.8308, 0.8913, 0.0757, -0.1587, 0.0171, -0.2803, -1.6615, 7.0222, 1.6532, -0.0562, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1848, 1.8339, 0.5217, 1.3865, 0.2787, -0.2008, 0.3446, -0.0193, 0.8448, 0.6132, -0.4202, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4495 left_y=0.0383 left_z=0.1635 left_yaw=0.0114 left_pitch=0.6329 left_roll=-0.2062 left_gripper=0.3446 right_x=0.2933 right_y=0.0016 right_z=0.1621 right_yaw=-0.0004 right_pitch=-0.0927 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -5.9556, 6.0923, 1.4286, 0.1197, -0.0415, -0.0073, -0.1299, -1.3744, 6.9812, 1.6874, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1894, 1.8351, 0.5243, 1.3777, 0.2783, -0.2089, 0.9953, -0.0193, 0.8455, 0.6132, -0.421, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4501 left_y=0.0405 left_z=0.1619 left_yaw=0.0225 left_pitch=0.6249 left_roll=-0.2175 left_gripper=0.9953 right_x=0.2932 right_y=0.0016 right_z=0.1618 right_yaw=-0.0004 right_pitch=-0.0942 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -5.6957, 6.4479, 1.4921, 0.105, 0.0366, -0.1929, -0.0889, -1.6068, 7.2821, 1.7021, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cce891a2fe1c6c686ace2d01b6ef1721f4330328552a3ca820fbeac62ec4e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c01046b029f1dcdb5dd925b62f7a62e5e42cf98c0a4b11b954180fea80741e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3887e64f607742c4dc0cfee6538d73663a6a6d6baca2e28a0acc80fda48e011a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KFXp5fd7SJDScWorjA9uDV",
      "input": {
        "note": "The screwdriver slid off and now lies on the table just right of the toaster, oriented roughly along the arm's y axis. Flying above it with the tool yawed 90° so the jaws will close across the shaft.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.37,
          "left_y": -0.11,
          "left_yaw": 1.57,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01KFXp5fd7SJDScWorjA9uDV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.3882, 2.1632, 1.8725, -1.3506, -1.0126, -2.064, 0.9983, -0.0193, 0.8501, 0.6128, -0.4377, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4353 left_y=-0.0122 left_z=0.1553 left_yaw=1.4325 left_pitch=-0.0208 left_roll=-0.3368 left_gripper=0.9983 right_x=0.2908 right_y=0.0017 right_z=0.1571 right_yaw=-0.0003 right_pitch=-0.1159 right_roll=0.0024 right_gripper=0.9989\nstate[joint_eff]: [3.2205, -10.2632, 5.9829, -0.5006, -0.2711, -0.0952, -0.1929, -0.1983, -1.9487, 7.0359, 1.8193, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7f7697a0691195aa1c9da80d01be8955fc6b1c50974e8803dcbeb94f55f8483",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:102e9a2213cb37f9340cfe8d61e6ff4eb1f9f8394a7de7917422bbffd5577ac8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6743e6d07e6d913ee3d7690aa6739c18cebe3d1db1c37a338ea51a26aef484c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 26.11 s

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

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1848, 1.8339, 0.5217, 1.3865, 0.2787, -0.2008, 0.3446, -0.0193, 0.8448, 0.6132, -0.4202, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4495 left_y=0.0383 left_z=0.1635 left_yaw=0.0114 left_pitch=0.6329 left_roll=-0.2062 left_gripper=0.3446 right_x=0.2933 right_y=0.0016 right_z=0.1621 right_yaw=-0.0004 right_pitch=-0.0927 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -5.9556, 6.0923, 1.4286, 0.1197, -0.0415, -0.0073, -0.1299, -1.3744, 6.9812, 1.6874, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1894, 1.8351, 0.5243, 1.3777, 0.2783, -0.2089, 0.9953, -0.0193, 0.8455, 0.6132, -0.421, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4501 left_y=0.0405 left_z=0.1619 left_yaw=0.0225 left_pitch=0.6249 left_roll=-0.2175 left_gripper=0.9953 right_x=0.2932 right_y=0.0016 right_z=0.1618 right_yaw=-0.0004 right_pitch=-0.0942 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -5.6957, 6.4479, 1.4921, 0.105, 0.0366, -0.1929, -0.0889, -1.6068, 7.2821, 1.7021, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.3882, 2.1632, 1.8725, -1.3506, -1.0126, -2.064, 0.9983, -0.0193, 0.8501, 0.6128, -0.4377, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4353 left_y=-0.0122 left_z=0.1553 left_yaw=1.4325 left_pitch=-0.0208 left_roll=-0.3368 left_gripper=0.9983 right_x=0.2908 right_y=0.0017 right_z=0.1571 right_yaw=-0.0003 right_pitch=-0.1159 right_roll=0.0024 right_gripper=0.9989\nstate[joint_eff]: [3.2205, -10.2632, 5.9829, -0.5006, -0.2711, -0.0952, -0.1929, -0.1983, -1.9487, 7.0359, 1.8193, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7f7697a0691195aa1c9da80d01be8955fc6b1c50974e8803dcbeb94f55f8483",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:102e9a2213cb37f9340cfe8d61e6ff4eb1f9f8394a7de7917422bbffd5577ac8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6743e6d07e6d913ee3d7690aa6739c18cebe3d1db1c37a338ea51a26aef484c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HAbCHFkpfjkBkB5po1Y7x3",
      "input": {
        "note": "The wrist view shows the screwdriver lying along the arm's x axis right beside the toaster's near side, ahead-left of the tool. Returning to yaw 0 (which tracks accurately) and hovering over it to grasp across the shaft.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.4,
          "left_y": 0.03,
          "left_yaw": 0.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HAbCHFkpfjkBkB5po1Y7x3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1886, 1.3613, 0.7284, -0.0265, 0.0982, -0.5598, 0.9983, -0.0193, 0.8555, 0.6128, -0.4423, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3882 left_y=0.0601 left_z=0.1232 left_yaw=0.3852 left_pitch=-0.1644 left_roll=-0.4907 left_gripper=0.9983 right_x=0.2903 right_y=0.0017 right_z=0.1548 right_yaw=-0.0003 right_pitch=-0.1259 right_roll=0.0026 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -5.4632, 8.1026, 1.7411, 0.2271, 0.2711, -0.188, -0.335, -2.0308, 6.9812, 1.6777, -0.0611, -0.0708, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa075affbb5577aeb6766eb10dd8f9016d51967348a41fb0307b6f52dd58cf54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9babad85a77749f9fbf587ad2bd58f8a5f7df4d15c2fee17f26dc6e5bef89c32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:836c4bd17ff52caba93082171620391ebed403e4c30a8bdcdc2d6be691167205",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 8.363 s

