adhoc

completed
2026-09-22T19:03:05.532823+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 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-5-5
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
263.4 s
total steps
209
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

give_up

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 in a row mid-table; pink bowl is nearest the right arm. Moving the right arm toward the pink bowl's right rim to grasp it by the wall.
move_to
right_x0.3000right_y0.1300right_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7956, 0.606, -0.3786, -0.0223, -0.041, 0.9993, -0.0216, 0.794, 0.6029, -0.3809, -0.0158, -0.0334, 0.9993] state[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1807 left_yaw=-0.0005 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9993 right_x=0.2945 right_y=0.0 right_z=0.1793 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.6632, -1.5932, 9.935, 1.746, -0.0171, 0.2564, -0.0806, -0.1436, -1.5385, 10.2496, 1.8828, -0.1343, 0.1783, -0.0904] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.13, "right_z": 0.15}, "note": "Three bowls in a row mid-table; pink bowl is nearest the right arm. Moving the right arm toward the pink bowl's right rim to grasp it by the wall."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent notePink bowl is centred ahead in the right wrist view. Shifting to its right-hand rim so the jaws can straddle the wall.
move_to
right_x0.3400right_y0.0700right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8005, 0.6079, -0.3862, -0.0227, -0.0422, 0.9993, 0.6765, 1.0916, 0.5919, -0.2615, 0.5068, 0.3492, 0.9992] state[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1787 left_yaw=0.0008 left_pitch=-0.0107 left_roll=-0.0011 left_gripper=0.9993 right_x=0.289 right_y=0.1267 right_z=0.1268 right_yaw=0.0581 right_pitch=-0.0768 right_roll=-0.0484 right_gripper=0.9992 state[joint_eff]: [-0.1026, -1.6342, 6.8991, 1.7998, -0.0708, -0.0611, -0.0171, 0.0889, -3.7538, 10.359, 1.7021, 0.3736, 0.1343, -0.022] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.07, "right_z": 0.12}, "note": "Pink bowl is centred ahead in the right wrist view. Shifting to its right-hand rim so the jaws can straddle the wall."})
tool
executing move_to over 5 steps (0.5s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent notePink bowl's right rim is on the jaw column. Descending so the jaws straddle the bowl wall.
move_to
right_x0.3500right_y0.0640right_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3885, -0.0227, -0.0422, 0.9993, 0.3336, 1.1641, 0.5774, -0.144, 0.2882, 0.144, 0.9992] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.177 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3282 right_y=0.0644 right_z=0.1091 right_yaw=0.0023 right_pitch=-0.1244 right_roll=-0.0633 right_gripper=0.9992 state[joint_eff]: [-0.0889, -1.6068, 7.0359, 1.7607, -0.0513, -0.0366, -0.0122, -0.1026, -3.6444, 7.6923, 1.7607, 0.0904, 0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.064, "right_z": 0.03}, "note": "Pink bowl's right rim is on the jaw column. Descending so the jaws straddle the bowl wall."})
tool
executing move_to over 6 steps (0.6s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe descent was held at z≈0.11 with no apparent contact; trying a smaller step down over the bowl's right rim.
move_to
right_x0.3500right_y0.0640right_z0.0700right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0452, 0.9993, 0.3058, 1.1774, 0.5774, -0.0994, 0.2222, 0.0853, 0.9992] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0025 left_pitch=-0.0179 left_roll=-0.0035 left_gripper=0.9993 right_x=0.3353 right_y=0.0688 right_z=0.1111 right_yaw=0.0621 right_pitch=-0.1087 right_roll=-0.0583 right_gripper=0.9992 state[joint_eff]: [-0.1026, -1.3197, 7.0222, 1.7021, -0.0904, -0.0317, -0.0122, -0.0068, -4.0274, 7.4051, 1.8144, 0.0659, 0.0366, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.064, "right_z": 0.07, "right_yaw": 0}, "note": "The descent was held at z\u22480.11 with no apparent contact; trying a smaller step down over the bowl's right rim."})
tool
executing move_to over 3 steps (0.3s)
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 noteRight arm is not tracking descent targets (stuck at z≈0.11). Backing up and raising to free the IK before retrying.
move_to
right_x0.3000right_y0.0800right_z0.1500right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.046, 0.9993, 0.3054, 1.1774, 0.5774, -0.0994, 0.2222, 0.0849, 0.9992] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0029 left_pitch=-0.0179 left_roll=-0.0041 left_gripper=0.9993 right_x=0.3353 right_y=0.0687 right_z=0.1111 right_yaw=0.0619 right_pitch=-0.1087 right_roll=-0.0586 right_gripper=0.9992 state[joint_eff]: [-0.212, -1.2786, 7.2274, 1.6972, -0.0611, -0.0513, -0.0122, -0.0615, -4.1915, 7.3368, 1.8388, 0.0562, -0.0024, -0.0171] 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": {"right_x": 0.3, "right_y": 0.08, "right_z": 0.15, "right_yaw": 0}, "note": "Right arm is not tracking descent targets (stuck at z\u22480.11). Backing up and raising to free the IK before retrying."})
tool
executing move_to over 3 steps (0.3s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteArm now moves again. Retrying a moderate descent toward the pink bowl's right rim.
move_to
right_x0.3300right_y0.0650right_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.807, 0.6075, -0.3893, -0.0223, -0.049, 0.9993, 0.4149, 1.0958, 0.5964, -0.207, 0.3019, 0.152, 0.9991] state[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1761 left_yaw=0.0042 left_pitch=-0.0206 left_roll=-0.0068 left_gripper=0.9993 right_x=0.317 right_y=0.0861 right_z=0.1273 right_yaw=0.0688 right_pitch=-0.0981 right_roll=-0.0575 right_gripper=0.9991 state[joint_eff]: [-0.2393, -1.1556, 7.1726, 1.7558, -0.0024, -0.0122, -0.0122, -1.3744, -4.465, 11.6444, 2.0342, 0.3834, 0.1538, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.065, "right_z": 0.09}, "note": "Arm now moves again. Retrying a moderate descent toward the pink bowl's right rim."})
tool
executing move_to over 3 steps (0.3s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent notePink bowl's right wall is on the jaw column just ahead of the fingertips. Descending to straddle the wall.
move_to
right_x0.3350right_y0.0550right_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8104, 0.6075, -0.3897, -0.0227, -0.049, 0.9993, 0.3012, 1.187, 0.4961, -0.0906, 0.2668, 0.1223, 0.9991] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1751 left_yaw=0.0045 left_pitch=-0.0244 left_roll=-0.0065 left_gripper=0.9993 right_x=0.3174 right_y=0.0536 right_z=0.0777 right_yaw=-0.003 right_pitch=-0.178 right_roll=-0.0818 right_gripper=0.9991 state[joint_eff]: [-0.0615, -1.1009, 7.0085, 1.7167, -0.0073, -0.0659, -0.0122, 0.6496, -6.2017, 8.5675, 2.4347, -0.1636, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.335, "right_y": 0.055, "right_z": 0.03}, "note": "Pink bowl's right wall is on the jaw column just ahead of the fingertips. Descending to straddle the wall."})
tool
executing move_to over 4 steps (0.4s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe bowl wall sits slightly left of the jaw centre; nudging left a bit and continuing down.
move_to
right_x0.3350right_y0.0620right_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.2989, 1.2366, 0.4511, -0.009, 0.2516, 0.1024, 0.9992] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.175 left_yaw=0.0047 left_pitch=-0.0248 left_roll=-0.0068 left_gripper=0.9993 right_x=0.3159 right_y=0.0551 right_z=0.0586 right_yaw=0.0176 right_pitch=-0.1945 right_roll=-0.0897 right_gripper=0.9992 state[joint_eff]: [-0.0752, -1.1009, 7.0359, 1.6874, -0.0317, -0.0464, -0.0122, -0.1299, -3.9179, 6.4068, 1.7656, 0.2466, 0.1001, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.335, "right_y": 0.062, "right_z": 0.025}, "note": "The bowl wall sits slightly left of the jaw centre; nudging left a bit and continuing down."})
tool
executing move_to over 3 steps (0.3s)
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 noteDescent stalls at z≈0.06, likely the left jaw resting on the bowl rim. Lifting slightly and shifting left so the wall falls between the open jaws.
move_to
right_x0.3200right_y0.0950right_z0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.2989, 1.2366, 0.4503, -0.0025, 0.2531, 0.1043, 0.9992] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.175 left_yaw=0.0047 left_pitch=-0.0248 left_roll=-0.0068 left_gripper=0.9993 right_x=0.3168 right_y=0.0551 right_z=0.0595 right_yaw=0.0156 right_pitch=-0.1887 right_roll=-0.0877 right_gripper=0.9992 state[joint_eff]: [-0.0615, -1.1419, 7.0085, 1.707, -0.0513, -0.0464, -0.0122, -0.1436, -3.9043, 6.4205, 1.746, 0.2222, 0.1001, -0.0171] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_y": 0.095, "right_z": 0.075}, "note": "Descent stalls at z\u22480.06, likely the left jaw resting on the bowl rim. Lifting slightly and shifting left so the wall falls between the open jaws."})
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 noteRight arm is frozen at z≈0.06 (IK hold). Raising clear to free it, then I'll reapproach with the wall centred between the jaws.
move_to
right_x0.3000right_y0.1000right_z0.1600right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.3897, -0.0227, -0.049, 0.9993, 0.2989, 1.2366, 0.4503, -0.0025, 0.2535, 0.1043, 0.9992] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.175 left_yaw=0.0045 left_pitch=-0.0248 left_roll=-0.0065 left_gripper=0.9993 right_x=0.3168 right_y=0.055 right_z=0.0595 right_yaw=0.0152 right_pitch=-0.1886 right_roll=-0.088 right_gripper=0.9992 state[joint_eff]: [-0.0479, -1.265, 7.0359, 1.7118, -0.0757, -0.0513, -0.0122, -0.1983, -3.9316, 6.4479, 1.7265, 0.2076, 0.0904, -0.0171] approver: 1 step(s) modified (delta_clamped). 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": {"right_x": 0.3, "right_y": 0.1, "right_z": 0.16, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Right arm is frozen at z\u22480.06 (IK hold). Raising clear to free it, then I'll reapproach with the wall centred between the jaws."})
tool
executing move_to over 7 steps (0.7s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteArm freed; pink bowl centred ahead in the wrist view. Reapproaching the bowl's right wall with orientation explicitly held level.
move_to
right_x0.3350right_y0.0580right_z0.0900right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3901, -0.0227, -0.0494, 0.9993, 0.5526, 1.0126, 0.5694, -0.2451, 0.4152, 0.2646, 0.9992] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1746 left_yaw=0.0047 left_pitch=-0.0263 left_roll=-0.0068 left_gripper=0.9993 right_x=0.2962 right_y=0.1032 right_z=0.138 right_yaw=0.0543 right_pitch=-0.0491 right_roll=-0.0265 right_gripper=0.9992 state[joint_eff]: [-0.2667, -1.4154, 7.0496, 1.6923, -0.0855, -0.0708, -0.0122, 0.1436, -3.2205, 9.8393, 1.58, 0.359, 0.1929, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.335, "right_y": 0.058, "right_z": 0.09, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Arm freed; pink bowl centred ahead in the wrist view. Reapproaching the bowl's right wall with orientation explicitly held level."})
tool
executing move_to over 4 steps (0.4s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteBowl wall now lies between the open jaws (left jaw over the bowl interior). Descending to grasp the wall low.
move_to
right_x0.3200right_y0.0580right_z0.0200right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8162, 0.6075, -0.4057, -0.0227, -0.0494, 0.9993, 0.3058, 1.1843, 0.3969, 0.0395, 0.2935, 0.1722, 0.9992] state[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1702 left_yaw=0.0047 left_pitch=-0.0461 left_roll=-0.0063 left_gripper=0.9993 right_x=0.3112 right_y=0.0484 right_z=0.0628 right_yaw=-0.0461 right_pitch=-0.1384 right_roll=-0.0508 right_gripper=0.9992 state[joint_eff]: [0.0068, -1.7299, 7.2137, 1.8877, -0.0757, -0.0806, -0.0122, -0.0342, -4.6427, 7.4188, 2.0879, 0.0171, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_y": 0.058, "right_z": 0.02, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Bowl wall now lies between the open jaws (left jaw over the bowl interior). Descending to grasp the wall low."})
tool
executing move_to over 5 steps (0.5s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteDescending further (now z≈0.05); the bowl wall still sits between the jaws.
move_to
right_x0.3200right_y0.0580right_z0.0100right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1928, 0.2836, 0.1459, 0.9992] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0047 left_pitch=-0.0484 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3059 right_y=0.0524 right_z=0.0486 right_yaw=-0.0097 right_pitch=-0.1018 right_roll=-0.0509 right_gripper=0.9992 state[joint_eff]: [-0.0068, -1.3744, 7.159, 1.6972, -0.0806, -0.0464, -0.0122, -0.1846, -3.5897, 6.6667, 1.8974, 0.2955, 0.1343, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_y": 0.058, "right_z": 0.01, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Descending further (now z\u22480.05); the bowl wall still sits between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteArm stalled at z≈0.05; top view shows the gripper just right of and behind the pink bowl. Trying a small step forward/left and down toward its right wall.
