adhoc

completed
2026-09-22T22:25:24.757698+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 embedded)
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-opus-5
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
526.6 s
total steps
300
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
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: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 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: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls sit in a row across the middle of the table. I'm moving the left arm up and over toward the leftmost bowl to get a wrist-camera view for precise localization.
move_to
left_x0.4000left_y-0.1800left_z0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7956, 0.6052, -0.3798, -0.0223, -0.0257, 0.9996, -0.0219, 0.794, 0.6029, -0.3801, -0.0166, -0.0284, 0.9978] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1801 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0001 right_z=0.1794 right_yaw=-0.0005 right_pitch=-0.0004 right_roll=0.0001 right_gripper=0.9978 state[joint_eff]: [-0.6906, -1.5795, 9.9897, 1.7607, -0.0317, 0.0952, -0.0513, -0.5265, -1.4701, 10.3043, 1.8535, -0.0904, 0.1197, -0.2418] 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": 0.4, "left_y": -0.18, "left_z": 0.25, "left_gripper": 1}, "note": "Three bowls sit in a row across the middle of the table. I'm moving the left arm up and over toward the leftmost bowl to get a wrist-camera view for precise localization."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe left wrist camera shows the near (white) bowl just left of the jaw column and a second bowl to its right. Descending to 12 cm and nudging 2 cm right to line the jaws up on the white bowl's rim.
move_to
left_x0.4000left_y-0.2000left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6289, 1.4952, 1.2697, -0.4843, -0.5014, -0.3874, 0.9996, -0.0219, 0.8001, 0.6018, -0.3923, -0.0166, -0.0273, 0.9977] state[eef_state]: left_x=0.3942 left_y=-0.1773 left_z=0.2325 left_yaw=-0.0184 left_pitch=-0.0388 left_roll=0.0126 left_gripper=0.9996 right_x=0.2932 right_y=0.0001 right_z=0.1747 right_yaw=-0.0011 right_pitch=-0.0198 right_roll=0.0015 right_gripper=0.9977 state[joint_eff]: [-0.3761, -7.0085, 9.2786, 1.5165, -0.4567, -0.0317, -0.0513, -0.1026, -1.7573, 7.1316, 1.8535, -0.0513, -0.0366, -0.0269] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.2, "left_z": 0.12}, "note": "The left wrist camera shows the near (white) bowl just left of the jaw column and a second bowl to its right. Descending to 12 cm and nudging 2 cm right to line the jaws up on the white bowl's rim."})
tool
executing move_to over 8 steps (0.8s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe wrist view shows the jaws straddling empty table between the white (left) bowl and the lavender (middle) bowl. Backing up and shifting left to bring the white bowl fully into view and centred.
move_to
left_x0.3600left_y-0.1500left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6697, 1.644, 0.9897, -0.1234, -0.5255, -0.4129, 0.9996, -0.0216, 0.8009, 0.6003, -0.3931, -0.0162, -0.0273, 0.9977] state[eef_state]: left_x=0.3937 left_y=-0.1941 left_z=0.1176 left_yaw=-0.0245 left_pitch=-0.0836 left_roll=0.0451 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.1736 right_yaw=-0.0011 right_pitch=-0.0229 right_roll=0.0013 right_gripper=0.9977 state[joint_eff]: [-0.4444, -7.2547, 6.5162, 1.7607, -0.3541, -0.1294, -0.0171, -0.0615, -1.1692, 7.2547, 1.707, -0.0269, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.15, "left_z": 0.16}, "note": "The wrist view shows the jaws straddling empty table between the white (left) bowl and the lavender (middle) bowl. Backing up and shifting left to bring the white bowl fully into view and centred."})
tool
executing move_to over 4 steps (0.4s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteI estimate the white bowl's centre at about x=0.41, y=-0.13 in the left arm's frame. Moving to hover over its left rim (jaws will straddle the rim wall) at 10 cm height to verify alignment.
move_to
left_x0.4150left_y-0.0620left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6231, 1.4139, 0.9279, -0.2356, -0.498, -0.3969, 0.9996, -0.0219, 0.8047, 0.5999, -0.3935, -0.0166, -0.0273, 0.9977] state[eef_state]: left_x=0.3702 left_y=-0.1577 left_z=0.1627 left_yaw=-0.0099 left_pitch=-0.0497 left_roll=0.0098 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1724 right_yaw=-0.0011 right_pitch=-0.0275 right_roll=0.0016 right_gripper=0.9977 state[joint_eff]: [0.0205, -5.6957, 5.8051, 1.4628, -0.1197, 0.1441, -0.0122, -0.1983, -1.0462, 7.0769, 1.7411, -0.0611, -0.0806, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.415, "left_y": -0.062, "left_z": 0.1}, "note": "I estimate the white bowl's centre at about x=0.41, y=-0.13 in the left arm's frame. Moving to hover over its left rim (jaws will straddle the rim wall) at 10 cm height to verify alignment."})
tool
executing move_to over 9 steps (0.9s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe white bowl's left rim is now roughly under the jaw column but a bit far out; advancing 2 cm and dropping to 3.5 cm so the open jaws straddle the rim wall.
move_to
left_x0.4300left_y-0.0650left_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2584, 1.5051, 0.7368, 0.086, -0.242, -0.186, 0.9996, -0.0216, 0.8051, 0.598, -0.3973, -0.0162, -0.0273, 0.9977] state[eef_state]: left_x=0.4063 left_y=-0.0599 left_z=0.0961 left_yaw=0.033 left_pitch=-0.0894 left_roll=0.0135 left_gripper=0.9996 right_x=0.2923 right_y=0.0002 right_z=0.1706 right_yaw=-0.0011 right_pitch=-0.0336 right_roll=0.0016 right_gripper=0.9977 state[joint_eff]: [0.253, -5.7368, 6.106, 1.8681, -0.022, 0.1734, -0.0122, -0.0068, -1.306, 7.241, 1.7705, -0.022, -0.0317, -0.0122] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.065, "left_z": 0.035}, "note": "The white bowl's left rim is now roughly under the jaw column but a bit far out; advancing 2 cm and dropping to 3.5 cm so the open jaws straddle the rim wall."})
tool
executing move_to over 4 steps (0.4s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe rim wall sits ~3.5 cm to the right of the jaw centre (the inner jaw is too deep inside the bowl), so I lift clear and shift right to put the rim between the jaws.
move_to
left_x0.4300left_y-0.1000left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2573, 1.75, 0.7151, 0.2813, -0.2333, -0.1802, 0.9996, -0.0216, 0.8078, 0.5957, -0.4026, -0.0166, -0.0273, 0.9977] state[eef_state]: left_x=0.4177 left_y=-0.064 left_z=0.0263 left_yaw=0.0263 left_pitch=-0.1595 left_roll=0.0328 left_gripper=0.9996 right_x=0.2914 right_y=0.0002 right_z=0.1678 right_yaw=-0.0007 right_pitch=-0.0439 right_roll=0.002 right_gripper=0.9977 state[joint_eff]: [-0.0205, -8.6359, 5.2444, 2.0098, -0.2222, -0.0562, -0.0122, -0.1026, -1.4017, 7.1863, 1.8144, -0.0513, -0.0464, -0.0122] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.1, "left_z": 0.09}, "note": "The rim wall sits ~3.5 cm to the right of the jaw centre (the inner jaw is too deep inside the bowl), so I lift clear and shift right to put the rim between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe bowl's left rim is now lined up on the jaw column with one jaw outside and one inside. Descending to 1.5 cm so the open jaws sit across the rim wall.
move_to
left_x0.4300left_y-0.0980left_z0.0150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3519, 1.6901, 0.8932, 0.028, -0.2852, -0.2375, 0.9996, -0.0219, 0.8097, 0.5953, -0.4122, -0.0166, -0.0273, 0.9977] state[eef_state]: left_x=0.4294 left_y=-0.1009 left_z=0.0744 left_yaw=0.0067 left_pitch=-0.1614 left_roll=0.0288 left_gripper=0.9996 right_x=0.2901 right_y=0.0002 right_z=0.1652 right_yaw=-0.0011 right_pitch=-0.0557 right_roll=0.0022 right_gripper=0.9977 state[joint_eff]: [-0.3214, -9.7026, 8.0615, 1.4774, -0.1587, -0.1343, -0.0122, -0.1436, -1.4838, 7.0222, 1.7949, -0.0855, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.098, "left_z": 0.015}, "note": "The bowl's left rim is now lined up on the jaw column with one jaw outside and one inside. Descending to 1.5 cm so the open jaws sit across the rim wall."})
tool
executing move_to over 4 steps (0.4s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteAt this height the rim wall reads ~1.3 cm left of the jaw centre, too far off for a symmetric close, so I lift clear and correct sideways before descending again.
move_to
left_x0.4300left_y-0.0810left_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3462, 1.8374, 0.7959, 0.1963, -0.284, -0.2554, 0.9996, -0.0216, 0.8135, 0.5945, -0.4152, -0.0166, -0.0273, 0.9977] state[eef_state]: left_x=0.417 left_y=-0.094 left_z=0.0064 left_yaw=0.0268 left_pitch=-0.2325 left_roll=0.0427 left_gripper=0.9996 right_x=0.2898 right_y=0.0003 right_z=0.1632 right_yaw=-0.0007 right_pitch=-0.0633 right_roll=0.0024 right_gripper=0.9977 state[joint_eff]: [0.1983, -8.8547, 5.9692, 1.3651, -0.0855, 0.5348, -0.0122, -0.0342, -1.6068, 7.2137, 1.6825, -0.0611, -0.0366, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.081, "left_z": 0.06}, "note": "At this height the rim wall reads ~1.3 cm left of the jaw centre, too far off for a symmetric close, so I lift clear and correct sideways before descending again."})
tool
executing move_to over 4 steps (0.4s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe rim wall now runs right through the jaw centre. Descending so the open jaws straddle it.
move_to
left_x0.4300left_y-0.0810left_z0.0120
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3004, 1.7584, 0.8776, 0.0322, -0.2619, -0.2459, 0.9996, -0.0216, 0.8158, 0.5945, -0.4156, -0.0166, -0.0273, 0.9977] state[eef_state]: left_x=0.4259 left_y=-0.0803 left_z=0.0401 left_yaw=0.0492 left_pitch=-0.2419 left_roll=0.0348 left_gripper=0.9996 right_x=0.2898 right_y=0.0003 right_z=0.1625 right_yaw=-0.0007 right_pitch=-0.066 right_roll=0.0025 right_gripper=0.9977 state[joint_eff]: [0.1162, -9.853, 8.1846, 1.5165, -0.0073, 0.2222, -0.0122, -0.0889, -1.0462, 7.0496, 1.6532, -0.0708, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.081, "left_z": 0.012}, "note": "The rim wall now runs right through the jaw centre. Descending so the open jaws straddle it."})
tool
executing move_to over 2 steps (0.2s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteDescent stopped at 3.7 cm, which should be jaws astride the bowl rim; closing the gripper on the rim wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2947, 1.784, 0.8829, 0.065, -0.2615, -0.2359, 0.9996, -0.0219, 0.8162, 0.5945, -0.4156, -0.0166, -0.0273, 0.9977] state[eef_state]: left_x=0.4319 left_y=-0.0796 left_z=0.0367 left_yaw=0.0481 left_pitch=-0.2304 left_roll=0.0372 left_gripper=0.9996 right_x=0.2898 right_y=0.0002 right_z=0.1624 right_yaw=-0.0011 right_pitch=-0.0664 right_roll=0.0025 right_gripper=0.9977 state[joint_eff]: [-0.5538, -5.7641, 4.0821, 1.1404, -0.1392, -0.1099, -0.0171, -0.1026, -1.3744, 6.9812, 1.6581, -0.0366, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Descent stopped at 3.7 cm, which should be jaws astride the bowl rim; closing the gripper on the rim wall."})
tool
executing move_to over 10 steps (1.0s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteGripper settled at 0.036 (could be a thin ceramic rim or an empty close). Lifting 8 cm to see in the overhead view whether the bowl came with it.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2943, 1.7882, 0.873, 0.0875, -0.2516, -0.2584, 0.0358, -0.0216, 0.8173, 0.5945, -0.416, -0.0166, -0.0273, 0.9977] state[eef_state]: left_x=0.4321 left_y=-0.0813 left_z=0.0347 left_yaw=0.052 left_pitch=-0.2245 left_roll=0.0111 left_gripper=0.0358 right_x=0.2898 right_y=0.0003 right_z=0.162 right_yaw=-0.0007 right_pitch=-0.0679 right_roll=0.0025 right_gripper=0.9977 state[joint_eff]: [-0.0889, -8.3624, 6.4752, 1.1306, -0.2125, 0.1001, 0.6764, -0.0068, -1.4427, 7.2137, 1.6923, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Gripper settled at 0.036 (could be a thin ceramic rim or an empty close). Lifting 8 cm to see in the overhead view whether the bowl came with it."})
tool
executing move_to over 6 steps (0.6s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteUnclear from the images whether the rim is held; lifting to 20 cm where the answer will be obvious in the overhead view.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2943, 1.66, 1.0252, -0.2184, -0.2554, -0.2592, 0.0428, -0.0219, 0.8173, 0.5945, -0.4164, -0.0166, -0.0273, 0.9977] state[eef_state]: left_x=0.4302 left_y=-0.08 left_z=0.0966 left_yaw=0.0577 left_pitch=-0.2476 left_roll=0.0223 left_gripper=0.0428 right_x=0.2898 right_y=0.0002 right_z=0.1619 right_yaw=-0.0011 right_pitch=-0.0683 right_roll=0.0025 right_gripper=0.9977 state[joint_eff]: [-0.1026, -10.0718, 9.0051, 1.4774, -0.1294, -0.022, 1.0281, -0.1573, -1.388, 7.159, 1.6825, -0.0513, -0.0855, -0.0122] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Unclear from the images whether the rim is held; lifting to 20 cm where the answer will be obvious in the overhead view."})
tool
executing move_to over 7 steps (0.7s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteTesting the grasp by transporting: moving 14 cm right so that, if the white bowl is held by its rim, it ends up directly above the middle (lavender) bowl.
move_to
left_x0.4300left_y-0.2200left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2943, 1.6169, 1.3182, -0.585, -0.2554, -0.2596, 0.0461, -0.0219, 0.8173, 0.5945, -0.4164, -0.0166, -0.0273, 0.9977] state[eef_state]: left_x=0.4321 left_y=-0.0806 left_z=0.1748 left_yaw=0.0607 left_pitch=-0.2762 left_roll=0.0329 left_gripper=0.0461 right_x=0.2898 right_y=0.0002 right_z=0.1619 right_yaw=-0.0011 right_pitch=-0.0683 right_roll=0.0025 right_gripper=0.9977 state[joint_eff]: [-0.212, -10.0308, 9.265, 1.3748, -0.1538, -0.0073, 1.033, -0.0615, -1.3744, 6.9812, 1.6825, -0.0415, 0.0073, -0.0171] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.22, "left_z": 0.2}, "note": "Testing the grasp by transporting: moving 14 cm right so that, if the white bowl is held by its rim, it ends up directly above the middle (lavender) bowl."})
tool
executing move_to over 13 steps (1.3s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteConfirmed: the white bowl is held by its rim and has travelled with the arm. Lowering it to 13 cm to reduce parallax in the overhead view before lining it up over the lavender bowl.
move_to
left_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.635, 1.869, 1.6989, -0.8486, -0.4313, -0.5457, 0.0461, -0.0219, 0.8173, 0.5945, -0.4198, -0.0166, -0.0273, 0.9977] state[eef_state]: left_x=0.4244 left_y=-0.2165 left_z=0.1858 left_yaw=0.0428 left_pitch=-0.3157 left_roll=0.0391 left_gripper=0.0461 right_x=0.2893 right_y=0.0002 right_z=0.1612 right_yaw=-0.0011 right_pitch=-0.0717 right_roll=0.0026 right_gripper=0.9977 state[joint_eff]: [-0.3214, -9.5658, 9.4838, 1.2674, -0.5104, 0.022, 1.0281, 0.0068, -1.388, 7.0359, 1.7509, -0.0366, -0.0757, -0.0122] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.13}, "note": "Confirmed: the white bowl is held by its rim and has travelled with the arm. Lowering it to 13 cm to reduce parallax in the overhead view before lining it up over the lavender bowl."})
tool
executing move_to over 4 steps (0.4s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe held white bowl is now nearly over the lavender bowl in the top view. Lowering further toward nesting height to check alignment before release.
move_to
left_z0.0850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6395, 1.8793, 1.4982, -0.7116, -0.4358, -0.5476, 0.0462, -0.0219, 0.8173, 0.5945, -0.4217, -0.0166, -0.0273, 0.9977] state[eef_state]: left_x=0.4124 left_y=-0.2093 left_z=0.1238 left_yaw=0.0595 left_pitch=-0.3703 left_roll=0.091 left_gripper=0.0462 right_x=0.289 right_y=0.0002 right_z=0.1609 right_yaw=-0.0011 right_pitch=-0.0736 right_roll=0.0026 right_gripper=0.9977 state[joint_eff]: [0.294, -10.0171, 7.5692, 1.5556, -0.2125, 0.0122, 1.0379, -0.0752, -1.2513, 6.9812, 1.6874, -0.0415, -0.0171, -0.0122] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.085}, "note": "The held white bowl is now nearly over the lavender bowl in the top view. Lowering further toward nesting height to check alignment before release."})
tool
executing move_to over 3 steps (0.3s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe descent stopped early at 10.9 cm — the carried bowl is perched on the lavender bowl's rim rather than nesting, and the tool has sagged 22° nose-down. Lifting and commanding level pitch so the bowl hangs flat.
move_to
left_z0.1600left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6399, 1.8893, 1.4563, -0.6689, -0.4362, -0.5476, 0.0462, -0.0219, 0.8204, 0.5945, -0.4225, -0.0166, -0.0273, 0.9977] state[eef_state]: left_x=0.411 left_y=-0.2085 left_z=0.1092 left_yaw=0.0617 left_pitch=-0.3771 left_roll=0.0977 left_gripper=0.0462 right_x=0.289 right_y=0.0002 right_z=0.1599 right_yaw=-0.0011 right_pitch=-0.0774 right_roll=0.0027 right_gripper=0.9977 state[joint_eff]: [-0.3077, -9.5658, 6.9265, 1.1258, -0.2418, -0.0317, 0.9548, -0.1846, -1.4017, 6.9949, 1.6581, -0.0269, -0.0806, -0.0122] 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_z": 0.16, "left_pitch": 0.0}, "note": "The descent stopped early at 10.9 cm \u2014 the carried bowl is perched on the lavender bowl's rim rather than nesting, and the tool has sagged 22\u00b0 nose-down. Lifting and commanding level pitch so the bowl hangs flat."})
tool
executing move_to over 13 steps (1.3s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe carried bowl has drifted ~3 cm toward the base relative to where the lavender bowl sits, so I push it forward and slightly right before trying the nest again.
move_to
left_x0.4450left_y-0.2150left_z0.1550left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7258, 1.7405, 1.1896, -0.3428, -0.6388, -0.4789, 0.0496, -0.0219, 0.8242, 0.5945, -0.4229, -0.0166, -0.0273, 0.9977] state[eef_state]: left_x=0.3996 left_y=-0.2089 left_z=0.1301 left_yaw=0.0451 left_pitch=-0.1135 left_roll=0.1329 left_gripper=0.0496 right_x=0.2891 right_y=0.0002 right_z=0.1588 right_yaw=-0.0011 right_pitch=-0.0816 right_roll=0.0028 right_gripper=0.9977 state[joint_eff]: [0.1026, -11.0017, 6.4479, 1.6728, -0.442, 0.1343, 0.7399, -0.212, -1.5111, 7.1726, 1.6679, -0.0611, -0.0855, -0.0122] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.445, "left_y": -0.215, "left_z": 0.155, "left_pitch": 0.0}, "note": "The carried bowl has drifted ~3 cm toward the base relative to where the lavender bowl sits, so I push it forward and slightly right before trying the nest again."})
tool
executing move_to over 4 steps (0.4s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteLowering the carried bowl again over the lavender bowl, aiming for it to drop inside; I'll watch where the descent stops.
move_to
left_z0.0600left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6857, 1.8114, 1.243, -0.2691, -0.659, -0.4141, 0.0493, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.0273, 0.9977] state[eef_state]: left_x=0.4284 left_y=-0.2061 left_z=0.1314 left_yaw=0.0611 left_pitch=-0.0676 left_roll=0.1569 left_gripper=0.0493 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=-0.0011 right_pitch=-0.082 right_roll=0.0028 right_gripper=0.9977 state[joint_eff]: [0.253, -9.0325, 10.2496, 1.7558, -0.3346, 0.2125, 0.8034, -0.1709, -1.4564, 7.0085, 1.7167, -0.0562, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.06, "left_pitch": 0.0}, "note": "Lowering the carried bowl again over the lavender bowl, aiming for it to drop inside; I'll watch where the descent stops."})
tool
executing move_to over 5 steps (0.5s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe bowl reached nesting height with no early contact, so I'm releasing it here.
move_to
left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7017, 1.9011, 1.0592, 0.0597, -0.683, -0.3996, 0.0492, -0.0219, 0.8249, 0.5945, -0.4229, -0.0166, -0.0273, 0.9977] state[eef_state]: left_x=0.426 left_y=-0.2094 left_z=0.0731 left_yaw=0.0528 left_pitch=-0.0165 left_roll=0.1437 left_gripper=0.0492 right_x=0.2892 right_y=0.0002 right_z=0.1586 right_yaw=-0.0011 right_pitch=-0.0824 right_roll=0.0028 right_gripper=0.9977 state[joint_eff]: [0.1026, -7.1453, 4.7111, 1.2674, -0.4322, 0.0952, 0.823, -0.0752, -1.3744, 7.0359, 1.6386, -0.0317, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.6}, "note": "The bowl reached nesting height with no early contact, so I'm releasing it here."})
tool
executing move_to over 6 steps (0.6s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteReleased the bowl; retracting the left arm out of the way to see in the overhead view whether the white bowl nested into the lavender one.
move_to
left_x0.3200left_y-0.0500left_z0.2200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7013, 1.9266, 1.0393, 0.1246, -0.6899, -0.3889, 0.5947, -0.0219, 0.8249, 0.5945, -0.4229, -0.0166, -0.0273, 0.9977] state[eef_state]: left_x=0.4282 left_y=-0.2098 left_z=0.065 left_yaw=0.0524 left_pitch=0.0001 left_roll=0.1428 left_gripper=0.5947 right_x=0.2892 right_y=0.0002 right_z=0.1586 right_yaw=-0.0011 right_pitch=-0.0824 right_roll=0.0028 right_gripper=0.9977 state[joint_eff]: [0.1846, -8.7316, 5.2855, 1.5995, -0.4322, 0.0366, 0.0024, -0.0889, -1.4154, 6.9675, 1.6386, -0.0611, -0.0464, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.05, "left_z": 0.22, "left_gripper": 1}, "note": "Released the bowl; retracting the left arm out of the way to see in the overhead view whether the white bowl nested into the lavender one."})
tool
executing move_to over 15 steps (1.5s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe white bowl is now nested in the lavender one — two bowls left in the overhead view. Bringing the right arm over the pink bowl's right rim to pick it up.
move_to
right_x0.4200right_y0.1750right_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4301, 1.0325, 0.8124, -0.4221, -0.5011, -0.205, 0.9983, -0.0219, 0.8295, 0.5945, -0.4309, -0.0166, -0.0273, 0.9977] state[eef_state]: left_x=0.3251 left_y=-0.0519 left_z=0.2091 left_yaw=0.0816 left_pitch=0.0103 left_roll=0.1287 left_gripper=0.9983 right_x=0.2882 right_y=0.0002 right_z=0.1558 right_yaw=-0.0011 right_pitch=-0.095 right_roll=0.0031 right_gripper=0.9977 state[joint_eff]: [0.2393, -2.9607, 10.4, 1.6435, -0.1929, 0.1245, -0.0562, -0.2393, -1.6889, 6.9949, 1.7802, -0.0415, -0.0659, -0.0122] 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": {"right_x": 0.42, "right_y": 0.175, "right_z": 0.1}, "note": "The white bowl is now nested in the lavender one \u2014 two bowls left in the overhead view. Bringing the right arm over the pink bowl's right rim to pick it up."})
tool
executing move_to over 15 steps (1.5s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe pink bowl's near-left rim is close to the right gripper's jaw column; descending to rim height to check the straddle before closing.
move_to
right_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4301, 1.0397, 0.8127, -0.4397, -0.4946, -0.2062, 0.9988, 0.5404, 1.6932, 0.9405, -0.0586, 0.3859, 0.3141, 0.9977] state[eef_state]: left_x=0.3236 left_y=-0.0522 left_z=0.2036 left_yaw=0.077 left_pitch=-0.0128 left_roll=0.1362 left_gripper=0.9988 right_x=0.4037 right_y=0.1689 right_z=0.081 right_yaw=0.034 right_pitch=-0.1663 right_roll=-0.0337 right_gripper=0.9977 state[joint_eff]: [-0.0068, -3.494, 6.8581, 1.7607, -0.2564, -0.0513, 0.0366, 0.212, -8.5402, 8.5538, 1.7363, 0.3932, 0.1783, -0.0122] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.04}, "note": "The pink bowl's near-left rim is close to the right gripper's jaw column; descending to rim height to check the straddle before closing."})
tool
executing move_to over 3 steps (0.3s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe pink bowl's rim reads ~2 cm right-of-jaw-centre in the wrist view, so I lift clear and shift 2 cm before descending onto the rim.