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

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1894, 1.8351, 0.5243, 1.3777, 0.2783, -0.2089, 0.9953, -0.0193, 0.8455, 0.6132, -0.421, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4501 left_y=0.0405 left_z=0.1619 left_yaw=0.0225 left_pitch=0.6249 left_roll=-0.2175 left_gripper=0.9953 right_x=0.2932 right_y=0.0016 right_z=0.1618 right_yaw=-0.0004 right_pitch=-0.0942 right_roll=0.002 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -5.6957, 6.4479, 1.4921, 0.105, 0.0366, -0.1929, -0.0889, -1.6068, 7.2821, 1.7021, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.3882, 2.1632, 1.8725, -1.3506, -1.0126, -2.064, 0.9983, -0.0193, 0.8501, 0.6128, -0.4377, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4353 left_y=-0.0122 left_z=0.1553 left_yaw=1.4325 left_pitch=-0.0208 left_roll=-0.3368 left_gripper=0.9983 right_x=0.2908 right_y=0.0017 right_z=0.1571 right_yaw=-0.0003 right_pitch=-0.1159 right_roll=0.0024 right_gripper=0.9989\nstate[joint_eff]: [3.2205, -10.2632, 5.9829, -0.5006, -0.2711, -0.0952, -0.1929, -0.1983, -1.9487, 7.0359, 1.8193, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1886, 1.3613, 0.7284, -0.0265, 0.0982, -0.5598, 0.9983, -0.0193, 0.8555, 0.6128, -0.4423, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3882 left_y=0.0601 left_z=0.1232 left_yaw=0.3852 left_pitch=-0.1644 left_roll=-0.4907 left_gripper=0.9983 right_x=0.2903 right_y=0.0017 right_z=0.1548 right_yaw=-0.0003 right_pitch=-0.1259 right_roll=0.0026 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -5.4632, 8.1026, 1.7411, 0.2271, 0.2711, -0.188, -0.335, -2.0308, 6.9812, 1.6777, -0.0611, -0.0708, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa075affbb5577aeb6766eb10dd8f9016d51967348a41fb0307b6f52dd58cf54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9babad85a77749f9fbf587ad2bd58f8a5f7df4d15c2fee17f26dc6e5bef89c32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:836c4bd17ff52caba93082171620391ebed403e4c30a8bdcdc2d6be691167205",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EAJT8p7guMXAvtPPt2iGAX",
      "input": {
        "note": "Top view now clearly shows the screwdriver on open table at about (0.33, -0.07), pointing forward-right. Hovering above it with the tool yawed to align with the shaft, compensating for the yaw-dependent grasp-point offset seen earlier.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.29,
          "left_y": 0.02,
          "left_yaw": -1.2,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01EAJT8p7guMXAvtPPt2iGAX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.2317, 1.3228, 0.6064, 0.0944, 0.242, -0.445, 0.9983, -0.0193, 0.8566, 0.6128, -0.4419, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3747 left_y=0.0486 left_z=0.1117 left_yaw=0.2452 left_pitch=-0.1076 left_roll=-0.4917 left_gripper=0.9983 right_x=0.2904 right_y=0.0016 right_z=0.1545 right_yaw=-0.0006 right_pitch=-0.1266 right_roll=0.0024 right_gripper=0.9989\nstate[joint_eff]: [0.0752, -6.2564, 7.241, 1.9072, 0.0513, -0.0073, -0.1929, -0.1436, -1.7026, 6.9402, 1.663, -0.0317, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b559078866de45c960b198afc814d6a9d8c6732927b3ab75981bd7ade6150fbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93eb74cd6fca6e5b681bb44779d87f3e9177b4829bcb3da9cbf464c982fbe7ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83850e6419cb52c606ea2cec5e6483a0b1161a6ddbcb1c01a63126e2e7556504",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 13.96 s

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

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.3882, 2.1632, 1.8725, -1.3506, -1.0126, -2.064, 0.9983, -0.0193, 0.8501, 0.6128, -0.4377, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4353 left_y=-0.0122 left_z=0.1553 left_yaw=1.4325 left_pitch=-0.0208 left_roll=-0.3368 left_gripper=0.9983 right_x=0.2908 right_y=0.0017 right_z=0.1571 right_yaw=-0.0003 right_pitch=-0.1159 right_roll=0.0024 right_gripper=0.9989\nstate[joint_eff]: [3.2205, -10.2632, 5.9829, -0.5006, -0.2711, -0.0952, -0.1929, -0.1983, -1.9487, 7.0359, 1.8193, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1886, 1.3613, 0.7284, -0.0265, 0.0982, -0.5598, 0.9983, -0.0193, 0.8555, 0.6128, -0.4423, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3882 left_y=0.0601 left_z=0.1232 left_yaw=0.3852 left_pitch=-0.1644 left_roll=-0.4907 left_gripper=0.9983 right_x=0.2903 right_y=0.0017 right_z=0.1548 right_yaw=-0.0003 right_pitch=-0.1259 right_roll=0.0026 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -5.4632, 8.1026, 1.7411, 0.2271, 0.2711, -0.188, -0.335, -2.0308, 6.9812, 1.6777, -0.0611, -0.0708, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.2317, 1.3228, 0.6064, 0.0944, 0.242, -0.445, 0.9983, -0.0193, 0.8566, 0.6128, -0.4419, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3747 left_y=0.0486 left_z=0.1117 left_yaw=0.2452 left_pitch=-0.1076 left_roll=-0.4917 left_gripper=0.9983 right_x=0.2904 right_y=0.0016 right_z=0.1545 right_yaw=-0.0006 right_pitch=-0.1266 right_roll=0.0024 right_gripper=0.9989\nstate[joint_eff]: [0.0752, -6.2564, 7.241, 1.9072, 0.0513, -0.0073, -0.1929, -0.1436, -1.7026, 6.9402, 