move_to
right_x0.3300right_y0.0700right_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1925, 0.2836, 0.1459, 0.9992] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0047 left_pitch=-0.0484 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3058 right_y=0.0524 right_z=0.0485 right_yaw=-0.0097 right_pitch=-0.1022 right_roll=-0.051 right_gripper=0.9992 state[joint_eff]: [-0.0752, -1.388, 6.9949, 1.6923, -0.0366, -0.0806, -0.0122, -0.1162, -3.5897, 6.6667, 1.8437, 0.2662, 0.1343, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.07, "right_z": 0.035}, "note": "Arm stalled at z\u22480.05; top view shows the gripper just right of and behind the pink bowl. Trying a small step forward/left and down toward its right wall."})
tool
executing move_to over 2 steps (0.2s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteTesting whether a tiny 1 cm descent tracks, to tell a controller hold from a contact.
move_to
right_z0.0380
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1928, 0.284, 0.1455, 0.9992] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0047 left_pitch=-0.0484 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3059 right_y=0.0524 right_z=0.0486 right_yaw=-0.0098 right_pitch=-0.1017 right_roll=-0.0514 right_gripper=0.9992 state[joint_eff]: [-0.1573, -1.3744, 7.0496, 1.7167, -0.0611, -0.0513, -0.0122, -0.1573, -3.5761, 6.653, 1.8828, 0.3199, 0.1294, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.038}, "note": "Testing whether a tiny 1 cm descent tracks, to tell a controller hold from a contact."})
tool
executing move_to over 1 steps (0.1s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe jaws look close to the table and the arm won't go lower; the bowl wall is ahead-left of the fingertips. Lifting slightly while moving forward-left to put the wall between the jaws.
move_to
right_x0.3300right_y0.0750right_z0.0800right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1925, 0.284, 0.1455, 0.9992] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0047 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3059 right_y=0.0523 right_z=0.0485 right_yaw=-0.0098 right_pitch=-0.1021 right_roll=-0.0515 right_gripper=0.9992 state[joint_eff]: [0.0068, -1.388, 7.0359, 1.7167, -0.0171, -0.0757, -0.0122, -0.1573, -3.2068, 6.653, 1.873, 0.2613, 0.0904, -0.0122] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.075, "right_z": 0.08, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "The jaws look close to the table and the arm won't go lower; the bowl wall is ahead-left of the fingertips. Lifting slightly while moving forward-left to put the wall between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent notePink bowl's right wall is now on the jaw column but a few cm ahead of the fingertips. Advancing forward at rim height.
move_to
right_x0.3550right_y0.0720right_z0.0650right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.3733, 1.2293, 0.3408, 0.2077, 0.2909, 0.1654, 0.9992] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0047 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3139 right_y=0.0724 right_z=0.058 right_yaw=0.0298 right_pitch=-0.076 right_roll=-0.0315 right_gripper=0.9992 state[joint_eff]: [-0.212, -1.2513, 7.0222, 1.6728, -0.0611, -0.0513, -0.0122, -0.0205, -2.7282, 8.7179, 1.8193, 0.3297, 0.2173, -0.0171] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.355, "right_y": 0.072, "right_z": 0.065, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Pink bowl's right wall is now on the jaw column but a few cm ahead of the fingertips. Advancing forward at rim height."})
tool
executing move_to over 4 steps (0.4s)
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 noteArm is at z≈0.035 beside the pink bowl; its wall is still slightly ahead-left of the jaws. Nudging forward and left to bring the wall between the jaws.
move_to
right_x0.3600right_y0.0800right_z0.0300right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8177, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.3267, 1.3972, 0.3668, 0.3153, 0.2737, 0.1566, 0.9992] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1694 left_yaw=0.0048 left_pitch=-0.0499 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3299 right_y=0.0652 right_z=0.0355 right_yaw=0.0011 right_pitch=-0.1123 right_roll=-0.0393 right_gripper=0.9992 state[joint_eff]: [-0.0479, -1.3197, 7.0222, 1.6777, -0.0757, -0.0659, -0.0122, -0.4581, -4.8342, 8.7453, 2.0488, 0.0317, -0.022, -0.0171] 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": {"right_x": 0.36, "right_y": 0.08, "right_z": 0.03, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Arm is at z\u22480.035 beside the pink bowl; its wall is still slightly ahead-left of the jaws. Nudging forward and left to bring the wall between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteLeft jaw appears to be sitting on the bowl's rim (arm pushed up to z≈0.05). Lifting and shifting ~2.5 cm left so the left jaw drops inside the bowl and the wall sits between the jaws.
move_to
right_x0.3500right_y0.0970right_z0.0750right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3241, 1.412, 0.3885, 0.3717, 0.271, 0.1562, 0.9992] state[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0048 left_pitch=-0.0537 left_roll=-0.0061 left_gripper=0.9993 right_x=0.3439 right_y=0.0694 right_z=0.0491 right_yaw=0.0025 right_pitch=-0.0528 right_roll=-0.0178 right_gripper=0.9992 state[joint_eff]: [-0.1162, -1.6752, 7.2684, 1.707, -0.0855, -0.0806, -0.0122, -0.5538, -4.9573, 7.3231, 1.8877, 0.0366, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.097, "right_z": 0.075, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Left jaw appears to be sitting on the bowl's rim (arm pushed up to z\u22480.05). Lifting and shifting ~2.5 cm left so the left jaw drops inside the bowl and the wall sits between the jaws."})
tool
executing move_to over 3 steps (0.3s)
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 noteRight arm froze again low beside the bowl. Raising clear (this freed it before), positioned so the left jaw will come down inside the bowl.
move_to
right_x0.3450right_y0.1000right_z0.1500right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3241, 1.412, 0.3885, 0.3717, 0.271, 0.1562, 0.9992] state[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0048 left_pitch=-0.0537 left_roll=-0.0061 left_gripper=0.9993 right_x=0.3439 right_y=0.0694 right_z=0.0491 right_yaw=0.0025 right_pitch=-0.0528 right_roll=-0.0178 right_gripper=0.9992 state[joint_eff]: [-0.3624, -1.4154, 7.1316, 1.707, -0.0757, -0.0317, -0.0122, -0.6222, -5.1761, 7.3368, 1.9023, 0.0269, -0.0513, -0.0122] 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": {"right_x": 0.345, "right_y": 0.1, "right_z": 0.15, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Right arm froze again low beside the bowl. Raising clear (this freed it before), positioned so the left jaw will come down inside the bowl."})
tool
executing move_to over 7 steps (0.7s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent notePink bowl is directly below on the jaw column. Shifting right ~3 cm so its right wall falls between the jaws, and descending in one move.
move_to
right_x0.3500right_y0.0800right_z0.0300right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.823, 0.6075, -0.4088, -0.0227, -0.0494, 0.9993, 0.4519, 1.1824, 0.6525, 0.0597, 0.3405, 0.2077, 0.9992] state[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1678 left_yaw=0.0048 left_pitch=-0.056 left_roll=-0.006 left_gripper=0.9993 right_x=0.3596 right_y=0.113 right_z=0.1773 right_yaw=0.0421 right_pitch=0.1295 right_roll=0.0569 right_gripper=0.9992 state[joint_eff]: [-0.1573, -1.3744, 7.0222, 1.7167, -0.0855, -0.0757, -0.0122, 0.4855, -2.8239, 6.4889, 1.2088, 0.3053, 0.1441, -0.0122] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.08, "right_z": 0.03, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Pink bowl is directly below on the jaw column. Shifting right ~3 cm so its right wall falls between the jaws, and descending in one move."})
tool
executing move_to over 10 steps (1.0s)
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 noteBowl's right wall now sits between the jaws at z≈0.02 (left jaw inside the bowl). Closing to pinch the wall.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3679, 1.5517, 0.3542, 0.527, 0.3061, 0.1856, 0.9992] state[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1673 left_yaw=0.0048 left_pitch=-0.0575 left_roll=-0.006 left_gripper=0.9993 right_x=0.3418 right_y=0.0785 right_z=0.0217 right_yaw=0.0012 right_pitch=-0.0627 right_roll=-0.0207 right_gripper=0.9992 state[joint_eff]: [-0.0342, -1.4427, 7.0906, 1.7265, -0.0708, -0.0366, -0.0122, -0.4034, -5.5043, 4.506, 1.8974, 0.0855, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). 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": {"right_gripper": 0}, "note": "Bowl's right wall now sits between the jaws at z\u22480.02 (left jaw inside the bowl). Closing to pinch the wall."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteJaws closed on the pink bowl's wall (reading 0.039 ≈ thin wall). Lifting to confirm the bowl comes up with the gripper.
move_to
right_z0.1400right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3714, 1.5417, 0.3592, 0.585, 0.2855, 0.1947, 0.039] state[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1673 left_yaw=0.0048 left_pitch=-0.0575 left_roll=-0.006 left_gripper=0.9993 right_x=0.3511 right_y=0.0872 right_z=0.0372 right_yaw=0.0175 right_pitch=0.0012 right_roll=0.024 right_gripper=0.039 state[joint_eff]: [-0.1983, -1.2513, 7.1179, 1.6581, -0.0659, -0.022, -0.0122, -0.0752, -4.3009, 4.9026, 1.0623, 0.2564, -0.1587, 0.8034] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.14, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Jaws closed on the pink bowl's wall (reading 0.039 \u2248 thin wall). Lifting to confirm the bowl comes up with the gripper."})
tool
executing move_to over 7 steps (0.7s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent notePink bowl lifted with the right gripper. Carrying it left so its centre sits over the middle (white/lilac) bowl.
move_to
right_x0.3500right_y0.2350right_z0.1500right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3893, 1.2293, 0.5743, 0.036, 0.3065, 0.186, 0.042] state[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1668 left_yaw=0.0048 left_pitch=-0.0595 left_roll=-0.0059 left_gripper=0.9993 right_x=0.349 right_y=0.0894 right_z=0.1209 right_yaw=0.0228 right_pitch=-0.0146 right_roll=-0.0021 right_gripper=0.042 state[joint_eff]: [-0.2667, -1.347, 6.9949, 1.6581, -0.0513, -0.0464, -0.0122, 0.2393, -5.3812, 9.4564, 1.8144, 0.3492, 0.1001, 0.6374] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.235, "right_z": 0.15, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Pink bowl lifted with the right gripper. Carrying it left so its centre sits over the middle (white/lilac) bowl."})
tool
executing move_to over 13 steps (1.3s)
step 127
top_cam
camera top_cam step 127
assistant
agent notePink bowl is hovering over the middle bowl in the top view. Lowering it into the middle bowl before releasing.
move_to
right_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.828, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.8433, 1.5654, 0.9588, -0.1986, 0.6403, 0.4881, 0.0449] state[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1665 left_yaw=0.0048 left_pitch=-0.0606 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3427 right_y=0.2316 right_z=0.1331 right_yaw=0.0487 right_pitch=-0.0454 right_roll=-0.0364 right_gripper=0.0449 state[joint_eff]: [-0.1026, -1.3744, 7.1043, 1.707, -0.0513, -0.0317, -0.0122, 0.1162, -7.1316, 9.1009, 1.4286, 0.4615, 0.2222, 0.5543] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.07}, "note": "Pink bowl is hovering over the middle bowl in the top view. Lowering it into the middle bowl before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 132
assistant
agent notePink bowl is resting inside the purple middle bowl (wrist view). Releasing it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8288, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.8463, 1.6855, 0.815, -0.0101, 0.635, 0.49, 0.0474] state[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1663 left_yaw=0.0048 left_pitch=-0.061 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3337 right_y=0.2244 right_z=0.062 right_yaw=0.0505 right_pitch=-0.1011 right_roll=-0.0862 right_gripper=0.0474 state[joint_eff]: [-0.0479, -1.4974, 7.0085, 1.6923, -0.0806, -0.0415, -0.0122, -0.4444, -7.3504, 6.1744, 1.9609, 0.2515, -0.0317, 0.2515] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Pink bowl is resting inside the purple middle bowl (wrist view). Releasing it."})
tool
executing move_to over 10 steps (1.0s)
step 142
assistant
agent noteTop view shows the pink bowl landed just in front of the purple bowl, not in it. Its wall is still between the jaws, so re-grasping it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8307, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.8463, 1.6962, 0.8074, -0.0216, 0.6209, 0.4786, 0.9953] state[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1657 left_yaw=0.0048 left_pitch=-0.0633 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3296 right_y=0.2227 right_z=0.0529 right_yaw=0.064 right_pitch=-0.1305 right_roll=-0.1085 right_gripper=0.9953 state[joint_eff]: [-0.212, -1.3333, 7.2274, 1.7411, -0.0562, -0.0024, -0.0122, -0.1026, -8.3761, 6.4205, 1.4042, 0.3785, 0.0269, -0.2125] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Top view shows the pink bowl landed just in front of the purple bowl, not in it. Its wall is still between the jaws, so re-grasping it."})
tool
executing move_to over 10 steps (1.0s)
step 152
assistant
agent noteThe close missed (jaws above the pink rim). The purple bowl, just ahead, looks smaller than the pink one, so I'll instead lift the purple bowl by its right wall and drop it into the pink bowl.