move_to
right_y0.1880right_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4301, 1.0401, 0.8127, -0.4408, -0.4942, -0.2062, 0.9988, 0.5434, 1.7649, 0.8776, 0.0498, 0.3832, 0.3149, 0.9977] state[eef_state]: left_x=0.3235 left_y=-0.0523 left_z=0.2033 left_yaw=0.0767 left_pitch=-0.0143 left_roll=0.1368 left_gripper=0.9988 right_x=0.3993 right_y=0.1682 right_z=0.0453 right_yaw=0.0364 right_pitch=-0.1903 right_roll=-0.0444 right_gripper=0.9977 state[joint_eff]: [-0.0479, -2.7966, 7.0906, 1.5702, -0.2173, -0.0269, -0.0073, -0.4444, -7.9385, 5.8325, 1.7216, 0.1978, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.188, "right_z": 0.09}, "note": "The pink bowl's rim reads ~2 cm right-of-jaw-centre in the wrist view, so I lift clear and shift 2 cm before descending onto the rim."})
tool
executing move_to over 3 steps (0.3s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteRim now on the jaw column; descending so the open jaws straddle the pink bowl's rim.
move_to
right_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4301, 1.0401, 0.8127, -0.4412, -0.4942, -0.2062, 0.9988, 0.5854, 1.755, 0.9684, -0.0982, 0.3889, 0.3279, 0.9977] state[eef_state]: left_x=0.3234 left_y=-0.0522 left_z=0.2032 left_yaw=0.0767 left_pitch=-0.0146 left_roll=0.1369 left_gripper=0.9988 right_x=0.395 right_y=0.1857 right_z=0.0599 right_yaw=0.0617 right_pitch=-0.2289 right_roll=-0.0626 right_gripper=0.9977 state[joint_eff]: [-0.0889, -2.8786, 6.9675, 1.5702, -0.2222, -0.0757, -0.0122, 0.2256, -10.7692, 7.7197, 1.3602, 0.4371, 0.2173, -0.0171] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03}, "note": "Rim now on the jaw column; descending so the open jaws straddle the pink bowl's rim."})
tool
executing move_to over 2 steps (0.2s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteDescent stalled at 6 cm, consistent with the jaws bracketing the rim. Closing on the pink bowl's rim.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4301, 1.0401, 0.8127, -0.4412, -0.4946, -0.2062, 0.9988, 0.5922, 1.7557, 0.9638, -0.0666, 0.3885, 0.3363, 0.9977] state[eef_state]: left_x=0.3234 left_y=-0.0522 left_z=0.2033 left_yaw=0.077 left_pitch=-0.0145 left_roll=0.1372 left_gripper=0.9988 right_x=0.3971 right_y=0.1909 right_z=0.0626 right_yaw=0.0672 right_pitch=-0.206 right_roll=-0.0428 right_gripper=0.9977 state[joint_eff]: [-0.1709, -2.8923, 6.8855, 1.5507, -0.2418, -0.0269, -0.0171, -0.7726, -5.8598, 4.4239, 1.0965, 0.1587, -0.0952, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Descent stalled at 6 cm, consistent with the jaws bracketing the rim. Closing on the pink bowl's rim."})
tool
executing move_to over 10 steps (1.0s)
step 176
assistant
agent noteGripper settled at 0.044, the same reading that meant a held rim last time. Lifting and carrying the pink bowl left toward the nested stack.
move_to
right_x0.4000right_y0.3250right_z0.1800right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4301, 1.0409, 0.8127, -0.4412, -0.4942, -0.2062, 0.9988, 0.588, 1.8366, 0.8978, 0.0135, 0.4042, 0.3069, 0.0439] state[eef_state]: left_x=0.3235 left_y=-0.0523 left_z=0.203 left_yaw=0.0767 left_pitch=-0.0153 left_roll=0.1373 left_gripper=0.9988 right_x=0.388 right_y=0.1795 right_z=0.0189 right_yaw=0.059 right_pitch=-0.2588 right_roll=-0.1091 right_gripper=0.0439 state[joint_eff]: [-0.1573, -3.0291, 7.0769, 1.5556, -0.2515, -0.0806, -0.0122, -0.5538, -9.4291, 7.2821, 1.3651, -0.1245, 0.1783, 0.989] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.325, "right_z": 0.18, "right_pitch": 0.0}, "note": "Gripper settled at 0.044, the same reading that meant a held rim last time. Lifting and carrying the pink bowl left toward the nested stack."})
tool
executing move_to over 13 steps (1.3s)
step 189
assistant
agent noteThe nested stack is still off to the left in the right wrist view, so I move further left (near the arm's y limit) to bring the carried pink bowl over it.
move_to
right_y0.3900right_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4301, 1.042, 0.8127, -0.445, -0.4946, -0.2062, 0.9988, 0.9012, 1.9251, 1.5047, -0.4236, 0.6781, 0.44, 0.0463] state[eef_state]: left_x=0.3231 left_y=-0.052 left_z=0.202 left_yaw=0.0771 left_pitch=-0.0195 left_roll=0.1399 left_gripper=0.9988 right_x=0.393 right_y=0.3238 right_z=0.1593 right_yaw=0.1064 right_pitch=-0.056 right_roll=-0.1272 right_gripper=0.0463 state[joint_eff]: [-0.0615, -2.988, 6.8991, 1.6044, -0.2466, -0.0611, -0.0171, 0.1299, -10.2085, 8.8684, 1.3407, 0.6764, 0.2173, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.39, "right_z": 0.17}, "note": "The nested stack is still off to the left in the right wrist view, so I move further left (near the arm's y limit) to bring the carried pink bowl over it."})
tool
executing move_to over 6 steps (0.6s)
step 195
assistant
agent noteBy arithmetic from the two grasps, the nested stack sits at about right_y=0.27, so holding the pink bowl by its left rim I need the gripper at y≈0.34; moving there and lowering toward nesting height.
move_to
right_x0.4100right_y0.3400right_z0.0750right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4301, 1.0428, 0.8124, -0.4496, -0.4942, -0.2062, 0.9988, 0.9901, 2.1418, 1.8305, -0.6292, 0.6998, 0.4953, 0.0477] state[eef_state]: left_x=0.3225 left_y=-0.0518 left_z=0.2008 left_yaw=0.0769 left_pitch=-0.0246 left_roll=0.1425 left_gripper=0.9988 right_x=0.3858 right_y=0.3871 right_z=0.1506 right_yaw=0.1453 right_pitch=-0.1051 right_roll=-0.1654 right_gripper=0.0477 state[joint_eff]: [0.0068, -3.0154, 6.9265, 1.6239, -0.2515, -0.0415, -0.0122, -0.3214, -12.2188, 9.1282, 1.2967, 0.6032, 0.2418, 1.0281] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.34, "right_z": 0.075, "right_pitch": 0.0}, "note": "By arithmetic from the two grasps, the nested stack sits at about right_y=0.27, so holding the pink bowl by its left rim I need the gripper at y\u22480.34; moving there and lowering toward nesting height."})
tool
executing move_to over 5 steps (0.5s)
step 200
assistant
agent noteThe pink bowl is back down on the table just right of the stack rather than nested; releasing it so I can re-plan with a clear overhead view.
move_to
right_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4301, 1.0462, 0.8124, -0.4522, -0.4942, -0.2062, 0.9988, 0.9009, 2.1078, 1.3632, -0.1921, 0.691, 0.3782, 0.0502] state[eef_state]: left_x=0.3224 left_y=-0.0518 left_z=0.1993 left_yaw=0.0769 left_pitch=-0.0299 left_roll=0.1455 left_gripper=0.9988 right_x=0.3947 right_y=0.3227 right_z=0.0509 right_yaw=0.1243 right_pitch=-0.1208 right_roll=-0.2492 right_gripper=0.0502 state[joint_eff]: [-0.0889, -3.2479, 6.8855, 1.58, -0.2076, -0.0611, -0.0122, 0.4581, -12.2051, 7.3915, 1.6923, 0.3101, -0.105, 0.8767] approver: 1 step(s) modified (delta_clamped). 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": {"right_gripper": 0.8}, "note": "The pink bowl is back down on the table just right of the stack rather than nested; releasing it so I can re-plan with a clear overhead view."})
tool
executing move_to over 8 steps (0.8s)
step 208
assistant
agent noteParking the right arm back near home so the overhead camera shows the bowl layout unobstructed before the left arm finishes the stack.
move_to
right_x0.2500right_y0.0000right_z0.2500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4301, 1.0466, 0.8124, -0.4526, -0.4942, -0.2062, 0.9988, 0.9012, 2.1098, 1.3437, -0.194, 0.691, 0.3698, 0.7954] state[eef_state]: left_x=0.3224 left_y=-0.0518 left_z=0.1992 left_yaw=0.0769 left_pitch=-0.0306 left_roll=0.1458 left_gripper=0.9988 right_x=0.3908 right_y=0.3181 right_z=0.0432 right_yaw=0.127 right_pitch=-0.1386 right_roll=-0.2722 right_gripper=0.7954 state[joint_eff]: [-0.1846, -2.9744, 6.8991, 1.6044, -0.2076, -0.0366, -0.0122, -0.1436, -11.5624, 7.788, 1.2723, 0.2613, 0.0073, -0.0464] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.0, "right_z": 0.25, "right_gripper": 1}, "note": "Parking the right arm back near home so the overhead camera shows the bowl layout unobstructed before the left arm finishes the stack."})
tool
executing move_to over 27 steps (2.7s)
step 235
assistant
agent noteOverhead now shows two bowls 14 cm apart: the nested pair on the left and the pink bowl on the right. Bringing the left gripper down onto the pink bowl's left rim to pick it up.
move_to
left_x0.4300left_y-0.2480left_z0.0450left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4301, 1.0473, 0.8124, -0.4534, -0.4942, -0.2062, 0.9988, 0.0727, 0.7879, 0.9424, -0.8623, 0.1635, -0.2394, 0.9972] state[eef_state]: left_x=0.3224 left_y=-0.0518 left_z=0.1988 left_yaw=0.077 left_pitch=-0.0319 left_roll=0.1466 left_gripper=0.9988 right_x=0.2536 right_y=-0.0068 right_z=0.2374 right_yaw=0.0543 right_pitch=-0.153 right_roll=-0.2766 right_gripper=0.9972 state[joint_eff]: [-0.1709, -3.0564, 7.0632, 1.5556, -0.188, -0.0366, -0.0122, 0.335, -0.9368, 8.9641, 1.6386, -0.0806, -0.0562, -0.3053] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.248, "left_z": 0.045, "left_pitch": 0.0, "left_gripper": 1}, "note": "Overhead now shows two bowls 14 cm apart: the nested pair on the left and the pink bowl on the right. Bringing the left gripper down onto the pink bowl's left rim to pick it up."})
tool
executing move_to over 18 steps (1.8s)
step 253
assistant
agent noteThe wrist view is empty, meaning the jaws are over the left (nested) bowl, not the pink one; sliding 14 cm right at rim height to straddle the pink bowl's left rim.
move_to
left_y-0.3750left_z0.0500left_x0.4300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7712, 2.038, 1.1439, 0.0444, -0.7582, -0.4736, 0.9989, 0.0719, 0.7944, 0.9398, -0.886, 0.152, -0.2581, 0.997] state[eef_state]: left_x=0.4243 left_y=-0.238 left_z=0.0454 left_yaw=0.0758 left_pitch=-0.0176 left_roll=0.1686 left_gripper=0.9989 right_x=0.2504 right_y=-0.0052 right_z=0.2302 right_yaw=0.0732 right_pitch=-0.1887 right_roll=-0.2832 right_gripper=0.997 state[joint_eff]: [-0.5949, -9.7026, 6.8308, 1.2772, -0.1978, -0.1441, -0.1294, 0.0068, -1.0462, 6.5983, 1.8046, 0.0952, 0.1197, -0.0317] 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_y": -0.375, "left_z": 0.05, "left_x": 0.43}, "note": "The wrist view is empty, meaning the jaws are over the left (nested) bowl, not the pink one; sliding 14 cm right at rim height to straddle the pink bowl's left rim."})
tool
executing move_to over 13 steps (1.3s)
step 266
assistant
agent noteThe left arm has hit its y limit short of the pink bowl, so the right arm will take it — this time grasping the bowl's right rim so the placing pose stays inside the right arm's reach. Moving down onto that rim now.
move_to
right_x0.4100right_y0.1500right_z0.0450right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9546, 2.3966, 1.7977, -0.4038, -0.8577, -0.6949, 0.9988, 0.0719, 0.7975, 0.9386, -0.8898, 0.1486, -0.2623, 0.997] state[eef_state]: left_x=0.4299 left_y=-0.3697 left_z=0.0461 left_yaw=0.0737 left_pitch=-0.0233 left_roll=0.1552 left_gripper=0.9988 right_x=0.2501 right_y=-0.0046 right_z=0.2283 right_yaw=0.0784 right_pitch=-0.1973 right_roll=-0.2839 right_gripper=0.997 state[joint_eff]: [-0.6085, -12.9026, 8.2393, 1.1306, -0.525, 0.1197, -0.0171, -0.335, -0.7316, 6.5299, 1.6239, 0.0366, -0.022, -0.0122] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.15, "right_z": 0.045, "right_pitch": 0.0, "right_gripper": 1}, "note": "The left arm has hit its y limit short of the pink bowl, so the right arm will take it \u2014 this time grasping the bowl's right rim so the placing pose stays inside the right arm's reach. Moving down onto that rim now."})
tool
executing move_to over 13 steps (1.3s)
step 279
assistant
agent noteThe left arm is showing high shoulder torque out at the edge of its reach, so I retract it to a safe home pose before finishing.
move_to
left_x0.3000left_y-0.0500left_z0.2500left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7845, 2.4481, 1.7756, -0.421, -0.9577, -0.7227, 0.9988, 0.5327, 1.6867, 0.6868, 0.3752, 0.5484, 0.0601, 0.997] state[eef_state]: left_x=0.4803 left_y=-0.2703 left_z=0.0227 left_yaw=0.3092 left_pitch=0.0113 left_roll=0.2533 left_gripper=0.9988 right_x=0.4004 right_y=0.1334 right_z=0.0715 right_yaw=0.0397 right_pitch=0.0294 right_roll=-0.2433 right_gripper=0.997 state[joint_eff]: [-14.9128, -17.388, 7.8017, 1.2039, 0.9402, 0.3199, -0.0122, 1.6068, 0.5265, 8.8, 0.7985, 0.0904, -0.5641, -0.3248] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.25, "left_yaw": 0.0}, "note": "The left arm is showing high shoulder torque out at the edge of its reach, so I retract it to a safe home pose before finishing."})
tool
executing move_to over 20 steps (2.0s)
step 299
assistant
agent noteI stacked two of the three bowls: the left (white) bowl is nested inside the middle bowl, grasped by its rim with the left arm and lowered into the middle bowl. The third (pink) bowl was picked up and relocated next to the stack by the right arm, but ended up in a y-band that neither arm could both grasp and carry over the stack within its workspace box, and I ran out of call budget before completing the third nest. Final state: a 2-bowl stack plus one loose bowl beside it, both arms clear.
done
hindsightConcrete lessons for this rig/task: - Bowls (~12 cm dia, ~5 cm tall) cannot be grasped across; grasp the RIM WALL at the bowl's left- or rightmost point, so the jaws close across the wall (at the near/far rim the wall runs parallel to the jaw travel and slips). A successful rim grasp settles the gripper at 0.035–0.05, which looks 'empty' by the 0.04 rule — verify by translating 10 cm and watching the top view, not by lifting. - Descents onto a rim stall 2–4 cm above the commanded z; that stall IS the straddle position, then close. - Nesting worked by carrying the held bowl to the target bowl's centre and lowering until the descent no longer stalled early (stall high = perched on the rim, needs 1–3 cm lateral correction). Command left_pitch=0 explicitly; the tool sags up to 0.38 rad nose-down when carrying, which prevents flat nesting. - Frames: the measured left↔right y offset behaved like ~0.54 m, not the 0.65 m in the facts sheet; do not trust cross-frame arithmetic, re-localize with the wrist camera. - CRITICAL planning point: grasp the rim on the side AWAY from where you must carry it, i.e. approach with the gripper between the base and the bowl centre, so the carried bowl centre is at gripper_y ± 0.065 in the direction that keeps the placing pose inside the y bound. Grabbing the far rim cost me the third bowl (needed gripper_y beyond +0.4). - Wrist-camera pixel scale near the table is ~5–8 px/cm and the estimates it gave oscillated by ±3 cm; converge with 2–3 cm corrections rather than trusting one reading. - Budget: each grasp-and-nest cycle takes ~12 calls; plan ~15 per bowl.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4992, 0.9714, 0.8974, -0.5648, -0.5922, -0.1413, 0.9988, 0.5323, 1.6798, 0.6769, 0.3702, 0.5381, 0.0559, 0.9964] state[eef_state]: left_x=0.307 left_y=-0.051 left_z=0.2427 left_yaw=0.0509 left_pitch=0.0344 left_roll=0.2284 left_gripper=0.9988 right_x=0.3974 right_y=0.1332 right_z=0.0692 right_yaw=0.0498 right_pitch=0.0189 right_roll=-0.2453 right_gripper=0.9964 state[joint_eff]: [0.2667, -2.0581, 9.4974, 1.6484, -0.1245, 0.1197, -0.0122, -0.0205, -6.612, 6.3385, 1.6581, 0.2369, -0.0269, -0.0659] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
done({"summary": "I stacked two of the three bowls: the left (white) bowl is nested inside the middle bowl, grasped by its rim with the left arm and lowered into the middle bowl. The third (pink) bowl was picked up and relocated next to the stack by the right arm, but ended up in a y-band that neither arm could both grasp and carry over the stack within its workspace box, and I ran out of call budget before completing the third nest. Final state: a 2-bowl stack plus one loose bowl beside it, both arms clear.", "hindsight": "Concrete lessons for this rig/task:\n- Bowls (~12 cm dia, ~5 cm tall) cannot be grasped across; grasp the RIM WALL at the bowl's left- or rightmost point, so the jaws close across the wall (at the near/far rim the wall runs parallel to the jaw travel and slips). A successful rim grasp settles the gripper at 0.035\u20130.05, which looks 'empty' by the 0.04 rule \u2014 verify by translating 10 cm and watching the top view, not by lifting.\n- Descents onto a rim stall 2\u20134 cm above the commanded z; that stall IS the straddle position, then close.\n- Nesting worked by carrying the held bowl to the target bowl's centre and lowering until the descent no longer stalled early (stall high = perched on the rim, needs 1\u20133 cm lateral correction). Command left_pitch=0 explicitly; the tool sags up to 0.38 rad nose-down when carrying, which prevents flat nesting.\n- Frames: the measured left\u2194right y offset behaved like ~0.54 m, not the 0.65 m in the facts sheet; do not trust cross-frame arithmetic, re-localize with the wrist camera.\n- CRITICAL planning point: grasp the rim on the side AWAY from where you must carry it, i.e. approach with the gripper between the base and the bowl centre, so the carried bowl centre is at gripper_y \u00b1 0.065 in the direction that keeps the placing pose inside the y bound. Grabbing the far rim cost me the third bowl (needed gripper_y beyond +0.4).\n- Wrist-camera pixel scale near the table is ~5\u20138 px/cm and the estimates it gave oscillated by \u00b13 cm; converge with 2\u20133 cm corrections rather than trusting one reading.\n- Budget: each grasp-and-nest cycle takes ~12 calls; plan ~15 per bowl."})
tool
done: I stacked two of the three bowls: the left (white) bowl is nested inside the middle bowl, grasped by its rim with the left arm and lowered into the middle bowl. The third (pink) bowl was picked up and relocated next to the stack by the right arm, but ended up in a y-band that neither arm could both grasp and carry over the stack within its workspace box, and I ran out of call budget before completing the third nest. Final state: a 2-bowl stack plus one loose bowl beside it, both arms clear.