1.663, -0.0317, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b559078866de45c960b198afc814d6a9d8c6732927b3ab75981bd7ade6150fbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93eb74cd6fca6e5b681bb44779d87f3e9177b4829bcb3da9cbf464c982fbe7ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83850e6419cb52c606ea2cec5e6483a0b1161a6ddbcb1c01a63126e2e7556504",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSwAkKEAgRGAI4AUIIdGhpbmtpbmcSDKYxFrffmaXNjUV9lBoMqZxyA67tES9S3Ej7IjB5pZQKaun+IYKTZUXz3e8UU2Juj1QsNf/ehUz4e6arcYzFgJk0hpUeFmZNvHaeCXIq3QgBIpCGhDUH6quAVzlW/JTSJAKaPylOLnZNdWIST7G290mtZ22AXlR06zREFuxlSqp4Y7w17R3VKvpS3lyNSbHMUQWqCeiUebR1t6icwCWa7Q+q1WtBtB6NwOXx1i7NwTfv9M4VtuWe1RCm8AIFUQM93GxztmkFym/9U4KgujDHx0LvR65QX4G5F9MIoOcqfxzSFT+juus7j7O6M79wg308gs5uQjLqGObgUBBr0Ped/SuKr3bZA0nrhzs7uRWywT/8PRR5MTEApCfrj3WBynwoAz66Op8o7Jg6u3CU/eDrIzYzSBsEv4Si1MNfObKyz+t7/JsDaJA/S63j3nLj9JO+zengn64V1gs0HuG8qCpnC51/lpz2c8r2Aqnbfcy9x+jhbeZ9DcCSLNKtKmW4J7yV57ZyBp8eBbNRUjZ33F3rX6V7Lpr0zahxq4t0hpC0y43IXpEUlvZ8HMAxmd57oR/ze1CCNdJ/uZaTl282BPBBgD+cL6F1rny9tdY6BRKwYirsRDwPjfFj2eN2lg1dnPvak2PmDIUK/kn/ypg179AdjBE0w/uFzn8O8nomsR2dZkUPTRl8lfB0FfEHIdC7vIh60W45zL9426rA2qUMecBTtDY5wt0JM/5uwKwWUGcd4bvO6xyX2WGB9atJi0OuvTKOAonnXA79JE0ecq/XUOSr7uY1vOmSW04As81P4DU71XkcamE3E31TxKBO2QjUqfTFacQwZVLQgK0l2TLgqykuGE9/+9C6jOojyPbZ1pBll0FOzYEZ96/uigJby2B6YiHKlIUTnZ+KlP22qhdHZJEaGf2M1g31koZxL/2ljAFzAIwS7u5110v8/IsmvpbkZxiTawUD7ZhokZP9jomOMapcDtyDEr72WKj9RbSoY5hAkXlzx1UCn6CCrrOKOtHZgQkAtnt2Dj0vSdDkuVWTZoIzTK4ZDnfipdiEj8C6IQU6pSfNDBSrmHDzEWJ36rGmCF0/ueq3Xg/5Yl3e1ZPaP4ijLTgJPOQdc0rDI4undrZl2yC90jQ51XDTWvLyn1vne45lLkMIjL3X2+yxbSFi7vHCAwWfUlo7ACiGY0tRgWH+KH81VpKHpZnjEGFk0t6E+/gBGVvR6w45wD3IKYsY23ur0AuHuw0SwkIzBn5DEnR2MKGZ0BD7spNIAz95M+s6Ev9/y9gjFmvYCKSE9rNiDyu7xKc1OxIFuOJJ3J3M4DEM+aqL19tVF7J75VIRF/8NkAOkf/7HiQQmDJ5aCOU42M+Fe3sgTyy7kKIeRzpRrknoy1sHDmDKEnNTGr56mAwXDLqPqq1/yKxGPN5IB7Fx6eTSMRwekdZX5RK1ZXZjr2NaN1QsVGtbGfXGf/v8bYT0ayiBHJi0No90tAvTh9uzwug8nUcPheIJerHRy0NwkpFvjUajxTjL7sWGGzUuMyU/NX9BAlg41hhwUjSwhdaSDYW7tA3wv0uXA2+HKH3/7YpNAzOm5EkVsYsDthgM3VqtGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JA7SY2m1cJXnjayU2jvB1X",
      "input": {
        "note": "The arm barely moved toward the last target and is hovering facing the toaster's side. Taking a smaller intermediate step back toward the base with a partial yaw so the IK tracks.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.3,
          "left_y": -0.05,
          "left_yaw": -0.5,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01JA7SY2m1cJXnjayU2jvB1X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1089, 0.955, 0.6327, -0.3561, 0.4519, 0.2222, 0.9983, -0.0193, 0.8616, 0.6128, -0.4572, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3035 left_y=-0.0408 left_z=0.1632 left_yaw=-0.3976 left_pitch=-0.032 left_roll=-0.0874 left_gripper=0.9983 right_x=0.2882 right_y=0.0017 right_z=0.1503 right_yaw=-0.0002 right_pitch=-0.1468 right_roll=0.003 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -2.4547, 9.9077, 1.746, 0.3053, 0.1978, -0.1929, -0.3624, -1.6342, 6.9949, 1.8339, -0.0269, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42ccd5d8184a31e93f4c4c3921f8402638c536f9fd29f765dc2a32e269a4ab2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f065a195f1c6f4c4ae80dba6b49a612966ed58a162219b3e8dea5b39337fa733",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dad590f29cfa320797cec2a615c6a330593985ee49748138ca23ec299132f359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 4.731 s

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

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1886, 1.3613, 0.7284, -0.0265, 0.0982, -0.5598, 0.9983, -0.0193, 0.8555, 0.6128, -0.4423, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3882 left_y=0.0601 left_z=0.1232 left_yaw=0.3852 left_pitch=-0.1644 left_roll=-0.4907 left_gripper=0.9983 right_x=0.2903 right_y=0.0017 right_z=0.1548 right_yaw=-0.0003 right_pitch=-0.1259 right_roll=0.0026 right_gripper=0.9989\nstate[joint_eff]: [-0.0342, -5.4632, 8.1026, 1.7411, 0.2271, 0.2711, -0.188, -0.335, -2.0308, 6.9812, 1.6777, -0.0611, -0.0708, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.2317, 1.3228, 0.6064, 0.0944, 0.242, -0.445, 0.9983, -0.0193, 0.8566, 0.6128, -0.4419, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3747 left_y=0.0486 left_z=0.1117 left_yaw=0.2452 left_pitch=-0.1076 left_roll=-0.4917 left_gripper=0.9983 right_x=0.2904 right_y=0.0016 right_z=0.1545 right_yaw=-0.0006 right_pitch=-0.1266 right_roll=0.0024 right_gripper=0.9989\nstate[joint_eff]: [0.0752, -6.2564, 7.241, 1.9072, 0.0513, -0.0073, -0.1929, -0.1436, -1.7026, 6.9402, 1.663, -0.0317, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1089, 0.955, 0.6327, -0.3561, 0.4519, 0.2222, 0.9983, -0.0193, 0.8616, 0.6128, -0.4572, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3035 left_y=-0.0408 left_z=0.1632 left_yaw=-0.3976 left_pitch=-0.032 left_roll=-0.0874 left_gripper=0.9983 right_x=0.2882 right_y=0.0017 right_z=0.1503 right_yaw=-0.0002 right_pitch=-0.1468 right_roll=0.003 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -2.4547, 9.9077, 1.746, 0.3053, 0.1978, -0.1929, -0.3624, -1.6342, 6.9949, 1.8339, -0.0269, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42ccd5d8184a31e93f4c4c3921f8402638c536f9fd29f765dc2a32e269a4ab2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f065a195f1c6f4c4ae80dba6b49a612966ed58a162219b3e8dea5b39337fa733",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dad590f29cfa320797cec2a615c6a330593985ee49748138ca23ec299132f359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QBWfhvxFk1nTs4GJi9edVe",
      "input": {
        "note": "Wrist view shows the screwdriver lying along the tool's forward axis with its handle just ahead of the fingertips. Advancing ~4 cm along the tool axis and descending to table level to grasp the handle.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.34,
          "left_y": -0.056,
          "left_yaw": -0.4,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01QBWfhvxFk1nTs4GJi9edVe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0074, 1.6722, 0.2657, 0.7551, 0.3351, 0.2111, 0.9983, -0.0193, 0.8665, 0.6128, -0.4656, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3341 left_y=-0.057 left_z=-0.0007 left_yaw=-0.4133 left_pitch=-0.0397 left_roll=-0.0199 left_gripper=0.9983 right_x=0.287 right_y=0.0017 right_z=0.1474 right_yaw=-0.0002 right_pitch=-0.1602 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -4.3419, 3.0838, 0.486, -0.0171, -0.0904, -0.188, -0.0479, -1.9624, 6.9128, 1.6679, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46b7dd8e935dc231ec8bfe7a6305642c29a91d666b982a3919dd73d0a4db4e3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16d0fdc8b47440ba2fc3e51c4c3567573c28181c34c6102cbc4b3a3d53e53ac7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:95c1641c5f704d61ed3988fbdb387a3626e489facffa3c59c45869f55bb4a64e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 21.41 s