move_to
right_gripper1.0000right_x0.4100right_y0.2150right_z0.1000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8314, 0.6075, -0.4088, -0.0227, -0.0494, 0.9993, 0.8463, 1.6962, 0.8059, -0.0261, 0.6125, 0.4755, 0.0079] state[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1655 left_yaw=0.0048 left_pitch=-0.0644 left_roll=-0.0058 left_gripper=0.9993 right_x=0.3282 right_y=0.223 right_z=0.0511 right_yaw=0.0708 right_pitch=-0.1397 right_roll=-0.1104 right_gripper=0.0079 state[joint_eff]: [-0.3624, -1.4017, 6.9949, 1.6825, -0.0611, -0.0806, -0.0073, -0.0479, -7.4872, 5.8325, 1.3602, 0.3736, -0.022, 0.5153] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.41, "right_y": 0.215, "right_z": 0.1, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "The close missed (jaws above the pink rim). The purple bowl, just ahead, looks smaller than the pink one, so I'll instead lift the purple bowl by its right wall and drop it into the pink bowl."})
tool
executing move_to over 10 steps (1.0s)
step 162
assistant
agent notePurple bowl sits left of the jaws with its right wall at image x≈70. Shifting left ~2 cm and forward, and descending so the wall falls between the jaws.
move_to
right_x0.4200right_y0.2320right_z0.0200right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8314, 0.6075, -0.4088, -0.0227, -0.0494, 0.9993, 0.691, 1.7477, 0.9295, 0.0456, 0.5541, 0.3855, 0.9948] state[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1655 left_yaw=0.0048 left_pitch=-0.0644 left_roll=-0.0058 left_gripper=0.9993 right_x=0.3926 right_y=0.2087 right_z=0.0804 right_yaw=0.0165 right_pitch=-0.0651 right_roll=-0.0525 right_gripper=0.9948 state[joint_eff]: [-0.0889, -1.4701, 7.2137, 1.6777, -0.0904, -0.0366, -0.0122, -0.8274, -6.9128, 9.2513, 1.8877, 0.2906, 0.1734, 0.0415] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.232, "right_z": 0.02, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Purple bowl sits left of the jaws with its right wall at image x\u224870. Shifting left ~2 cm and forward, and descending so the wall falls between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 166
assistant
agent noteAt table level; the purple wall is still near the left jaw. Sliding ~2 cm left/forward to centre the wall between the jaws.
move_to
right_x0.4250right_y0.2500right_z0.0150right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8341, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.6937, 2.006, 0.9348, 0.3046, 0.5602, 0.4011, 0.9954] state[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1648 left_yaw=0.0048 left_pitch=-0.0667 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4112 right_y=0.2245 right_z=0.0128 right_yaw=0.0064 right_pitch=-0.0572 right_roll=-0.0393 right_gripper=0.9954 state[joint_eff]: [-0.1299, -1.7026, 6.9812, 1.7021, -0.0317, -0.0562, -0.0122, 0.2803, -9.4017, 6.2291, 1.0085, -0.0024, -0.1734, 0.0513] 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_x": 0.425, "right_y": 0.25, "right_z": 0.015, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "At table level; the purple wall is still near the left jaw. Sliding ~2 cm left/forward to centre the wall between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 169
assistant
agent notePurple bowl's right wall is between the jaws with the left jaw inside the bowl. Closing on the wall.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8345, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.72, 2.0567, 0.9833, 0.3634, 0.5694, 0.4046, 0.995] state[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1648 left_yaw=0.0048 left_pitch=-0.0667 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4205 right_y=0.2469 right_z=0.0162 right_yaw=0.0251 right_pitch=-0.0097 right_roll=-0.0052 right_gripper=0.995 state[joint_eff]: [-0.0205, -1.5111, 7.0906, 1.7167, -0.0659, -0.0611, -0.0122, 0.1709, -8.4991, 7.0769, 1.4628, 0.3443, 0.1734, -0.0562] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Purple bowl's right wall is between the jaws with the left jaw inside the bowl. Closing on the wall."})
tool
executing move_to over 10 steps (1.0s)
step 179
assistant
agent noteGripper reads 0.057, suggesting the purple wall is pinched. Lifting to confirm the bowl comes up.
move_to
right_z0.1500right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8345, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.7246, 2.0663, 0.9836, 0.3744, 0.5598, 0.4049, 0.0574] state[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1647 left_yaw=0.0048 left_pitch=-0.0671 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4195 right_y=0.2509 right_z=0.0132 right_yaw=0.0368 right_pitch=-0.0122 right_roll=0.0011 right_gripper=0.0574 state[joint_eff]: [-0.0068, -1.347, 7.0359, 1.7021, -0.0806, -0.0513, -0.0122, -0.3214, -10.9744, 5.3402, 1.3748, 0.2906, 0.0611, 0.4078] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Gripper reads 0.057, suggesting the purple wall is pinched. Lifting to confirm the bowl comes up."})
tool
executing move_to over 9 steps (0.9s)
step 188
assistant
agent noteLift came up empty; the purple bowl's right rim is just left of and ahead of the jaw column. Opening and descending ~1 cm further left and forward, pressing to table level.
move_to
right_x0.4300right_y0.2620right_z0.0050right_gripper1.0000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8345, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.7376, 1.8355, 1.1831, -0.12, 0.572, 0.4114, 0.0595] state[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1648 left_yaw=0.0048 left_pitch=-0.0667 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4148 right_y=0.2526 right_z=0.1134 right_yaw=0.0356 right_pitch=-0.0561 right_roll=-0.0409 right_gripper=0.0595 state[joint_eff]: [-0.1983, -1.4838, 7.0222, 1.707, -0.0806, -0.0269, -0.0122, 0.0479, -12.6838, 9.4017, 1.5897, 0.5006, 0.1978, 0.2027] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.262, "right_z": 0.005, "right_gripper": 1, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Lift came up empty; the purple bowl's right rim is just left of and ahead of the jaw column. Opening and descending ~1 cm further left and forward, pressing to table level."})
tool
executing move_to over 10 steps (1.0s)
step 198
assistant
agent noteJaws at table level with the purple bowl's right wall reaching in between them near the left jaw. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8352, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.7395, 2.1246, 1.0672, 0.2863, 0.5896, 0.4278, 0.9952] state[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1645 left_yaw=0.0048 left_pitch=-0.0678 left_roll=-0.0057 left_gripper=0.9993 right_x=0.4236 right_y=0.2583 right_z=0.0016 right_yaw=0.0156 right_pitch=-0.0468 right_roll=-0.0361 right_gripper=0.9952 state[joint_eff]: [-0.0889, -1.4564, 7.0222, 1.6435, -0.0659, -0.0562, -0.0122, 0.0752, -10.1402, 5.1214, 1.7167, 0.3248, 0.1587, 0.0708] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Jaws at table level with the purple bowl's right wall reaching in between them near the left jaw. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 208
assistant
agent noteI ran out of call budget before I could stack any bowl. I lifted the pink bowl by its rim and carried it over, but it landed just in front of the purple bowl instead of inside it. After that, two tries at gripping the purple bowl's wall closed on nothing. The fingertips were a few cm short of the wall and slightly to its right. All three bowls are still on the table, unstacked.
give_up
hindsight- Grasping a bowl: grip the wall with the jaws open, one jaw inside the bowl and one outside, at z≈0.01–0.02. A thin wall reads about 0.04–0.06 after the close. That reading overlaps with an empty close, so always lift to check. - Where the wall really is: in the wrist view, the jaws only reach a wall that appears at the very bottom of the image, between the jaw tips. If the wall shows at rows 100–150, it is still 3–5 cm ahead of the fingertips. Advance more than feels natural. - Placing: in the top camera the bowls appeared side by side in a row, but the middle (purple) bowl was actually 8–10 cm further forward (+x) than the pink one. Before releasing, look at the wrist view: the target bowl's interior must be under the carried bowl. 'Overlapping in the image' is not enough. - Controller: the right arm often froze at low z near x≈0.31–0.34 (it ignored small targets, even 1 cm ones). The only fix was a large move up to z≥0.15 with yaw, pitch and roll explicitly set to 0. After that, a single long descent to z≈0.02 worked. Always send pitch=0 and roll=0; they drift to about −0.1 to −0.2 otherwise. - Reach: x usually falls 1–2 cm short of the target, so command about 2 cm further. - Budget: rim grasps take many small corrections, so budget about 8 calls per bowl. Also consider yawing the tool 90° to grip the near wall, which avoids side-rim contact with the jaw.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8371, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.7395, 2.1338, 1.0653, 0.2996, 0.5869, 0.4263, 0.0076] state[eef_state]: left_x=0.2938 left_y=0.0018 left_z=0.164 left_yaw=0.0048 left_pitch=-0.0698 left_roll=-0.0057 left_gripper=0.9993 right_x=0.4238 right_y=0.259 right_z=-0.0015 right_yaw=0.0185 right_pitch=-0.0464 right_roll=-0.0344 right_gripper=0.0076 state[joint_eff]: [-0.1162, -1.6068, 7.1179, 1.7216, -0.0562, -0.0806, -0.0122, -0.0342, -11.3026, 5.2581, 1.4335, 0.2564, 0.0122, 0.5299] approver: 10 step(s) modified (delta_clamped ×10). 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
give_up({"reason": "I ran out of call budget before I could stack any bowl. I lifted the pink bowl by its rim and carried it over, but it landed just in front of the purple bowl instead of inside it. After that, two tries at gripping the purple bowl's wall closed on nothing. The fingertips were a few cm short of the wall and slightly to its right. All three bowls are still on the table, unstacked.", "hindsight": "- Grasping a bowl: grip the wall with the jaws open, one jaw inside the bowl and one outside, at z\u22480.01\u20130.02. A thin wall reads about 0.04\u20130.06 after the close. That reading overlaps with an empty close, so always lift to check.\n- Where the wall really is: in the wrist view, the jaws only reach a wall that appears at the very bottom of the image, between the jaw tips. If the wall shows at rows 100\u2013150, it is still 3\u20135 cm ahead of the fingertips. Advance more than feels natural.\n- Placing: in the top camera the bowls appeared side by side in a row, but the middle (purple) bowl was actually 8\u201310 cm further forward (+x) than the pink one. Before releasing, look at the wrist view: the target bowl's interior must be under the carried bowl. 'Overlapping in the image' is not enough.\n- Controller: the right arm often froze at low z near x\u22480.31\u20130.34 (it ignored small targets, even 1 cm ones). The only fix was a large move up to z\u22650.15 with yaw, pitch and roll explicitly set to 0. After that, a single long descent to z\u22480.02 worked. Always send pitch=0 and roll=0; they drift to about \u22120.1 to \u22120.2 otherwise.\n- Reach: x usually falls 1\u20132 cm short of the target, so command about 2 cm further.\n- Budget: rim grasps take many small corrections, so budget about 8 calls per bowl. Also consider yawing the tool 90\u00b0 to grip the near wall, which avoids side-rim contact with the jaw."})
tool
give_up: I ran out of call budget before I could stack any bowl. I lifted the pink bowl by its rim and carried it over, but it landed just in front of the purple bowl instead of inside it. After that, two tries at gripping the purple bowl's wall closed on nothing. The fingertips were a few cm short of the wall and slightly to its right. All three bowls are still on the table, unstacked.