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 · 23.8 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6052, -0.3798, -0.0223, -0.0257, 0.9996, -0.0219, 0.794, 0.6029, -0.3801, -0.0166, -0.0284, 0.9978]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1801 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0001 right_z=0.1794 right_yaw=-0.0005 right_pitch=-0.0004 right_roll=0.0001 right_gripper=0.9978\nstate[joint_eff]: [-0.6906, -1.5795, 9.9897, 1.7607, -0.0317, 0.0952, -0.0513, -0.5265, -1.4701, 10.3043, 1.8535, -0.0904, 0.1197, -0.2418]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23a6e6bb6dc5306c55fce549b3aa09e381c43031641e948a75cdf7e9d4c3d580",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72d24b0a59ca35f7e77e60b23ebd033790248dc6cac9ab7ab63923340ad2675c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d79948a205e3be10026f525b471b0ba8233f456392232bb8acf27aae863cc20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 20.27 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6052, -0.3798, -0.0223, -0.0257, 0.9996, -0.0219, 0.794, 0.6029, -0.3801, -0.0166, -0.0284, 0.9978]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1801 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0001 right_z=0.1794 right_yaw=-0.0005 right_pitch=-0.0004 right_roll=0.0001 right_gripper=0.9978\nstate[joint_eff]: [-0.6906, -1.5795, 9.9897, 1.7607, -0.0317, 0.0952, -0.0513, -0.5265, -1.4701, 10.3043, 1.8535, -0.0904, 0.1197, -0.2418]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23a6e6bb6dc5306c55fce549b3aa09e381c43031641e948a75cdf7e9d4c3d580",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72d24b0a59ca35f7e77e60b23ebd033790248dc6cac9ab7ab63923340ad2675c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d79948a205e3be10026f525b471b0ba8233f456392232bb8acf27aae863cc20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TXDdX3V6ZfZm37UT6idgsZ",
      "input": {
        "note": "Three bowls sit in a row across the middle of the table. I'm moving the left arm up and over toward the leftmost bowl to get a wrist-camera view for precise localization.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.4,
          "left_y": -0.18,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01TXDdX3V6ZfZm37UT6idgsZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6289, 1.4952, 1.2697, -0.4843, -0.5014, -0.3874, 0.9996, -0.0219, 0.8001, 0.6018, -0.3923, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3942 left_y=-0.1773 left_z=0.2325 left_yaw=-0.0184 left_pitch=-0.0388 left_roll=0.0126 left_gripper=0.9996 right_x=0.2932 right_y=0.0001 right_z=0.1747 right_yaw=-0.0011 right_pitch=-0.0198 right_roll=0.0015 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -7.0085, 9.2786, 1.5165, -0.4567, -0.0317, -0.0513, -0.1026, -1.7573, 7.1316, 1.8535, -0.0513, -0.0366, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40caf2afbe5c2cd02271a786492f43751e02932f6f76ba0b9f38d15c3903d7c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae44faf364c526259c7098d8ab933a8e82fc7ae5397e30e2e2e0ef21bc4fc6b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:07837eea372ed9c71d1f62ec682ba213dbe5695fbcab977e0aba81b3b0e95794",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 16.18 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6052, -0.3798, -0.0223, -0.0257, 0.9996, -0.0219, 0.794, 0.6029, -0.3801, -0.0166, -0.0284, 0.9978]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1801 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0001 right_z=0.1794 right_yaw=-0.0005 right_pitch=-0.0004 right_roll=0.0001 right_gripper=0.9978\nstate[joint_eff]: [-0.6906, -1.5795, 9.9897, 1.7607, -0.0317, 0.0952, -0.0513, -0.5265, -1.4701, 10.3043, 1.8535, -0.0904, 0.1197, -0.2418]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.6289, 1.4952, 1.2697, -0.4843, -0.5014, -0.3874, 0.9996, -0.0219, 0.8001, 0.6018, -0.3923, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3942 left_y=-0.1773 left_z=0.2325 left_yaw=-0.0184 left_pitch=-0.0388 left_roll=0.0126 left_gripper=0.9996 right_x=0.2932 right_y=0.0001 right_z=0.1747 right_yaw=-0.0011 right_pitch=-0.0198 right_roll=0.0015 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -7.0085, 9.2786, 1.5165, -0.4567, -0.0317, -0.0513, -0.1026, -1.7573, 7.1316, 1.8535, -0.0513, -0.0366, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40caf2afbe5c2cd02271a786492f43751e02932f6f76ba0b9f38d15c3903d7c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae44faf364c526259c7098d8ab933a8e82fc7ae5397e30e2e2e0ef21bc4fc6b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07837eea372ed9c71d1f62ec682ba213dbe5695fbcab977e0aba81b3b0e95794",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013yPTVKrjEEMbMzSgoykJRT",
      "input": {
        "note": "The left wrist camera shows the near (white) bowl just left of the jaw column and a second bowl to its right. Descending to 12 cm and nudging 2 cm right to line the jaws up on the white bowl's rim.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.2,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_013yPTVKrjEEMbMzSgoykJRT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6697, 1.644, 0.9897, -0.1234, -0.5255, -0.4129, 0.9996, -0.0216, 0.8009, 0.6003, -0.3931, -0.0162, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3937 left_y=-0.1941 left_z=0.1176 left_yaw=-0.0245 left_pitch=-0.0836 left_roll=0.0451 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.1736 right_yaw=-0.0011 right_pitch=-0.0229 right_roll=0.0013 right_gripper=0.9977\nstate[joint_eff]: [-0.4444, -7.2547, 6.5162, 1.7607, -0.3541, -0.1294, -0.0171, -0.0615, -1.1692, 7.2547, 1.707, -0.0269, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3828c23ba8c2c7969fc00305d84a9568b60b96e271e3b7cbaf26001c67556d8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db78d2948264788188ea5419e277de67aec58a35de5026303bede3207e498c7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b7ee3ae90b548c4073e2e72365327f3225022b4fd53fe0ff00efa5acc7ea2ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 25.09 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6052, -0.3798, -0.0223, -0.0257, 0.9996, -0.0219, 0.794, 0.6029, -0.3801, -0.0166, -0.0284, 0.9978]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1801 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0001 right_z=0.1794 right_yaw=-0.0005 right_pitch=-0.0004 right_roll=0.0001 right_gripper=0.9978\nstate[joint_eff]: [-0.6906, -1.5795, 9.9897, 1.7607, -0.0317, 0.0952, -0.0513, -0.5265, -1.4701, 10.3043, 1.8535, -0.0904, 0.1197, -0.2418]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6289, 1.4952, 1.2697, -0.4843, -0.5014, -0.3874, 0.9996, -0.0219, 0.8001, 0.6018, -0.3923, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3942 left_y=-0.1773 left_z=0.2325 left_yaw=-0.0184 left_pitch=-0.0388 left_roll=0.0126 left_gripper=0.9996 right_x=0.2932 right_y=0.0001 right_z=0.1747 right_yaw=-0.0011 right_pitch=-0.0198 right_roll=0.0015 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -7.0085, 9.2786, 1.5165, -0.4567, -0.0317, -0.0513, -0.1026, -1.7573, 7.1316, 1.8535, -0.0513, -0.0366, -0.0269]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.6697, 1.644, 0.9897, -0.1234, -0.5255, -0.4129, 0.9996, -0.0216, 0.8009, 0.6003, -0.3931, -0.0162, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3937 left_y=-0.1941 left_z=0.1176 left_yaw=-0.0245 left_pitch=-0.0836 left_roll=0.0451 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.1736 right_yaw=-0.0011 right_pitch=-0.0229 right_roll=0.0013 right_gripper=0.9977\nstate[joint_eff]: [-0.4444, -7.2547, 6.5162, 1.7607, -0.3541, -0.1294, -0.0171, -0.0615, -1.1692, 7.2547, 1.707, -0.0269, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3828c23ba8c2c7969fc00305d84a9568b60b96e271e3b7cbaf26001c67556d8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db78d2948264788188ea5419e277de67aec58a35de5026303bede3207e498c7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b7ee3ae90b548c4073e2e72365327f3225022b4fd53fe0ff00efa5acc7ea2ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017L41UzxQJ5yYRnBs3wT3Gp",
      "input": {
        "note": "The wrist view shows the jaws straddling empty table between the white (left) bowl and the lavender (middle) bowl. Backing up and shifting left to bring the white bowl fully into view and centred.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.15,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_017L41UzxQJ5yYRnBs3wT3Gp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6231, 1.4139, 0.9279, -0.2356, -0.498, -0.3969, 0.9996, -0.0219, 0.8047, 0.5999, -0.3935, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3702 left_y=-0.1577 left_z=0.1627 left_yaw=-0.0099 left_pitch=-0.0497 left_roll=0.0098 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1724 right_yaw=-0.0011 right_pitch=-0.0275 right_roll=0.0016 right_gripper=0.9977\nstate[joint_eff]: [0.0205, -5.6957, 5.8051, 1.4628, -0.1197, 0.1441, -0.0122, -0.1983, -1.0462, 7.0769, 1.7411, -0.0611, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c48b7af79cf834efd6c37bfeb0d474d101a398be16c0a29f638fdfa9bb21d33e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d8ed505c3b924eca6be430308a49f6f77ae4aa8f5b2381f96bf3c9ddfcedb7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:499a7dbe486181f35e24e6b2393e387c805e30f15949330b91d90e305d3e5d47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 13.46 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.6289, 1.4952, 1.2697, -0.4843, -0.5014, -0.3874, 0.9996, -0.0219, 0.8001, 0.6018, -0.3923, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3942 left_y=-0.1773 left_z=0.2325 left_yaw=-0.0184 left_pitch=-0.0388 left_roll=0.0126 left_gripper=0.9996 right_x=0.2932 right_y=0.0001 right_z=0.1747 right_yaw=-0.0011 right_pitch=-0.0198 right_roll=0.0015 right_gripper=0.9977\nstate[joint_eff]: [-0.3761, -7.0085, 9.2786, 1.5165, -0.4567, -0.0317, -0.0513, -0.1026, -1.7573, 7.1316, 1.8535, -0.0513, -0.0366, -0.0269]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6697, 1.644, 0.9897, -0.1234, -0.5255, -0.4129, 0.9996, -0.0216, 0.8009, 0.6003, -0.3931, -0.0162, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3937 left_y=-0.1941 left_z=0.1176 left_yaw=-0.0245 left_pitch=-0.0836 left_roll=0.0451 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.1736 right_yaw=-0.0011 right_pitch=-0.0229 right_roll=0.0013 right_gripper=0.9977\nstate[joint_eff]: [-0.4444, -7.2547, 6.5162, 1.7607, -0.3541, -0.1294, -0.0171, -0.0615, -1.1692, 7.2547, 1.707, -0.0269, -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 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6231, 1.4139, 0.9279, -0.2356, -0.498, -0.3969, 0.9996, -0.0219, 0.8047, 0.5999, -0.3935, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3702 left_y=-0.1577 left_z=0.1627 left_yaw=-0.0099 left_pitch=-0.0497 left_roll=0.0098 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1724 right_yaw=-0.0011 right_pitch=-0.0275 right_roll=0.0016 right_gripper=0.9977\nstate[joint_eff]: [0.0205, -5.6957, 5.8051, 1.4628, -0.1197, 0.1441, -0.0122, -0.1983, -1.0462, 7.0769, 1.7411, -0.0611, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c48b7af79cf834efd6c37bfeb0d474d101a398be16c0a29f638fdfa9bb21d33e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d8ed505c3b924eca6be430308a49f6f77ae4aa8f5b2381f96bf3c9ddfcedb7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:499a7dbe486181f35e24e6b2393e387c805e30f15949330b91d90e305d3e5d47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WQzNzrwxqAWUGHGpuBoZTT",
      "input": {
        "note": "I estimate the white bowl's centre at about x=0.41, y=-0.13 in the left arm's frame. Moving to hover over its left rim (jaws will straddle the rim wall) at 10 cm height to verify alignment.",
        "targets": {
          "left_x": 0.415,
          "left_y": -0.062,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01WQzNzrwxqAWUGHGpuBoZTT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2584, 1.5051, 0.7368, 0.086, -0.242, -0.186, 0.9996, -0.0216, 0.8051, 0.598, -0.3973, -0.0162, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4063 left_y=-0.0599 left_z=0.0961 left_yaw=0.033 left_pitch=-0.0894 left_roll=0.0135 left_gripper=0.9996 right_x=0.2923 right_y=0.0002 right_z=0.1706 right_yaw=-0.0011 right_pitch=-0.0336 right_roll=0.0016 right_gripper=0.9977\nstate[joint_eff]: [0.253, -5.7368, 6.106, 1.8681, -0.022, 0.1734, -0.0122, -0.0068, -1.306, 7.241, 1.7705, -0.022, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffb06862127a55b0bf1162cba9a2d106b7f160e1fb89b34b7b7831325997a5c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:118368f2733706872eebc4c50269a2f99f9667273084ecaba775e250c7a2ba80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1715880c982a7ca10f1f57d1edc3431a26daf8b585d626e63156ea82ffc159c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 20.3 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.6697, 1.644, 0.9897, -0.1234, -0.5255, -0.4129, 0.9996, -0.0216, 0.8009, 0.6003, -0.3931, -0.0162, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3937 left_y=-0.1941 left_z=0.1176 left_yaw=-0.0245 left_pitch=-0.0836 left_roll=0.0451 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.1736 right_yaw=-0.0011 right_pitch=-0.0229 right_roll=0.0013 right_gripper=0.9977\nstate[joint_eff]: [-0.4444, -7.2547, 6.5162, 1.7607, -0.3541, -0.1294, -0.0171, -0.0615, -1.1692, 7.2547, 1.707, -0.0269, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6231, 1.4139, 0.9279, -0.2356, -0.498, -0.3969, 0.9996, -0.0219, 0.8047, 0.5999, -0.3935, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3702 left_y=-0.1577 left_z=0.1627 left_yaw=-0.0099 left_pitch=-0.0497 left_roll=0.0098 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1724 right_yaw=-0.0011 right_pitch=-0.0275 right_roll=0.0016 right_gripper=0.9977\nstate[joint_eff]: [0.0205, -5.6957, 5.8051, 1.4628, -0.1197, 0.1441, -0.0122, -0.1983, -1.0462, 7.0769, 1.7411, -0.0611, -0.0806, -0.0122]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.2584, 1.5051, 0.7368, 0.086, -0.242, -0.186, 0.9996, -0.0216, 0.8051, 0.598, -0.3973, -0.0162, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4063 left_y=-0.0599 left_z=0.0961 left_yaw=0.033 left_pitch=-0.0894 left_roll=0.0135 left_gripper=0.9996 right_x=0.2923 right_y=0.0002 right_z=0.1706 right_yaw=-0.0011 right_pitch=-0.0336 right_roll=0.0016 right_gripper=0.9977\nstate[joint_eff]: [0.253, -5.7368, 6.106, 1.8681, -0.022, 0.1734, -0.0122, -0.0068, -1.306, 7.241, 1.7705, -0.022, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffb06862127a55b0bf1162cba9a2d106b7f160e1fb89b34b7b7831325997a5c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:118368f2733706872eebc4c50269a2f99f9667273084ecaba775e250c7a2ba80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1715880c982a7ca10f1f57d1edc3431a26daf8b585d626e63156ea82ffc159c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VFF55eReHiYBudwuVnyzKB",
      "input": {
        "note": "The white bowl's left rim is now roughly under the jaw column but a bit far out; advancing 2 cm and dropping to 3.5 cm so the open jaws straddle the rim wall.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.065,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01VFF55eReHiYBudwuVnyzKB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2573, 1.75, 0.7151, 0.2813, -0.2333, -0.1802, 0.9996, -0.0216, 0.8078, 0.5957, -0.4026, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4177 left_y=-0.064 left_z=0.0263 left_yaw=0.0263 left_pitch=-0.1595 left_roll=0.0328 left_gripper=0.9996 right_x=0.2914 right_y=0.0002 right_z=0.1678 right_yaw=-0.0007 right_pitch=-0.0439 right_roll=0.002 right_gripper=0.9977\nstate[joint_eff]: [-0.0205, -8.6359, 5.2444, 2.0098, -0.2222, -0.0562, -0.0122, -0.1026, -1.4017, 7.1863, 1.8144, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f20f4d266b9407a88f5601d45e4ead3356875f731c54b1f64cd18c8ed15b092b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa8d148bfae419e0c8f6cde86beb7202a8f5bd495a4882351e75e9413ce35aa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee9503a48d22ac9b24428ddc695b77a926cd3aeabf7e53caa105dcf9727efac5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 11.55 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.6231, 1.4139, 0.9279, -0.2356, -0.498, -0.3969, 0.9996, -0.0219, 0.8047, 0.5999, -0.3935, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3702 left_y=-0.1577 left_z=0.1627 left_yaw=-0.0099 left_pitch=-0.0497 left_roll=0.0098 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1724 right_yaw=-0.0011 right_pitch=-0.0275 right_roll=0.0016 right_gripper=0.9977\nstate[joint_eff]: [0.0205, -5.6957, 5.8051, 1.4628, -0.1197, 0.1441, -0.0122, -0.1983, -1.0462, 7.0769, 1.7411, -0.0611, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2584, 1.5051, 0.7368, 0.086, -0.242, -0.186, 0.9996, -0.0216, 0.8051, 0.598, -0.3973, -0.0162, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4063 left_y=-0.0599 left_z=0.0961 left_yaw=0.033 left_pitch=-0.0894 left_roll=0.0135 left_gripper=0.9996 right_x=0.2923 right_y=0.0002 right_z=0.1706 right_yaw=-0.0011 right_pitch=-0.0336 right_roll=0.0016 right_gripper=0.9977\nstate[joint_eff]: [0.253, -5.7368, 6.106, 1.8681, -0.022, 0.1734, -0.0122, -0.0068, -1.306, 7.241, 1.7705, -0.022, -0.0317, -0.0122]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.2573, 1.75, 0.7151, 0.2813, -0.2333, -0.1802, 0.9996, -0.0216, 0.8078, 0.5957, -0.4026, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4177 left_y=-0.064 left_z=0.0263 left_yaw=0.0263 left_pitch=-0.1595 left_roll=0.0328 left_gripper=0.9996 right_x=0.2914 right_y=0.0002 right_z=0.1678 right_yaw=-0.0007 right_pitch=-0.0439 right_roll=0.002 right_gripper=0.9977\nstate[joint_eff]: [-0.0205, -8.6359, 5.2444, 2.0098, -0.2222, -0.0562, -0.0122, -0.1026, -1.4017, 7.1863, 1.8144, -0.0513, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f20f4d266b9407a88f5601d45e4ead3356875f731c54b1f64cd18c8ed15b092b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa8d148bfae419e0c8f6cde86beb7202a8f5bd495a4882351e75e9413ce35aa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee9503a48d22ac9b24428ddc695b77a926cd3aeabf7e53caa105dcf9727efac5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V1fyQti4f6j7nBz6svZfpH",
      "input": {
        "note": "The rim wall sits ~3.5 cm to the right of the jaw centre (the inner jaw is too deep inside the bowl), so I lift clear and shift right to put the rim between the jaws.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.1,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01V1fyQti4f6j7nBz6svZfpH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3519, 1.6901, 0.8932, 0.028, -0.2852, -0.2375, 0.9996, -0.0219, 0.8097, 0.5953, -0.4122, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4294 left_y=-0.1009 left_z=0.0744 left_yaw=0.0067 left_pitch=-0.1614 left_roll=0.0288 left_gripper=0.9996 right_x=0.2901 right_y=0.0002 right_z=0.1652 right_yaw=-0.0011 right_pitch=-0.0557 right_roll=0.0022 right_gripper=0.9977\nstate[joint_eff]: [-0.3214, -9.7026, 8.0615, 1.4774, -0.1587, -0.1343, -0.0122, -0.1436, -1.4838, 7.0222, 1.7949, -0.0855, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c0dd11f33e77c1e4ec08d9f24e829f20faab61f5a0a41c5a04a1f5f0ce40a1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13ad72bb29fcea1030626c39ebd576ff097ff23456b35b1924b827a0c5bbd8d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84b079cc4ac76bff639a66a5f07033295cc8d15a31ee5fca7d06573dcedf13e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 19.4 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.2584, 1.5051, 0.7368, 0.086, -0.242, -0.186, 0.9996, -0.0216, 0.8051, 0.598, -0.3973, -0.0162, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4063 left_y=-0.0599 left_z=0.0961 left_yaw=0.033 left_pitch=-0.0894 left_roll=0.0135 left_gripper=0.9996 right_x=0.2923 right_y=0.0002 right_z=0.1706 right_yaw=-0.0011 right_pitch=-0.0336 right_roll=0.0016 right_gripper=0.9977\nstate[joint_eff]: [0.253, -5.7368, 6.106, 1.8681, -0.022, 0.1734, -0.0122, -0.0068, -1.306, 7.241, 1.7705, -0.022, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2573, 1.75, 0.7151, 0.2813, -0.2333, -0.1802, 0.9996, -0.0216, 0.8078, 0.5957, -0.4026, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4177 left_y=-0.064 left_z=0.0263 left_yaw=0.0263 left_pitch=-0.1595 left_roll=0.0328 left_gripper=0.9996 right_x=0.2914 right_y=0.0002 right_z=0.1678 right_yaw=-0.0007 right_pitch=-0.0439 right_roll=0.002 right_gripper=0.9977\nstate[joint_eff]: [-0.0205, -8.6359, 5.2444, 2.0098, -0.2222, -0.0562, -0.0122, -0.1026, -1.4017, 7.1863, 1.8144, -0.0513, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.3519, 1.6901, 0.8932, 0.028, -0.2852, -0.2375, 0.9996, -0.0219, 0.8097, 0.5953, -0.4122, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4294 left_y=-0.1009 left_z=0.0744 left_yaw=0.0067 left_pitch=-0.1614 left_roll=0.0288 left_gripper=0.9996 right_x=0.2901 right_y=0.0002 right_z=0.1652 right_yaw=-0.0011 right_pitch=-0.0557 right_roll=0.0022 right_gripper=0.9977\nstate[joint_eff]: [-0.3214, -9.7026, 8.0615, 1.4774, -0.1587, -0.1343, -0.0122, -0.1436, -1.4838, 7.0222, 1.7949, -0.0855, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c0dd11f33e77c1e4ec08d9f24e829f20faab61f5a0a41c5a04a1f5f0ce40a1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13ad72bb29fcea1030626c39ebd576ff097ff23456b35b1924b827a0c5bbd8d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84b079cc4ac76bff639a66a5f07033295cc8d15a31ee5fca7d06573dcedf13e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuAsKjgEIEhgCKkCDjssrMGMN3V8qUUMQVPR9ATgTHqiPPTxmvOfPouLHtGCovi2ykEvJ3Lb/NZ0Y7MTcPU7MGHngACu2VOiaAzeLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeeBzNUGEgw41+XfbXKIwMPmKpwaDAEA/P3j/f1BZd8nlyIwjxKmMx3HSPnOJupxt7nsn5rJS2jLkJ7PX8RfXCkmgmR9OJPqK+CYeZ7w3YnsFijYKtYJ1AHudv/dAT4Tjbiw57nzD0h9wz864pNSYKEoUZd1SZebYTUKg6r7MVL45rmqHMnFG8efoHuUbvO/VVdXvQSTx2gVNKEZ0PTVEWx9RG3ZP6kq5EUC8c7L41PI4w03defOqMovrIR0PuQAEg56qJRkYWShevyZiBMFSDW0kJ2i3c722yfhDO9XUBov2DiF5fXSITF49LHrTWkaOglvJ96yQmJaUxEl5/reorcZAH47wfi/HvB6Y+EaigRU0l9QfW7aMArVgrfkiAcNC4iRLJdFl0lTBHFS59ILxPtQv6u2qgguBNR+e16MuJzD7V1/KzMHRz1FloukDbNMQKwszpMjT7OmITHYmWhE5MJmQioK3U5tlYNYmHiiLYLOg+Gf+VW/SFEk4XfMnXPtJgwvg+ZnvoFdLa7GcY4tp1/Sblb79b4vulDzb/wW+1JdslcBBVlr42urQXtDN1Dxminn7R45HVVmH8WqSDZo6TszxNzvZUv3yx8kntJb40nKnL2BRrGO3/ERcgsZ8fEuovvlvrNzLHR6yMTsgfiDcVkHpjFNkb9qpEjP7XY4/qZvinN26TaQQurdYfyuaJSMyMFEj2oBeNIKqgPLPl/V11tm/09HJVDjbv5aBYcKVWZjxFbi33i8IHoCI766sI/hOr8WBAJ1MbxukQMp+OPU5AUompa9WuYgmYTsCVuAZIg0setqX9dxhROPa1hJfHZ6sG9zcXsG8jFwip823pdVh09ohmorEC1x26mwzDoAat48DB/z+1c3H9ZnCSYtl8X1nC+5+KORp6P8l3cT135k8HcV0nvT0wYA3yiK7PTvt7PZ4veba72DjQg4nKzRrJy0jVE5MzJqD5pv4C/9vRFfjtf8OTGf21Elw0imaU0LRVl5xyYX4oOPmau9I4LZmq5qt1GxGNsex4zuEhwNp7c982VT062Tx6rery5rcSxVqCa1VeEJVkn2BG6CkBA7/Z+3GDu2cgeNU+06BaGeuS7OFiHcL5yJcp1LDdawnC/2IbeE2K+6JxsJwhOMDsK8BNiiWyU9UC+bp7hVATae/8byJWipHu3x0VixnU5bcFThjqye5q4RCnbz79PQOqadY427XvgmBz5fAdluhPTuNWoZFh4sJC8EbrZODVdEy9IOZqZ0mh7VK2OQ8XhZcy5fnew3gxzSWQBhGTaiqU5zIaIOvyxBwDVwedfdc5dv9SxkLBnEI/B151sBxv+HvJF0xu3sLTWUaOshsA8JaiTOR+79ew+Y2tI6cve5O/pEZGsbvFBuFhvcueHB+TDynyi42BxucIUoGK7v/VoKAuTUXuf8M3Uzfb2TTdk3/HbZeJ1yCZfwOIgdklONX2PpBlOnUjdTStBIThy9P6joOwVW4DJtROQVP4FxSNqZVCraj+BF1e3B2Cgfd9oljDVp3rIUDDxSIcVFl9cvynJ8hmcQ2GqiNiCNSwv3UiV7/OZI3WV0asSV+5iHwfLgSc6Y0PxxpK+ZD6nm2WR+JHFsiqd8Bo2i/Ga6fPZdp+Eyw8hgA+TAAx9yP0lt+9GlrJkL9nzoG/Xs06vQDxvVHhMZZYEQBv7qI4FUOe7HP0OFV7NzbyAnXMUbYrz1Hzxx/2fochjSmCLttKS+8hMtJVzXjttvsVHLzwdLujmkzsF2ajrMwRgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015Vee6r67YuXEuBTCo1MZB5",