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

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.2317, 1.3228, 0.6064, 0.0944, 0.242, -0.445, 0.9983, -0.0193, 0.8566, 0.6128, -0.4419, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3747 left_y=0.0486 left_z=0.1117 left_yaw=0.2452 left_pitch=-0.1076 left_roll=-0.4917 left_gripper=0.9983 right_x=0.2904 right_y=0.0016 right_z=0.1545 right_yaw=-0.0006 right_pitch=-0.1266 right_roll=0.0024 right_gripper=0.9989\nstate[joint_eff]: [0.0752, -6.2564, 7.241, 1.9072, 0.0513, -0.0073, -0.1929, -0.1436, -1.7026, 6.9402, 1.663, -0.0317, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1089, 0.955, 0.6327, -0.3561, 0.4519, 0.2222, 0.9983, -0.0193, 0.8616, 0.6128, -0.4572, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3035 left_y=-0.0408 left_z=0.1632 left_yaw=-0.3976 left_pitch=-0.032 left_roll=-0.0874 left_gripper=0.9983 right_x=0.2882 right_y=0.0017 right_z=0.1503 right_yaw=-0.0002 right_pitch=-0.1468 right_roll=0.003 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -2.4547, 9.9077, 1.746, 0.3053, 0.1978, -0.1929, -0.3624, -1.6342, 6.9949, 1.8339, -0.0269, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0074, 1.6722, 0.2657, 0.7551, 0.3351, 0.2111, 0.9983, -0.0193, 0.8665, 0.6128, -0.4656, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3341 left_y=-0.057 left_z=-0.0007 left_yaw=-0.4133 left_pitch=-0.0397 left_roll=-0.0199 left_gripper=0.9983 right_x=0.287 right_y=0.0017 right_z=0.1474 right_yaw=-0.0002 right_pitch=-0.1602 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -4.3419, 3.0838, 0.486, -0.0171, -0.0904, -0.188, -0.0479, -1.9624, 6.9128, 1.6679, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46b7dd8e935dc231ec8bfe7a6305642c29a91d666b982a3919dd73d0a4db4e3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16d0fdc8b47440ba2fc3e51c4c3567573c28181c34c6102cbc4b3a3d53e53ac7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95c1641c5f704d61ed3988fbdb387a3626e489facffa3c59c45869f55bb4a64e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSqwYKEAgRGAI4AUIIdGhpbmtpbmcSDLxikLLtkpQN8lq7jxoMzqNkcTVthv7u6F7XIjBbcXSQYIZzV8EUCyCd++oSXXoLpDBzxjrfTw/3kkTqXjn2wB3SiMdOQpy25R0ww+8qyAVD6Q1zj8CMgO+ywUNQn2RKPSvLZfythAhqw4ox6xnmuICdMH2CPD0MTR5mc0JR5js3bYA9w20/nElGAhkLz1fE7RLzWNgMRh5//HBxuFNWnR3W21P9D1n9vJVnISYA8jmO2W89/b9d33NjwtbZTD4Y0H+l+5uISv1fNfNCt0IjElY5NiWN6o7bp1lAqXqAWuvCnKVbdBCEmU+o2WNd04/roV9jB/hte3E+hHztM34SbgYlFzJQU36TIbN6m9xDyST0lhZXknF6MumC6r+OjwEp9zK+W+ykFGTdANrInG4/wPoXbGdPeYUYXcwRy7TWjmDkU5sb5H1HqrXCfSEMIhozJ0gytE2zMshH4YVNcPtd9Z6xRHmByLTpufR4x9bOelVK/fEouAl6lA3D9lERow/DPx+aUkxDKNNw2Z5P8TZQY9w1bONbkOZlUf7WvXNxMfOqr+FQP6ja8gXvbh3aHjWtpfngYBFHMyLNpwEwdKQFNTfUTsR5Jp3PvEsg/TQQkaKnf+n11hOAg4m5vVs7nmFB0RhRNi7I4hOFZkWbtMhSOINw+WPjClPTWDd94dNMn3VcRC9HoZdQUCF2XzH15jvVRmz9dK3ZoksPu2K+XrIb4APrdyMGmkhutGmVQ+xrs2S/SMeDvqLbyVVhG1Pscx8aWeRptxrqQSjm37enaO+pUBAP2oKa8phsp1FHjvzBiukXjh+Kk2WuN6yJPfaUAMgO7in0XxTT8PBuiU3MDjvx/da4A4Ci/HZHTfOL5KMTFimJ0/OrtKNiH0iVsRbkBjQLLEADvYCQbFOflPXITFm7iryM/HAOzzTnt9yv+XYoA7XSosabwKZHXCMxVIRnhqd47e2EquB++hGR7C+iBbjZ/6P3cHlvQ+U/VjAZOeyD5z48L+FM1d1toDsAybcdp1eKntMU0E7CdGCn9pjVaL+kQt0xNNQdbiIrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NZ8FQuXtMSqxYC1R3WZVpm",
      "input": {
        "note": "The handle is between the open jaws at table level. Closing to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NZ8FQuXtMSqxYC1R3WZVpm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0071, 1.6817, 0.26, 0.7776, 0.3218, 0.2092, 0.2383, -0.0193, 0.8673, 0.6128, -0.4648, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3347 left_y=-0.0546 left_z=-0.0016 left_yaw=-0.4008 left_pitch=-0.0361 left_roll=-0.0112 left_gripper=0.2383 right_x=0.2872 right_y=0.0017 right_z=0.1473 right_yaw=-0.0002 right_pitch=-0.1602 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -5.9692, 4.0821, 1.3993, 0.1636, -0.0415, 1.0427, -0.212, -1.7162, 7.1179, 1.5702, -0.0317, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:813297d727ed94558294361920c3d432183afe809ebd13fea36f90a4650a7b71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7dc0b193f750afd363365f4a5cecd58213a921c9e0f256fb6cd69e93c8c4cc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:52bdb42175d809742617ae57563d31c8c8548df58f3a1725771715a58950dc15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 7.754 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [0.1089, 0.955, 0.6327, -0.3561, 0.4519, 0.2222, 0.9983, -0.0193, 0.8616, 0.6128, -0.4572, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3035 left_y=-0.0408 left_z=0.1632 left_yaw=-0.3976 left_pitch=-0.032 left_roll=-0.0874 left_gripper=0.9983 right_x=0.2882 right_y=0.0017 right_z=0.1503 right_yaw=-0.0002 right_pitch=-0.1468 right_roll=0.003 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -2.4547, 9.9077, 1.746, 0.3053, 0.1978, -0.1929, -0.3624, -1.6342, 6.9949, 1.8339, -0.0269, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0074, 1.6722, 0.2657, 0.7551, 0.3351, 0.2111, 0.9983, -0.0193, 0.8665, 0.6128, -0.4656, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3341 left_y=-0.057 left_z=-0.0007 left_yaw=-0.4133 left_pitch=-0.0397 left_roll=-0.0199 left_gripper=0.9983 right_x=0.287 right_y=0.0017 right_z=0.1474 right_yaw=-0.0002 right_pitch=-0.1602 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -4.3419, 3.0838, 0.486, -0.0171, -0.0904, -0.188, -0.0479, -1.9624, 6.9128, 1.6679, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0071, 1.6817, 0.26, 0.7776, 0.3218, 0.2092, 0.2383, -0.0193, 0.8673, 0.6128, -0.4648, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3347 left_y=-0.0546 left_z=-0.0016 left_yaw=-0.4008 left_pitch=-0.0361 left_roll=-0.0112 left_gripper=0.2383 right_x=0.2872 right_y=0.0017 right_z=0.1473 right_yaw=-0.0002 right_pitch=-0.1602 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -5.9692, 4.0821, 1.3993, 0.1636, -0.0415, 1.0427, -0.212, -1.7162, 7.1179, 1.5702, -0.0317, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:813297d727ed94558294361920c3d432183afe809ebd13fea36f90a4650a7b71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7dc0b193f750afd363365f4a5cecd58213a921c9e0f256fb6cd69e93c8c4cc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52bdb42175d809742617ae57563d31c8c8548df58f3a1725771715a58950dc15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014iDfSw4hbmbqPBHRKkhdv5",