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 · 13.76 s
model
claude-opus-5-5
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]: [-0.02, 0.7956, 0.606, -0.3786, -0.0223, -0.041, 0.9993, -0.0216, 0.794, 0.6029, -0.3809, -0.0158, -0.0334, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1807 left_yaw=-0.0005 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9993 right_x=0.2945 right_y=0.0 right_z=0.1793 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6632, -1.5932, 9.935, 1.746, -0.0171, 0.2564, -0.0806, -0.1436, -1.5385, 10.2496, 1.8828, -0.1343, 0.1783, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0aad10f6aada0d33bc6d25c9691b2306ba8a9d7e1016559fb208d5e96c92592a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5275df073d381d4410c91849f644edcc95359092667cabc11f6816ed0fc1ed20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:274901e8efb6a52811a8766b705111d6670c5acff04818913e5ebae89d3e3fd8",
        "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 · 7.651 s
model
claude-opus-5-5
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]: [-0.02, 0.7956, 0.606, -0.3786, -0.0223, -0.041, 0.9993, -0.0216, 0.794, 0.6029, -0.3809, -0.0158, -0.0334, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1807 left_yaw=-0.0005 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9993 right_x=0.2945 right_y=0.0 right_z=0.1793 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6632, -1.5932, 9.935, 1.746, -0.0171, 0.2564, -0.0806, -0.1436, -1.5385, 10.2496, 1.8828, -0.1343, 0.1783, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0aad10f6aada0d33bc6d25c9691b2306ba8a9d7e1016559fb208d5e96c92592a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5275df073d381d4410c91849f644edcc95359092667cabc11f6816ed0fc1ed20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:274901e8efb6a52811a8766b705111d6670c5acff04818913e5ebae89d3e3fd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WD5gxy1CkV8GvPMBSFG9F4",
      "input": {
        "note": "Three bowls in a row mid-table; pink bowl is nearest the right arm. Moving the right arm toward the pink bowl's right rim to grasp it by the wall.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.13,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01WD5gxy1CkV8GvPMBSFG9F4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6079, -0.3862, -0.0227, -0.0422, 0.9993, 0.6765, 1.0916, 0.5919, -0.2615, 0.5068, 0.3492, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1787 left_yaw=0.0008 left_pitch=-0.0107 left_roll=-0.0011 left_gripper=0.9993 right_x=0.289 right_y=0.1267 right_z=0.1268 right_yaw=0.0581 right_pitch=-0.0768 right_roll=-0.0484 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -1.6342, 6.8991, 1.7998, -0.0708, -0.0611, -0.0171, 0.0889, -3.7538, 10.359, 1.7021, 0.3736, 0.1343, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe3e8f03fdee01fad077d46004002b9481fa4b00164241ff07007fe96d8ede6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd0399f5565955244ba74cc8769e6ffadf7fe8a130563a13430d74017b65cf43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8758f2988068609cf80a2a4d1399597955e826ebbdee65d942e462638ed5a4ad",
        "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 · 5.435 s
model
claude-opus-5-5
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]: [-0.02, 0.7956, 0.606, -0.3786, -0.0223, -0.041, 0.9993, -0.0216, 0.794, 0.6029, -0.3809, -0.0158, -0.0334, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1807 left_yaw=-0.0005 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9993 right_x=0.2945 right_y=0.0 right_z=0.1793 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6632, -1.5932, 9.935, 1.746, -0.0171, 0.2564, -0.0806, -0.1436, -1.5385, 10.2496, 1.8828, -0.1343, 0.1783, -0.0904]",
      "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]: [-0.0196, 0.8005, 0.6079, -0.3862, -0.0227, -0.0422, 0.9993, 0.6765, 1.0916, 0.5919, -0.2615, 0.5068, 0.3492, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1787 left_yaw=0.0008 left_pitch=-0.0107 left_roll=-0.0011 left_gripper=0.9993 right_x=0.289 right_y=0.1267 right_z=0.1268 right_yaw=0.0581 right_pitch=-0.0768 right_roll=-0.0484 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -1.6342, 6.8991, 1.7998, -0.0708, -0.0611, -0.0171, 0.0889, -3.7538, 10.359, 1.7021, 0.3736, 0.1343, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe3e8f03fdee01fad077d46004002b9481fa4b00164241ff07007fe96d8ede6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd0399f5565955244ba74cc8769e6ffadf7fe8a130563a13430d74017b65cf43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8758f2988068609cf80a2a4d1399597955e826ebbdee65d942e462638ed5a4ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G6ok3cy3mnhWB3hNDN9tvt",
      "input": {
        "note": "Pink bowl is centred ahead in the right wrist view. Shifting to its right-hand rim so the jaws can straddle the wall.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.07,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01G6ok3cy3mnhWB3hNDN9tvt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3885, -0.0227, -0.0422, 0.9993, 0.3336, 1.1641, 0.5774, -0.144, 0.2882, 0.144, 0.9992]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.177 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3282 right_y=0.0644 right_z=0.1091 right_yaw=0.0023 right_pitch=-0.1244 right_roll=-0.0633 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -1.6068, 7.0359, 1.7607, -0.0513, -0.0366, -0.0122, -0.1026, -3.6444, 7.6923, 1.7607, 0.0904, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44ae126734cb646c686a88b088396b689d004ae6fa58aeefa310991ea3a944c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a35576b442981440ae3d1ea9ee6fd58afe5a3731b21bf65cb4a1d271a13f7a03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f22c0fe89ed5887566e694ce52e0bc32e3ccb577b2cd16b24506163e49b70ca7",
        "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 · 4.224 s
model
claude-opus-5-5
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]: [-0.02, 0.7956, 0.606, -0.3786, -0.0223, -0.041, 0.9993, -0.0216, 0.794, 0.6029, -0.3809, -0.0158, -0.0334, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0016 left_z=0.1807 left_yaw=-0.0005 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9993 right_x=0.2945 right_y=0.0 right_z=0.1793 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6632, -1.5932, 9.935, 1.746, -0.0171, 0.2564, -0.0806, -0.1436, -1.5385, 10.2496, 1.8828, -0.1343, 0.1783, -0.0904]",
      "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]: [-0.0196, 0.8005, 0.6079, -0.3862, -0.0227, -0.0422, 0.9993, 0.6765, 1.0916, 0.5919, -0.2615, 0.5068, 0.3492, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1787 left_yaw=0.0008 left_pitch=-0.0107 left_roll=-0.0011 left_gripper=0.9993 right_x=0.289 right_y=0.1267 right_z=0.1268 right_yaw=0.0581 right_pitch=-0.0768 right_roll=-0.0484 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -1.6342, 6.8991, 1.7998, -0.0708, -0.0611, -0.0171, 0.0889, -3.7538, 10.359, 1.7021, 0.3736, 0.1343, -0.022]",
      "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]: [-0.0196, 0.8043, 0.6075, -0.3885, -0.0227, -0.0422, 0.9993, 0.3336, 1.1641, 0.5774, -0.144, 0.2882, 0.144, 0.9992]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.177 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3282 right_y=0.0644 right_z=0.1091 right_yaw=0.0023 right_pitch=-0.1244 right_roll=-0.0633 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -1.6068, 7.0359, 1.7607, -0.0513, -0.0366, -0.0122, -0.1026, -3.6444, 7.6923, 1.7607, 0.0904, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44ae126734cb646c686a88b088396b689d004ae6fa58aeefa310991ea3a944c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a35576b442981440ae3d1ea9ee6fd58afe5a3731b21bf65cb4a1d271a13f7a03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f22c0fe89ed5887566e694ce52e0bc32e3ccb577b2cd16b24506163e49b70ca7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpgkKEAgSGAI4AUIIdGhpbmtpbmcSDD/yuDiGKv61TCB6hBoMNrZjCIz1Sg1qges6IjDAnqq/b8OLkaKI0VlybTDjgtfGFavJQOZjZDsfrOd6RTVXo9280ZbfnsFiEx2MoMoqwwisYAvE513JSCQA4LEUB9UB0ggyTzL41eFGRlcUev8M6jZgD4Bh7KKvW1V7VDgu5YuPbCaGxSKZzAtDyMyK4xvPdD/K9tLfBI3/H28+DgRwJk9ddcIPhUOxTpaFMZUWbouN5/sUQpIzyHZXUuT474VLkSprYT8+SIVGn0mUAUDkD3dSh7Et970lw0kJLxD1ppeJ+a0wdPvW1cW3y2mMdz854hV4e2mcJWuz+5w5vRBlOiSmKSYWMnp6EnubGN06ZYcE6wyF+BQURHZjSSqHk9NtRV7CaX8XyL7yIZtqV4U3xBaJl6IY9zVeFx5C9AlOsmUGN086W4l8Dfz6pFfsvAVfVC4s2SqV+SBO0P+rGG5RqtyHgg3rnoxK9/azSx26F33KDIR0SaXQ9dWZuh9QfKOogKV7Q/egFCWeJrbPvItF2EQq7UUqAe0CNu+nAyMpbUGiWLd10iqHQIeUKde4ueaWYEt/99VWW642NwU3dg0VqGqIoOiqRmuq4sAn7RKFoDj/IxOeU8pOQ/YbVd3uvm31MFXTvVfxcXZcHnN+I+iKTiw+fA1Pc/GLM0XP7O6nJqZRpLXvfkPXKs8uzB5GhAhOhOpAcqlKhZmASdFrsArY1VDJ9l3Yp3/kHF9YSR9DUp9ItIC5XoBfeznztFYRB04PMzlXmg6VCiOlLbED5CLykFeCVAJSnlwysrjEseob2yx/Qe8tp+D2bxsfz0xawBSpI7ewOXlQQWnPOZAQhBfUye+5CfaNf1l8oZ+urBXmeqZVZRFvZmz+MK5X5chuScQn6qEWd2xpwkfrbF3W6Pz2XcYvL+7luZMyPVe9fH313Yb+T+FmdD66zcKrMnVEtkjFvCzKoOGlL/CT6193qmTBWpy9TVBJeyCNouOy5hiuDtM9DZrdTlhmK58JkAWM2rk6mNg6zajIxb3yY0YxzZY820MAXuxUC1v9RO8Z6pprfyDyvi5z6yxl7hn0zeYpQGPlA18gkeYOzv7zdMhaiUThxCtIqQ3PrLoQkYxLdGrvJiMWJCdBBjd8zTWnuz0Fiysf1Wr/riYuzPMOTv0v6vcHPGIDkaLFqQa4R8tC2BVhNnAggNFT3uSPy41zU3i/JwAmknXFDs4pAf8wkTBQyu2NldLT2L1YYH3ON295bLr4/0qhvzIPpOiJ0ueneqfLkcJwBc2aiUl3/DhLNK450HyhtmOtA3TgCMpGtw12tVNQ9r52t84jr/f86LI+Q6X7CEJ/C2jM9NlbBL6oSYNca+GXdixwefIuXLpKH6+0cfPEdIkLbt1QhB22ja3k2mxdhL8CZTkM0V7Fg/qGKoDqRhYAcg0HEzYPm4aqFcv6Fvggx60s9YsSmP8BmBqCViYz5Hf+VzKdSQtugh6MJO7IpsgdxN//afP29SPMV3kH1wXjezcxomfwbbUpCTNjZzbr8ofWNOO4aziRAOm1sWOyDb9GrT6jLRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M7GJX61drG3UiCPzEmFR9B",
      "input": {