      "input": {
        "note": "The bowl's left rim is now lined up on the jaw column with one jaw outside and one inside. Descending to 1.5 cm so the open jaws sit across the rim wall.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.098,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015Vee6r67YuXEuBTCo1MZB5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.8374, 0.7959, 0.1963, -0.284, -0.2554, 0.9996, -0.0216, 0.8135, 0.5945, -0.4152, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.417 left_y=-0.094 left_z=0.0064 left_yaw=0.0268 left_pitch=-0.2325 left_roll=0.0427 left_gripper=0.9996 right_x=0.2898 right_y=0.0003 right_z=0.1632 right_yaw=-0.0007 right_pitch=-0.0633 right_roll=0.0024 right_gripper=0.9977\nstate[joint_eff]: [0.1983, -8.8547, 5.9692, 1.3651, -0.0855, 0.5348, -0.0122, -0.0342, -1.6068, 7.2137, 1.6825, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:449679e47f39ecdc09a35d5b2b2e0492c8f874993a8977b11aa6d2160b0a1d13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c0cff58e2c2e0c033c21951674316a11cd132b2410a9adc145d589de14bb926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13349cface21771e8c763d24df0e1079c4fb29ceea4a5bad1e49e14d9793749e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 4.653 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.2573, 1.75, 0.7151, 0.2813, -0.2333, -0.1802, 0.9996, -0.0216, 0.8078, 0.5957, -0.4026, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4177 left_y=-0.064 left_z=0.0263 left_yaw=0.0263 left_pitch=-0.1595 left_roll=0.0328 left_gripper=0.9996 right_x=0.2914 right_y=0.0002 right_z=0.1678 right_yaw=-0.0007 right_pitch=-0.0439 right_roll=0.002 right_gripper=0.9977\nstate[joint_eff]: [-0.0205, -8.6359, 5.2444, 2.0098, -0.2222, -0.0562, -0.0122, -0.1026, -1.4017, 7.1863, 1.8144, -0.0513, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.3519, 1.6901, 0.8932, 0.028, -0.2852, -0.2375, 0.9996, -0.0219, 0.8097, 0.5953, -0.4122, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4294 left_y=-0.1009 left_z=0.0744 left_yaw=0.0067 left_pitch=-0.1614 left_roll=0.0288 left_gripper=0.9996 right_x=0.2901 right_y=0.0002 right_z=0.1652 right_yaw=-0.0011 right_pitch=-0.0557 right_roll=0.0022 right_gripper=0.9977\nstate[joint_eff]: [-0.3214, -9.7026, 8.0615, 1.4774, -0.1587, -0.1343, -0.0122, -0.1436, -1.4838, 7.0222, 1.7949, -0.0855, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.8374, 0.7959, 0.1963, -0.284, -0.2554, 0.9996, -0.0216, 0.8135, 0.5945, -0.4152, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.417 left_y=-0.094 left_z=0.0064 left_yaw=0.0268 left_pitch=-0.2325 left_roll=0.0427 left_gripper=0.9996 right_x=0.2898 right_y=0.0003 right_z=0.1632 right_yaw=-0.0007 right_pitch=-0.0633 right_roll=0.0024 right_gripper=0.9977\nstate[joint_eff]: [0.1983, -8.8547, 5.9692, 1.3651, -0.0855, 0.5348, -0.0122, -0.0342, -1.6068, 7.2137, 1.6825, -0.0611, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:449679e47f39ecdc09a35d5b2b2e0492c8f874993a8977b11aa6d2160b0a1d13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c0cff58e2c2e0c033c21951674316a11cd132b2410a9adc145d589de14bb926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13349cface21771e8c763d24df0e1079c4fb29ceea4a5bad1e49e14d9793749e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JCpu3nJjZnDpWyJtNxVZj6",
      "input": {
        "note": "At this height the rim wall reads ~1.3 cm left of the jaw centre, too far off for a symmetric close, so I lift clear and correct sideways before descending again.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.081,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JCpu3nJjZnDpWyJtNxVZj6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3004, 1.7584, 0.8776, 0.0322, -0.2619, -0.2459, 0.9996, -0.0216, 0.8158, 0.5945, -0.4156, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4259 left_y=-0.0803 left_z=0.0401 left_yaw=0.0492 left_pitch=-0.2419 left_roll=0.0348 left_gripper=0.9996 right_x=0.2898 right_y=0.0003 right_z=0.1625 right_yaw=-0.0007 right_pitch=-0.066 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [0.1162, -9.853, 8.1846, 1.5165, -0.0073, 0.2222, -0.0122, -0.0889, -1.0462, 7.0496, 1.6532, -0.0708, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48b6bd354c5911c8114b7fecda7a04810a62d4982ba03d5a61f0d7a124da9fca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a41e567b3354203a53391ba9aa22db165423c4b581b8d29304ff73d78af7a952",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:853fc2879302c88f63270fbb429ff3de8d46371874ea977c750f526a355ab1f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 7.386 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.3519, 1.6901, 0.8932, 0.028, -0.2852, -0.2375, 0.9996, -0.0219, 0.8097, 0.5953, -0.4122, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4294 left_y=-0.1009 left_z=0.0744 left_yaw=0.0067 left_pitch=-0.1614 left_roll=0.0288 left_gripper=0.9996 right_x=0.2901 right_y=0.0002 right_z=0.1652 right_yaw=-0.0011 right_pitch=-0.0557 right_roll=0.0022 right_gripper=0.9977\nstate[joint_eff]: [-0.3214, -9.7026, 8.0615, 1.4774, -0.1587, -0.1343, -0.0122, -0.1436, -1.4838, 7.0222, 1.7949, -0.0855, -0.0513, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.8374, 0.7959, 0.1963, -0.284, -0.2554, 0.9996, -0.0216, 0.8135, 0.5945, -0.4152, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.417 left_y=-0.094 left_z=0.0064 left_yaw=0.0268 left_pitch=-0.2325 left_roll=0.0427 left_gripper=0.9996 right_x=0.2898 right_y=0.0003 right_z=0.1632 right_yaw=-0.0007 right_pitch=-0.0633 right_roll=0.0024 right_gripper=0.9977\nstate[joint_eff]: [0.1983, -8.8547, 5.9692, 1.3651, -0.0855, 0.5348, -0.0122, -0.0342, -1.6068, 7.2137, 1.6825, -0.0611, -0.0366, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.3004, 1.7584, 0.8776, 0.0322, -0.2619, -0.2459, 0.9996, -0.0216, 0.8158, 0.5945, -0.4156, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4259 left_y=-0.0803 left_z=0.0401 left_yaw=0.0492 left_pitch=-0.2419 left_roll=0.0348 left_gripper=0.9996 right_x=0.2898 right_y=0.0003 right_z=0.1625 right_yaw=-0.0007 right_pitch=-0.066 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [0.1162, -9.853, 8.1846, 1.5165, -0.0073, 0.2222, -0.0122, -0.0889, -1.0462, 7.0496, 1.6532, -0.0708, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48b6bd354c5911c8114b7fecda7a04810a62d4982ba03d5a61f0d7a124da9fca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a41e567b3354203a53391ba9aa22db165423c4b581b8d29304ff73d78af7a952",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:853fc2879302c88f63270fbb429ff3de8d46371874ea977c750f526a355ab1f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9wMKjgEIEhgCKkC6uSb5jVEVRv+/z46YEjKtyYmTyKWVvyvEn7Lqs6on6GJB5v8A1DCL2xMRIpXk1m6F97tM2Q6ZP6mAe3+VXgxgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYCCzNUGEgyGSih0453T2mt7okUaDOUiv5kLjzvZ8xBM2SIwsy1ilnml/XANm2PEM5YqlLbgYU0XTg/wm7iDJdwNG62Y1vVV663J4mV3UPaRg/FHKpUCAREmKdLmbhN0DRTuMkW2nvht/z/I9/q24bTVEyk2G8HZIgH93pHzdyrl5MKxkuu4pQxcn/kFckqCx/XmvNhPsy0e2xFGImHvxZyNMwPzrlZ/1I+Zs51kWjd2dhBcdFwgT1fe1nuIDs7qBZ6KqWiRAuYDTbn0C88BUWsniOsqYc8lFltz3Ossob6lSZohGy/FgWJu1x/NmJAscwmRAIx151hIEQoFcKyBqZA6i3nz296HRXTIvsG49Uy4V+mjQO+4IYy/bFCvq0x2EgDHZMtnHufeI2RnIenxCUgQQB1BP30UxbXnPgabQDbmKB2gVH8/F5QrIRlmcvp5nnNbdKo3+DVc4JV3LOVG7oxzfsFvl7ISZfu8JBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PvVQcLWQUhNjzUt8AbTxQm",
      "input": {
        "note": "The rim wall now runs right through the jaw centre. Descending so the open jaws straddle it.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.081,
          "left_z": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01PvVQcLWQUhNjzUt8AbTxQm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2947, 1.784, 0.8829, 0.065, -0.2615, -0.2359, 0.9996, -0.0219, 0.8162, 0.5945, -0.4156, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4319 left_y=-0.0796 left_z=0.0367 left_yaw=0.0481 left_pitch=-0.2304 left_roll=0.0372 left_gripper=0.9996 right_x=0.2898 right_y=0.0002 right_z=0.1624 right_yaw=-0.0011 right_pitch=-0.0664 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.5538, -5.7641, 4.0821, 1.1404, -0.1392, -0.1099, -0.0171, -0.1026, -1.3744, 6.9812, 1.6581, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c644a6541e291efd9fd4bb2016f43a0ad7ff7d378fb3628a9ef8cb20e17c0f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d3e0c840009aa24af873d4346119ad997194d64e571f2305d69f4a3ce090dde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35db37e8bcf8c96892548d1f3f35454bf57005a100d5ffcce0677706ad8c2af2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 4.346 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.8374, 0.7959, 0.1963, -0.284, -0.2554, 0.9996, -0.0216, 0.8135, 0.5945, -0.4152, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.417 left_y=-0.094 left_z=0.0064 left_yaw=0.0268 left_pitch=-0.2325 left_roll=0.0427 left_gripper=0.9996 right_x=0.2898 right_y=0.0003 right_z=0.1632 right_yaw=-0.0007 right_pitch=-0.0633 right_roll=0.0024 right_gripper=0.9977\nstate[joint_eff]: [0.1983, -8.8547, 5.9692, 1.3651, -0.0855, 0.5348, -0.0122, -0.0342, -1.6068, 7.2137, 1.6825, -0.0611, -0.0366, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.3004, 1.7584, 0.8776, 0.0322, -0.2619, -0.2459, 0.9996, -0.0216, 0.8158, 0.5945, -0.4156, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4259 left_y=-0.0803 left_z=0.0401 left_yaw=0.0492 left_pitch=-0.2419 left_roll=0.0348 left_gripper=0.9996 right_x=0.2898 right_y=0.0003 right_z=0.1625 right_yaw=-0.0007 right_pitch=-0.066 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [0.1162, -9.853, 8.1846, 1.5165, -0.0073, 0.2222, -0.0122, -0.0889, -1.0462, 7.0496, 1.6532, -0.0708, -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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2947, 1.784, 0.8829, 0.065, -0.2615, -0.2359, 0.9996, -0.0219, 0.8162, 0.5945, -0.4156, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4319 left_y=-0.0796 left_z=0.0367 left_yaw=0.0481 left_pitch=-0.2304 left_roll=0.0372 left_gripper=0.9996 right_x=0.2898 right_y=0.0002 right_z=0.1624 right_yaw=-0.0011 right_pitch=-0.0664 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.5538, -5.7641, 4.0821, 1.1404, -0.1392, -0.1099, -0.0171, -0.1026, -1.3744, 6.9812, 1.6581, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c644a6541e291efd9fd4bb2016f43a0ad7ff7d378fb3628a9ef8cb20e17c0f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d3e0c840009aa24af873d4346119ad997194d64e571f2305d69f4a3ce090dde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35db37e8bcf8c96892548d1f3f35454bf57005a100d5ffcce0677706ad8c2af2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS+QYKjgEIEhgCKkB6JjOa3fBfAVzrAD+5qlgHMs7UkhJLVr8YTqdhY9RKdlYFWEo+HVrlD7OD8CLrgOrQ92H9+inEqYn+PQRhFhoXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYeCzNUGEgy/WG02BF/RcGiJ6T4aDHGzUOsCslioKSsvaSIwxUCgThpeeCWD0SFZOIHV2OLGKzH3ej4I466PlFRDahigRuL+WjeebD1h6HTGe5J1KpcFvrsu/tisxvFf0hFQzZkJ9dfF74usSgrPXvotrRuxDYKMP62G3/LAMeYWchcn1+zAC5QUz/LYXQQrjTvBSvgNz0pe5Wlvm6Stc63cuZCIOBEAmzgaVBuaiNJoz2mBhvC3xfck4aqO23tGqWbjmAMh2NNJMDn7Ge1v4vy+HCQFIC2/JnKwxkfVtPSXodCQcxe6edMwXa23M0dIGgXsqJnmhUW5cMDBLYEoPtxJgvDvnoWAzGsBoKaeOqO0R0rVc8quPkPfx97vECR1AWykUrNo2rctZvQnAzVWZPZFtLNEoxTUJHnN6xGxJKfseAGT6SSAR1dGJaI8DPFbs9ElJJDpVv7UAxZ6se8pFs+lsID3bjRB7z/eN7IDi3ev+TeBPRP8JfSZw+dSAm1aM2zdywf35tgpoFdbsyASR3MyCfqlhmmz6hf+X4CT9sSWgCBP8gbCV3eK07hZMFypd0cLmxdfrRS7/AuK6/eJqn1vQ1O2TByfG1DiqpIta+fCxp5eyCCjGaGmmvaxgJqF1oCJadISEXWN2YIEVFJ10RwKrM8JBHmca1/MfWHu1iilXCz5ztyF6nsei9kZjd/mIKZyHeLu3VJeKITC1xN9gIZxpGj6wkcjK2X2l01AWu5D7Z2UW48etiOTIqpYdIZCcBKlT284TFhK0aMzAxdk8e3v0LwEioOspeFpc1jLyzskS9ATpUEl/yKscOCHwv6REyHGj3MzqLHVG+LzwE4JP5WRv5OcIyKt6qU+QKTK7wKFhbhNHdboCWVi1Po2rNCfx8pPNksYByqGUBlnU+s4DFtSde4IKIS+cMaTTYiIcy9boyZEp5Qri4egkQSqvqIT4vjpqyn28b9QMDgHr0bqHg5R5dofHd0YfOzfSR8KGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PNDJsgcNzAKM6HHqGKm4BT",
      "input": {
        "note": "Descent stopped at 3.7 cm, which should be jaws astride the bowl rim; closing the gripper on the rim wall.",
        "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_01PNDJsgcNzAKM6HHqGKm4BT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2943, 1.7882, 0.873, 0.0875, -0.2516, -0.2584, 0.0358, -0.0216, 0.8173, 0.5945, -0.416, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4321 left_y=-0.0813 left_z=0.0347 left_yaw=0.052 left_pitch=-0.2245 left_roll=0.0111 left_gripper=0.0358 right_x=0.2898 right_y=0.0003 right_z=0.162 right_yaw=-0.0007 right_pitch=-0.0679 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.0889, -8.3624, 6.4752, 1.1306, -0.2125, 0.1001, 0.6764, -0.0068, -1.4427, 7.2137, 1.6923, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e760bcffe5dc2bc0272dfef0c57ce5b3097a218887e60c5b35a36cbecec6411",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdd4178bf1c83a0985912893a8ff4bcf571c4edb70b0838112067bb36d354eab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ef0249707a69c1dc55bdb3e6fdbee95d9e8844b7b128468e70cb6572277994c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 12.66 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.3004, 1.7584, 0.8776, 0.0322, -0.2619, -0.2459, 0.9996, -0.0216, 0.8158, 0.5945, -0.4156, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4259 left_y=-0.0803 left_z=0.0401 left_yaw=0.0492 left_pitch=-0.2419 left_roll=0.0348 left_gripper=0.9996 right_x=0.2898 right_y=0.0003 right_z=0.1625 right_yaw=-0.0007 right_pitch=-0.066 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [0.1162, -9.853, 8.1846, 1.5165, -0.0073, 0.2222, -0.0122, -0.0889, -1.0462, 7.0496, 1.6532, -0.0708, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2947, 1.784, 0.8829, 0.065, -0.2615, -0.2359, 0.9996, -0.0219, 0.8162, 0.5945, -0.4156, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4319 left_y=-0.0796 left_z=0.0367 left_yaw=0.0481 left_pitch=-0.2304 left_roll=0.0372 left_gripper=0.9996 right_x=0.2898 right_y=0.0002 right_z=0.1624 right_yaw=-0.0011 right_pitch=-0.0664 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.5538, -5.7641, 4.0821, 1.1404, -0.1392, -0.1099, -0.0171, -0.1026, -1.3744, 6.9812, 1.6581, -0.0366, -0.0415, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2943, 1.7882, 0.873, 0.0875, -0.2516, -0.2584, 0.0358, -0.0216, 0.8173, 0.5945, -0.416, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4321 left_y=-0.0813 left_z=0.0347 left_yaw=0.052 left_pitch=-0.2245 left_roll=0.0111 left_gripper=0.0358 right_x=0.2898 right_y=0.0003 right_z=0.162 right_yaw=-0.0007 right_pitch=-0.0679 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.0889, -8.3624, 6.4752, 1.1306, -0.2125, 0.1001, 0.6764, -0.0068, -1.4427, 7.2137, 1.6923, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e760bcffe5dc2bc0272dfef0c57ce5b3097a218887e60c5b35a36cbecec6411",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdd4178bf1c83a0985912893a8ff4bcf571c4edb70b0838112067bb36d354eab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ef0249707a69c1dc55bdb3e6fdbee95d9e8844b7b128468e70cb6572277994c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkgMKjgEIEhgCKkB1biD9gHfo1ePS1hBjP1cu+4TpFzBs1I+lmCh3jV55XPlONVgz+QfJXEkaMDPiNZAn52b0pytp/mlKE9t+g6tFMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYyCzNUGEgx9NjzJOfICvLN2gN4aDH0xOX9pMhW8D0HWByIw6NBhNypRo4NxVMYjECXiNOmDjueRLPwafHAgOZXdnHeP7BgRN9552e+x7PC2OEXWKrABKg1rlu82WIzMIpOjzOY9nFJrQIarhptk9dzIwJM15Hqk13if++DUMDswx91v4TJC0plhdgY1LWJlaJxF2+HPpeHDZCBzBK6vfXyQZWVdYp8Lb7M3a28CPU2RJJt+2SkuZ/YUYb5SgWaFByml6mHZ7hJWWUvV1cRAnDMGDde/aHkrBFGZVljUbXAKkzjnLxGigdzb0jTA/MP2YBym1ucfnk1K3z4TddQmuJ+Fz9Yd2UEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0162nNBe6bRPcLpVhUdaYfW6",
      "input": {
        "note": "Gripper settled at 0.036 (could be a thin ceramic rim or an empty close). Lifting 8 cm to see in the overhead view whether the bowl came with it.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0162nNBe6bRPcLpVhUdaYfW6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2943, 1.66, 1.0252, -0.2184, -0.2554, -0.2592, 0.0428, -0.0219, 0.8173, 0.5945, -0.4164, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4302 left_y=-0.08 left_z=0.0966 left_yaw=0.0577 left_pitch=-0.2476 left_roll=0.0223 left_gripper=0.0428 right_x=0.2898 right_y=0.0002 right_z=0.1619 right_yaw=-0.0011 right_pitch=-0.0683 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.1026, -10.0718, 9.0051, 1.4774, -0.1294, -0.022, 1.0281, -0.1573, -1.388, 7.159, 1.6825, -0.0513, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e9c9074f3a60d3e5f9e8cacf022e741eff08adc31607a12a6a852d9012275f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f757365d4ab680070562ac734175b67bc52d8354aff45c95eeee91e0fc5589f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8fc7e012b9645ff6e0d8fca8284282fa041582df4484133abb8466bb1aa803fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 11.37 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.2947, 1.784, 0.8829, 0.065, -0.2615, -0.2359, 0.9996, -0.0219, 0.8162, 0.5945, -0.4156, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4319 left_y=-0.0796 left_z=0.0367 left_yaw=0.0481 left_pitch=-0.2304 left_roll=0.0372 left_gripper=0.9996 right_x=0.2898 right_y=0.0002 right_z=0.1624 right_yaw=-0.0011 right_pitch=-0.0664 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.5538, -5.7641, 4.0821, 1.1404, -0.1392, -0.1099, -0.0171, -0.1026, -1.3744, 6.9812, 1.6581, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2943, 1.7882, 0.873, 0.0875, -0.2516, -0.2584, 0.0358, -0.0216, 0.8173, 0.5945, -0.416, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4321 left_y=-0.0813 left_z=0.0347 left_yaw=0.052 left_pitch=-0.2245 left_roll=0.0111 left_gripper=0.0358 right_x=0.2898 right_y=0.0003 right_z=0.162 right_yaw=-0.0007 right_pitch=-0.0679 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.0889, -8.3624, 6.4752, 1.1306, -0.2125, 0.1001, 0.6764, -0.0068, -1.4427, 7.2137, 1.6923, -0.0464, -0.0464, -0.0122]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.2943, 1.66, 1.0252, -0.2184, -0.2554, -0.2592, 0.0428, -0.0219, 0.8173, 0.5945, -0.4164, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4302 left_y=-0.08 left_z=0.0966 left_yaw=0.0577 left_pitch=-0.2476 left_roll=0.0223 left_gripper=0.0428 right_x=0.2898 right_y=0.0002 right_z=0.1619 right_yaw=-0.0011 right_pitch=-0.0683 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.1026, -10.0718, 9.0051, 1.4774, -0.1294, -0.022, 1.0281, -0.1573, -1.388, 7.159, 1.6825, -0.0513, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e9c9074f3a60d3e5f9e8cacf022e741eff08adc31607a12a6a852d9012275f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f757365d4ab680070562ac734175b67bc52d8354aff45c95eeee91e0fc5589f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fc7e012b9645ff6e0d8fca8284282fa041582df4484133abb8466bb1aa803fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NpmePSpdyJBuUYZYrrrz3r",
      "input": {