      "input": {
        "note": "Grasp settled at 0.24, holding the handle with the tip pointing back toward the base. Lifting and starting to turn the tool around (via -1.6 rad) so the tip will point forward toward the toaster.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.33,
          "left_y": -0.15,
          "left_yaw": -1.6,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_014iDfSw4hbmbqPBHRKkhdv5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0044, 1.7924, 1.4765, -1.1393, 0.9401, 1.4124, 0.2433, -0.0193, 0.8707, 0.6128, -0.4667, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3489 left_y=-0.1406 left_z=0.1776 left_yaw=-1.4945 left_pitch=-0.0558 left_roll=-0.0044 left_gripper=0.2433 right_x=0.287 right_y=0.0017 right_z=0.1461 right_yaw=-0.0005 right_pitch=-0.1655 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.5402, -9.0598, 7.4462, 0.1197, 0.8718, 0.2418, 1.033, -0.1573, -1.8667, 6.9402, 1.6142, -0.0317, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:358820435457707b507bd070294eb2e20033385979966874e84fd36e95c8ce20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4264dcc72cb5c7d755790b9bb772e2afbfec821cf8ad682d041e572b3e7048a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f3de71a7b1087e1cc183d638d53d53465f2c5f1a5d72befa7caadacbe648b86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 12.92 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0074, 1.6722, 0.2657, 0.7551, 0.3351, 0.2111, 0.9983, -0.0193, 0.8665, 0.6128, -0.4656, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3341 left_y=-0.057 left_z=-0.0007 left_yaw=-0.4133 left_pitch=-0.0397 left_roll=-0.0199 left_gripper=0.9983 right_x=0.287 right_y=0.0017 right_z=0.1474 right_yaw=-0.0002 right_pitch=-0.1602 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.4308, -4.3419, 3.0838, 0.486, -0.0171, -0.0904, -0.188, -0.0479, -1.9624, 6.9128, 1.6679, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0071, 1.6817, 0.26, 0.7776, 0.3218, 0.2092, 0.2383, -0.0193, 0.8673, 0.6128, -0.4648, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3347 left_y=-0.0546 left_z=-0.0016 left_yaw=-0.4008 left_pitch=-0.0361 left_roll=-0.0112 left_gripper=0.2383 right_x=0.2872 right_y=0.0017 right_z=0.1473 right_yaw=-0.0002 right_pitch=-0.1602 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -5.9692, 4.0821, 1.3993, 0.1636, -0.0415, 1.0427, -0.212, -1.7162, 7.1179, 1.5702, -0.0317, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0044, 1.7924, 1.4765, -1.1393, 0.9401, 1.4124, 0.2433, -0.0193, 0.8707, 0.6128, -0.4667, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3489 left_y=-0.1406 left_z=0.1776 left_yaw=-1.4945 left_pitch=-0.0558 left_roll=-0.0044 left_gripper=0.2433 right_x=0.287 right_y=0.0017 right_z=0.1461 right_yaw=-0.0005 right_pitch=-0.1655 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.5402, -9.0598, 7.4462, 0.1197, 0.8718, 0.2418, 1.033, -0.1573, -1.8667, 6.9402, 1.6142, -0.0317, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:358820435457707b507bd070294eb2e20033385979966874e84fd36e95c8ce20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4264dcc72cb5c7d755790b9bb772e2afbfec821cf8ad682d041e572b3e7048a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f3de71a7b1087e1cc183d638d53d53465f2c5f1a5d72befa7caadacbe648b86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrQgKEAgRGAI4AUIIdGhpbmtpbmcSDLEcOa/jRgSJKAA9UhoMskTlHrQYZ9rIdbP2IjB95w3cRozFcE+rwPcwe4/+H5ReZnPWZpnb6KZSvw5NSCBa5LFs9nzIMSoCO4diqF0qygeOgWTP8Z3Yb2BlsZSq+VJLLcmvjVDfzklWBpfJRKi7mkW49ROlnk3JFdNR331785giwjBGcGshp/e80IZyomHkgJXl1oRl2N8IUdddpbpspyLbOF0ExBL5xYXWXTdsia/IIiqJTnMBOMFRPpZW/jYvphfoTrfVYGbNR4Rou8Of+NYB5/LWRJBgA59wGItpHW0Ci/4Jyq0kmUL1/6pk6iUC52Vx18Gw1gyex/JxyYjrUIcrWgSdPa3xz/955zzINHlFlTJDCDR5sLUazY+RCukgr7W93he+9o19CKRVt3yDtK92JM9P21q2DbVNM1qW7RHdn8DbHdlvsRhotKBKq8bx14CTCWmUoj4LnVi5dTjyvZBeo27ymAiTJzySW2dIC/5ZjrpXUK85RQUQIuFyJsFwHVk7Ngfg60aI2kuItkGAbNFppguFV5Z72hCdX1CQA0N9nvQdk169wFD3ayunqd+2S7Jl7ArlHBetm3d5PNzA7vIG0OQWNc5rcuKVsgz7NPKMnU57zKlmktPQczNIdXf8MUhZkqFD8A5mt1M6TSGfcL5+F9QdNGzU6cGs7PW+Fj+wQiwONVFdn7mILc5IHEoGPpENrcLYL3FV+N5uVZMOSCJsFbTqv60OBZDEcUZ8c9eHkZ9lWWJrWhaU49tGsTyoprn0Ay7yYi7E9nv5/YdtMM9gQvCPEEmDCIJH8FBxF1C/MkPZNp9klWK5hmW2KMz/i7PQg2/Z+hB8S03OK/hgWZ8mQm8gC12GwTvd+jm5NW0GJ6hI1KM/B3lY43wSXEwa8KcczNqZJbXwVGG1bK5wzgFt0rnbhA0yEaoDyoE/Mfl8Ys3W2gfm4Zf1A9G7Egdm+wstsUY+jJPyyTD9oE4RfvZs9uAi36oznsA2cibI2m+EeRaHSFcr99Gq7l2HYOeD5SHKjVwFbyddu+PNQDXsvdxIn9BvfgszrTcZAChWoT6r1M1UDWVbs8rtwNrbwCO/DQthNUWEmju/gd2HX7BHc1Y2ImQ1lPnImqpzuihRMb58HEieP9aplWdmK3xPj+Wfx+RX6RVI7/QezjnpyhkWgJLmALjqG2UZiC8Pr4twv5ckeGAeJaOqmLoE+BfZjxzjxQpG0eV9oLgKHWzQRjyrfOw+d1c+gZR/IG5b0Hw+fX/D1OTV3op4Y2eaJTdj/EZNYSFYRtsD5XyTU9hyUBOzlO4f7EImXNMfJHMgZzpK7pBUiD+eZLUA5cvy1tZnlr+2JP3urInAE0LwiWVYAHmcM9kh++tMfxOWplGYN+4U5aXf0BkRd0t02xn2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WrF8Vt85moDKSpLB2d1XeE",
      "input": {
        "note": "Screwdriver is held with the handle now pointing to the arm's right. Continuing the turn to yaw ≈ -3.0 so the tip points forward toward the toaster.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.33,
          "left_y": -0.12,