        "note": "Pink bowl's right rim is on the jaw column. Descending so the jaws straddle the bowl wall.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.064,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01M7GJX61drG3UiCPzEmFR9B",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0452, 0.9993, 0.3058, 1.1774, 0.5774, -0.0994, 0.2222, 0.0853, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0025 left_pitch=-0.0179 left_roll=-0.0035 left_gripper=0.9993 right_x=0.3353 right_y=0.0688 right_z=0.1111 right_yaw=0.0621 right_pitch=-0.1087 right_roll=-0.0583 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -1.3197, 7.0222, 1.7021, -0.0904, -0.0317, -0.0122, -0.0068, -4.0274, 7.4051, 1.8144, 0.0659, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:192507f385ddc6fe94bcbfad4d3dfcb7b7c9fb22eb7bb2e3ebf61c50f24a7882",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c68dafd1f687c8da374c04442f22e7759df6234e49cff9d596cb9ff29af4383",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:55a850c3f3a46a0a64621b09f59ff910781a5802e0f6a91bc3fce1c1f7dcc337",
        "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 · 4.594 s
model
claude-opus-5-5
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]: [-0.0196, 0.8005, 0.6079, -0.3862, -0.0227, -0.0422, 0.9993, 0.6765, 1.0916, 0.5919, -0.2615, 0.5068, 0.3492, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1787 left_yaw=0.0008 left_pitch=-0.0107 left_roll=-0.0011 left_gripper=0.9993 right_x=0.289 right_y=0.1267 right_z=0.1268 right_yaw=0.0581 right_pitch=-0.0768 right_roll=-0.0484 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -1.6342, 6.8991, 1.7998, -0.0708, -0.0611, -0.0171, 0.0889, -3.7538, 10.359, 1.7021, 0.3736, 0.1343, -0.022]",
      "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]: [-0.0196, 0.8043, 0.6075, -0.3885, -0.0227, -0.0422, 0.9993, 0.3336, 1.1641, 0.5774, -0.144, 0.2882, 0.144, 0.9992]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.177 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3282 right_y=0.0644 right_z=0.1091 right_yaw=0.0023 right_pitch=-0.1244 right_roll=-0.0633 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -1.6068, 7.0359, 1.7607, -0.0513, -0.0366, -0.0122, -0.1026, -3.6444, 7.6923, 1.7607, 0.0904, 0.0122, -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]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0452, 0.9993, 0.3058, 1.1774, 0.5774, -0.0994, 0.2222, 0.0853, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0025 left_pitch=-0.0179 left_roll=-0.0035 left_gripper=0.9993 right_x=0.3353 right_y=0.0688 right_z=0.1111 right_yaw=0.0621 right_pitch=-0.1087 right_roll=-0.0583 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -1.3197, 7.0222, 1.7021, -0.0904, -0.0317, -0.0122, -0.0068, -4.0274, 7.4051, 1.8144, 0.0659, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:192507f385ddc6fe94bcbfad4d3dfcb7b7c9fb22eb7bb2e3ebf61c50f24a7882",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c68dafd1f687c8da374c04442f22e7759df6234e49cff9d596cb9ff29af4383",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55a850c3f3a46a0a64621b09f59ff910781a5802e0f6a91bc3fce1c1f7dcc337",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwcKEAgSGAI4AUIIdGhpbmtpbmcSDIHqmlXai7io6Z5oABoMxPZ7mc1O392f3mIUIjAZKqgtanVZqAIJ9RW9uUspBAoDCa6qw2F/gcmAOcb/+4tBKchJj1zuHxkq6vjklUQq1AY1GOb7eJDxLI1JEip/Rbna+SFndAlquXDZR523aF35QY48l+02qw5pReWE1B8lRDvozc5Ia9H5QgcsDm27Jr7ZBWDKvaqc+78Qd5SdyyRcQbEHgCm5oVnQK4EWK9U6iapgGLAk8hYQEacC0YfMBTvDsh9zzKxs2VECoc23/cJCWTkRIVYgnx3J/Du5rJ9UKQZf/RgJsw08NSkbNXtFUbweAhDGxX2uPc3h00rNdelcPz5HrEXl8JsdlHZB3AO9rA1yfoQlSgUUXOAnLBzz95iXbnx2GKw7PCi59olw9PjLCDUt54tYNIO2/kUhtsLGCpoqMDE0urZ+YJNxr814WbMPiETw6zi7S+2qfc6XbyU5evD0yn2fitObC8oGTUdl1xeitJV/ZxsWNpVuFZLjsIXkc56xJ6CSoKlQaaULMEHhtOzQJ8ZPSzr2wjwjAyQUc8WH0LD0/rsOsuLdtTMcC+xv3MkGmf6aY0nlx69P2pZ4dzMqr3evfVS+M0d99t9c00Xkt42on8+wspOMTam5hzXW91UgfpNhG3Cgwg3Vi7tqRpuuJrQ339IVoFIOSYdMU7DZ9SWIvZCaIbpZrhmDaKrKrY2416Sg+KpT5ljH5j9kmLJ8hPMxprtqhiaESIAmeMs8TLaH2uFSc+xNqj1OJ9SPuQIqrIo4mDI6kbwDg4tW/GdX3WrLvMM9hVISOsy0L3izczYefbqiPZSBSF0ThUI0wg7hTXbpQp0RNWRVhd8jvXylbqnL6uobOd+6SXRKuaMy+cC1wBHRbLWEimL0VKD4rclEhDajbEKjUfFSfd7Q1ebIv/RgdJYqCiCkEWMproYgYE26WyUb8/EOjcLMdmZg7+uL29esK8kJL+YVS5cx3nGKHGiQGkjgEX1Riy+ghfUFcAwaf4zzp3u2us72U03vNhmVY7rutHdoxDeaou45v8kuLdSAzDIYDXGseEdVGe83rLxUhzzEy33WlpiNRN7XBpUKw/OnJzYc5lxUmgMVNtguGZkfAhjrskfmsTPREeIPgjRABu5r+6+3rJoKlXAlSv5o+FX0e8XiLbDXlALy7yLXT4k+bcw9JTqBhZcs/vWvSN8jWLeM86wasfzNEgay+TrJe+dgbWpbYAgV8raKJD4kuLwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MYAoNGo5v9ADQxJdMrRUZb",
      "input": {
        "note": "The descent was held at z≈0.11 with no apparent contact; trying a smaller step down over the bowl's right rim.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.064,
          "right_yaw": 0,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01MYAoNGo5v9ADQxJdMrRUZb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.046, 0.9993, 0.3054, 1.1774, 0.5774, -0.0994, 0.2222, 0.0849, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0029 left_pitch=-0.0179 left_roll=-0.0041 left_gripper=0.9993 right_x=0.3353 right_y=0.0687 right_z=0.1111 right_yaw=0.0619 right_pitch=-0.1087 right_roll=-0.0586 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -1.2786, 7.2274, 1.6972, -0.0611, -0.0513, -0.0122, -0.0615, -4.1915, 7.3368, 1.8388, 0.0562, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c709207db87d701cf4c387f68d363a4e2a58cf2008f92c36db21f50de274827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26f4b55aa5f357696a536ab87eb71867d01a5eadb562c811aea033387ef98b12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab1cb63de96e7c513cb293cad78c0e94e795f79b86d1d0b75347c6e4dbb0dbc8",
        "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 · 6.026 s
model
claude-opus-5-5
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]: [-0.0196, 0.8043, 0.6075, -0.3885, -0.0227, -0.0422, 0.9993, 0.3336, 1.1641, 0.5774, -0.144, 0.2882, 0.144, 0.9992]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.177 left_yaw=0.0008 left_pitch=-0.0172 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3282 right_y=0.0644 right_z=0.1091 right_yaw=0.0023 right_pitch=-0.1244 right_roll=-0.0633 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -1.6068, 7.0359, 1.7607, -0.0513, -0.0366, -0.0122, -0.1026, -3.6444, 7.6923, 1.7607, 0.0904, 0.0122, -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]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0452, 0.9993, 0.3058, 1.1774, 0.5774, -0.0994, 0.2222, 0.0853, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0025 left_pitch=-0.0179 left_roll=-0.0035 left_gripper=0.9993 right_x=0.3353 right_y=0.0688 right_z=0.1111 right_yaw=0.0621 right_pitch=-0.1087 right_roll=-0.0583 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -1.3197, 7.0222, 1.7021, -0.0904, -0.0317, -0.0122, -0.0068, -4.0274, 7.4051, 1.8144, 0.0659, 0.0366, -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]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.046, 0.9993, 0.3054, 1.1774, 0.5774, -0.0994, 0.2222, 0.0849, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0029 left_pitch=-0.0179 left_roll=-0.0041 left_gripper=0.9993 right_x=0.3353 right_y=0.0687 right_z=0.1111 right_yaw=0.0619 right_pitch=-0.1087 right_roll=-0.0586 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -1.2786, 7.2274, 1.6972, -0.0611, -0.0513, -0.0122, -0.0615, -4.1915, 7.3368, 1.8388, 0.0562, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c709207db87d701cf4c387f68d363a4e2a58cf2008f92c36db21f50de274827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26f4b55aa5f357696a536ab87eb71867d01a5eadb562c811aea033387ef98b12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab1cb63de96e7c513cb293cad78c0e94e795f79b86d1d0b75347c6e4dbb0dbc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyAcKEAgSGAI4AUIIdGhpbmtpbmcSDL7qdwAt4A3m6mfvgxoMVCZxqphDM5do/mILIjCVd8685gtwRcuEsraJZXv7cLuRA+zcQ+0PiHXRMLr74fUmC/mO4B4Xv5ohFL2MtaAq5QYErs4rXsmrxKkTfiq1pOfQKeJCxLQtj5cu2Lx9wqYOgeQiByOfbCoFk508tQWxuZDyHaKg8gbPK/W1S4GsdF4QzF3TQ7QBHIa/kIwLAjmv1KZDTjLA6+B3CYpr5a+khYB1R33iIGuan/t4m6LpQfa5AD8mE3tj2S2pvMlrYzXwZSeJ7aLPNDPVgAyZ6u7qeuLiuhFgp1T/AP7V7A4hnu2y0xxO+/OF4N5b2xYkzgXq0AKz1to6l8qD/lyMVhf6c4xLaySsoSqHEIVokqeZsbKA8rYS4PX7LoU9mLsnimzKyhwGsbJom+pOqe4/clE0jO3xlqR4RX9FHQ6v41MrrFh8ApFf+Y0Cbzg+K/5HP2O5dEk+n6tUlxMAZmjePduMJSGzp3tajY1zwdbCedph1lFYgsjd41U6G8fb7uQR63fI8GO7ZvpKMrhPaESUDkLs5k7MFW7upk+a2cJ48oqCVwhRvXBZLN1weBEhXGMp4JZwwhlogG3SjKjd4lqxML0UorwccosZSXAUZrOUjnDayF1NZ/Ezm9YNiYIOxg8aNBXCyrEUqkgRtJhWfQUJuvJ4Rp/JFurpXqn3JmIN4pFeyOpNcr2PDeDEkzaj02qaervTt3Pw5gRUsA7kyuA/ak5HoYnb6TMZOxbr/GnUpaPvB/X75hdkuTmMd8Irsv1S1krM4uOS24voO6WvemO80fS2nPUerHUtxmrZrPl/Cgm5UnVEnOn2rRUBBGLbDq3Fx6H7+xgrXVdyI4oaPPFwTKbVyz35h/2NKxErbpNzJdIiDgAIZ8iaPyJH0SybVQwvRH7s6Pk0qtYl9M9vbS/BWilp/f/FFWIoqE/KPiS8mj6SbahwgX6a9PhvBpKLSKXCnQLDvWnyoYjgL2aL+1AzDACuo5lhlN+JcpeWkM06bnkHsBRi2T+eu8leLnrrGEmwxL05lyPSRGgZ5pVWTCfH/j/2dnPSvmmwDfho2NZUqwIHmOtTcmCjnx6D3+FLU5JL8PltCnDrvKT5O3onJOXTc7pO1ZeScJqazC8gjSmhs4Wg5H6ntNGv3zUwdX06Ln75uePTM7hBfkKALDVy2VegiCQei/wnL+49UjDJoUUd58Vuk/LRTdg2I92CxkBepqahLEo2fMqm0wDJB3DlGVBFFe5yzZtd1/YQaBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sk5MMivDvG4FKr4AVh9vcW",
      "input": {
        "note": "Right arm is not tracking descent targets (stuck at z≈0.11). Backing up and raising to free the IK before retrying.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.08,
          "right_yaw": 0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Sk5MMivDvG4FKr4AVh9vcW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.807, 0.6075, -0.3893, -0.0223, -0.049, 0.9993, 0.4149, 1.0958, 0.5964, -0.207, 0.3019, 0.152, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1761 left_yaw=0.0042 left_pitch=-0.0206 left_roll=-0.0068 left_gripper=0.9993 right_x=0.317 right_y=0.0861 right_z=0.1273 right_yaw=0.0688 right_pitch=-0.0981 right_roll=-0.0575 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.1556, 7.1726, 1.7558, -0.0024, -0.0122, -0.0122, -1.3744, -4.465, 11.6444, 2.0342, 0.3834, 0.1538, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3ade69816a3123b58c54172e5d9068d2299eedbc87ff131abe74f29e95f66ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edec6f14f769ddda73ace3a65a03ddc68fdef1d961facf51204ed446f329ea48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e54823e9a489c583e94cea18aee68faf1056fc5eeb306e31258c6765c2f6f746",
        "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 · 4.84 s
model
claude-opus-5-5