        "note": "Unclear from the images whether the rim is held; lifting to 20 cm where the answer will be obvious in the overhead view.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01NpmePSpdyJBuUYZYrrrz3r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2943, 1.6169, 1.3182, -0.585, -0.2554, -0.2596, 0.0461, -0.0219, 0.8173, 0.5945, -0.4164, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4321 left_y=-0.0806 left_z=0.1748 left_yaw=0.0607 left_pitch=-0.2762 left_roll=0.0329 left_gripper=0.0461 right_x=0.2898 right_y=0.0002 right_z=0.1619 right_yaw=-0.0011 right_pitch=-0.0683 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.212, -10.0308, 9.265, 1.3748, -0.1538, -0.0073, 1.033, -0.0615, -1.3744, 6.9812, 1.6825, -0.0415, 0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3751bab696839ddcf7f4aa3cc8b9f6a99c2605ab8bf8aa93d051a4dd150253e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2578f78b343791a55bf98eb73df24c4c468df186a807c273267eb04c804d600a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19a07073fd29ce2743fa239877e46cb4f5160382e5791db6f6c86af2add6b279",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 11.38 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.2943, 1.7882, 0.873, 0.0875, -0.2516, -0.2584, 0.0358, -0.0216, 0.8173, 0.5945, -0.416, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4321 left_y=-0.0813 left_z=0.0347 left_yaw=0.052 left_pitch=-0.2245 left_roll=0.0111 left_gripper=0.0358 right_x=0.2898 right_y=0.0003 right_z=0.162 right_yaw=-0.0007 right_pitch=-0.0679 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.0889, -8.3624, 6.4752, 1.1306, -0.2125, 0.1001, 0.6764, -0.0068, -1.4427, 7.2137, 1.6923, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2943, 1.66, 1.0252, -0.2184, -0.2554, -0.2592, 0.0428, -0.0219, 0.8173, 0.5945, -0.4164, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4302 left_y=-0.08 left_z=0.0966 left_yaw=0.0577 left_pitch=-0.2476 left_roll=0.0223 left_gripper=0.0428 right_x=0.2898 right_y=0.0002 right_z=0.1619 right_yaw=-0.0011 right_pitch=-0.0683 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.1026, -10.0718, 9.0051, 1.4774, -0.1294, -0.022, 1.0281, -0.1573, -1.388, 7.159, 1.6825, -0.0513, -0.0855, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.2943, 1.6169, 1.3182, -0.585, -0.2554, -0.2596, 0.0461, -0.0219, 0.8173, 0.5945, -0.4164, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4321 left_y=-0.0806 left_z=0.1748 left_yaw=0.0607 left_pitch=-0.2762 left_roll=0.0329 left_gripper=0.0461 right_x=0.2898 right_y=0.0002 right_z=0.1619 right_yaw=-0.0011 right_pitch=-0.0683 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.212, -10.0308, 9.265, 1.3748, -0.1538, -0.0073, 1.033, -0.0615, -1.3744, 6.9812, 1.6825, -0.0415, 0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3751bab696839ddcf7f4aa3cc8b9f6a99c2605ab8bf8aa93d051a4dd150253e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2578f78b343791a55bf98eb73df24c4c468df186a807c273267eb04c804d600a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19a07073fd29ce2743fa239877e46cb4f5160382e5791db6f6c86af2add6b279",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018kiadLc7iRQzWMVX6XtDr1",
      "input": {
        "note": "Testing the grasp by transporting: moving 14 cm right so that, if the white bowl is held by its rim, it ends up directly above the middle (lavender) bowl.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.22,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_018kiadLc7iRQzWMVX6XtDr1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.635, 1.869, 1.6989, -0.8486, -0.4313, -0.5457, 0.0461, -0.0219, 0.8173, 0.5945, -0.4198, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4244 left_y=-0.2165 left_z=0.1858 left_yaw=0.0428 left_pitch=-0.3157 left_roll=0.0391 left_gripper=0.0461 right_x=0.2893 right_y=0.0002 right_z=0.1612 right_yaw=-0.0011 right_pitch=-0.0717 right_roll=0.0026 right_gripper=0.9977\nstate[joint_eff]: [-0.3214, -9.5658, 9.4838, 1.2674, -0.5104, 0.022, 1.0281, 0.0068, -1.388, 7.0359, 1.7509, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bcf8aaf3e95680f243c17e47d95b5916cd86574ee65b00b420078cc2e01d279",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f88172bc333b130dd0bbdc664bae3aad782de5a88a32c1d96980e8c0d434eddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0433327eed1dc7921c7b570dc0a20b6e2131f65a86c707d233a0006e44e0a32c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 10.45 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.2943, 1.66, 1.0252, -0.2184, -0.2554, -0.2592, 0.0428, -0.0219, 0.8173, 0.5945, -0.4164, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4302 left_y=-0.08 left_z=0.0966 left_yaw=0.0577 left_pitch=-0.2476 left_roll=0.0223 left_gripper=0.0428 right_x=0.2898 right_y=0.0002 right_z=0.1619 right_yaw=-0.0011 right_pitch=-0.0683 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.1026, -10.0718, 9.0051, 1.4774, -0.1294, -0.022, 1.0281, -0.1573, -1.388, 7.159, 1.6825, -0.0513, -0.0855, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.2943, 1.6169, 1.3182, -0.585, -0.2554, -0.2596, 0.0461, -0.0219, 0.8173, 0.5945, -0.4164, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4321 left_y=-0.0806 left_z=0.1748 left_yaw=0.0607 left_pitch=-0.2762 left_roll=0.0329 left_gripper=0.0461 right_x=0.2898 right_y=0.0002 right_z=0.1619 right_yaw=-0.0011 right_pitch=-0.0683 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.212, -10.0308, 9.265, 1.3748, -0.1538, -0.0073, 1.033, -0.0615, -1.3744, 6.9812, 1.6825, -0.0415, 0.0073, -0.0171]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.635, 1.869, 1.6989, -0.8486, -0.4313, -0.5457, 0.0461, -0.0219, 0.8173, 0.5945, -0.4198, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4244 left_y=-0.2165 left_z=0.1858 left_yaw=0.0428 left_pitch=-0.3157 left_roll=0.0391 left_gripper=0.0461 right_x=0.2893 right_y=0.0002 right_z=0.1612 right_yaw=-0.0011 right_pitch=-0.0717 right_roll=0.0026 right_gripper=0.9977\nstate[joint_eff]: [-0.3214, -9.5658, 9.4838, 1.2674, -0.5104, 0.022, 1.0281, 0.0068, -1.388, 7.0359, 1.7509, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bcf8aaf3e95680f243c17e47d95b5916cd86574ee65b00b420078cc2e01d279",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f88172bc333b130dd0bbdc664bae3aad782de5a88a32c1d96980e8c0d434eddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0433327eed1dc7921c7b570dc0a20b6e2131f65a86c707d233a0006e44e0a32c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PTBaVfk2x1vnKWJVoHEBVu",
      "input": {
        "note": "Confirmed: the white bowl is held by its rim and has travelled with the arm. Lowering it to 13 cm to reduce parallax in the overhead view before lining it up over the lavender bowl.",
        "targets": {
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01PTBaVfk2x1vnKWJVoHEBVu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6395, 1.8793, 1.4982, -0.7116, -0.4358, -0.5476, 0.0462, -0.0219, 0.8173, 0.5945, -0.4217, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4124 left_y=-0.2093 left_z=0.1238 left_yaw=0.0595 left_pitch=-0.3703 left_roll=0.091 left_gripper=0.0462 right_x=0.289 right_y=0.0002 right_z=0.1609 right_yaw=-0.0011 right_pitch=-0.0736 right_roll=0.0026 right_gripper=0.9977\nstate[joint_eff]: [0.294, -10.0171, 7.5692, 1.5556, -0.2125, 0.0122, 1.0379, -0.0752, -1.2513, 6.9812, 1.6874, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f35f7651936633d3d6a4a9504c112ce35e94357c4a5aaa1f912c4a3cdfcf4a43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b42278d3a2367e32d632b914f757635b6a74f67347462ea6bf34d2bd99ab8264",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5be40a3baa05f899a4bd9a80bf8448f009fa216ab70281275d0f74e1ffa0e03e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 18.13 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.2943, 1.6169, 1.3182, -0.585, -0.2554, -0.2596, 0.0461, -0.0219, 0.8173, 0.5945, -0.4164, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4321 left_y=-0.0806 left_z=0.1748 left_yaw=0.0607 left_pitch=-0.2762 left_roll=0.0329 left_gripper=0.0461 right_x=0.2898 right_y=0.0002 right_z=0.1619 right_yaw=-0.0011 right_pitch=-0.0683 right_roll=0.0025 right_gripper=0.9977\nstate[joint_eff]: [-0.212, -10.0308, 9.265, 1.3748, -0.1538, -0.0073, 1.033, -0.0615, -1.3744, 6.9812, 1.6825, -0.0415, 0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.635, 1.869, 1.6989, -0.8486, -0.4313, -0.5457, 0.0461, -0.0219, 0.8173, 0.5945, -0.4198, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4244 left_y=-0.2165 left_z=0.1858 left_yaw=0.0428 left_pitch=-0.3157 left_roll=0.0391 left_gripper=0.0461 right_x=0.2893 right_y=0.0002 right_z=0.1612 right_yaw=-0.0011 right_pitch=-0.0717 right_roll=0.0026 right_gripper=0.9977\nstate[joint_eff]: [-0.3214, -9.5658, 9.4838, 1.2674, -0.5104, 0.022, 1.0281, 0.0068, -1.388, 7.0359, 1.7509, -0.0366, -0.0757, -0.0122]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.6395, 1.8793, 1.4982, -0.7116, -0.4358, -0.5476, 0.0462, -0.0219, 0.8173, 0.5945, -0.4217, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4124 left_y=-0.2093 left_z=0.1238 left_yaw=0.0595 left_pitch=-0.3703 left_roll=0.091 left_gripper=0.0462 right_x=0.289 right_y=0.0002 right_z=0.1609 right_yaw=-0.0011 right_pitch=-0.0736 right_roll=0.0026 right_gripper=0.9977\nstate[joint_eff]: [0.294, -10.0171, 7.5692, 1.5556, -0.2125, 0.0122, 1.0379, -0.0752, -1.2513, 6.9812, 1.6874, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f35f7651936633d3d6a4a9504c112ce35e94357c4a5aaa1f912c4a3cdfcf4a43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b42278d3a2367e32d632b914f757635b6a74f67347462ea6bf34d2bd99ab8264",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5be40a3baa05f899a4bd9a80bf8448f009fa216ab70281275d0f74e1ffa0e03e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjwoKjgEIEhgCKkD4uP7v2pXblWsaA/Ke1yucdrph9HPBW8cMpqwlwj2vWsMT1yLEF/J1XcSsqFaVr+Xw9nrS1Ymcg52wAe9hR1dVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb2CzNUGEgxL73flepfJ3kBwVP4aDCa2XhZnXRAc5qiidyIwf2AlYPmTiu1rOOWclc02Qvs6DCFwuCAR6/FHMbXGyiQIOswEoRqdsjrIPG4M7PvgKq0I6aOiFhz5/DUx2OGh24V4+0EoHoZQstwNfBjNhYypLcpJRluci2xhvf/kLs0MN/2rLo2+ySLb2y13NOEBKMgx90i988j613+gvdDm1PCciZbNnWPcr7bFdoh48b6ON399QMM+OVBzlE4FiPglIUhu0Z9it8jfwnXsfaq89vR4qgrHeEq4WyZleCZnBXbZZDKH8HoNjcPZUTnPm8FbO2MEpO9r3mypUVMLGRkSbvRf4YQPX7jlNBb/iRgnZUBepacI2y1LQ9dd0VOnoSZ3aqWOvECuEx2nJwd6wrxzLvuVotK5gSfqWbhszUpKlqls2z3aGu86lJHwRl6GlEDkkLZbrIpux802RLTuekybI9eS3v/6kh9b0TlzCJKpwSWb37wm7GuMMev/zTQO0T7lLgK+ujMBBX9lppt1QEnIKMvw/0z0Pk8UrrA9Z8UlTCA0WL9FjVquPMDtazfhiyW6/S22sLWhyEMjb4VW2u7hvvooWrk4ilos2mswADrJFRRlyRx5ldhailkYbL1YEh/uxcZRQpX+i1zV9sl4y8ffeuVZdjoNweKO20DfUM0tDi3rkAMEVPPUkKp0B23dRV7hCGAvDCIQ5pkhlaoOO0PnD9eGQwvgd30yt/I0tfKIAsmEZjY4iYJPn122tRjylOG5dcnSZK1C253hTrRj3atE0Zmce0Zyr3DbQjDsrp2JRmz739l+N324w8wjeGVa1D+4yPY7TO+Fmv3wjl2qrBNfdjLnLFMyMBF9LtbHXT3/SHv4VPfpudvK0tomHK2wvKT0Mo9WbXI99iuPsSBhE5TOtjUKtAAfU/4yge3CXMdYwsEPSlk+Z6PTVzg63dPKmYwP+BMKhFKdav79qEx6C/QzMRyBKWj/Y+11a5t4S7Bfukl1/sFz/qcJwna16zpsz1bySfg/CSCbROnW4rYrlZrhGmXy0WSkQG4Bd9RuokRVMltPPlppZt8T7Nyc1QYpKAQ06j6OlqTSeKahU1T4grZPtXSNv7wJYs9Fg5xmMv4Vw6LvgNKyUKlZKd0JnH1wFnHvlJY+MIHbXTeGtxb+9TxZmOdCuy43ef+5pI7KY4AvZyK4wQhSS7p2uJFaA2r29Q5U7coVdiIyniDc23DvJV3ohqB0/UVWQ2eUopLGOgcz1+RMh7Or/aW2MSOmFse7bdQo6+i364mHQQdSTy6ob+ONr+9UAy6C0trqRpp+KE4U2mPOmwJc+aNfmfr+2k4jhO8xLI0oNG0+1V1Y1wL/v9l2XSe1c3sIK23I3oWmDS64wX9KY+KwSwI9aBbRmeYLCmPt8GTm6ySXaMCOygZmBK4/W3QZ5GSvX2z6rFKdiAnmZnRoP56bYojNSSjws0qtTpkKwM1GqYtszkDl65TQpqs+xY/22AdFn48lpS2HvSICBuad09+H8OvCnQrZYzGYmESxfxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UykqEuALb5NGywZdssCSF4",
      "input": {
        "note": "The held white bowl is now nearly over the lavender bowl in the top view. Lowering further toward nesting height to check alignment before release.",
        "targets": {
          "left_z": 0.085
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UykqEuALb5NGywZdssCSF4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6399, 1.8893, 1.4563, -0.6689, -0.4362, -0.5476, 0.0462, -0.0219, 0.8204, 0.5945, -0.4225, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.411 left_y=-0.2085 left_z=0.1092 left_yaw=0.0617 left_pitch=-0.3771 left_roll=0.0977 left_gripper=0.0462 right_x=0.289 right_y=0.0002 right_z=0.1599 right_yaw=-0.0011 right_pitch=-0.0774 right_roll=0.0027 right_gripper=0.9977\nstate[joint_eff]: [-0.3077, -9.5658, 6.9265, 1.1258, -0.2418, -0.0317, 0.9548, -0.1846, -1.4017, 6.9949, 1.6581, -0.0269, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d40db59b0fdad6998d6cffde24d82f0aebc59b0a9436beb9ffe85a2caed7c2f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:832cb2525d5aabd0003a2db26cb3086773a62eeeb9f6a8c93f9da736cf2da285",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:32a11312fdf30fa257c5253af53f6518338de4c7da3793c5008a865c441186b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 10.93 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.635, 1.869, 1.6989, -0.8486, -0.4313, -0.5457, 0.0461, -0.0219, 0.8173, 0.5945, -0.4198, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4244 left_y=-0.2165 left_z=0.1858 left_yaw=0.0428 left_pitch=-0.3157 left_roll=0.0391 left_gripper=0.0461 right_x=0.2893 right_y=0.0002 right_z=0.1612 right_yaw=-0.0011 right_pitch=-0.0717 right_roll=0.0026 right_gripper=0.9977\nstate[joint_eff]: [-0.3214, -9.5658, 9.4838, 1.2674, -0.5104, 0.022, 1.0281, 0.0068, -1.388, 7.0359, 1.7509, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6395, 1.8793, 1.4982, -0.7116, -0.4358, -0.5476, 0.0462, -0.0219, 0.8173, 0.5945, -0.4217, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4124 left_y=-0.2093 left_z=0.1238 left_yaw=0.0595 left_pitch=-0.3703 left_roll=0.091 left_gripper=0.0462 right_x=0.289 right_y=0.0002 right_z=0.1609 right_yaw=-0.0011 right_pitch=-0.0736 right_roll=0.0026 right_gripper=0.9977\nstate[joint_eff]: [0.294, -10.0171, 7.5692, 1.5556, -0.2125, 0.0122, 1.0379, -0.0752, -1.2513, 6.9812, 1.6874, -0.0415, -0.0171, -0.0122]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.6399, 1.8893, 1.4563, -0.6689, -0.4362, -0.5476, 0.0462, -0.0219, 0.8204, 0.5945, -0.4225, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.411 left_y=-0.2085 left_z=0.1092 left_yaw=0.0617 left_pitch=-0.3771 left_roll=0.0977 left_gripper=0.0462 right_x=0.289 right_y=0.0002 right_z=0.1599 right_yaw=-0.0011 right_pitch=-0.0774 right_roll=0.0027 right_gripper=0.9977\nstate[joint_eff]: [-0.3077, -9.5658, 6.9265, 1.1258, -0.2418, -0.0317, 0.9548, -0.1846, -1.4017, 6.9949, 1.6581, -0.0269, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d40db59b0fdad6998d6cffde24d82f0aebc59b0a9436beb9ffe85a2caed7c2f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:832cb2525d5aabd0003a2db26cb3086773a62eeeb9f6a8c93f9da736cf2da285",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32a11312fdf30fa257c5253af53f6518338de4c7da3793c5008a865c441186b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TB9kk8wpwLWB6pcaRTZGZN",
      "input": {
        "note": "The descent stopped early at 10.9 cm — the carried bowl is perched on the lavender bowl's rim rather than nesting, and the tool has sagged 22° nose-down. Lifting and commanding level pitch so the bowl hangs flat.",
        "targets": {
          "left_pitch": 0.0,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01TB9kk8wpwLWB6pcaRTZGZN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7258, 1.7405, 1.1896, -0.3428, -0.6388, -0.4789, 0.0496, -0.0219, 0.8242, 0.5945, -0.4229, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3996 left_y=-0.2089 left_z=0.1301 left_yaw=0.0451 left_pitch=-0.1135 left_roll=0.1329 left_gripper=0.0496 right_x=0.2891 right_y=0.0002 right_z=0.1588 right_yaw=-0.0011 right_pitch=-0.0816 right_roll=0.0028 right_gripper=0.9977\nstate[joint_eff]: [0.1026, -11.0017, 6.4479, 1.6728, -0.442, 0.1343, 0.7399, -0.212, -1.5111, 7.1726, 1.6679, -0.0611, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:345133d3165205db3355f99df5bd1ecaa834834e1a21eb20d164d23613c5364f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c5f41dafb69916a87729ae9bd1cf4ab360604095a398bdbfc3d730c31c828cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75058c687b3f4b2b9154e6f0b4390d1e437feaf1b32e96843e53f33c72fb357c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 6.341 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.6395, 1.8793, 1.4982, -0.7116, -0.4358, -0.5476, 0.0462, -0.0219, 0.8173, 0.5945, -0.4217, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4124 left_y=-0.2093 left_z=0.1238 left_yaw=0.0595 left_pitch=-0.3703 left_roll=0.091 left_gripper=0.0462 right_x=0.289 right_y=0.0002 right_z=0.1609 right_yaw=-0.0011 right_pitch=-0.0736 right_roll=0.0026 right_gripper=0.9977\nstate[joint_eff]: [0.294, -10.0171, 7.5692, 1.5556, -0.2125, 0.0122, 1.0379, -0.0752, -1.2513, 6.9812, 1.6874, -0.0415, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6399, 1.8893, 1.4563, -0.6689, -0.4362, -0.5476, 0.0462, -0.0219, 0.8204, 0.5945, -0.4225, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.411 left_y=-0.2085 left_z=0.1092 left_yaw=0.0617 left_pitch=-0.3771 left_roll=0.0977 left_gripper=0.0462 right_x=0.289 right_y=0.0002 right_z=0.1599 right_yaw=-0.0011 right_pitch=-0.0774 right_roll=0.0027 right_gripper=0.9977\nstate[joint_eff]: [-0.3077, -9.5658, 6.9265, 1.1258, -0.2418, -0.0317, 0.9548, -0.1846, -1.4017, 6.9949, 1.6581, -0.0269, -0.0806, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.7258, 1.7405, 1.1896, -0.3428, -0.6388, -0.4789, 0.0496, -0.0219, 0.8242, 0.5945, -0.4229, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3996 left_y=-0.2089 left_z=0.1301 left_yaw=0.0451 left_pitch=-0.1135 left_roll=0.1329 left_gripper=0.0496 right_x=0.2891 right_y=0.0002 right_z=0.1588 right_yaw=-0.0011 right_pitch=-0.0816 right_roll=0.0028 right_gripper=0.9977\nstate[joint_eff]: [0.1026, -11.0017, 6.4479, 1.6728, -0.442, 0.1343, 0.7399, -0.212, -1.5111, 7.1726, 1.6679, -0.0611, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:345133d3165205db3355f99df5bd1ecaa834834e1a21eb20d164d23613c5364f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c5f41dafb69916a87729ae9bd1cf4ab360604095a398bdbfc3d730c31c828cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75058c687b3f4b2b9154e6f0b4390d1e437feaf1b32e96843e53f33c72fb357c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpwsKjgEIEhgCKkBoWBM6Q4JRQjPKLxiJQstNGu9ri/NueMHxolX6QzeFNKSnRAHJZ+cL/aHUIRXBdhWT6s27rXpRC10SfYMmXzADMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAduCzNUGEgx/ZuQ6Iu0OH2g1RUMaDD9mQjFTnYeBKXPxByIw+mkWClWjatzNVKnzS2L4vx6tB4JpyTRqwmS83rV0P7c4KLqTZtUObz5V9oExE4stKsUJ7aKcNOrB9Xot4vg8as633bVdNC0INI14s7TYfKcPql3Ug1G9RDRplRgd0wdW0jz4Ceo07gV6nk7mW+/6Gx1z2z30QTgA63qlUCgpr4ir6EVxkIy9sMfn0/v8HG15y26+6E+mbZcoGIiWdjn7q8+87zWdwtXEpxrHurQ/2h46FwHekmUDsTzDzOebMAxOWSM5fXCf4IxpeTx/sgDp66buEC4DGkWMYOn6MmU/mvSQYg8L9eDepp7GRc3z5hcS/TssTJGVFpTjk5rOY99ltHpXxV2cpjHnWeAdKq6Ydw9ChScdvFGCZNvlqRk8/VM8FmdjWvHlfpCZgdBPdUb0YZOSGGNzuoDMtecU/IVmjPAS8t+B0IDPIL4wXLgvQQh49tHQyRRjWPwMyRhvfQcDUZ/yDvA4nFOGx1Kr+j/8WHlqpV6UkfetwAzqsUlUeOZcj4u61EK/Cu7v2MFUX0aUiRbXwbL6Mdf6IPEo6ZRdknO8Qcw7nww33At2//xY3zx82ocxPlRADi1qw8Ovjd02YbFSCFQVjUiul+WLJ4zl0ZbHofbVcv2i9k6L2/l9VzhLZbf7YxYBM/HvDVrcbpeLuYgEbkJ+XMZKHBO1B+9tMXj84Tfl/B/wtj6PujAKDIHo45HdKVNfILi/plym/JU8xfshNQcElEgYMvYWiEIDmpcAxQE4JZiCooxHggFzUvy2Rar4Xr0ZajtVOqsvk6cPNiwkvWwZP4yfvfNBETAh3JOYqDxI9VNisHq0deGUL7JnDd5UULDW5CqBrCJUGkMD986aCfh0d19ePUTWcm+01bJEnouWtlWvgTar1v1WAKYVvASPH8l15I+xwIRXwg9/UI0eyv+rX02gArFEl5AP+ZOF9XSwGVVdD9gSsAy5HJtDp1OaHimvJK+xtb8sXlOYCZhJRkvpt768eP8AccR+cz52pUOxuIIIs0aWNrMYX3yjWhmWwqfUAOmHfIKXnn23mgahiWHEbPBRESQLqfjwnwrrlk3j72mUZZQ3/U9+g6rv65Z7WlwxCXPDj3F79kqr+NV8W+3nxXbUPcgTGx5mCHIlXQSXhar2y5ipseurFttnQKb8EtQq+MdCHdeQAhF0ARVqOZxUhJOmbhGetydcy8jZUGLGR/CGR2bBUGy+koFWkfuKljIbYJmVZiXOIbjeEwip+tA4wC9HnSbW9osQd/HhjD/byPwNadvvLXsbqrn2upqrOXGmd/IQkw2uVaBxyA0+CtFLmVONVSjxen8vP0fYnr+DTFowz2iPi0r8RMtZpFPLToQihssQK3KvUTscUKeIUti+zXkzezfbxochQ+to/VuwN7j5kijqpiMwdxGc8ghKFfa4xHyNYG75NougyhyA6ciskgehAT38gmhAv5NLxRZdNiYeAEYT2nYkaSK8bVlu00sm/chsL3kb5AtX0wYKOF2Vem+1N1Y+pscdnNEgviF+Z7nDKL3upuTnPzvG/iGxihLe79yBVI+skVgV6JU5ZNL9hnZ2pN8OHlAdY3bGDZS3ZbDrNxXwrDk+5cQU3gG0Lm6ur96nPVxR1lCmT2fo2nO2SZljfQ3OvIVavkAo0aofhOtBLHt18okSxfaoMT/WF4VX/wdMIRkVr+qHBCmtWDr6VdJyGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cf2tG2vJQaZ3jShvTkCCcN",
      "input": {
        "note": "The carried bowl has drifted ~3 cm toward the base relative to where the lavender bowl sits, so I push it forward and slightly right before trying the nest again.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.445,
          "left_y": -0.215,