          "left_yaw": -3.0,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WrF8Vt85moDKSpLB2d1XeE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.9321, 1.9209, 1.4483, -1.5318, 0.8291, 2.0766, 0.2477, -0.0193, 0.8749, 0.6128, -0.4648, -0.0204, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.0629 left_y=-0.2972 left_z=0.1303 left_yaw=-2.8524 left_pitch=-0.0901 left_roll=-0.0358 left_gripper=0.2477 right_x=0.2875 right_y=0.0017 right_z=0.1453 right_yaw=-0.0007 right_pitch=-0.1678 right_roll=0.0034 right_gripper=0.9989\nstate[joint_eff]: [0.7316, -10.5915, 5.6, -0.3736, 0.5543, 0.0659, 1.0281, -0.1983, -1.4838, 6.9128, 1.6581, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bd7242daf6d07a7d29b0f5b805578d1b77b16dfa7a90a6d5f1c97d71d9c201d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27d4e46063031bb611b584b15ccd9a8391d588d554cbd3052d12f56a4c0f99de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:baa81f373342b262db760acb0582b2eda970e2c299028c3df576e836bacbd8c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 7.066 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0071, 1.6817, 0.26, 0.7776, 0.3218, 0.2092, 0.2383, -0.0193, 0.8673, 0.6128, -0.4648, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3347 left_y=-0.0546 left_z=-0.0016 left_yaw=-0.4008 left_pitch=-0.0361 left_roll=-0.0112 left_gripper=0.2383 right_x=0.2872 right_y=0.0017 right_z=0.1473 right_yaw=-0.0002 right_pitch=-0.1602 right_roll=0.0032 right_gripper=0.9989\nstate[joint_eff]: [-0.1162, -5.9692, 4.0821, 1.3993, 0.1636, -0.0415, 1.0427, -0.212, -1.7162, 7.1179, 1.5702, -0.0317, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0044, 1.7924, 1.4765, -1.1393, 0.9401, 1.4124, 0.2433, -0.0193, 0.8707, 0.6128, -0.4667, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3489 left_y=-0.1406 left_z=0.1776 left_yaw=-1.4945 left_pitch=-0.0558 left_roll=-0.0044 left_gripper=0.2433 right_x=0.287 right_y=0.0017 right_z=0.1461 right_yaw=-0.0005 right_pitch=-0.1655 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.5402, -9.0598, 7.4462, 0.1197, 0.8718, 0.2418, 1.033, -0.1573, -1.8667, 6.9402, 1.6142, -0.0317, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.9321, 1.9209, 1.4483, -1.5318, 0.8291, 2.0766, 0.2477, -0.0193, 0.8749, 0.6128, -0.4648, -0.0204, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.0629 left_y=-0.2972 left_z=0.1303 left_yaw=-2.8524 left_pitch=-0.0901 left_roll=-0.0358 left_gripper=0.2477 right_x=0.2875 right_y=0.0017 right_z=0.1453 right_yaw=-0.0007 right_pitch=-0.1678 right_roll=0.0034 right_gripper=0.9989\nstate[joint_eff]: [0.7316, -10.5915, 5.6, -0.3736, 0.5543, 0.0659, 1.0281, -0.1983, -1.4838, 6.9128, 1.6581, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bd7242daf6d07a7d29b0f5b805578d1b77b16dfa7a90a6d5f1c97d71d9c201d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27d4e46063031bb611b584b15ccd9a8391d588d554cbd3052d12f56a4c0f99de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baa81f373342b262db760acb0582b2eda970e2c299028c3df576e836bacbd8c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSuAkKEAgRGAI4AUIIdGhpbmtpbmcSDBvnpa4faxMDWowY/BoM/zojZnayBqByATExIjD4/Frj6GoGthRnUqqUGkp8Wx9wfp1duDPT+KQk6Yy3cT9xSzWYUQThlY3drJoLSNMq1QjPjVaGXuo8OfuSmSvgHxmGYlbG7Q1jlU41NC8F0imrmOgROTz9w8Yj7nvmr0Fbgay/VGPzx2Li6hjdqDRPetYIfmETtnwEdberKQNa/8BfhZkB/gv5yJgOFtEZprMikgGCtiRVe5DSWdiOpYE1+RaLSQTAc/c7X+HXlNuJ7F9fXJrBeGr14mrTMOLjYP5obRwdUN+w8d9dUF4FJ6z+ey6txnSrokj4mbnZYgg5Gu8G6nyaC2bH8GS5s8MJd+eYit+k66QSzsmuZ+OpJ4VNScYdjQxt00ml352pmzB+Kq+j7Z9BJCK3LZD9JuES2hWssUPGUkaRUoFv+FkzroiPh+AxSBaRSCS3s+a9oDesnLveCFA/5DYNdVPtsbeKr8xBkTFqlZ566b4whSJ64HqysbwDOyoOesMZ9RYEbxgmu2pXSCV+ib+a0zZq2otMi1qoasRZ7ll9Gik9B0m/fc0h57Su5dLMKZWfzy8VHaRWxq+fTA9WvTTjyviKDOWiurh/m2wSdc425gsRNjNlLu6e5nxqoTe4/pdz/fYfwZkvtu3YMzPOX9qRQQpz74LWL/dCe8NacfGV4FkN8jIk60NDR/eb/XXRwx62GpzQv6eBRS4rEQjCzYQj7Mag+B1Jc2LA+XxyCqqavhWsXDYglSHIJ5SMo0l4VDKCA8VgZ1hMwNowFhRPDZ4Q4YevWIg5moYBxB164d+2lUWLasjvwDZFF+lY7hR+pXcLMiQKMOiL5ozqvp+KIwZGX3oy7RS7o4Mmjc+9SmTJ7YmTeH1+j5W48zUuu1coxtEN4i/hH6nI9rOtoMqe9Pf0U7m+ZU7Yd8cd7C03fCqoxVC9sFnJbdZF1O4C1qA/sAQR3wYRG5aRurYGK0ulauWiAMfgC8KMc/3GdrQqRaaS4BXBfuIKDY/bDlOPQgBEIkq3NSbFsSImeJfTjPNmM0l8Fabfm93UGQShRG0FHxLBg7nDbpiGH3/FyEA1QITS2vNT1svnXKhIR55N48lo1H/l1lbEpwl+a8qaDCDiIcZ6b6i8NvCoqrYzHK5z0L8aYpnnfYS59/xN43c1druxawxEMD9VkweAsyH7JnKW+2x7h7TrCOJJvMioAOYtwb1At2OCkwWhjBRH2ZDgUTf3LQXmnLjPk4Q92oiNBCZ2zQ0o+poMouECQ8k4GyLz9Qg2EYZ6Fpyx3p2aDZfGIWc6rGEwG/hY+ur6phThy6T0uWQuj+nQ6lDS03edR/Ih9FxExDiPO4cqLgCH9WG+noq5u1BePN8hq9qs5aC0qRIEzzhn0vE5UKuA8kWC8NCez/U/MuII/slcx8QeFen3lV3YotvicOubw08PTf1xDtvI3v46bTfktooIoJbl0qpk4RJ2JBlLnKbTwLpfwYJ1RgKoaFACg0HtL2mOq2SuaqV3uo2CUI4cwQk2S5FMad9v3wGFpNX2AGi+JPhX+6/tt/iTAb4I/F0++SXAdYn7N0RubDZbShgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U2pTt38P7QJ4a1h83ego91",
      "input": {
        "note": "The arm swung back to a folded pose near the base (x≈0.06) while completing the turn; the screwdriver is still held. Moving up and forward to unfold it with the tool now pointing backward (tip toward +x).",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.28,
          "left_y": -0.25,
          "left_yaw": -3.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01U2pTt38P7QJ4a1h83ego91",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.005, 2.0132, 1.565, -1.5711, 0.8242, 2.0781, 0.2477, -0.0193, 0.8772, 0.6128, -0.4652, -0.0204, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.0528 left_y=-0.3184 left_z=0.1275 left_yaw=-2.9296 left_pitch=-0.0891 left_roll=-0.0502 left_gripper=0.2477 right_x=0.2875 right_y=0.0017 right_z=0.1446 right_yaw=-0.0007 right_pitch=-0.1705 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.8821, -9.4974, 7.706, -0.4664, 0.9011, 0.1343, 1.0281, -0.0479, -1.7573, 7.0769, 1.619, -0.022, -0.0366, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f81ff2c3f3715caa7b924d08019c7403a5073e5a5eef2a2c55a2cc74c950c01d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56e1ee6f35a4f45cc821600ac35ade86896d39e79f237285fcf69a1c2e4d18ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:344814ce0590de04437e8d1758f8fc3c3d403855f5081316638a27fba8970169",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 22.06 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0044, 1.7924, 1.4765, -1.1393, 0.9401, 1.4124, 0.2433, -0.0193, 0.8707, 0.6128, -0.4667, -0.0204, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.3489 left_y=-0.1406 left_z=0.1776 left_yaw=-1.4945 left_pitch=-0.0558 left_roll=-0.0044 left_gripper=0.2433 