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]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0452, 0.9993, 0.3058, 1.1774, 0.5774, -0.0994, 0.2222, 0.0853, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0025 left_pitch=-0.0179 left_roll=-0.0035 left_gripper=0.9993 right_x=0.3353 right_y=0.0688 right_z=0.1111 right_yaw=0.0621 right_pitch=-0.1087 right_roll=-0.0583 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -1.3197, 7.0222, 1.7021, -0.0904, -0.0317, -0.0122, -0.0068, -4.0274, 7.4051, 1.8144, 0.0659, 0.0366, -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]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.046, 0.9993, 0.3054, 1.1774, 0.5774, -0.0994, 0.2222, 0.0849, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0029 left_pitch=-0.0179 left_roll=-0.0041 left_gripper=0.9993 right_x=0.3353 right_y=0.0687 right_z=0.1111 right_yaw=0.0619 right_pitch=-0.1087 right_roll=-0.0586 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -1.2786, 7.2274, 1.6972, -0.0611, -0.0513, -0.0122, -0.0615, -4.1915, 7.3368, 1.8388, 0.0562, -0.0024, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.807, 0.6075, -0.3893, -0.0223, -0.049, 0.9993, 0.4149, 1.0958, 0.5964, -0.207, 0.3019, 0.152, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1761 left_yaw=0.0042 left_pitch=-0.0206 left_roll=-0.0068 left_gripper=0.9993 right_x=0.317 right_y=0.0861 right_z=0.1273 right_yaw=0.0688 right_pitch=-0.0981 right_roll=-0.0575 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.1556, 7.1726, 1.7558, -0.0024, -0.0122, -0.0122, -1.3744, -4.465, 11.6444, 2.0342, 0.3834, 0.1538, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3ade69816a3123b58c54172e5d9068d2299eedbc87ff131abe74f29e95f66ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edec6f14f769ddda73ace3a65a03ddc68fdef1d961facf51204ed446f329ea48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e54823e9a489c583e94cea18aee68faf1056fc5eeb306e31258c6765c2f6f746",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9AoKEAgSGAI4AUIIdGhpbmtpbmcSDNxeEt2ETlcdAxM7+RoMGioZXWu/z+CPcz4dIjBpQSQVyb9OaR/mVOZ23YvGOz344Zeb5WxdKUEL2oHN07boWURYyG6+/Xq+ibcoATEqkQqjlCtaYRPMBPlVfHnSw53S9cZsGxQ0P4pmq1LyQrJvLIdRHyVlmIijIpY48DsqrL82ETYyvVLL9D9GMJq/p1y7dxh1arKdKy2UNyB6gyoPNntd7TEPQAmcciXbWHGkBjsAJyuQE24IAQpIg3NBa4uLfciwyfQw51zO6a+x1350S8F/Y/fLL4Zm6wkFetxUlnhxaXJuU5U0IN8gH4L6U5T9rH/UZN+MTSKN4t2OMViOjRD7Uh2pi9j9DFBWvR+vAGrPA1UWpriqMcLlbtAhM4RcBCqq+ni/T5qdejnDDpETvR1MRxJwWIKmLiuB5AzTO/qtCp/fL0B1ZO1dGhzsmehUiY2D06+3FfTmtq6hlbq7ntE6DNIsBFqiBecXSxM/FsQhkAqLSLna5Rk0lZ5IZhFF8f6wybJ+BA+izH/LVv2XwyUuPv6yfIyHzvhaCjcwFZf175i7iC3uCH8Mkfu+9ww/qc5G/kxvx8R6DRgpr/QxTc6wC9C824hm9IwrQmoPqUk/95E4uhxkSPb5QslKJwriTYwNv3aY3zmjl4b9Lix9oqwHRjTVKse08DQzxdFLIZ0nHqBFAPFGx5E2S3mSu+eFnH36Wx5tNs+2RwCoWm2lds/BsoaG+7eACjpoFDldwZer6vXX+pIU31RWD3ZS5DfgAPdu8YKOS8mus8vux7QMlF4yijHJMz5o5O71xAOAN67gwCcf5w2hiHBcPQ5VNDVmfWjWat+kjp/A/zbzQ3nwhCkG7CSA2NMkph6SOluMrJDzfi8c6EBvdPVfJLZAfyWjyuS9pxdNdmoadALqw8sel29Yeaz5uxygTYJM0BDO6zdd4FRmGC53ce16Sq5zXv8h2PSvBc750uJOtBrepy9g1T4M5KcadJiwOwrotrrLYXfnx61jGXZ8kjGTsntoO8ADAgZpTpK6zZLFwUrumFATQoP9SdWbXPfwLLJ2UuUhULumvaAvdHo6nASmgpkRAzfVD85IWKRWqGbFkx7633SVsXbp6Jkj44cuzAr6ttG7mzYQxHaieQ1FD1jdttg+uahFTKKWedu92EPV4VoleAaLQzWKlGE7wu8hoHu5jOJjQ99psOu+k6x0B+ezXF4bqZY7OBynSIxZoGuUX66FR/lrt9YdTHhX3bhFCWCcmCSnNFZb1cKCXpb9uwXhxcd6Cviv4zMPXRLBr3GHZDgGpSqKBXws53MQmk2cHDyk21+C904BIBia5FoUb9mUuE7jYZhgvQnnyWI85AIDI68sHkWAzvCRBa0f4zacofpoZvcYO/a3NPAE06msAQxahhlPbIJ/bSZOjg81F1Jz5e7dNHdaveg490KSPwa8hGpWTjKrW50tjeZZMEAxuy0VFeqc687GRkfrPsssRihRFSADcwxIbdcroRCCL/99EvfNTYgo7eMR/yB6KHL5PkO9K52XiLXHZIPzdSYl1MQvgFIRWkUR3d7QlXZa8gsJHuM3G69niDnMhIh9G3RvGNhzBZVKMjybMHXRsPn8RPy2GcR93S+n29Wvqn433A58aBFV/gzFlR2JB0rQJVWtx5FWlJyMk3ZwLtPxtrOCsvH6fRzDAZqngp3EwhsVvgalqX0RkIA+kRJ88LgOsOdvVu6gmzngZyo5rUfQCUGCNj6hB/BY92HHSw6nREYLAz6jiNIMe4uYZEmEw45S2JNGoXLcY+Z2OKTYcyNkuRltSIqrJrrEk4NeMn4XZPWKPpC0yVFpQO/+2vEaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DrxpN6sa2ivVp3uvVXUFj3",
      "input": {
        "note": "Arm now moves again. Retrying a moderate descent toward the pink bowl's right rim.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.065,
          "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_01DrxpN6sa2ivVp3uvVXUFj3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8104, 0.6075, -0.3897, -0.0227, -0.049, 0.9993, 0.3012, 1.187, 0.4961, -0.0906, 0.2668, 0.1223, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1751 left_yaw=0.0045 left_pitch=-0.0244 left_roll=-0.0065 left_gripper=0.9993 right_x=0.3174 right_y=0.0536 right_z=0.0777 right_yaw=-0.003 right_pitch=-0.178 right_roll=-0.0818 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.1009, 7.0085, 1.7167, -0.0073, -0.0659, -0.0122, 0.6496, -6.2017, 8.5675, 2.4347, -0.1636, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfdb8511b5888418bc12f1cc5238503ac65a598430fc1f3f2d4a5c1febfd9576",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a7a0615ec757cc4815ec82c4782ed5bc2e51066a0890123cd57336585f1a1e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3935ec249e686ae09282e2b69a8d4c5f931fc6ba312d29b15bd6b779496c628d",
        "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 · 4.34 s
model
claude-opus-5-5
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]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.046, 0.9993, 0.3054, 1.1774, 0.5774, -0.0994, 0.2222, 0.0849, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0029 left_pitch=-0.0179 left_roll=-0.0041 left_gripper=0.9993 right_x=0.3353 right_y=0.0687 right_z=0.1111 right_yaw=0.0619 right_pitch=-0.1087 right_roll=-0.0586 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -1.2786, 7.2274, 1.6972, -0.0611, -0.0513, -0.0122, -0.0615, -4.1915, 7.3368, 1.8388, 0.0562, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.807, 0.6075, -0.3893, -0.0223, -0.049, 0.9993, 0.4149, 1.0958, 0.5964, -0.207, 0.3019, 0.152, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1761 left_yaw=0.0042 left_pitch=-0.0206 left_roll=-0.0068 left_gripper=0.9993 right_x=0.317 right_y=0.0861 right_z=0.1273 right_yaw=0.0688 right_pitch=-0.0981 right_roll=-0.0575 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.1556, 7.1726, 1.7558, -0.0024, -0.0122, -0.0122, -1.3744, -4.465, 11.6444, 2.0342, 0.3834, 0.1538, -0.0171]\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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8104, 0.6075, -0.3897, -0.0227, -0.049, 0.9993, 0.3012, 1.187, 0.4961, -0.0906, 0.2668, 0.1223, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1751 left_yaw=0.0045 left_pitch=-0.0244 left_roll=-0.0065 left_gripper=0.9993 right_x=0.3174 right_y=0.0536 right_z=0.0777 right_yaw=-0.003 right_pitch=-0.178 right_roll=-0.0818 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.1009, 7.0085, 1.7167, -0.0073, -0.0659, -0.0122, 0.6496, -6.2017, 8.5675, 2.4347, -0.1636, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfdb8511b5888418bc12f1cc5238503ac65a598430fc1f3f2d4a5c1febfd9576",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a7a0615ec757cc4815ec82c4782ed5bc2e51066a0890123cd57336585f1a1e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3935ec249e686ae09282e2b69a8d4c5f931fc6ba312d29b15bd6b779496c628d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpggKEAgSGAI4AUIIdGhpbmtpbmcSDLUFtXh7lx3VN0HADBoMlFDZcBjvCYTpM4C5IjDv3kQnxXbLRMxe21N6cPeVHNMHfslm4PLQF041m/w7Y4uAYvGLbbqa4AJyr3T9WBUqwwc7k6Jmamg5H2+DAdNp9/XI+RqAIFnWMW9N7tC3ew/akEc5zBsRO9rjp/+Mv9BUTJFVcpFDd+rhhu9yCMOK3OSW4nxoTBgufRGzFjMpt6SgF/9mdr8vthQMoPWHtobnFCK/6xAbrir+0FMZMiDMROf0jNuzmUSmAQ+VnrpVxzgwjF2PwffzrlKs+oc5lkjS1L8swBv8CqdNeYUuUMH0Vi3XdM7GtGY/TwlTAv7BeP2icib6cPNAL9KcGeV9ixq0TyPgu6aLocMf3VaPXKO9tEk2VAYSYicfbdMT1bXG3jqP9zgPhs7jkTotIpXbe2D5CaEbT1VqD/fyfSMGRDd64Q+SC3tzFd3UAPqH1thCkp2luiOJIocrzlLDva4nfE+fT0GLJPDhDb7o3Uqur2RuhJmnokqEv2mv0KyaZMxjWG2MvPWayEBtgY3fYU73jEf6YBvWXwCEKj4r+7zOMC425ZhRb/93kIiwg9jVzd2Ad1cZxdqiINHcJS/3xqRd4RlgVRrlqgnZH2d3wfvuc5eMqq0Aq3vN217BR+vqI0SJFsF8ZnpypZeROmAV9TTF5Hx6ci/pRnIyxsNp6bluCwYE2QFzq6dGv973Av0gTvRsZkQ/WBKIa+PJZTV4ecwwmvhrI6wxTZUiqiAoFJsiDe1roYOhwa3MkgKveKGcDXRtyA3GKyUthf7pk0WjvV15V2Yji0BAaA5/ch8YnWOikLBOkJdM/TQFmfLOIfQiHXxe4ZfYD6oIufAeOuOc3YpMFOPiX/VO1YMS0b6gURVPIhBZ7o6rWUqhlaTHCJETeWU9rT72jjqyENE+1rT89n5BX/5kI/lwhn58bIRboE+3K9CvcIXFuMmtZd4PrKZiIJow3JeJVJ3nrt6x+FzMSRm3yuH4P59cG4tnqPxJ4dmnBr59+MO/PZ/s9PIJXWMIIuQwlXvffzD9GQtMIYG/kY8joDTnXXOEiIsJUYTedYULQGnIBx+ZBbJVoTrrX/I6uF+4SEl5wp994VXBUMdRaAVhKRm+YhAJD6tEwHKEBRrCnm/w4eywg+N+Io5HIABItZOJssBatMwLW6bTd+ZMRBqdSGi7BJidpthWbzhdwxwgYB0/Gad+R/BDbjY5yE5GUSFUrxVUSwXOVhHOkzc1ZEcTI4b8YhN+vfEGVoB/89DeavPRrkHFV1k/x2eOiYXag1HxFkcPYO4Z2nujMzsGXajDT6d1W8cB9pG1+/hA6KCEXzKclasusKw9Yg8qet1tQAb82H6srtRE8Iyuu1pawT+c98N5SVNmFr8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0116LGVhXH9nCRfE665vWJgB",
      "input": {
        "note": "Pink bowl's right wall is on the jaw column just ahead of the fingertips. Descending to straddle the wall.",
        "targets": {
          "right_x": 0.335,
          "right_y": 0.055,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0116LGVhXH9nCRfE665vWJgB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.2989, 1.2366, 0.4511, -0.009, 0.2516, 0.1024, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.175 left_yaw=0.0047 left_pitch=-0.0248 left_roll=-0.0068 left_gripper=0.9993 right_x=0.3159 right_y=0.0551 right_z=0.0586 right_yaw=0.0176 right_pitch=-0.1945 right_roll=-0.0897 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -1.1009, 7.0359, 1.6874, -0.0317, -0.0464, -0.0122, -0.1299, -3.9179, 6.4068, 1.7656, 0.2466, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77f55b0279583ff01ed55bb7c122e5c13266e33b487200f624ad5b0b6866262c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71cdace9851521b60fdb87990e535d796e70447b4124c0e7ce01c1a2a038403d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c065ea818e84713449ee014dbe16e43ed9f38e45321e1f973b3d991015b01d26",
        "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 · 9.884 s
model
claude-opus-5-5