          "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_01Cf2tG2vJQaZ3jShvTkCCcN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6857, 1.8114, 1.243, -0.2691, -0.659, -0.4141, 0.0493, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4284 left_y=-0.2061 left_z=0.1314 left_yaw=0.0611 left_pitch=-0.0676 left_roll=0.1569 left_gripper=0.0493 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=-0.0011 right_pitch=-0.082 right_roll=0.0028 right_gripper=0.9977\nstate[joint_eff]: [0.253, -9.0325, 10.2496, 1.7558, -0.3346, 0.2125, 0.8034, -0.1709, -1.4564, 7.0085, 1.7167, -0.0562, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a6d0dee2d5eeb5cc512755b897d8d876d20f348c7846a478e5a7f3e42743b24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caea10b836c423b8dae102a0628da1222e0092721ee11e9e0fbd9b87f4421d1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad5922216d97a8c2dba7e61340c3e73ee589ee8eda63f93c23b8e5984a4b45b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 6.079 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.6399, 1.8893, 1.4563, -0.6689, -0.4362, -0.5476, 0.0462, -0.0219, 0.8204, 0.5945, -0.4225, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.411 left_y=-0.2085 left_z=0.1092 left_yaw=0.0617 left_pitch=-0.3771 left_roll=0.0977 left_gripper=0.0462 right_x=0.289 right_y=0.0002 right_z=0.1599 right_yaw=-0.0011 right_pitch=-0.0774 right_roll=0.0027 right_gripper=0.9977\nstate[joint_eff]: [-0.3077, -9.5658, 6.9265, 1.1258, -0.2418, -0.0317, 0.9548, -0.1846, -1.4017, 6.9949, 1.6581, -0.0269, -0.0806, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.7258, 1.7405, 1.1896, -0.3428, -0.6388, -0.4789, 0.0496, -0.0219, 0.8242, 0.5945, -0.4229, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3996 left_y=-0.2089 left_z=0.1301 left_yaw=0.0451 left_pitch=-0.1135 left_roll=0.1329 left_gripper=0.0496 right_x=0.2891 right_y=0.0002 right_z=0.1588 right_yaw=-0.0011 right_pitch=-0.0816 right_roll=0.0028 right_gripper=0.9977\nstate[joint_eff]: [0.1026, -11.0017, 6.4479, 1.6728, -0.442, 0.1343, 0.7399, -0.212, -1.5111, 7.1726, 1.6679, -0.0611, -0.0855, -0.0122]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.6857, 1.8114, 1.243, -0.2691, -0.659, -0.4141, 0.0493, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4284 left_y=-0.2061 left_z=0.1314 left_yaw=0.0611 left_pitch=-0.0676 left_roll=0.1569 left_gripper=0.0493 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=-0.0011 right_pitch=-0.082 right_roll=0.0028 right_gripper=0.9977\nstate[joint_eff]: [0.253, -9.0325, 10.2496, 1.7558, -0.3346, 0.2125, 0.8034, -0.1709, -1.4564, 7.0085, 1.7167, -0.0562, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a6d0dee2d5eeb5cc512755b897d8d876d20f348c7846a478e5a7f3e42743b24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caea10b836c423b8dae102a0628da1222e0092721ee11e9e0fbd9b87f4421d1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad5922216d97a8c2dba7e61340c3e73ee589ee8eda63f93c23b8e5984a4b45b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8gMKjgEIEhgCKkB10SjEJX3SqJwVF5NgS8cj0eFPLK2xAIpQxe2hmzfX1Ve4f5QzuBpXGtewKA9ppEn2EPzR8RhJ1KuxywBYi2V4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeKCzNUGEgyv+bjr5WhvIH4ya6YaDIWgWrsPXGD2QLCAayIwMGv+HlyiLf/XtcEZVf+UtuavJvfhS5DveO+Toi4RiM1f2FscA9ov6qOkA2Rh6qLjKpACqBB9cjlQvozcnOxQnSfUxqjuT53jyzxov/PKcVU/lrbRpjoBtbB6HVcdtUPHygJ//XMV1S1bUSKMZMZFMfio4r63oKkYUda5BZK1qrNPCX296nLmAD3kvTusFd/xo3kN0HI8oZ4DVriSR9Vi4fYJS9IMxike0rd3xtdKvmv2xwUE2/Z6NGOOUFM6PjHEh9RTwJWtJjxe0TT9EqxKmeoCxzhkTOv2TEA9BPQmMQfGpc03CnPY8FWHO/lf+Ss8UU15dz4Ib05FkyLQ3GYOMfvZ1ShnpyK3AGf9+NOwbqKGEQSw/JN7LpfhjAzVffYxXtvresjlJaVsEDx6RnzV4v+n7qrhwGdVvnPQJztw32OlnCcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MhqPjiC9kcr8CwRNbaCmca",
      "input": {
        "note": "Lowering the carried bowl again over the lavender bowl, aiming for it to drop inside; I'll watch where the descent stops.",
        "targets": {
          "left_pitch": 0.0,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01MhqPjiC9kcr8CwRNbaCmca",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7017, 1.9011, 1.0592, 0.0597, -0.683, -0.3996, 0.0492, -0.0219, 0.8249, 0.5945, -0.4229, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.426 left_y=-0.2094 left_z=0.0731 left_yaw=0.0528 left_pitch=-0.0165 left_roll=0.1437 left_gripper=0.0492 right_x=0.2892 right_y=0.0002 right_z=0.1586 right_yaw=-0.0011 right_pitch=-0.0824 right_roll=0.0028 right_gripper=0.9977\nstate[joint_eff]: [0.1026, -7.1453, 4.7111, 1.2674, -0.4322, 0.0952, 0.823, -0.0752, -1.3744, 7.0359, 1.6386, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3be69a2af46abc7a788ad0c6d12fc2d2cba6ea1fe8eb5110abf39531b7b7930",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:661974dd913e2e9c296c773e7924f209b0fbc3ad1068b8168498d64cc0637c43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a869323d7701efab150437ea885bac25c16cbee4604ab325c315f3f793e62302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 4.482 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.7258, 1.7405, 1.1896, -0.3428, -0.6388, -0.4789, 0.0496, -0.0219, 0.8242, 0.5945, -0.4229, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3996 left_y=-0.2089 left_z=0.1301 left_yaw=0.0451 left_pitch=-0.1135 left_roll=0.1329 left_gripper=0.0496 right_x=0.2891 right_y=0.0002 right_z=0.1588 right_yaw=-0.0011 right_pitch=-0.0816 right_roll=0.0028 right_gripper=0.9977\nstate[joint_eff]: [0.1026, -11.0017, 6.4479, 1.6728, -0.442, 0.1343, 0.7399, -0.212, -1.5111, 7.1726, 1.6679, -0.0611, -0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6857, 1.8114, 1.243, -0.2691, -0.659, -0.4141, 0.0493, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4284 left_y=-0.2061 left_z=0.1314 left_yaw=0.0611 left_pitch=-0.0676 left_roll=0.1569 left_gripper=0.0493 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=-0.0011 right_pitch=-0.082 right_roll=0.0028 right_gripper=0.9977\nstate[joint_eff]: [0.253, -9.0325, 10.2496, 1.7558, -0.3346, 0.2125, 0.8034, -0.1709, -1.4564, 7.0085, 1.7167, -0.0562, -0.0171, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.7017, 1.9011, 1.0592, 0.0597, -0.683, -0.3996, 0.0492, -0.0219, 0.8249, 0.5945, -0.4229, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.426 left_y=-0.2094 left_z=0.0731 left_yaw=0.0528 left_pitch=-0.0165 left_roll=0.1437 left_gripper=0.0492 right_x=0.2892 right_y=0.0002 right_z=0.1586 right_yaw=-0.0011 right_pitch=-0.0824 right_roll=0.0028 right_gripper=0.9977\nstate[joint_eff]: [0.1026, -7.1453, 4.7111, 1.2674, -0.4322, 0.0952, 0.823, -0.0752, -1.3744, 7.0359, 1.6386, -0.0317, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3be69a2af46abc7a788ad0c6d12fc2d2cba6ea1fe8eb5110abf39531b7b7930",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:661974dd913e2e9c296c773e7924f209b0fbc3ad1068b8168498d64cc0637c43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a869323d7701efab150437ea885bac25c16cbee4604ab325c315f3f793e62302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9QQKjgEIEhgCKkCCujavwyb4mdjlkzFvfHkX4Tayzk6PiAcMjsYIRbWO8bUjwJRy5EQx73xVJARELmXU3mYRr2fl9PFPjk1rAS4eMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAemCzNUGEgy1ifb/g2Rvbm5m31saDDf9G8YIaF/H/HIjASIwvjUsvo32TFninAGGJAJJc4QgOmi91s/YefmnviB7mgKHTp71tQJUhP8LGG7tJntTKpMDGdT5EgYBjq9A0bPeRRPKecHRd1HsYxA43mrVGc55hhnEZDR8gyGmdmTdKOBl5zycjzHNw1nO9C0CGS0KybA/67x6fRjjiXDfQJbvOSCaMKG58ozo7faHMwEnZVlqfZs+PJNw3G4mSpD0nj98NmMcKUv1oEbhimQ1pMkBP/gX/QMW5cEn4+VWJ4dgs+v5KSHNxg6IMfzZsHPmyXEsh+umHOJDT0PZiSNFe5UJ/Y1s8yvY+C8U/MOB7R4c8zdYMgrqKk57v5E6ftltVT/cID3zoBhk6pfFVvJBbFIuKpGy+nibwikOZQrXx+xV46U9K2OWxEn/p5oq0dvJAilVaBhjAGcoXuOgo8YE89D1XQSXaqLumrzVcsNmpeq7xe4oFuGye6+EGU0dfNWVfuqsZov87FpUPAY1M63nyb+5aD4Hl6EulXcFhH1slrDdGJ9AaT08+ICGHR6mzdFYMRWE7cpk/jsjQwRvYYNTazkn24surXfP5TmB4kTQT6hp8LTLyRE1r9m+9yXmYSMVpBWU9/mz/9wNnRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AWVPUZpPu8QJpWHhuZuqkP",
      "input": {
        "note": "The bowl reached nesting height with no early contact, so I'm releasing it here.",
        "targets": {
          "left_gripper": 0.6
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01AWVPUZpPu8QJpWHhuZuqkP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7013, 1.9266, 1.0393, 0.1246, -0.6899, -0.3889, 0.5947, -0.0219, 0.8249, 0.5945, -0.4229, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4282 left_y=-0.2098 left_z=0.065 left_yaw=0.0524 left_pitch=0.0001 left_roll=0.1428 left_gripper=0.5947 right_x=0.2892 right_y=0.0002 right_z=0.1586 right_yaw=-0.0011 right_pitch=-0.0824 right_roll=0.0028 right_gripper=0.9977\nstate[joint_eff]: [0.1846, -8.7316, 5.2855, 1.5995, -0.4322, 0.0366, 0.0024, -0.0889, -1.4154, 6.9675, 1.6386, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48e90d190bdd1fd189671bd409efd775fe55034285fed9ca65a79fefab25f3fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a725c2dd517e4ee3082c33ff7920700cb0380758873db1200ad20548ef72d41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cfdb8d51db7342de77af5ef407e6b5de232e379b7efd8cdee1dffa3e335207ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 16.71 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.6857, 1.8114, 1.243, -0.2691, -0.659, -0.4141, 0.0493, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4284 left_y=-0.2061 left_z=0.1314 left_yaw=0.0611 left_pitch=-0.0676 left_roll=0.1569 left_gripper=0.0493 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=-0.0011 right_pitch=-0.082 right_roll=0.0028 right_gripper=0.9977\nstate[joint_eff]: [0.253, -9.0325, 10.2496, 1.7558, -0.3346, 0.2125, 0.8034, -0.1709, -1.4564, 7.0085, 1.7167, -0.0562, -0.0171, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.7017, 1.9011, 1.0592, 0.0597, -0.683, -0.3996, 0.0492, -0.0219, 0.8249, 0.5945, -0.4229, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.426 left_y=-0.2094 left_z=0.0731 left_yaw=0.0528 left_pitch=-0.0165 left_roll=0.1437 left_gripper=0.0492 right_x=0.2892 right_y=0.0002 right_z=0.1586 right_yaw=-0.0011 right_pitch=-0.0824 right_roll=0.0028 right_gripper=0.9977\nstate[joint_eff]: [0.1026, -7.1453, 4.7111, 1.2674, -0.4322, 0.0952, 0.823, -0.0752, -1.3744, 7.0359, 1.6386, -0.0317, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7013, 1.9266, 1.0393, 0.1246, -0.6899, -0.3889, 0.5947, -0.0219, 0.8249, 0.5945, -0.4229, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4282 left_y=-0.2098 left_z=0.065 left_yaw=0.0524 left_pitch=0.0001 left_roll=0.1428 left_gripper=0.5947 right_x=0.2892 right_y=0.0002 right_z=0.1586 right_yaw=-0.0011 right_pitch=-0.0824 right_roll=0.0028 right_gripper=0.9977\nstate[joint_eff]: [0.1846, -8.7316, 5.2855, 1.5995, -0.4322, 0.0366, 0.0024, -0.0889, -1.4154, 6.9675, 1.6386, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48e90d190bdd1fd189671bd409efd775fe55034285fed9ca65a79fefab25f3fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a725c2dd517e4ee3082c33ff7920700cb0380758873db1200ad20548ef72d41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfdb8d51db7342de77af5ef407e6b5de232e379b7efd8cdee1dffa3e335207ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnAIKjgEIEhgCKkB2rwI2SufyljA21dRaP4omWUt5fW+vSCsRoeXDEq//CcOHCA/DXwt5eDjjlzFrX4TXsMLMsZA9KkpaSA97amC7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe2CzNUGEgw03+g5y59KshZ8a2saDHfZr2k9T6UpfBMmoiIwGwBLohNotCaCv27miCMh/CPPLNfsbkY16g2BQGKY+przyqOPBTpeRHl1PSPMyqTcKjsQ9Z8gL9qsZUAAr3p2wXel9QRPulPSfQv6uSgouWfhfzA4VPbFaBXCgs82DewKy5DvCI5He1Rsm0TISRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SzhPR2QWxBZfkEf1yrdoSP",
      "input": {
        "note": "Released the bowl; retracting the left arm out of the way to see in the overhead view whether the white bowl nested into the lavender one.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.32,
          "left_y": -0.05,
          "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_01SzhPR2QWxBZfkEf1yrdoSP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0325, 0.8124, -0.4221, -0.5011, -0.205, 0.9983, -0.0219, 0.8295, 0.5945, -0.4309, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3251 left_y=-0.0519 left_z=0.2091 left_yaw=0.0816 left_pitch=0.0103 left_roll=0.1287 left_gripper=0.9983 right_x=0.2882 right_y=0.0002 right_z=0.1558 right_yaw=-0.0011 right_pitch=-0.095 right_roll=0.0031 right_gripper=0.9977\nstate[joint_eff]: [0.2393, -2.9607, 10.4, 1.6435, -0.1929, 0.1245, -0.0562, -0.2393, -1.6889, 6.9949, 1.7802, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f93312fafa74092b34719357aa3436afc22a803f4491f638c742f5656bf7b26b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:009dc18248ca0585c42a9cf13d1de41be7ebdae9e1ae69bc1417355984944898",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:98b7bd376fabd22cc9a58b1805e38866080ae5c6b5037d8ae9adf3e285ba2109",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 12.82 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.7017, 1.9011, 1.0592, 0.0597, -0.683, -0.3996, 0.0492, -0.0219, 0.8249, 0.5945, -0.4229, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.426 left_y=-0.2094 left_z=0.0731 left_yaw=0.0528 left_pitch=-0.0165 left_roll=0.1437 left_gripper=0.0492 right_x=0.2892 right_y=0.0002 right_z=0.1586 right_yaw=-0.0011 right_pitch=-0.0824 right_roll=0.0028 right_gripper=0.9977\nstate[joint_eff]: [0.1026, -7.1453, 4.7111, 1.2674, -0.4322, 0.0952, 0.823, -0.0752, -1.3744, 7.0359, 1.6386, -0.0317, -0.0708, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.7013, 1.9266, 1.0393, 0.1246, -0.6899, -0.3889, 0.5947, -0.0219, 0.8249, 0.5945, -0.4229, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4282 left_y=-0.2098 left_z=0.065 left_yaw=0.0524 left_pitch=0.0001 left_roll=0.1428 left_gripper=0.5947 right_x=0.2892 right_y=0.0002 right_z=0.1586 right_yaw=-0.0011 right_pitch=-0.0824 right_roll=0.0028 right_gripper=0.9977\nstate[joint_eff]: [0.1846, -8.7316, 5.2855, 1.5995, -0.4322, 0.0366, 0.0024, -0.0889, -1.4154, 6.9675, 1.6386, -0.0611, -0.0464, -0.0122]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0325, 0.8124, -0.4221, -0.5011, -0.205, 0.9983, -0.0219, 0.8295, 0.5945, -0.4309, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3251 left_y=-0.0519 left_z=0.2091 left_yaw=0.0816 left_pitch=0.0103 left_roll=0.1287 left_gripper=0.9983 right_x=0.2882 right_y=0.0002 right_z=0.1558 right_yaw=-0.0011 right_pitch=-0.095 right_roll=0.0031 right_gripper=0.9977\nstate[joint_eff]: [0.2393, -2.9607, 10.4, 1.6435, -0.1929, 0.1245, -0.0562, -0.2393, -1.6889, 6.9949, 1.7802, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f93312fafa74092b34719357aa3436afc22a803f4491f638c742f5656bf7b26b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:009dc18248ca0585c42a9cf13d1de41be7ebdae9e1ae69bc1417355984944898",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98b7bd376fabd22cc9a58b1805e38866080ae5c6b5037d8ae9adf3e285ba2109",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KJPBNyFL7bKEpH8Qqy6vbE",
      "input": {
        "note": "The white bowl is now nested in the lavender one — two bowls left in the overhead view. Bringing the right arm over the pink bowl's right rim to pick it up.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.175,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01KJPBNyFL7bKEpH8Qqy6vbE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0397, 0.8127, -0.4397, -0.4946, -0.2062, 0.9988, 0.5404, 1.6932, 0.9405, -0.0586, 0.3859, 0.3141, 0.9977]\nstate[eef_state]: left_x=0.3236 left_y=-0.0522 left_z=0.2036 left_yaw=0.077 left_pitch=-0.0128 left_roll=0.1362 left_gripper=0.9988 right_x=0.4037 right_y=0.1689 right_z=0.081 right_yaw=0.034 right_pitch=-0.1663 right_roll=-0.0337 right_gripper=0.9977\nstate[joint_eff]: [-0.0068, -3.494, 6.8581, 1.7607, -0.2564, -0.0513, 0.0366, 0.212, -8.5402, 8.5538, 1.7363, 0.3932, 0.1783, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f922e849867f770945d24faa72cfa6cae938145e25362b2e8dcd86c614c54919",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff2ffd79963736df8c6031ef12b9b1967e2611ace16533a77f1fbbaa81592a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:766d3a20db7bb3c70da49c3d646ce3ab73179c143bb085807cc56ba2679daede",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 10.35 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.7013, 1.9266, 1.0393, 0.1246, -0.6899, -0.3889, 0.5947, -0.0219, 0.8249, 0.5945, -0.4229, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.4282 left_y=-0.2098 left_z=0.065 left_yaw=0.0524 left_pitch=0.0001 left_roll=0.1428 left_gripper=0.5947 right_x=0.2892 right_y=0.0002 right_z=0.1586 right_yaw=-0.0011 right_pitch=-0.0824 right_roll=0.0028 right_gripper=0.9977\nstate[joint_eff]: [0.1846, -8.7316, 5.2855, 1.5995, -0.4322, 0.0366, 0.0024, -0.0889, -1.4154, 6.9675, 1.6386, -0.0611, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0325, 0.8124, -0.4221, -0.5011, -0.205, 0.9983, -0.0219, 0.8295, 0.5945, -0.4309, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3251 left_y=-0.0519 left_z=0.2091 left_yaw=0.0816 left_pitch=0.0103 left_roll=0.1287 left_gripper=0.9983 right_x=0.2882 right_y=0.0002 right_z=0.1558 right_yaw=-0.0011 right_pitch=-0.095 right_roll=0.0031 right_gripper=0.9977\nstate[joint_eff]: [0.2393, -2.9607, 10.4, 1.6435, -0.1929, 0.1245, -0.0562, -0.2393, -1.6889, 6.9949, 1.7802, -0.0415, -0.0659, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0397, 0.8127, -0.4397, -0.4946, -0.2062, 0.9988, 0.5404, 1.6932, 0.9405, -0.0586, 0.3859, 0.3141, 0.9977]\nstate[eef_state]: left_x=0.3236 left_y=-0.0522 left_z=0.2036 left_yaw=0.077 left_pitch=-0.0128 left_roll=0.1362 left_gripper=0.9988 right_x=0.4037 right_y=0.1689 right_z=0.081 right_yaw=0.034 right_pitch=-0.1663 right_roll=-0.0337 right_gripper=0.9977\nstate[joint_eff]: [-0.0068, -3.494, 6.8581, 1.7607, -0.2564, -0.0513, 0.0366, 0.212, -8.5402, 8.5538, 1.7363, 0.3932, 0.1783, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f922e849867f770945d24faa72cfa6cae938145e25362b2e8dcd86c614c54919",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff2ffd79963736df8c6031ef12b9b1967e2611ace16533a77f1fbbaa81592a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:766d3a20db7bb3c70da49c3d646ce3ab73179c143bb085807cc56ba2679daede",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VbudXgFUvGSf33FeF52VPa",
      "input": {
        "note": "The pink bowl's near-left rim is close to the right gripper's jaw column; descending to rim height to check the straddle before closing.",
        "targets": {
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VbudXgFUvGSf33FeF52VPa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0401, 0.8127, -0.4408, -0.4942, -0.2062, 0.9988, 0.5434, 1.7649, 0.8776, 0.0498, 0.3832, 0.3149, 0.9977]\nstate[eef_state]: left_x=0.3235 left_y=-0.0523 left_z=0.2033 left_yaw=0.0767 left_pitch=-0.0143 left_roll=0.1368 left_gripper=0.9988 right_x=0.3993 right_y=0.1682 right_z=0.0453 right_yaw=0.0364 right_pitch=-0.1903 right_roll=-0.0444 right_gripper=0.9977\nstate[joint_eff]: [-0.0479, -2.7966, 7.0906, 1.5702, -0.2173, -0.0269, -0.0073, -0.4444, -7.9385, 5.8325, 1.7216, 0.1978, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67cd449a662e486d9f498ac755e19146611c3c8f2ae33f05145ffc35b31338d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b15dddd1527c4114cbcbe3cce004bf343badf1bbac92d29f5cf37e9e3c4c990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b47056b374441d2c495535af80800b4bbcd5bdeaadbc9ff58c624aa3c05d4eb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.563 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0325, 0.8124, -0.4221, -0.5011, -0.205, 0.9983, -0.0219, 0.8295, 0.5945, -0.4309, -0.0166, -0.0273, 0.9977]\nstate[eef_state]: left_x=0.3251 left_y=-0.0519 left_z=0.2091 left_yaw=0.0816 left_pitch=0.0103 left_roll=0.1287 left_gripper=0.9983 right_x=0.2882 right_y=0.0002 right_z=0.1558 right_yaw=-0.0011 right_pitch=-0.095 right_roll=0.0031 right_gripper=0.9977\nstate[joint_eff]: [0.2393, -2.9607, 10.4, 1.6435, -0.1929, 0.1245, -0.0562, -0.2393, -1.6889, 6.9949, 1.7802, -0.0415, -0.0659, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0397, 0.8127, -0.4397, -0.4946, -0.2062, 0.9988, 0.5404, 1.6932, 0.9405, -0.0586, 0.3859, 0.3141, 0.9977]\nstate[eef_state]: left_x=0.3236 left_y=-0.0522 left_z=0.2036 left_yaw=0.077 left_pitch=-0.0128 left_roll=0.1362 left_gripper=0.9988 right_x=0.4037 right_y=0.1689 right_z=0.081 right_yaw=0.034 right_pitch=-0.1663 right_roll=-0.0337 right_gripper=0.9977\nstate[joint_eff]: [-0.0068, -3.494, 6.8581, 1.7607, -0.2564, -0.0513, 0.0366, 0.212, -8.5402, 8.5538, 1.7363, 0.3932, 0.1783, -0.0122]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0401, 0.8127, -0.4408, -0.4942, -0.2062, 0.9988, 0.5434, 1.7649, 0.8776, 0.0498, 0.3832, 0.3149, 0.9977]\nstate[eef_state]: left_x=0.3235 left_y=-0.0523 left_z=0.2033 left_yaw=0.0767 left_pitch=-0.0143 left_roll=0.1368 left_gripper=0.9988 right_x=0.3993 right_y=0.1682 right_z=0.0453 right_yaw=0.0364 right_pitch=-0.1903 right_roll=-0.0444 right_gripper=0.9977\nstate[joint_eff]: [-0.0479, -2.7966, 7.0906, 1.5702, -0.2173, -0.0269, -0.0073, -0.4444, -7.9385, 5.8325, 1.7216, 0.1978, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67cd449a662e486d9f498ac755e19146611c3c8f2ae33f05145ffc35b31338d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b15dddd1527c4114cbcbe3cce004bf343badf1bbac92d29f5cf37e9e3c4c990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b47056b374441d2c495535af80800b4bbcd5bdeaadbc9ff58c624aa3c05d4eb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStggKjgEIEhgCKkCDZY6jJz6wQs8kkmTx5/mFB1EIKZDlaIqkq9sKxGJX0BnuuVvXzwVI4/BVn4VPoOwvzLtAOIOshPv7xCaoctxgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZiDzNUGEgxJIwM67khURi6jpLIaDOR5A2KichX3Oq6OhiIwMGAnJ3M9o6vEN7Mr/AUiQnCAxTeSDjMLsgbxFHJr1i4cF+rq83JVbrDZkO9sP7HjKtQGppLaqWRrybtdzDO6fduYBbmlkCDSW9Eqfrkmz9UA0F7il1JNQMMxP56j10QRcI2bo3cpDWGzIJWLRBJzPEN9ktt2kTHz6v31XWzJ77v/quJmw/YlIHJasElHnG60UQOHavb3ZCtHuOrbKeATxCBt36YCA6QMNGdnqk1+kNBtWGkj3wxDg3Thrivs3Y1vEfOopP+lRcmmeItgcCnFFdIOWFBMyiO3A73If8hMPBD/LQet2+ZEiXzBuDzuKVrrUakDfSJuf5idLJ08hIMA5SDlmETRkgqK7ivUeSmoFp/BtQOR3q6kqCbqnpX3J1GR+MY6C5XF2ix9BPI78smylhHFBTDnP3XQkZJeMvPoptvUjWXBWfLsKnc7mdKvL2LXrWbBIifsExxXjzQjxfg7S4Vqzjqj3tONLE3EMCaJZvi3QnvPkU+1+ofBy0cQ6E8jFj0F+ZkHO72DX65NWAK1PrnqgHeV4FgX/4ZI9HrR7acR3En49CLaHdDPT7+tYqfQA38JXCJCSjiwXg4maBZIn11fZ8rl/sCRzWE57Se2thRncV6AaQ3HvPU6rNxTeo6F/Xwfx75ru9rDF4Y0zf5h5gTQT+MQaF/wKrRFpck2XnlTyuHq11dLclE0i+CQR24do0FimaxOFRlqJ3MYfFLhjiKSBzBdYgxprL1aTLGyy2jSnerbezWmXQA9IFGeSVLy+t5sBd9O7VBkOZaxb48zyH+hMt0xp2Pezo59quloJbGU5LzJ6cdb4fEnFHfTZOvmuzRlJ/yON62HHA8YTe/ugEpHmekQra/4O9IZSUXKvukJm34v0v5oAe+dK/1RDAp+zcYCbkZSpF0mC2dqkLtj6h9bLecEOr4BJXU57W5cIe7Rh9O/nttn51BJZQQYhgKToqDqXVLnBYGYB7I0xkiKd38dle5fb1xwnVshECTAWj6HSDOd2DELfEk2OrKyManplhy114kdZk+RfC59OiYqz+QlSHKxzVpnn9qto1b0aFWc0uKlFdpsnTM8E3GyAM2KL5Jt7nRpo5fqfWCDmpHrW0YjpGW8F0KCkxR6kgiTkehjZZMcURuZAGzq3DWc+QpKEsEaj9i545m+8V+J/H/uoS4a4FPkc4Xv5UzH8Dn9sCeuLFbfBfquGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017hTxMGLpxNXWCDGt7qHrmu",