right_x=0.287 right_y=0.0017 right_z=0.1461 right_yaw=-0.0005 right_pitch=-0.1655 right_roll=0.0031 right_gripper=0.9989\nstate[joint_eff]: [-0.5402, -9.0598, 7.4462, 0.1197, 0.8718, 0.2418, 1.033, -0.1573, -1.8667, 6.9402, 1.6142, -0.0317, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.9321, 1.9209, 1.4483, -1.5318, 0.8291, 2.0766, 0.2477, -0.0193, 0.8749, 0.6128, -0.4648, -0.0204, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.0629 left_y=-0.2972 left_z=0.1303 left_yaw=-2.8524 left_pitch=-0.0901 left_roll=-0.0358 left_gripper=0.2477 right_x=0.2875 right_y=0.0017 right_z=0.1453 right_yaw=-0.0007 right_pitch=-0.1678 right_roll=0.0034 right_gripper=0.9989\nstate[joint_eff]: [0.7316, -10.5915, 5.6, -0.3736, 0.5543, 0.0659, 1.0281, -0.1983, -1.4838, 6.9128, 1.6581, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.005, 2.0132, 1.565, -1.5711, 0.8242, 2.0781, 0.2477, -0.0193, 0.8772, 0.6128, -0.4652, -0.0204, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.0528 left_y=-0.3184 left_z=0.1275 left_yaw=-2.9296 left_pitch=-0.0891 left_roll=-0.0502 left_gripper=0.2477 right_x=0.2875 right_y=0.0017 right_z=0.1446 right_yaw=-0.0007 right_pitch=-0.1705 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.8821, -9.4974, 7.706, -0.4664, 0.9011, 0.1343, 1.0281, -0.0479, -1.7573, 7.0769, 1.619, -0.022, -0.0366, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f81ff2c3f3715caa7b924d08019c7403a5073e5a5eef2a2c55a2cc74c950c01d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56e1ee6f35a4f45cc821600ac35ade86896d39e79f237285fcf69a1c2e4d18ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:344814ce0590de04437e8d1758f8fc3c3d403855f5081316638a27fba8970169",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSpAgKEAgRGAI4AUIIdGhpbmtpbmcSDB86Y2+jznO0jQ7hpBoMjduKup5r/ADzi3+fIjCt8NTwt0X81DN4g5avWi+xJWkjRkYa4u7mJ5c1yhQNvUbRaAsacuvmzytSzXERHlUqwQdJC4FEMkUwH532PiSJFmcxB46v03NKESb2IXIb6Z47zcvf6phqZ1vUFxeZqfUqN3lVsx65eGLdGYQe1247EdhJIXnWWVXVp1jOzP76xjPl6yYyrcIbB94ssx5IWaIRd7s6OWZ4JKXfW314l3jWZCe/Yl5bewNLxa4u38/njzms4ZvJ5AfQnL/iPvDRBRKAC5AOZqw6EYX3BRlIv8kq8ZQSqmR/59HsNV7q9VYBV/lbzM2+xPHJphPF3BHsWy9XTOLnhVd//sjf0OnIycMdknpictbT0lLe7RvUtihkqtX08eukpzmcBzDR3yISJQFWk1JiRaoqgUHUjrb09XAfdIwptHS/SANYW8tjIGTHpazbsY7zT+wwWWxXoYB0/4CBssnjf39OnBdhDZB3dL3eKyu8HkhgKNjjEnVMNgzwBeHLn0DlsQJvXkJT0K6X2k1KpIhofZcMwhinJICEX98hoLsluNIIj5UxcbFWnLfs4OXGsUHuORTdv4J4+JBBCHTXO8oQZIeeX4Kd8vLG7RcwMxdM51JYE9ihXJKVxtG3kJoSGrDr9U94m+7VSeBE1kzHMyz2TFLRm7Y+jgCe2+Yigng7R3Vr6W/v7/sTgYuDprkFJMEBRQb1nc0Y4r/GHwBZOPRwJoncUS6/jt2Ovqsvp8G+L/uePk3DTqr1/xF5NPrFynSi1PCRjuYRFBjCokMTmilYLiiZzOyoKwMVAJ3u12ZE5i4+KwORzKjFhOLOd/AZlpvtGe0xnTPiytkW/+IvrEcCKso/YqOcvDdhwpa2qxWNCI1lzzxiZLdgZqx9udgq50Mc5gQlaDUcd01MJBOe6vmTrnGvelx2QIvaqUoS4MXn1lN1zv1b1wdMmxgF+GIeXjAfgtMadjCuwg2ynnKUrbJC4CD6tx+2XKTLNbZm/xstFd6E1S24fNzULqZ6vkmVjeUHT9ChKCFQybuBwbkzb/wbQ8IOHOVpgQ/saG8kspHPWiJZiC0R4fzGJDo03aqn0F2iue7q3Qv0bz1NIrQhsabIS3gLUHP828djJoX0yjleAQkrC8P2LuQ6QFdIPox37eD/z4ZveiF3yXzDOdetEWqWmTlA15aGT+rosvSAsT7JduudlkRo4nyoFQG6A9SB4PLsvf4nBNoR+i6Bn7SqHPFbn/gbFvKkKcuHoSgz9wR4h+np/Fl+Adbatjvcy7yqG9qQsOpBn0RR3TZRcyRhRM50Z+PaRKJ8Lv2E9aw8xfuK0V22ZApta432ajDEQ/fZR/MzUoNmYswE2SBn74tcSvheGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y2oUvmzcouL1Adg6sEHwNE",
      "input": {
        "note": "The arm is stuck folded near its base at the reversed yaw. Raising it and yawing back toward -1.6 to unfold, since that orientation tracked well earlier.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.2,
          "left_y": -0.3,
          "left_yaw": -1.6,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Y2oUvmzcouL1Adg6sEHwNE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.6556, 1.4002, 1.4029, -1.0058, 0.7811, 0.7837, 0.2477, -0.0193, 0.8829, 0.6128, -0.4713, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.1841 left_y=-0.294 left_z=0.2681 left_yaw=-1.7135 left_pitch=-0.0722 left_roll=-0.0329 left_gripper=0.2477 right_x=0.2866 right_y=0.0017 right_z=0.142 right_yaw=-0.0001 right_pitch=-0.1823 right_roll=0.0037 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -6.6667, 8.9231, 1.5995, 0.5104, 0.0659, 1.0281, -0.3624, -2.0855, 6.9949, 1.619, -0.0464, -0.0464, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67f3fb2a8dae3c3ad1f65ed86d8d6d8a5cbf6bfd92c09563ab5b5edbd61970cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d04fe418e95f6976c5bbe04a8657b59071d4bff75b619edfadf00eeeb2d78555",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1501ab8960569dda891de40eb296e8cd1c81cfa466e551cc83077c33bdc8dc96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 16.57 s

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

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.9321, 1.9209, 1.4483, -1.5318, 0.8291, 2.0766, 0.2477, -0.0193, 0.8749, 0.6128, -0.4648, -0.0204, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.0629 left_y=-0.2972 left_z=0.1303 left_yaw=-2.8524 left_pitch=-0.0901 left_roll=-0.0358 left_gripper=0.2477 right_x=0.2875 right_y=0.0017 right_z=0.1453 right_yaw=-0.0007 right_pitch=-0.1678 right_roll=0.0034 right_gripper=0.9989\nstate[joint_eff]: [0.7316, -10.5915, 5.6, -0.3736, 0.5543, 0.0659, 1.0281, -0.1983, -1.4838, 6.9128, 1.6581, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.005, 2.0132, 1.565, -1.5711, 0.8242, 2.0781, 0.2477, -0.0193, 0.8772, 0.6128, -0.4652, -0.0204, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.0528 left_y=-0.3184 left_z=0.1275 left_yaw=-2.9296 left_pitch=-0.0891 left_roll=-0.0502 left_gripper=0.2477 right_x=0.2875 right_y=0.0017 right_z=0.1446 right_yaw=-0.0007 right_pitch=-0.1705 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.8821, -9.4974, 7.706, -0.4664, 0.9011, 0.1343, 1.0281, -0.0479, -1.7573, 7.0769, 1.619, -0.022, -0.0366, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.6556, 1.4002, 1.4029, -1.0058, 0.7811, 0.7837, 0.2477, -0.0193, 0.8829, 0.6128, -0.4713, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.1841 left_y=-0.294 left_z=0.2681 left_yaw=-1.7135 left_pitch=-0.0722 left_roll=-0.0329 left_gripper=0.2477 right_x=0.2866 right_y=0.0017 right_z=0.142 right_yaw=-0.0001 right_pitch=-0.1823 right_roll=0.0037 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -6.6667, 8.9231, 1.5995, 0.5104, 0.0659, 1.0281, -0.3624, -2.0855, 6.9949, 1.619, -0.0464, -0.0464, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67f3fb2a8dae3c3ad1f65ed86d8d6d8a5cbf6bfd92c09563ab5b5edbd61970cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d04fe418e95f6976c5bbe04a8657b59071d4bff75b619edfadf00eeeb2d78555",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1501ab8960569dda891de40eb296e8cd1c81cfa466e551cc83077c33bdc8dc96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016FEWLY2PxD15RP6mky4dPe",