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]: [-0.0196, 0.807, 0.6075, -0.3893, -0.0223, -0.049, 0.9993, 0.4149, 1.0958, 0.5964, -0.207, 0.3019, 0.152, 0.9991]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1761 left_yaw=0.0042 left_pitch=-0.0206 left_roll=-0.0068 left_gripper=0.9993 right_x=0.317 right_y=0.0861 right_z=0.1273 right_yaw=0.0688 right_pitch=-0.0981 right_roll=-0.0575 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -1.1556, 7.1726, 1.7558, -0.0024, -0.0122, -0.0122, -1.3744, -4.465, 11.6444, 2.0342, 0.3834, 0.1538, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0196, 0.8104, 0.6075, -0.3897, -0.0227, -0.049, 0.9993, 0.3012, 1.187, 0.4961, -0.0906, 0.2668, 0.1223, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1751 left_yaw=0.0045 left_pitch=-0.0244 left_roll=-0.0065 left_gripper=0.9993 right_x=0.3174 right_y=0.0536 right_z=0.0777 right_yaw=-0.003 right_pitch=-0.178 right_roll=-0.0818 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.1009, 7.0085, 1.7167, -0.0073, -0.0659, -0.0122, 0.6496, -6.2017, 8.5675, 2.4347, -0.1636, -0.0611, -0.0073]\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]: [-0.0196, 0.8108, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.2989, 1.2366, 0.4511, -0.009, 0.2516, 0.1024, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.175 left_yaw=0.0047 left_pitch=-0.0248 left_roll=-0.0068 left_gripper=0.9993 right_x=0.3159 right_y=0.0551 right_z=0.0586 right_yaw=0.0176 right_pitch=-0.1945 right_roll=-0.0897 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -1.1009, 7.0359, 1.6874, -0.0317, -0.0464, -0.0122, -0.1299, -3.9179, 6.4068, 1.7656, 0.2466, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77f55b0279583ff01ed55bb7c122e5c13266e33b487200f624ad5b0b6866262c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71cdace9851521b60fdb87990e535d796e70447b4124c0e7ce01c1a2a038403d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c065ea818e84713449ee014dbe16e43ed9f38e45321e1f973b3d991015b01d26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQgKEAgSGAI4AUIIdGhpbmtpbmcSDHkjzut18nXtK+sknhoMI23JFt9rRZzytIlBIjAqAekr4sUB8B5MXlDBeHCg2yC+gDqBWKwcP28HsTg+j2GmyNTERTgMFTA/5VRf6JIq3geQq01mYYzxU41OlxV5LLnWxoXuD9w+GcIVSYLCKuTgnUzcUpN964/GCle6V605GaYwNXINmaDR1ZUFJ0buUF5Xu7RZ6P5umtUoQChE8ChIO+AbtgWEnmsJas0I75f8cgSo1fzpVhkoZqQVNCLTi1rVi1cryafE0Em08Xg2bBbCGlXAX7AZa+W2Cu5QxwndaxqcjdjSov6roj/kKGEqVw7d60fDRuLfGQuR45YedScsXt6GHc0fbGjaSG7U+byBqfr9xDgFnoYsmSq5QTi2CwOBPvbZSsh+vL1wKAKHlfKsYdsdUM56G68c+r+bFstefUfdx85fvQrl2Wo23TmfVdh7CfMWhksPh0sKaxP30to1vvqRMhA3xhTWQdlb/sCmU80ooZsj40fpqsYFN5KtzYHE/9LFeZe05WgeMMF18tDhIQap44XD+dwDpo+JvHpGHEDpxZ7XK9yejnkB5OmOIQxDvw9Fu7OIur00W3KTiv8tuakemtv/8TyYDIhnZIs0g+Vciw+yAVtrnKrSJsYK/rQbmsEFwyXyftA2aXtI1soR9Vl/X2pRQgLj4h/8ERAsNMOuLo/lMcwWvyeJhzBJcDJ9xVaPl4aMGNdWn8SHq53UryqineQHqNvjbibHHOz8ms06v/eAfNMOOmxPz+/lTOwTlSD8dGzAIpOQZ5t3btYge0LkxFD69slnrQLboQco2BnN91igX5YfluSTy+9GnSrmtYMoGYqZnmP4dlwLD02CO73nXM31j6VihQ0FAFOlX/c7M4TzjvN9MK1jOD0LL5juBOeLQaT8QNAItGiyeENgzzv4iocnrpf0sZH0kx3SPcIjgSVREnLhoz2lmVT8JlHOB7AnfaYZmc+SkGgjrwJt3PKLqjarcIkIrdj9OxUQOGF/YlTzhb2BJGWsqDcOIfVL8m+lCqu2dzg21jBp6gXrh+WUu0H+apQ3MFzHZXOh7p7IPU+Pvjh3Ly1zYg8WSlnSQXS5hFBbVIxFAH3rSGKE9ESVkSg2s+yHilp4ByukM0uAWTlDVHIzpUPGPQzJ9GDOZ/eSyPH4HObE4C9lqVj5kV8n399VI01NhmBtLaWz+6CyTh3D80fprROPircw+2kaGMQidiKjvF1mQmASM6Ijy0Is4gZMFYq84P4F76FLHCSoIW/gSJqKaPUF6xd7cVJ+FLC4OUuZu6gmW+QxDi+c62N8jNGXRGgoj4XXc/OOGwmcKfbYtQ3fSUQlGr1MTVapru1du4kjsjxWFVSGeo0nuY/vN3JeK4LOV3XFtZLx5ZdwJxAefm00GHGG1EDI6I6DsQisTEY3bnc55D+cF/oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VGtDgmSCy83qXBVKwfjAoh",
      "input": {
        "note": "The bowl wall sits slightly left of the jaw centre; nudging left a bit and continuing down.",
        "targets": {
          "right_x": 0.335,
          "right_y": 0.062,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VGtDgmSCy83qXBVKwfjAoh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.2989, 1.2366, 0.4503, -0.0025, 0.2531, 0.1043, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.175 left_yaw=0.0047 left_pitch=-0.0248 left_roll=-0.0068 left_gripper=0.9993 right_x=0.3168 right_y=0.0551 right_z=0.0595 right_yaw=0.0156 right_pitch=-0.1887 right_roll=-0.0877 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.1419, 7.0085, 1.707, -0.0513, -0.0464, -0.0122, -0.1436, -3.9043, 6.4205, 1.746, 0.2222, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54fb6c99e6dd0b46c10cc67c8f65bd5180675cbac769cf6fcfec62114680f1c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a42ab603e8656b0553146c7fe658dd37ca9563c6de4bd69fa637fb736102e12d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:95993a811a53fcb46456b672d6e4241c45b71602638067073d03f7405b1c56ac",
        "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 · 4.479 s
model
claude-opus-5-5
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]: [-0.0196, 0.8104, 0.6075, -0.3897, -0.0227, -0.049, 0.9993, 0.3012, 1.187, 0.4961, -0.0906, 0.2668, 0.1223, 0.9991]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1751 left_yaw=0.0045 left_pitch=-0.0244 left_roll=-0.0065 left_gripper=0.9993 right_x=0.3174 right_y=0.0536 right_z=0.0777 right_yaw=-0.003 right_pitch=-0.178 right_roll=-0.0818 right_gripper=0.9991\nstate[joint_eff]: [-0.0615, -1.1009, 7.0085, 1.7167, -0.0073, -0.0659, -0.0122, 0.6496, -6.2017, 8.5675, 2.4347, -0.1636, -0.0611, -0.0073]\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]: [-0.0196, 0.8108, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.2989, 1.2366, 0.4511, -0.009, 0.2516, 0.1024, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.175 left_yaw=0.0047 left_pitch=-0.0248 left_roll=-0.0068 left_gripper=0.9993 right_x=0.3159 right_y=0.0551 right_z=0.0586 right_yaw=0.0176 right_pitch=-0.1945 right_roll=-0.0897 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -1.1009, 7.0359, 1.6874, -0.0317, -0.0464, -0.0122, -0.1299, -3.9179, 6.4068, 1.7656, 0.2466, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8108, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.2989, 1.2366, 0.4503, -0.0025, 0.2531, 0.1043, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.175 left_yaw=0.0047 left_pitch=-0.0248 left_roll=-0.0068 left_gripper=0.9993 right_x=0.3168 right_y=0.0551 right_z=0.0595 right_yaw=0.0156 right_pitch=-0.1887 right_roll=-0.0877 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.1419, 7.0085, 1.707, -0.0513, -0.0464, -0.0122, -0.1436, -3.9043, 6.4205, 1.746, 0.2222, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54fb6c99e6dd0b46c10cc67c8f65bd5180675cbac769cf6fcfec62114680f1c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a42ab603e8656b0553146c7fe658dd37ca9563c6de4bd69fa637fb736102e12d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95993a811a53fcb46456b672d6e4241c45b71602638067073d03f7405b1c56ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016xMg7LcHBTK4aA384kxV2n",
      "input": {
        "note": "Descent stalls at z≈0.06, likely the left jaw resting on the bowl rim. Lifting slightly and shifting left so the wall falls between the open jaws.",
        "targets": {
          "right_x": 0.32,
          "right_y": 0.095,
          "right_z": 0.075
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_016xMg7LcHBTK4aA384kxV2n",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.3897, -0.0227, -0.049, 0.9993, 0.2989, 1.2366, 0.4503, -0.0025, 0.2535, 0.1043, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.175 left_yaw=0.0045 left_pitch=-0.0248 left_roll=-0.0065 left_gripper=0.9993 right_x=0.3168 right_y=0.055 right_z=0.0595 right_yaw=0.0152 right_pitch=-0.1886 right_roll=-0.088 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.265, 7.0359, 1.7118, -0.0757, -0.0513, -0.0122, -0.1983, -3.9316, 6.4479, 1.7265, 0.2076, 0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d587c5dd9a06fb2216d5b86f6064e926b2052569b6a34f9fdf619299816a4dcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11bb7fe36458021abaa9b3f232568396db590d2932e288c5ab487e8abbbe5194",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d73e61c6ee606912f7347c1400f02396c807cf20b1fa5af4185f2fec27d245f",
        "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 · 9.343 s
model
claude-opus-5-5
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]: [-0.0196, 0.8108, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.2989, 1.2366, 0.4511, -0.009, 0.2516, 0.1024, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.175 left_yaw=0.0047 left_pitch=-0.0248 left_roll=-0.0068 left_gripper=0.9993 right_x=0.3159 right_y=0.0551 right_z=0.0586 right_yaw=0.0176 right_pitch=-0.1945 right_roll=-0.0897 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -1.1009, 7.0359, 1.6874, -0.0317, -0.0464, -0.0122, -0.1299, -3.9179, 6.4068, 1.7656, 0.2466, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8108, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.2989, 1.2366, 0.4503, -0.0025, 0.2531, 0.1043, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.175 left_yaw=0.0047 left_pitch=-0.0248 left_roll=-0.0068 left_gripper=0.9993 right_x=0.3168 right_y=0.0551 right_z=0.0595 right_yaw=0.0156 right_pitch=-0.1887 right_roll=-0.0877 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.1419, 7.0085, 1.707, -0.0513, -0.0464, -0.0122, -0.1436, -3.9043, 6.4205, 1.746, 0.2222, 0.1001, -0.0171]",