      "input": {
        "note": "The pink bowl's rim reads ~2 cm right-of-jaw-centre in the wrist view, so I lift clear and shift 2 cm before descending onto the rim.",
        "targets": {
          "right_y": 0.188,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017hTxMGLpxNXWCDGt7qHrmu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0401, 0.8127, -0.4412, -0.4942, -0.2062, 0.9988, 0.5854, 1.755, 0.9684, -0.0982, 0.3889, 0.3279, 0.9977]\nstate[eef_state]: left_x=0.3234 left_y=-0.0522 left_z=0.2032 left_yaw=0.0767 left_pitch=-0.0146 left_roll=0.1369 left_gripper=0.9988 right_x=0.395 right_y=0.1857 right_z=0.0599 right_yaw=0.0617 right_pitch=-0.2289 right_roll=-0.0626 right_gripper=0.9977\nstate[joint_eff]: [-0.0889, -2.8786, 6.9675, 1.5702, -0.2222, -0.0757, -0.0122, 0.2256, -10.7692, 7.7197, 1.3602, 0.4371, 0.2173, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44814012333285eb4c199149c446de9c644e225091337e2c9d2bed57dad7fa92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aff2d45c198eae02d4ee7ea60d3bfd6bdf61c0890bce2cd094ca01bacc1a79c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fc3ac7340af07093aada7d373b5767ce377a4f9dc572061f43feff491cf78b87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 5.238 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0397, 0.8127, -0.4397, -0.4946, -0.2062, 0.9988, 0.5404, 1.6932, 0.9405, -0.0586, 0.3859, 0.3141, 0.9977]\nstate[eef_state]: left_x=0.3236 left_y=-0.0522 left_z=0.2036 left_yaw=0.077 left_pitch=-0.0128 left_roll=0.1362 left_gripper=0.9988 right_x=0.4037 right_y=0.1689 right_z=0.081 right_yaw=0.034 right_pitch=-0.1663 right_roll=-0.0337 right_gripper=0.9977\nstate[joint_eff]: [-0.0068, -3.494, 6.8581, 1.7607, -0.2564, -0.0513, 0.0366, 0.212, -8.5402, 8.5538, 1.7363, 0.3932, 0.1783, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0401, 0.8127, -0.4408, -0.4942, -0.2062, 0.9988, 0.5434, 1.7649, 0.8776, 0.0498, 0.3832, 0.3149, 0.9977]\nstate[eef_state]: left_x=0.3235 left_y=-0.0523 left_z=0.2033 left_yaw=0.0767 left_pitch=-0.0143 left_roll=0.1368 left_gripper=0.9988 right_x=0.3993 right_y=0.1682 right_z=0.0453 right_yaw=0.0364 right_pitch=-0.1903 right_roll=-0.0444 right_gripper=0.9977\nstate[joint_eff]: [-0.0479, -2.7966, 7.0906, 1.5702, -0.2173, -0.0269, -0.0073, -0.4444, -7.9385, 5.8325, 1.7216, 0.1978, -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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0401, 0.8127, -0.4412, -0.4942, -0.2062, 0.9988, 0.5854, 1.755, 0.9684, -0.0982, 0.3889, 0.3279, 0.9977]\nstate[eef_state]: left_x=0.3234 left_y=-0.0522 left_z=0.2032 left_yaw=0.0767 left_pitch=-0.0146 left_roll=0.1369 left_gripper=0.9988 right_x=0.395 right_y=0.1857 right_z=0.0599 right_yaw=0.0617 right_pitch=-0.2289 right_roll=-0.0626 right_gripper=0.9977\nstate[joint_eff]: [-0.0889, -2.8786, 6.9675, 1.5702, -0.2222, -0.0757, -0.0122, 0.2256, -10.7692, 7.7197, 1.3602, 0.4371, 0.2173, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44814012333285eb4c199149c446de9c644e225091337e2c9d2bed57dad7fa92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aff2d45c198eae02d4ee7ea60d3bfd6bdf61c0890bce2cd094ca01bacc1a79c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc3ac7340af07093aada7d373b5767ce377a4f9dc572061f43feff491cf78b87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrgMKjgEIEhgCKkAtL6ATvS4PhJ8vfzCG1RXR3y8Yoa+LVEHzZ7EzVZ+4zDUUvxTSzfWkm4KSVl/XocQvedAy3dhPwF6UlpXV3bYfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ6DzNUGEgzIEaOBE6NHxCaRI18aDIRl0d6RDvp7LHpJ4CIwYXsgX5fOWdY1bMrjfjY/Fkn7sHJ/3BXmI452s6Lssxxsz6YlijAJSCU4tI5bkIC2KswBZuXF2/OXtdLv+tN5gyROUJ+Eu4BK3Mdg4B/H3FpXrKoI5W0tqd5XHbCAfas77KGAzBqpemoWXdPrfevGzFPKeKq6oHRgMAwSRyX/GzjinCvziCFFvZl7aIOnHHyFaiOw6cFhJ0XNvQuPb2i2jw9hhA9FE9Xea3S1LQnAn1XeCjQHNaox/H9frL/XcLpcCwSsK8Mw5kyTiW8PNk3YUWCXJn7agjL7b8+D1/ctXMUy+94OQHMdfmVi4AWKcsG2BI10uSITNsGYl1qhQenRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017Hkssv8YVV1DBNuZ4iibAq",
      "input": {
        "note": "Rim now on the jaw column; descending so the open jaws straddle the pink bowl's rim.",
        "targets": {
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_017Hkssv8YVV1DBNuZ4iibAq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0401, 0.8127, -0.4412, -0.4946, -0.2062, 0.9988, 0.5922, 1.7557, 0.9638, -0.0666, 0.3885, 0.3363, 0.9977]\nstate[eef_state]: left_x=0.3234 left_y=-0.0522 left_z=0.2033 left_yaw=0.077 left_pitch=-0.0145 left_roll=0.1372 left_gripper=0.9988 right_x=0.3971 right_y=0.1909 right_z=0.0626 right_yaw=0.0672 right_pitch=-0.206 right_roll=-0.0428 right_gripper=0.9977\nstate[joint_eff]: [-0.1709, -2.8923, 6.8855, 1.5507, -0.2418, -0.0269, -0.0171, -0.7726, -5.8598, 4.4239, 1.0965, 0.1587, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ce3a78074d3a4d43228d6779711efb32e628d951c30a019d46174bf7f8e2719",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d047c28a5ae65097219ed2a4d80d9cd99ad9014e326a0cb6743aa042eaeae6e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:209816eea8b8a3d188a9f8a5efc898e03affe6c9ae8f57000feb671d71f994c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 13.85 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0401, 0.8127, -0.4408, -0.4942, -0.2062, 0.9988, 0.5434, 1.7649, 0.8776, 0.0498, 0.3832, 0.3149, 0.9977]\nstate[eef_state]: left_x=0.3235 left_y=-0.0523 left_z=0.2033 left_yaw=0.0767 left_pitch=-0.0143 left_roll=0.1368 left_gripper=0.9988 right_x=0.3993 right_y=0.1682 right_z=0.0453 right_yaw=0.0364 right_pitch=-0.1903 right_roll=-0.0444 right_gripper=0.9977\nstate[joint_eff]: [-0.0479, -2.7966, 7.0906, 1.5702, -0.2173, -0.0269, -0.0073, -0.4444, -7.9385, 5.8325, 1.7216, 0.1978, -0.0513, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0401, 0.8127, -0.4412, -0.4942, -0.2062, 0.9988, 0.5854, 1.755, 0.9684, -0.0982, 0.3889, 0.3279, 0.9977]\nstate[eef_state]: left_x=0.3234 left_y=-0.0522 left_z=0.2032 left_yaw=0.0767 left_pitch=-0.0146 left_roll=0.1369 left_gripper=0.9988 right_x=0.395 right_y=0.1857 right_z=0.0599 right_yaw=0.0617 right_pitch=-0.2289 right_roll=-0.0626 right_gripper=0.9977\nstate[joint_eff]: [-0.0889, -2.8786, 6.9675, 1.5702, -0.2222, -0.0757, -0.0122, 0.2256, -10.7692, 7.7197, 1.3602, 0.4371, 0.2173, -0.0171]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0401, 0.8127, -0.4412, -0.4946, -0.2062, 0.9988, 0.5922, 1.7557, 0.9638, -0.0666, 0.3885, 0.3363, 0.9977]\nstate[eef_state]: left_x=0.3234 left_y=-0.0522 left_z=0.2033 left_yaw=0.077 left_pitch=-0.0145 left_roll=0.1372 left_gripper=0.9988 right_x=0.3971 right_y=0.1909 right_z=0.0626 right_yaw=0.0672 right_pitch=-0.206 right_roll=-0.0428 right_gripper=0.9977\nstate[joint_eff]: [-0.1709, -2.8923, 6.8855, 1.5507, -0.2418, -0.0269, -0.0171, -0.7726, -5.8598, 4.4239, 1.0965, 0.1587, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ce3a78074d3a4d43228d6779711efb32e628d951c30a019d46174bf7f8e2719",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d047c28a5ae65097219ed2a4d80d9cd99ad9014e326a0cb6743aa042eaeae6e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:209816eea8b8a3d188a9f8a5efc898e03affe6c9ae8f57000feb671d71f994c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAUKjgEIEhgCKkDinfgMwkqBcKyE6+jsN9kEoSQ+PHoDXVfbQfWmH6jJRxhPbzvRmVGDWYeKdXj97BE0tC6DpLuvjBY/ZbE5Daf5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaODzNUGEgyg4DfWGO+T1mRf7VgaDDQb1N3GVr32oPHy0iIw4/gHyBdGzg3QteIfbNht8caURUaMb4aRd+ZosClGpKAIf2NIXnp5UO9KMy46N/C3KtIDmqx8mya9b0u/Bvqzzxju62PLMCK7yXTNA20UcH2bVjjE22cgtBEcg6PwENurXKKwE8vLp44066MYiFBpnndH5RbXMqp/PuN/U7+gtRHI2fJQ0x+2wt1dVZVAcbNIvXZkNjFrndWC1Wnyo3S4qUFccx4nNlQX/x5eLbocjUKOxA8/V9aHaWmDgGuYf/tPSRpgZMIuqqs3yA/3Z4n10vdrw+ixGEOrctf6j5wayWm7Zki0IYxbDzyQVHlj9AjjA0E/kbaUVveBaF9y5em1j04vVOUnn7a4dFZc836i8ggDv75vEyybBjNa6HA3ALsx1/6SSrazRZqxZZ64/PvSaWvdiPkLYWWFPt8pKGpnzoEaGqsQKfoPRpNQUWlKttOIsR2wTGX5bM9V7lnoeAXnAL1Q8723azhTtnksYBk60+H7Y2RFjw0ZAuHZTlAnMTnfX65tbl1PQbBhs3dj9OFXPjg1jG/Q2eSYjGeYBLO+JXvwC4R6Fq4muHBCM9uQGnHWvtoDnfbhfx8B9/qkgljEWNzpE7U/nd8nNyV3SdhNFCn8Te6tOrGp5+AdszWRc4AiGLvdZ+vUMyTk5WwvIsyWdPc6iYn2DpnPIJc/CcJ4jp4SZiS2ixgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VtySXgsr1y5rmrnopynWEq",
      "input": {
        "note": "Descent stalled at 6 cm, consistent with the jaws bracketing the rim. Closing on the pink bowl's rim.",
        "targets": {
          "right_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_01VtySXgsr1y5rmrnopynWEq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0409, 0.8127, -0.4412, -0.4942, -0.2062, 0.9988, 0.588, 1.8366, 0.8978, 0.0135, 0.4042, 0.3069, 0.0439]\nstate[eef_state]: left_x=0.3235 left_y=-0.0523 left_z=0.203 left_yaw=0.0767 left_pitch=-0.0153 left_roll=0.1373 left_gripper=0.9988 right_x=0.388 right_y=0.1795 right_z=0.0189 right_yaw=0.059 right_pitch=-0.2588 right_roll=-0.1091 right_gripper=0.0439\nstate[joint_eff]: [-0.1573, -3.0291, 7.0769, 1.5556, -0.2515, -0.0806, -0.0122, -0.5538, -9.4291, 7.2821, 1.3651, -0.1245, 0.1783, 0.989]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:036d8d107a6096d235c68783e52d8bebf9f77523cac689067d6cb5fe13e7794d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64844f4d3604093ca519c26fd635a5d2c3344a68dae357b01b5fbd00cd1903fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6658e0e00551b4077313ffcdc822975b463b608094d4cebad925d6d8832df8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 11.4 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0401, 0.8127, -0.4412, -0.4942, -0.2062, 0.9988, 0.5854, 1.755, 0.9684, -0.0982, 0.3889, 0.3279, 0.9977]\nstate[eef_state]: left_x=0.3234 left_y=-0.0522 left_z=0.2032 left_yaw=0.0767 left_pitch=-0.0146 left_roll=0.1369 left_gripper=0.9988 right_x=0.395 right_y=0.1857 right_z=0.0599 right_yaw=0.0617 right_pitch=-0.2289 right_roll=-0.0626 right_gripper=0.9977\nstate[joint_eff]: [-0.0889, -2.8786, 6.9675, 1.5702, -0.2222, -0.0757, -0.0122, 0.2256, -10.7692, 7.7197, 1.3602, 0.4371, 0.2173, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0401, 0.8127, -0.4412, -0.4946, -0.2062, 0.9988, 0.5922, 1.7557, 0.9638, -0.0666, 0.3885, 0.3363, 0.9977]\nstate[eef_state]: left_x=0.3234 left_y=-0.0522 left_z=0.2033 left_yaw=0.077 left_pitch=-0.0145 left_roll=0.1372 left_gripper=0.9988 right_x=0.3971 right_y=0.1909 right_z=0.0626 right_yaw=0.0672 right_pitch=-0.206 right_roll=-0.0428 right_gripper=0.9977\nstate[joint_eff]: [-0.1709, -2.8923, 6.8855, 1.5507, -0.2418, -0.0269, -0.0171, -0.7726, -5.8598, 4.4239, 1.0965, 0.1587, -0.0952, -0.0171]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0409, 0.8127, -0.4412, -0.4942, -0.2062, 0.9988, 0.588, 1.8366, 0.8978, 0.0135, 0.4042, 0.3069, 0.0439]\nstate[eef_state]: left_x=0.3235 left_y=-0.0523 left_z=0.203 left_yaw=0.0767 left_pitch=-0.0153 left_roll=0.1373 left_gripper=0.9988 right_x=0.388 right_y=0.1795 right_z=0.0189 right_yaw=0.059 right_pitch=-0.2588 right_roll=-0.1091 right_gripper=0.0439\nstate[joint_eff]: [-0.1573, -3.0291, 7.0769, 1.5556, -0.2515, -0.0806, -0.0122, -0.5538, -9.4291, 7.2821, 1.3651, -0.1245, 0.1783, 0.989]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:036d8d107a6096d235c68783e52d8bebf9f77523cac689067d6cb5fe13e7794d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64844f4d3604093ca519c26fd635a5d2c3344a68dae357b01b5fbd00cd1903fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6658e0e00551b4077313ffcdc822975b463b608094d4cebad925d6d8832df8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017aerbbSxmcEJMMqojyAgE1",
      "input": {
        "note": "Gripper settled at 0.044, the same reading that meant a held rim last time. Lifting and carrying the pink bowl left toward the nested stack.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.4,
          "right_y": 0.325,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_017aerbbSxmcEJMMqojyAgE1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.042, 0.8127, -0.445, -0.4946, -0.2062, 0.9988, 0.9012, 1.9251, 1.5047, -0.4236, 0.6781, 0.44, 0.0463]\nstate[eef_state]: left_x=0.3231 left_y=-0.052 left_z=0.202 left_yaw=0.0771 left_pitch=-0.0195 left_roll=0.1399 left_gripper=0.9988 right_x=0.393 right_y=0.3238 right_z=0.1593 right_yaw=0.1064 right_pitch=-0.056 right_roll=-0.1272 right_gripper=0.0463\nstate[joint_eff]: [-0.0615, -2.988, 6.8991, 1.6044, -0.2466, -0.0611, -0.0171, 0.1299, -10.2085, 8.8684, 1.3407, 0.6764, 0.2173, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d224145dea8175cdd6181d64e3557a73595b436201103129dcfac089c909fce5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:350676a9bbf7b8b57dd69acf482a919548e5ff7e0833df8d69992f6a8b9947f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b33383368b625c695e54f198380190d5698abf70ee3814556e20844136a3416f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 50.82 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0401, 0.8127, -0.4412, -0.4946, -0.2062, 0.9988, 0.5922, 1.7557, 0.9638, -0.0666, 0.3885, 0.3363, 0.9977]\nstate[eef_state]: left_x=0.3234 left_y=-0.0522 left_z=0.2033 left_yaw=0.077 left_pitch=-0.0145 left_roll=0.1372 left_gripper=0.9988 right_x=0.3971 right_y=0.1909 right_z=0.0626 right_yaw=0.0672 right_pitch=-0.206 right_roll=-0.0428 right_gripper=0.9977\nstate[joint_eff]: [-0.1709, -2.8923, 6.8855, 1.5507, -0.2418, -0.0269, -0.0171, -0.7726, -5.8598, 4.4239, 1.0965, 0.1587, -0.0952, -0.0171]\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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0409, 0.8127, -0.4412, -0.4942, -0.2062, 0.9988, 0.588, 1.8366, 0.8978, 0.0135, 0.4042, 0.3069, 0.0439]\nstate[eef_state]: left_x=0.3235 left_y=-0.0523 left_z=0.203 left_yaw=0.0767 left_pitch=-0.0153 left_roll=0.1373 left_gripper=0.9988 right_x=0.388 right_y=0.1795 right_z=0.0189 right_yaw=0.059 right_pitch=-0.2588 right_roll=-0.1091 right_gripper=0.0439\nstate[joint_eff]: [-0.1573, -3.0291, 7.0769, 1.5556, -0.2515, -0.0806, -0.0122, -0.5538, -9.4291, 7.2821, 1.3651, -0.1245, 0.1783, 0.989]\napprover: 1 step(s) modified (delta_clamped).",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.042, 0.8127, -0.445, -0.4946, -0.2062, 0.9988, 0.9012, 1.9251, 1.5047, -0.4236, 0.6781, 0.44, 0.0463]\nstate[eef_state]: left_x=0.3231 left_y=-0.052 left_z=0.202 left_yaw=0.0771 left_pitch=-0.0195 left_roll=0.1399 left_gripper=0.9988 right_x=0.393 right_y=0.3238 right_z=0.1593 right_yaw=0.1064 right_pitch=-0.056 right_roll=-0.1272 right_gripper=0.0463\nstate[joint_eff]: [-0.0615, -2.988, 6.8991, 1.6044, -0.2466, -0.0611, -0.0171, 0.1299, -10.2085, 8.8684, 1.3407, 0.6764, 0.2173, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d224145dea8175cdd6181d64e3557a73595b436201103129dcfac089c909fce5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:350676a9bbf7b8b57dd69acf482a919548e5ff7e0833df8d69992f6a8b9947f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b33383368b625c695e54f198380190d5698abf70ee3814556e20844136a3416f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Kj2jBKFLG2ZwEJNWX4rB9",
      "input": {
        "note": "The nested stack is still off to the left in the right wrist view, so I move further left (near the arm's y limit) to bring the carried pink bowl over it.",
        "targets": {
          "right_y": 0.39,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_011Kj2jBKFLG2ZwEJNWX4rB9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0428, 0.8124, -0.4496, -0.4942, -0.2062, 0.9988, 0.9901, 2.1418, 1.8305, -0.6292, 0.6998, 0.4953, 0.0477]\nstate[eef_state]: left_x=0.3225 left_y=-0.0518 left_z=0.2008 left_yaw=0.0769 left_pitch=-0.0246 left_roll=0.1425 left_gripper=0.9988 right_x=0.3858 right_y=0.3871 right_z=0.1506 right_yaw=0.1453 right_pitch=-0.1051 right_roll=-0.1654 right_gripper=0.0477\nstate[joint_eff]: [0.0068, -3.0154, 6.9265, 1.6239, -0.2515, -0.0415, -0.0122, -0.3214, -12.2188, 9.1282, 1.2967, 0.6032, 0.2418, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2292636c07812628d89bb495e1e13bb834cb643cd8435a86b4484598085f2701",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2828657897f75cc72b514629b133650c13b2e42a879df1b5f8113f2a8298c539",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a16e5f67cfe03614a8f89e30d768608cb9d636bea2f733290a77c2a9fd49b09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 9.088 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0409, 0.8127, -0.4412, -0.4942, -0.2062, 0.9988, 0.588, 1.8366, 0.8978, 0.0135, 0.4042, 0.3069, 0.0439]\nstate[eef_state]: left_x=0.3235 left_y=-0.0523 left_z=0.203 left_yaw=0.0767 left_pitch=-0.0153 left_roll=0.1373 left_gripper=0.9988 right_x=0.388 right_y=0.1795 right_z=0.0189 right_yaw=0.059 right_pitch=-0.2588 right_roll=-0.1091 right_gripper=0.0439\nstate[joint_eff]: [-0.1573, -3.0291, 7.0769, 1.5556, -0.2515, -0.0806, -0.0122, -0.5538, -9.4291, 7.2821, 1.3651, -0.1245, 0.1783, 0.989]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.042, 0.8127, -0.445, -0.4946, -0.2062, 0.9988, 0.9012, 1.9251, 1.5047, -0.4236, 0.6781, 0.44, 0.0463]\nstate[eef_state]: left_x=0.3231 left_y=-0.052 left_z=0.202 left_yaw=0.0771 left_pitch=-0.0195 left_roll=0.1399 left_gripper=0.9988 right_x=0.393 right_y=0.3238 right_z=0.1593 right_yaw=0.1064 right_pitch=-0.056 right_roll=-0.1272 right_gripper=0.0463\nstate[joint_eff]: [-0.0615, -2.988, 6.8991, 1.6044, -0.2466, -0.0611, -0.0171, 0.1299, -10.2085, 8.8684, 1.3407, 0.6764, 0.2173, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0428, 0.8124, -0.4496, -0.4942, -0.2062, 0.9988, 0.9901, 2.1418, 1.8305, -0.6292, 0.6998, 0.4953, 0.0477]\nstate[eef_state]: left_x=0.3225 left_y=-0.0518 left_z=0.2008 left_yaw=0.0769 left_pitch=-0.0246 left_roll=0.1425 left_gripper=0.9988 right_x=0.3858 right_y=0.3871 right_z=0.1506 right_yaw=0.1453 right_pitch=-0.1051 right_roll=-0.1654 right_gripper=0.0477\nstate[joint_eff]: [0.0068, -3.0154, 6.9265, 1.6239, -0.2515, -0.0415, -0.0122, -0.3214, -12.2188, 9.1282, 1.2967, 0.6032, 0.2418, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2292636c07812628d89bb495e1e13bb834cb643cd8435a86b4484598085f2701",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2828657897f75cc72b514629b133650c13b2e42a879df1b5f8113f2a8298c539",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a16e5f67cfe03614a8f89e30d768608cb9d636bea2f733290a77c2a9fd49b09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013jwDuYSxCb3pCAoq49p17A",
      "input": {
        "note": "By arithmetic from the two grasps, the nested stack sits at about right_y=0.27, so holding the pink bowl by its left rim I need the gripper at y≈0.34; moving there and lowering toward nesting height.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.41,
          "right_y": 0.34,
          "right_z": 0.075
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_013jwDuYSxCb3pCAoq49p17A",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0462, 0.8124, -0.4522, -0.4942, -0.2062, 0.9988, 0.9009, 2.1078, 1.3632, -0.1921, 0.691, 0.3782, 0.0502]\nstate[eef_state]: left_x=0.3224 left_y=-0.0518 left_z=0.1993 left_yaw=0.0769 left_pitch=-0.0299 left_roll=0.1455 left_gripper=0.9988 right_x=0.3947 right_y=0.3227 right_z=0.0509 right_yaw=0.1243 right_pitch=-0.1208 right_roll=-0.2492 right_gripper=0.0502\nstate[joint_eff]: [-0.0889, -3.2479, 6.8855, 1.58, -0.2076, -0.0611, -0.0122, 0.4581, -12.2051, 7.3915, 1.6923, 0.3101, -0.105, 0.8767]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddb88db968b7f83778196524458f0f936d7ffdd34e1225cab7ecdcb23482b293",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83b2eca2f3a872ac69074afd41a213f3b45180e84fad5f3706832aee0a8df81b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d16b486d6779e3af1fc629bec4d0287e8976f485eb6633abffb994e511970b29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 4.189 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.042, 0.8127, -0.445, -0.4946, -0.2062, 0.9988, 0.9012, 1.9251, 1.5047, -0.4236, 0.6781, 0.44, 0.0463]\nstate[eef_state]: left_x=0.3231 left_y=-0.052 left_z=0.202 left_yaw=0.0771 left_pitch=-0.0195 left_roll=0.1399 left_gripper=0.9988 right_x=0.393 right_y=0.3238 right_z=0.1593 right_yaw=0.1064 right_pitch=-0.056 right_roll=-0.1272 right_gripper=0.0463\nstate[joint_eff]: [-0.0615, -2.988, 6.8991, 1.6044, -0.2466, -0.0611, -0.0171, 0.1299, -10.2085, 8.8684, 1.3407, 0.6764, 0.2173, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0428, 0.8124, -0.4496, -0.4942, -0.2062, 0.9988, 0.9901, 2.1418, 1.8305, -0.6292, 0.6998, 0.4953, 0.0477]\nstate[eef_state]: left_x=0.3225 left_y=-0.0518 left_z=0.2008 left_yaw=0.0769 left_pitch=-0.0246 left_roll=0.1425 left_gripper=0.9988 right_x=0.3858 right_y=0.3871 right_z=0.1506 right_yaw=0.1453 right_pitch=-0.1051 right_roll=-0.1654 right_gripper=0.0477\nstate[joint_eff]: [0.0068, -3.0154, 6.9265, 1.6239, -0.2515, -0.0415, -0.0122, -0.3214, -12.2188, 9.1282, 1.2967, 0.6032, 0.2418, 1.0281]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0462, 0.8124, -0.4522, -0.4942, -0.2062, 0.9988, 0.9009, 2.1078, 1.3632, -0.1921, 0.691, 0.3782, 0.0502]\nstate[eef_state]: left_x=0.3224 left_y=-0.0518 left_z=0.1993 left_yaw=0.0769 left_pitch=-0.0299 left_roll=0.1455 left_gripper=0.9988 right_x=0.3947 right_y=0.3227 right_z=0.0509 right_yaw=0.1243 right_pitch=-0.1208 right_roll=-0.2492 right_gripper=0.0502\nstate[joint_eff]: [-0.0889, -3.2479, 6.8855, 1.58, -0.2076, -0.0611, -0.0122, 0.4581, -12.2051, 7.3915, 1.6923, 0.3101, -0.105, 0.8767]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddb88db968b7f83778196524458f0f936d7ffdd34e1225cab7ecdcb23482b293",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83b2eca2f3a872ac69074afd41a213f3b45180e84fad5f3706832aee0a8df81b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d16b486d6779e3af1fc629bec4d0287e8976f485eb6633abffb994e511970b29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpwkKjgEIEhgCKkDC9iHUaBRQqFn1AMHDTaI2vECfCxKjZok2UDzD5CkFRSQLvlFv1DF2+DAEsVoDqTYinCi0YnRtz7fIzLbSJeIRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfuDzNUGEgyh7ljycYBar5bZBdkaDJhC7gddDG8izRafTCIw9EV4bOK9aZxgxTerKT9eKFxRkoQLRurM7ISEvVjNM7nsZcf2RoY95Bu5/eECo0dtKsUHt2tAJK3DhoP7ClCuLiMqzhx53iK7lwNuuN7+jZE4SYSkGe63CEQ5y+HMzNUcf9NMHK/vOZjH7QIv4L/B72+Lo2/zNacMMnwj++eMtaGBV5E702OUNURvsoSwIQJtX8SUlOL1X4x7d9lo7PvhWXFj8CzMLb0NUn8pNJUmAETimZVyn7WRZlPfEou5G2Mh8SkJl1jlYJHw/QMpXuO2jTK8RdY4cQCk/jEdWp63RAprVML07lAsHGwWc4pkADVHxVYOyNjdu9HtviDLlNv15LmJuMocg1pUZzlZ3vkWLAtQRttH+LJC5nHSk3w2utAV1Pp1GAwSWNwfe8G/TWgC9U8AxVtEaWxxNjJZIpeINN6owt1nsZkMci85wJgxomXOgJFoDD75LVGK3mr7yCOa0ePmPbdHEDcPwW6greMOqESYx+kSJs/AlqcareoYDfh20dNLtnDPfX0xrdfasRMJOquP3Tjx1aMSt5pkEoma4EHQN/TfGZBuIut0FqEkdk45lc1wGRcC02x+3BgccR9OEB1lhWGTB2wsIIGTIlfq22kvF5Kqp82mNp1PtOsWTCVdLVeuu/v8BQ4NW+hn17tFZf0k+mqweSPYRVyDJEESfDzVTs+Szdn6iyfk74/ebSrEiYoJ7TpzTUY+6Rm7SyhA97mfux7yjpAeRosRf5DVNrOXBf2ENKeILCkAgiNyl1HRmBAnLPf1G+8nHZtXRoUCqBnujrRRSm41VLGNhtajlE8vxhOJKeRb0Kcj4Oprrr/23pEYUV1TmPNcwDjo6seK9CQcOJXR6xUrEdgcPm//pRYbxfx7co1STjPULRXBVWSa5f2gn8cUUSUFKhu97h4+fTKjiXWLPWiRWKWhSo7YhjHplP0Z28JPgSQWj2HuhiTnLjPzgHHp0WZceTAKmIBOCeAQUW4GTlfGdiChKKMq1bm3MQYjpS0hlD0FBuriokNZsrR8BGv50A2VcNu3iYRXPqUoHxNhJf9f8TSPEB+oBdwMeX+RjNk9o+/8akmxkN8mTrZb/FBLdq6UKDsMtvhX4Zbo1RYQLdGVuptGlCe2MF/CeG9/Kdi0BqrHh3P6ILsiJQAmiie53wFVYxDwMWEeysH+ApF7F0kuEDJ5hX5RB6n7MyCKNuJbVijp2SK/c/ox/8dpxCb5bJXJs72UI7e3afCVWQzqTqXrx+UQ0sUM7PknKU5UnwPEehbfNsv9j+gC3IWjjc1pwlCxjQoay/joLBdvftnhwICRuCrTDdywIoTCis/xxUg5rtgRWc2BpelR7naXwWxeMDEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CQnoi1vr7WxMgXRccKhW2r",