      "input": {
        "note": "Arm is unfolded and still holding the screwdriver with the tip pointing toward the fence side (+y). Moving over toward the toaster with the tip pitched down so it can be lowered into the near slot from the side.",
        "targets": {
          "left_pitch": -0.6,
          "left_roll": 0.0,
          "left_x": 0.47,
          "left_y": -0.06,
          "left_yaw": -1.6,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_016FEWLY2PxD15RP6mky4dPe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0444, 2.1357, 2.149, -1.5845, 0.4149, 1.499, 0.2477, -0.0193, 0.8856, 0.6128, -0.4831, -0.0208, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.4018 left_y=-0.0856 left_z=0.1667 left_yaw=-1.583 left_pitch=-0.5863 left_roll=-0.034 left_gripper=0.2477 right_x=0.2847 right_y=0.0018 right_z=0.1391 right_yaw=-0.0003 right_pitch=-0.1968 right_roll=0.0042 right_gripper=0.9989\nstate[joint_eff]: [0.3761, -11.0017, 8.2803, 0.359, 0.2466, 0.1538, 1.0281, -0.212, -1.9624, 7.0085, 1.6825, -0.0122, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 400):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74392ca9fc29e46455e2cdb67ec025d69222ab244940847d674d80526d9d24ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dcf045e111f4b979c453337d4f259fff4f38cc789c25391abfc8c7eede57e31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d29aa0f403ac9bc97411a26e1419add1857be1dc91cfe31b1583e4ef4ceff5d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /messages · status 200 · 18.98 s

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

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-1.005, 2.0132, 1.565, -1.5711, 0.8242, 2.0781, 0.2477, -0.0193, 0.8772, 0.6128, -0.4652, -0.0204, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.0528 left_y=-0.3184 left_z=0.1275 left_yaw=-2.9296 left_pitch=-0.0891 left_roll=-0.0502 left_gripper=0.2477 right_x=0.2875 right_y=0.0017 right_z=0.1446 right_yaw=-0.0007 right_pitch=-0.1705 right_roll=0.0035 right_gripper=0.9989\nstate[joint_eff]: [-0.8821, -9.4974, 7.706, -0.4664, 0.9011, 0.1343, 1.0281, -0.0479, -1.7573, 7.0769, 1.619, -0.022, -0.0366, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.6556, 1.4002, 1.4029, -1.0058, 0.7811, 0.7837, 0.2477, -0.0193, 0.8829, 0.6128, -0.4713, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.1841 left_y=-0.294 left_z=0.2681 left_yaw=-1.7135 left_pitch=-0.0722 left_roll=-0.0329 left_gripper=0.2477 right_x=0.2866 right_y=0.0017 right_z=0.142 right_yaw=-0.0001 right_pitch=-0.1823 right_roll=0.0037 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -6.6667, 8.9231, 1.5995, 0.5104, 0.0659, 1.0281, -0.3624, -2.0855, 6.9949, 1.619, -0.0464, -0.0464, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0444, 2.1357, 2.149, -1.5845, 0.4149, 1.499, 0.2477, -0.0193, 0.8856, 0.6128, -0.4831, -0.0208, -0.0147, 0.9989]\nstate[eef_state]: left_x=0.4018 left_y=-0.0856 left_z=0.1667 left_yaw=-1.583 left_pitch=-0.5863 left_roll=-0.034 left_gripper=0.2477 right_x=0.2847 right_y=0.0018 right_z=0.1391 right_yaw=-0.0003 right_pitch=-0.1968 right_roll=0.0042 right_gripper=0.9989\nstate[joint_eff]: [0.3761, -11.0017, 8.2803, 0.359, 0.2466, 0.1538, 1.0281, -0.212, -1.9624, 7.0085, 1.6825, -0.0122, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 400):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74392ca9fc29e46455e2cdb67ec025d69222ab244940847d674d80526d9d24ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 400):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dcf045e111f4b979c453337d4f259fff4f38cc789c25391abfc8c7eede57e31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 400):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d29aa0f403ac9bc97411a26e1419add1857be1dc91cfe31b1583e4ef4ceff5d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01THrm4xb4ZGJPmzeNCpLUBG",
      "input": {
        "note": "The arm stopped short at x≈0.40 (reach limit at this height), so the tip is still in front of the toaster. Trying a lower, further-forward target to bring the tilted tip over the toaster's near slot.",
        "targets": {
          "left_pitch": -0.6,
          "left_roll": 0.0,
          "left_x": 0.49,
          "left_y": -0.06,
          "left_yaw": -1.6,
          "left_z": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01THrm4xb4ZGJPmzeNCpLUBG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0216, 2.2673, 2.2566, -1.5818, 0.392, 1.5288, 0.2477, -0.0193, 0.8856, 0.6128, -0.4892, -0.0208, -0.0151, 0.9989]\nstate[eef_state]: left_x=0.4283 left_y=-0.0731 left_z=0.1388 left_yaw=-1.5941 left_pitch=-0.609 left_roll=-0.0453 left_gripper=0.2477 right_x=0.2837 right_y=0.0018 right_z=0.138 right_yaw=-0.0 right_pitch=-0.2029 right_roll=0.0041 right_gripper=0.9989\nstate[joint_eff]: [0.253, -11.7812, 8.841, 0.315, 0.2857, 0.2515, 1.0281, 0.0068, -1.7573, 6.9675, 1.619, -0.0366, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 407):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a1e8cdb2fe36a95a765f13e7b018a94816a72f08e093c0069825150bcee3cfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 407):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7551426f6bd68fa9164d8e27f8ffa601efb11b0407431131877d9e30a9df3157",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 407):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:542b46fbe5340ec76ea0c5c343a9b426f193e54ba6fbef7f04e117047526c31b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]