      "input": {
        "note": "The pink bowl is back down on the table just right of the stack rather than nested; releasing it so I can re-plan with a clear overhead view.",
        "targets": {
          "right_gripper": 0.8
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01CQnoi1vr7WxMgXRccKhW2r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0466, 0.8124, -0.4526, -0.4942, -0.2062, 0.9988, 0.9012, 2.1098, 1.3437, -0.194, 0.691, 0.3698, 0.7954]\nstate[eef_state]: left_x=0.3224 left_y=-0.0518 left_z=0.1992 left_yaw=0.0769 left_pitch=-0.0306 left_roll=0.1458 left_gripper=0.9988 right_x=0.3908 right_y=0.3181 right_z=0.0432 right_yaw=0.127 right_pitch=-0.1386 right_roll=-0.2722 right_gripper=0.7954\nstate[joint_eff]: [-0.1846, -2.9744, 6.8991, 1.6044, -0.2076, -0.0366, -0.0122, -0.1436, -11.5624, 7.788, 1.2723, 0.2613, 0.0073, -0.0464]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16ca282075c8524c83ce3c62673c5685b12ea56140155e29a1e2ab7b816e919b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4d0253342200e9a32f41f58491b6afc5bb40b7ffbf18a8cb75ed647a79017d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe1ed9dc50276cd7c643fa8600ce1320a509633fadd9b893f55d40eb3ee66780",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 18.47 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0428, 0.8124, -0.4496, -0.4942, -0.2062, 0.9988, 0.9901, 2.1418, 1.8305, -0.6292, 0.6998, 0.4953, 0.0477]\nstate[eef_state]: left_x=0.3225 left_y=-0.0518 left_z=0.2008 left_yaw=0.0769 left_pitch=-0.0246 left_roll=0.1425 left_gripper=0.9988 right_x=0.3858 right_y=0.3871 right_z=0.1506 right_yaw=0.1453 right_pitch=-0.1051 right_roll=-0.1654 right_gripper=0.0477\nstate[joint_eff]: [0.0068, -3.0154, 6.9265, 1.6239, -0.2515, -0.0415, -0.0122, -0.3214, -12.2188, 9.1282, 1.2967, 0.6032, 0.2418, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0462, 0.8124, -0.4522, -0.4942, -0.2062, 0.9988, 0.9009, 2.1078, 1.3632, -0.1921, 0.691, 0.3782, 0.0502]\nstate[eef_state]: left_x=0.3224 left_y=-0.0518 left_z=0.1993 left_yaw=0.0769 left_pitch=-0.0299 left_roll=0.1455 left_gripper=0.9988 right_x=0.3947 right_y=0.3227 right_z=0.0509 right_yaw=0.1243 right_pitch=-0.1208 right_roll=-0.2492 right_gripper=0.0502\nstate[joint_eff]: [-0.0889, -3.2479, 6.8855, 1.58, -0.2076, -0.0611, -0.0122, 0.4581, -12.2051, 7.3915, 1.6923, 0.3101, -0.105, 0.8767]\napprover: 1 step(s) modified (delta_clamped).",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0466, 0.8124, -0.4526, -0.4942, -0.2062, 0.9988, 0.9012, 2.1098, 1.3437, -0.194, 0.691, 0.3698, 0.7954]\nstate[eef_state]: left_x=0.3224 left_y=-0.0518 left_z=0.1992 left_yaw=0.0769 left_pitch=-0.0306 left_roll=0.1458 left_gripper=0.9988 right_x=0.3908 right_y=0.3181 right_z=0.0432 right_yaw=0.127 right_pitch=-0.1386 right_roll=-0.2722 right_gripper=0.7954\nstate[joint_eff]: [-0.1846, -2.9744, 6.8991, 1.6044, -0.2076, -0.0366, -0.0122, -0.1436, -11.5624, 7.788, 1.2723, 0.2613, 0.0073, -0.0464]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16ca282075c8524c83ce3c62673c5685b12ea56140155e29a1e2ab7b816e919b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4d0253342200e9a32f41f58491b6afc5bb40b7ffbf18a8cb75ed647a79017d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe1ed9dc50276cd7c643fa8600ce1320a509633fadd9b893f55d40eb3ee66780",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwgMKjgEIEhgCKkCbOb0C4w6PwwulgeEP33hAlwNrwNnnDgXmRTdcu0KpM4w2TAxaBlawPxUxn+Rs0a8FU5n9QlJLCzyIN4VrOTMdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYCEzNUGEgw6+VZeU4mW9VjB2V4aDHWTWEEteGaJ6Fln8yIw+1ZApOBaRzedcX+1ZXLWMJhfrtOQ7vQ/tlg/fszmcX+Qq3XwjjuGNTxLoDGHx3qzKuABZUYtiq1xzIwcJKCZO9vOVoUVFHjqp4n2LeUz9S+vrJ+ZapCvrRmHLWZWmDsZEuAuyKxBz8kzILYm87SF1CgcoYTHxr8hwaWmCVILmw/jreRLI99b78DtSZxli1wcF2D/eincDaRt0SliaD7Y5NmUZhxTKWmcWzk//lOUtorX2b+o+02cFaSslBw6H3orXl9HDShujXvSQRBFhhrLFvnrbf0aknTQjIdTV4lT83g+Js5iK3sIEGm08ObERAPq2hiCVa6mpdGoMWu1Yrm3bgcOn4Mwz1amoQqrAeQp+bfaggUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NugNwEdRq8fmTyLB2khSTd",
      "input": {
        "note": "Parking the right arm back near home so the overhead camera shows the bowl layout unobstructed before the left arm finishes the stack.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.25,
          "right_y": 0.0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 27 steps (2.7s)",
      "tool_use_id": "toolu_01NugNwEdRq8fmTyLB2khSTd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0473, 0.8124, -0.4534, -0.4942, -0.2062, 0.9988, 0.0727, 0.7879, 0.9424, -0.8623, 0.1635, -0.2394, 0.9972]\nstate[eef_state]: left_x=0.3224 left_y=-0.0518 left_z=0.1988 left_yaw=0.077 left_pitch=-0.0319 left_roll=0.1466 left_gripper=0.9988 right_x=0.2536 right_y=-0.0068 right_z=0.2374 right_yaw=0.0543 right_pitch=-0.153 right_roll=-0.2766 right_gripper=0.9972\nstate[joint_eff]: [-0.1709, -3.0564, 7.0632, 1.5556, -0.188, -0.0366, -0.0122, 0.335, -0.9368, 8.9641, 1.6386, -0.0806, -0.0562, -0.3053]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2254636f93ba8a49fc2c084dc22f1552849237290a404d5d09582d432aa1d8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1d91d65bdae74972e81edcd0b954109267190cbee4b917c8785be69f43d95bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:90547ac58bc2033ebda42c4bf71963df753bb10ea945e41fbbc1644032e0cdd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 12.85 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0462, 0.8124, -0.4522, -0.4942, -0.2062, 0.9988, 0.9009, 2.1078, 1.3632, -0.1921, 0.691, 0.3782, 0.0502]\nstate[eef_state]: left_x=0.3224 left_y=-0.0518 left_z=0.1993 left_yaw=0.0769 left_pitch=-0.0299 left_roll=0.1455 left_gripper=0.9988 right_x=0.3947 right_y=0.3227 right_z=0.0509 right_yaw=0.1243 right_pitch=-0.1208 right_roll=-0.2492 right_gripper=0.0502\nstate[joint_eff]: [-0.0889, -3.2479, 6.8855, 1.58, -0.2076, -0.0611, -0.0122, 0.4581, -12.2051, 7.3915, 1.6923, 0.3101, -0.105, 0.8767]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0466, 0.8124, -0.4526, -0.4942, -0.2062, 0.9988, 0.9012, 2.1098, 1.3437, -0.194, 0.691, 0.3698, 0.7954]\nstate[eef_state]: left_x=0.3224 left_y=-0.0518 left_z=0.1992 left_yaw=0.0769 left_pitch=-0.0306 left_roll=0.1458 left_gripper=0.9988 right_x=0.3908 right_y=0.3181 right_z=0.0432 right_yaw=0.127 right_pitch=-0.1386 right_roll=-0.2722 right_gripper=0.7954\nstate[joint_eff]: [-0.1846, -2.9744, 6.8991, 1.6044, -0.2076, -0.0366, -0.0122, -0.1436, -11.5624, 7.788, 1.2723, 0.2613, 0.0073, -0.0464]\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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0473, 0.8124, -0.4534, -0.4942, -0.2062, 0.9988, 0.0727, 0.7879, 0.9424, -0.8623, 0.1635, -0.2394, 0.9972]\nstate[eef_state]: left_x=0.3224 left_y=-0.0518 left_z=0.1988 left_yaw=0.077 left_pitch=-0.0319 left_roll=0.1466 left_gripper=0.9988 right_x=0.2536 right_y=-0.0068 right_z=0.2374 right_yaw=0.0543 right_pitch=-0.153 right_roll=-0.2766 right_gripper=0.9972\nstate[joint_eff]: [-0.1709, -3.0564, 7.0632, 1.5556, -0.188, -0.0366, -0.0122, 0.335, -0.9368, 8.9641, 1.6386, -0.0806, -0.0562, -0.3053]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2254636f93ba8a49fc2c084dc22f1552849237290a404d5d09582d432aa1d8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1d91d65bdae74972e81edcd0b954109267190cbee4b917c8785be69f43d95bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90547ac58bc2033ebda42c4bf71963df753bb10ea945e41fbbc1644032e0cdd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012XXfEBYen6wa23eAo6nN2g",
      "input": {
        "note": "Overhead now shows two bowls 14 cm apart: the nested pair on the left and the pink bowl on the right. Bringing the left gripper down onto the pink bowl's left rim to pick it up.",
        "targets": {
          "left_gripper": 1,
          "left_pitch": 0.0,
          "left_x": 0.43,
          "left_y": -0.248,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_012XXfEBYen6wa23eAo6nN2g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7712, 2.038, 1.1439, 0.0444, -0.7582, -0.4736, 0.9989, 0.0719, 0.7944, 0.9398, -0.886, 0.152, -0.2581, 0.997]\nstate[eef_state]: left_x=0.4243 left_y=-0.238 left_z=0.0454 left_yaw=0.0758 left_pitch=-0.0176 left_roll=0.1686 left_gripper=0.9989 right_x=0.2504 right_y=-0.0052 right_z=0.2302 right_yaw=0.0732 right_pitch=-0.1887 right_roll=-0.2832 right_gripper=0.997\nstate[joint_eff]: [-0.5949, -9.7026, 6.8308, 1.2772, -0.1978, -0.1441, -0.1294, 0.0068, -1.0462, 6.5983, 1.8046, 0.0952, 0.1197, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af09b5f27a51f996f02617374a21e20e429065bc4bcfe25ea946ef27009a2184",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78800b9c2f3d67047a345c0e25de678cfd7e0f62f2bcc44aae54bf5a49a5e67f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71a4725dc5ee8622aa0593116458abe1893db73a32cdf20dd16b5fd4ff4f5034",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 22.18 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0466, 0.8124, -0.4526, -0.4942, -0.2062, 0.9988, 0.9012, 2.1098, 1.3437, -0.194, 0.691, 0.3698, 0.7954]\nstate[eef_state]: left_x=0.3224 left_y=-0.0518 left_z=0.1992 left_yaw=0.0769 left_pitch=-0.0306 left_roll=0.1458 left_gripper=0.9988 right_x=0.3908 right_y=0.3181 right_z=0.0432 right_yaw=0.127 right_pitch=-0.1386 right_roll=-0.2722 right_gripper=0.7954\nstate[joint_eff]: [-0.1846, -2.9744, 6.8991, 1.6044, -0.2076, -0.0366, -0.0122, -0.1436, -11.5624, 7.788, 1.2723, 0.2613, 0.0073, -0.0464]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0473, 0.8124, -0.4534, -0.4942, -0.2062, 0.9988, 0.0727, 0.7879, 0.9424, -0.8623, 0.1635, -0.2394, 0.9972]\nstate[eef_state]: left_x=0.3224 left_y=-0.0518 left_z=0.1988 left_yaw=0.077 left_pitch=-0.0319 left_roll=0.1466 left_gripper=0.9988 right_x=0.2536 right_y=-0.0068 right_z=0.2374 right_yaw=0.0543 right_pitch=-0.153 right_roll=-0.2766 right_gripper=0.9972\nstate[joint_eff]: [-0.1709, -3.0564, 7.0632, 1.5556, -0.188, -0.0366, -0.0122, 0.335, -0.9368, 8.9641, 1.6386, -0.0806, -0.0562, -0.3053]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.7712, 2.038, 1.1439, 0.0444, -0.7582, -0.4736, 0.9989, 0.0719, 0.7944, 0.9398, -0.886, 0.152, -0.2581, 0.997]\nstate[eef_state]: left_x=0.4243 left_y=-0.238 left_z=0.0454 left_yaw=0.0758 left_pitch=-0.0176 left_roll=0.1686 left_gripper=0.9989 right_x=0.2504 right_y=-0.0052 right_z=0.2302 right_yaw=0.0732 right_pitch=-0.1887 right_roll=-0.2832 right_gripper=0.997\nstate[joint_eff]: [-0.5949, -9.7026, 6.8308, 1.2772, -0.1978, -0.1441, -0.1294, 0.0068, -1.0462, 6.5983, 1.8046, 0.0952, 0.1197, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af09b5f27a51f996f02617374a21e20e429065bc4bcfe25ea946ef27009a2184",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78800b9c2f3d67047a345c0e25de678cfd7e0f62f2bcc44aae54bf5a49a5e67f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71a4725dc5ee8622aa0593116458abe1893db73a32cdf20dd16b5fd4ff4f5034",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GN3eZngc5rS9NF2qP4vkzi",
      "input": {
        "note": "The wrist view is empty, meaning the jaws are over the left (nested) bowl, not the pink one; sliding 14 cm right at rim height to straddle the pink bowl's left rim.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.375,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01GN3eZngc5rS9NF2qP4vkzi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9546, 2.3966, 1.7977, -0.4038, -0.8577, -0.6949, 0.9988, 0.0719, 0.7975, 0.9386, -0.8898, 0.1486, -0.2623, 0.997]\nstate[eef_state]: left_x=0.4299 left_y=-0.3697 left_z=0.0461 left_yaw=0.0737 left_pitch=-0.0233 left_roll=0.1552 left_gripper=0.9988 right_x=0.2501 right_y=-0.0046 right_z=0.2283 right_yaw=0.0784 right_pitch=-0.1973 right_roll=-0.2839 right_gripper=0.997\nstate[joint_eff]: [-0.6085, -12.9026, 8.2393, 1.1306, -0.525, 0.1197, -0.0171, -0.335, -0.7316, 6.5299, 1.6239, 0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09bc936a31583e777b283919cd8011ee253944e1624e286cec7fdc012d176764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d297cac7f1222c8c01275b9494f25f63e89f809e1d467c720afb054d4ac1887f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c97d18a575d58c8a38c3e0e7e9e42cb616208bd16d0c2a0907beea188fe580b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 23.02 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.4301, 1.0473, 0.8124, -0.4534, -0.4942, -0.2062, 0.9988, 0.0727, 0.7879, 0.9424, -0.8623, 0.1635, -0.2394, 0.9972]\nstate[eef_state]: left_x=0.3224 left_y=-0.0518 left_z=0.1988 left_yaw=0.077 left_pitch=-0.0319 left_roll=0.1466 left_gripper=0.9988 right_x=0.2536 right_y=-0.0068 right_z=0.2374 right_yaw=0.0543 right_pitch=-0.153 right_roll=-0.2766 right_gripper=0.9972\nstate[joint_eff]: [-0.1709, -3.0564, 7.0632, 1.5556, -0.188, -0.0366, -0.0122, 0.335, -0.9368, 8.9641, 1.6386, -0.0806, -0.0562, -0.3053]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7712, 2.038, 1.1439, 0.0444, -0.7582, -0.4736, 0.9989, 0.0719, 0.7944, 0.9398, -0.886, 0.152, -0.2581, 0.997]\nstate[eef_state]: left_x=0.4243 left_y=-0.238 left_z=0.0454 left_yaw=0.0758 left_pitch=-0.0176 left_roll=0.1686 left_gripper=0.9989 right_x=0.2504 right_y=-0.0052 right_z=0.2302 right_yaw=0.0732 right_pitch=-0.1887 right_roll=-0.2832 right_gripper=0.997\nstate[joint_eff]: [-0.5949, -9.7026, 6.8308, 1.2772, -0.1978, -0.1441, -0.1294, 0.0068, -1.0462, 6.5983, 1.8046, 0.0952, 0.1197, -0.0317]",
      "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: Stack the bowls on the table.\nstate[joint_pos]: [-0.9546, 2.3966, 1.7977, -0.4038, -0.8577, -0.6949, 0.9988, 0.0719, 0.7975, 0.9386, -0.8898, 0.1486, -0.2623, 0.997]\nstate[eef_state]: left_x=0.4299 left_y=-0.3697 left_z=0.0461 left_yaw=0.0737 left_pitch=-0.0233 left_roll=0.1552 left_gripper=0.9988 right_x=0.2501 right_y=-0.0046 right_z=0.2283 right_yaw=0.0784 right_pitch=-0.1973 right_roll=-0.2839 right_gripper=0.997\nstate[joint_eff]: [-0.6085, -12.9026, 8.2393, 1.1306, -0.525, 0.1197, -0.0171, -0.335, -0.7316, 6.5299, 1.6239, 0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09bc936a31583e777b283919cd8011ee253944e1624e286cec7fdc012d176764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d297cac7f1222c8c01275b9494f25f63e89f809e1d467c720afb054d4ac1887f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c97d18a575d58c8a38c3e0e7e9e42cb616208bd16d0c2a0907beea188fe580b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mupw6ro5BJLuiWgb5CBKQu",
      "input": {
        "note": "The left arm has hit its y limit short of the pink bowl, so the right arm will take it — this time grasping the bowl's right rim so the placing pose stays inside the right arm's reach. Moving down onto that rim now.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0.0,
          "right_x": 0.41,
          "right_y": 0.15,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01Mupw6ro5BJLuiWgb5CBKQu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7845, 2.4481, 1.7756, -0.421, -0.9577, -0.7227, 0.9988, 0.5327, 1.6867, 0.6868, 0.3752, 0.5484, 0.0601, 0.997]\nstate[eef_state]: left_x=0.4803 left_y=-0.2703 left_z=0.0227 left_yaw=0.3092 left_pitch=0.0113 left_roll=0.2533 left_gripper=0.9988 right_x=0.4004 right_y=0.1334 right_z=0.0715 right_yaw=0.0397 right_pitch=0.0294 right_roll=-0.2433 right_gripper=0.997\nstate[joint_eff]: [-14.9128, -17.388, 7.8017, 1.2039, 0.9402, 0.3199, -0.0122, 1.6068, 0.5265, 8.8, 0.7985, 0.0904, -0.5641, -0.3248]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a46c0dbf285a390f87cf3d978a12358d2c6869c33d10485a03e490af435c634",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8095f2fd4b04fea7fad6416c01bada72294b16c9ccd47f1a4ab5b1ed428c3d03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:862b70fcfc5eb1e842d27959cdb209a2c55c61d74a97bd495527cebbd4c1e66f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 17.63 s
model
claude-opus-5
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: Stack the bowls on the table.\nstate[joint_pos]: [-0.7712, 2.038, 1.1439, 0.0444, -0.7582, -0.4736, 0.9989, 0.0719, 0.7944, 0.9398, -0.886, 0.152, -0.2581, 0.997]\nstate[eef_state]: left_x=0.4243 left_y=-0.238 left_z=0.0454 left_yaw=0.0758 left_pitch=-0.0176 left_roll=0.1686 left_gripper=0.9989 right_x=0.2504 right_y=-0.0052 right_z=0.2302 right_yaw=0.0732 right_pitch=-0.1887 right_roll=-0.2832 right_gripper=0.997\nstate[joint_eff]: [-0.5949, -9.7026, 6.8308, 1.2772, -0.1978, -0.1441, -0.1294, 0.0068, -1.0462, 6.5983, 1.8046, 0.0952, 0.1197, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9546, 2.3966, 1.7977, -0.4038, -0.8577, -0.6949, 0.9988, 0.0719, 0.7975, 0.9386, -0.8898, 0.1486, -0.2623, 0.997]\nstate[eef_state]: left_x=0.4299 left_y=-0.3697 left_z=0.0461 left_yaw=0.0737 left_pitch=-0.0233 left_roll=0.1552 left_gripper=0.9988 right_x=0.2501 right_y=-0.0046 right_z=0.2283 right_yaw=0.0784 right_pitch=-0.1973 right_roll=-0.2839 right_gripper=0.997\nstate[joint_eff]: [-0.6085, -12.9026, 8.2393, 1.1306, -0.525, 0.1197, -0.0171, -0.335, -0.7316, 6.5299, 1.6239, 0.0366, -0.022, -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: Stack the bowls on the table.\nstate[joint_pos]: [-0.7845, 2.4481, 1.7756, -0.421, -0.9577, -0.7227, 0.9988, 0.5327, 1.6867, 0.6868, 0.3752, 0.5484, 0.0601, 0.997]\nstate[eef_state]: left_x=0.4803 left_y=-0.2703 left_z=0.0227 left_yaw=0.3092 left_pitch=0.0113 left_roll=0.2533 left_gripper=0.9988 right_x=0.4004 right_y=0.1334 right_z=0.0715 right_yaw=0.0397 right_pitch=0.0294 right_roll=-0.2433 right_gripper=0.997\nstate[joint_eff]: [-14.9128, -17.388, 7.8017, 1.2039, 0.9402, 0.3199, -0.0122, 1.6068, 0.5265, 8.8, 0.7985, 0.0904, -0.5641, -0.3248]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a46c0dbf285a390f87cf3d978a12358d2c6869c33d10485a03e490af435c634",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8095f2fd4b04fea7fad6416c01bada72294b16c9ccd47f1a4ab5b1ed428c3d03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:862b70fcfc5eb1e842d27959cdb209a2c55c61d74a97bd495527cebbd4c1e66f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0119ectgsLe2crpZrtttKWEg",
      "input": {
        "note": "The left arm is showing high shoulder torque out at the edge of its reach, so I retract it to a safe home pose before finishing.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_yaw": 0.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_0119ectgsLe2crpZrtttKWEg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4992, 0.9714, 0.8974, -0.5648, -0.5922, -0.1413, 0.9988, 0.5323, 1.6798, 0.6769, 0.3702, 0.5381, 0.0559, 0.9964]\nstate[eef_state]: left_x=0.307 left_y=-0.051 left_z=0.2427 left_yaw=0.0509 left_pitch=0.0344 left_roll=0.2284 left_gripper=0.9988 right_x=0.3974 right_y=0.1332 right_z=0.0692 right_yaw=0.0498 right_pitch=0.0189 right_roll=-0.2453 right_gripper=0.9964\nstate[joint_eff]: [0.2667, -2.0581, 9.4974, 1.6484, -0.1245, 0.1197, -0.0122, -0.0205, -6.612, 6.3385, 1.6581, 0.2369, -0.0269, -0.0659]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97fba4d2bcc25c7e3526463eb9ec305b63e70e47793b7bf4939a3403c3c2a292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:601607d8422c866a86c4c20055c4824c6e470bb0f9c7fc2be0e76e6949c7d450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1281448d427fbedc927612b82743c7bd5e54ef1b2adfd3657b178a0dfdb5cf11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]