      "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]: [-0.0196, 0.8108, 0.6075, -0.3897, -0.0227, -0.049, 0.9993, 0.2989, 1.2366, 0.4503, -0.0025, 0.2535, 0.1043, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.175 left_yaw=0.0045 left_pitch=-0.0248 left_roll=-0.0065 left_gripper=0.9993 right_x=0.3168 right_y=0.055 right_z=0.0595 right_yaw=0.0152 right_pitch=-0.1886 right_roll=-0.088 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.265, 7.0359, 1.7118, -0.0757, -0.0513, -0.0122, -0.1983, -3.9316, 6.4479, 1.7265, 0.2076, 0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d587c5dd9a06fb2216d5b86f6064e926b2052569b6a34f9fdf619299816a4dcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11bb7fe36458021abaa9b3f232568396db590d2932e288c5ab487e8abbbe5194",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d73e61c6ee606912f7347c1400f02396c807cf20b1fa5af4185f2fec27d245f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnwgKEAgSGAI4AUIIdGhpbmtpbmcSDAssaEQ8whXKH20iJBoM5N7ezymN6Xd0lseLIjBgYcsHEwXdQ8Y9gEgbOn3EFq+DMLhc/zBi/uAvqmvigia+Jtlhf65dHhgzjcTGTP4qvAdOaS4LtZiaTHiq0zAejfNUI4RXnFgcsaUmvPwSJTviVVFCYmLZqCt9LTppE2xvpv5SDfN1vXqYi2NBd9rsOfB5q6KBcDzSxr8jnarcgxIuYxuqwHhBSPxQ4YSewHxC9mrbC4D9RYquvShTh1Bgkh5lWToCngw6hea365+n+Eo6iBeai3Xvqob7QtPAJH6oW0MW2B4B8YhITOYtfCZBqM1DB5q2ZPdWVpy8Vt/dmYJat+2ZxCox7EyeaqvZ/kfSrnS/saiQ3S3BBq6Lqfqtr9TcDgpxfrJOOr9hGPtH8FKoDxsyAYGHqZYulXn25bUkAFS+5AqXPkhbWHK1rgcC+4rpzTIcLdzxKclwvm7V6VJdsiQQsDaqAi5s42cJhyOm3sjedsxzzr9owZIgovlgQkJiIuo2lk++fobs8MC0N9twTZDmk7TjBAaKl+CR4VtFUrge/e9+mLGDfMaWPr1+HD725aKb93fT80nazT3boGj9uzUrcKjf7eztddJW8GOielTsGfZN/F9gtG+FM0curnvNKCpRpGrhu9S8UBHpPYk222ebLCdLd5BHA1H7AzmSf3UbGaU3utTl7vQbjKvN3gAjZZsxtO3eXgEn/u/kvo/qrn+Fx/JEq9gZWJbohaTWzuHTgLqkJI/t7jY/my+Na8rAn2B2i8n0p01Ng900nOsmmOpsKn6VsofyDoM83Iqg3S3H2nV3fc41q+S0YxznEHG3DD/6appqwspfqteEZSXNUrxOC2p06g9hEZz7N/4Zcv8BDvYaLyM65Pzq1wiiXDMrjPJ6hLg9ByyqhSi8qmTsBrFR9/gFAUznUegTdMmhCXUfdct7DMvWBGnjtK4hAovQm1luh4D+InZNA0hBHF5mXnoL1PaQvDsTQMWd4jKFvNpAzP03guNJeXyEqmMMlbRU3WTj9dR3jdBVHE93Ox7666bfjv6VQXQ71Ql8xY7H23f8t4PsPXFwv/8YEnmfSc/xaP6/HiE4wNs2s2s/LQ+4+SBV3n/aZfj2Yf0ZYIpgf+nVsmdcFRaRdkFANr614COGmc0C2klJQhLS7MikVmS/8gWEvfP7xKyJz5qyuk/3JJWaicG7tzL+nOCB/KCMuQ0ReEpKEHN9e7n5pNqRGDvUzyZdY7mVCUCzRMfebi4T2A78ZypEfCL6cNtooB5RW4ebwgmS384YB3P3GBY/+qbiYXRxiICjq99ZDIIQltjWgkEh/1JsdeJwby3QnkVD6NY7riS9cuKE1FQVIHc1knau1yxLSG6y9wqowVbSkxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015zBdB5AdBabdbw1BQEFAZ2",
      "input": {
        "note": "Right arm is frozen at z≈0.06 (IK hold). Raising clear to free it, then I'll reapproach with the wall centred between the jaws.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.3,
          "right_y": 0.1,
          "right_yaw": 0,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015zBdB5AdBabdbw1BQEFAZ2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3901, -0.0227, -0.0494, 0.9993, 0.5526, 1.0126, 0.5694, -0.2451, 0.4152, 0.2646, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1746 left_yaw=0.0047 left_pitch=-0.0263 left_roll=-0.0068 left_gripper=0.9993 right_x=0.2962 right_y=0.1032 right_z=0.138 right_yaw=0.0543 right_pitch=-0.0491 right_roll=-0.0265 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -1.4154, 7.0496, 1.6923, -0.0855, -0.0708, -0.0122, 0.1436, -3.2205, 9.8393, 1.58, 0.359, 0.1929, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18d02579a0e92e78d1e42a276e149d5a03342bdfc969841097ac46335548720c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc18f8e2cca73d2e7f6bfa2e7e2dbeb6bb1a1074858ea53e6fb54581841d006a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a5d0e6a351998fb1e28eeb01063521b4a125a858b0c362493b157ee2fb4b890c",
        "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 · 6.284 s
model
claude-opus-5-5
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]: [-0.0196, 0.8108, 0.6075, -0.3897, -0.0227, -0.0494, 0.9993, 0.2989, 1.2366, 0.4503, -0.0025, 0.2531, 0.1043, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.175 left_yaw=0.0047 left_pitch=-0.0248 left_roll=-0.0068 left_gripper=0.9993 right_x=0.3168 right_y=0.0551 right_z=0.0595 right_yaw=0.0156 right_pitch=-0.1887 right_roll=-0.0877 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -1.1419, 7.0085, 1.707, -0.0513, -0.0464, -0.0122, -0.1436, -3.9043, 6.4205, 1.746, 0.2222, 0.1001, -0.0171]",
      "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]: [-0.0196, 0.8108, 0.6075, -0.3897, -0.0227, -0.049, 0.9993, 0.2989, 1.2366, 0.4503, -0.0025, 0.2535, 0.1043, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.175 left_yaw=0.0045 left_pitch=-0.0248 left_roll=-0.0065 left_gripper=0.9993 right_x=0.3168 right_y=0.055 right_z=0.0595 right_yaw=0.0152 right_pitch=-0.1886 right_roll=-0.088 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.265, 7.0359, 1.7118, -0.0757, -0.0513, -0.0122, -0.1983, -3.9316, 6.4479, 1.7265, 0.2076, 0.0904, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3901, -0.0227, -0.0494, 0.9993, 0.5526, 1.0126, 0.5694, -0.2451, 0.4152, 0.2646, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1746 left_yaw=0.0047 left_pitch=-0.0263 left_roll=-0.0068 left_gripper=0.9993 right_x=0.2962 right_y=0.1032 right_z=0.138 right_yaw=0.0543 right_pitch=-0.0491 right_roll=-0.0265 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -1.4154, 7.0496, 1.6923, -0.0855, -0.0708, -0.0122, 0.1436, -3.2205, 9.8393, 1.58, 0.359, 0.1929, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18d02579a0e92e78d1e42a276e149d5a03342bdfc969841097ac46335548720c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc18f8e2cca73d2e7f6bfa2e7e2dbeb6bb1a1074858ea53e6fb54581841d006a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5d0e6a351998fb1e28eeb01063521b4a125a858b0c362493b157ee2fb4b890c",
        "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_01FDpdauecMzn5LitSvReNBP",
      "input": {
        "note": "Arm freed; pink bowl centred ahead in the wrist view. Reapproaching the bowl's right wall with orientation explicitly held level.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.335,
          "right_y": 0.058,
          "right_yaw": 0,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01FDpdauecMzn5LitSvReNBP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8162, 0.6075, -0.4057, -0.0227, -0.0494, 0.9993, 0.3058, 1.1843, 0.3969, 0.0395, 0.2935, 0.1722, 0.9992]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1702 left_yaw=0.0047 left_pitch=-0.0461 left_roll=-0.0063 left_gripper=0.9993 right_x=0.3112 right_y=0.0484 right_z=0.0628 right_yaw=-0.0461 right_pitch=-0.1384 right_roll=-0.0508 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -1.7299, 7.2137, 1.8877, -0.0757, -0.0806, -0.0122, -0.0342, -4.6427, 7.4188, 2.0879, 0.0171, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fea9ac1cb194490398b82a3b54a5b5ec1a30ca8c590b83b9014be1cfe525f659",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88b834618f340d8c854c9a07f94aa38561245898bace56744ce4ccc5d260832c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2785cc5ef1c9fd454bc10f757283f54ae94b0a0a5b69c030dc8eee2329709d4",
        "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 · 3.802 s
model
claude-opus-5-5
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]: [-0.0196, 0.8108, 0.6075, -0.3897, -0.0227, -0.049, 0.9993, 0.2989, 1.2366, 0.4503, -0.0025, 0.2535, 0.1043, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.175 left_yaw=0.0045 left_pitch=-0.0248 left_roll=-0.0065 left_gripper=0.9993 right_x=0.3168 right_y=0.055 right_z=0.0595 right_yaw=0.0152 right_pitch=-0.1886 right_roll=-0.088 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.265, 7.0359, 1.7118, -0.0757, -0.0513, -0.0122, -0.1983, -3.9316, 6.4479, 1.7265, 0.2076, 0.0904, -0.0171]\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]: [-0.0196, 0.812, 0.6075, -0.3901, -0.0227, -0.0494, 0.9993, 0.5526, 1.0126, 0.5694, -0.2451, 0.4152, 0.2646, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1746 left_yaw=0.0047 left_pitch=-0.0263 left_roll=-0.0068 left_gripper=0.9993 right_x=0.2962 right_y=0.1032 right_z=0.138 right_yaw=0.0543 right_pitch=-0.0491 right_roll=-0.0265 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -1.4154, 7.0496, 1.6923, -0.0855, -0.0708, -0.0122, 0.1436, -3.2205, 9.8393, 1.58, 0.359, 0.1929, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8162, 0.6075, -0.4057, -0.0227, -0.0494, 0.9993, 0.3058, 1.1843, 0.3969, 0.0395, 0.2935, 0.1722, 0.9992]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1702 left_yaw=0.0047 left_pitch=-0.0461 left_roll=-0.0063 left_gripper=0.9993 right_x=0.3112 right_y=0.0484 right_z=0.0628 right_yaw=-0.0461 right_pitch=-0.1384 right_roll=-0.0508 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -1.7299, 7.2137, 1.8877, -0.0757, -0.0806, -0.0122, -0.0342, -4.6427, 7.4188, 2.0879, 0.0171, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fea9ac1cb194490398b82a3b54a5b5ec1a30ca8c590b83b9014be1cfe525f659",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88b834618f340d8c854c9a07f94aa38561245898bace56744ce4ccc5d260832c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2785cc5ef1c9fd454bc10f757283f54ae94b0a0a5b69c030dc8eee2329709d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnQoKEAgSGAI4AUIIdGhpbmtpbmcSDIITn28BEPp4NmZ2eBoM6Nal7i36WpWa6lm3IjAvSTx049q69irKfG1nX2nmXji/ZPNM3UKjuPwrl1xhjcItK5rmIYaoHP0S4KPyTXcqugn31rvTn/JhCJ7MphOAVTJ4ObJO+gOe3J71aSGrspDK18HTR/SgBpn+kheSprpFEeppXFNbpe78NBELEHDHOJjkxfeCaX8FLbpYtCkmd6jKJHvYuxWQKGZq/bQYk97Z6fP69a+L1LnnHGOxSxnloiK8TWsaOgZp1uyyHrnwKV/yEyRCB03BBkXF5Lj8NLqMi9etVvTv0TdQEyB4PSmr0f8AlSBkcRMm1UZWp/KPGOLKut9r7rs5j3CG5spEAlUQ/zj1EBgv5LIyIjH0nWmU0oXpCS6kyFWGxtVintcYoO0MmkadqHweX8Uwgy5mKuElmhDpoF2Id2kPyXyKm0mdZpTT/+dsUU4OujiPJjXwHwHYtGd23UHvPAVh27C1dirC7LGNK4+iueIXFdltQWXbhA+gUjVVgytNoypJwRbCm1YMwPEb4yFoFeMaY/CRJsc2vgRAgtXYKQla6CRdWq/aq1DiwJC7f4TD/hgP6ziBvLDxmsEeLGxq1RzOgkQGHVF/5tPrX3o++0YVPVXYvU7X6WT8fr6WGhPRIZicpNozDTzbAdhdcYZa0TdqlV6C4+yJdrZy4JS8+jns3UYzmsa9YyEh7iJs3Gn/CsdvP2fsyKK4c/C9JgZfAcaMU5GG6Cls6ylDIQElqfGmKk71ut1wKsFeGXMcVsxp0C7HchNOJ4hCov1nfV6mzacYwa5EloIew8jYXVaTT1cl0UsLka9w/K736tlx8/LDhibi0YCmILdsq0CpBZcdxCStdtayZTiPuxXTJfsbDuFUEkFCLQYJD97rVYphGOwiiHiUW9eNZYHVuwu9eoSWLu0tpYUm2bbNyNfX1NbFCngZRjjDhQW+JuwBd3UGCczZalEzwMNN52bBDU+S9tSBLZ9xnoAZQA+G0WcfmhZJK4AqNuell7q/pgvRbNRt8zJ1jLLFrgPKIIgKzrQaDXBVeEkJilA5naTJcM6pfYuZ2WhSce779zHdpIRrHgUJxOUdwGLd7a9TyamrWBVv1FWPkT7fr/W0P8/2UrelLF6+l+TeE4JQQdoAUTI+UOSrokyc59FHmNnz9yHkbEifb/LKDsrIe5aRdyqxNN2STBhU5Mnniiy6kWQr23sQSRdaSP7vjJvvAW8X1Mz7MUB5Vj6Po+agM90PZE0WKhubyXs5rASu7KAvaDZ/HU16FxottUCA8DCd4JlDaPckSniBwQdPwwJZ2f9jHij8iYeDdvYpAUkQqe3JHRoNB8tOeV1n5mzrO503B1HujWhd0uG9Q/tzyhKAsIdcSqbND2FFU43ULiYIbWJjvAeAGrRitIy8GMPML3J8EcBMS69tXeniPRlMFzisR+lSRZ2PeowwyCac4BBMN4XsDaSBXdaxFrID438vX2ZWo80z+ckxoN3QK5xC/pmZFZMvFDt8i3wnVttxan7BKKLePptaV1zLsk7xPXVKvcaoNT/bQ2FfubD8d9yXb3bXR1HtOwOc7JTc+yMiFabpbyPZ9FhtYjBer6O1into2oZmqTqd30L1G/DzfVBBefEeJUWv1PMnC7MyEk8l2hmJN96McZ4sxPRUoO/Mnkbq/Qk7HqkwxVqy3vi/4WUpoIXE/L6Et6yDWe/EThvjsAImtHibGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AKwDRaoEAVyTPEPtGuYgPc",
      "input": {
        "note": "Bowl wall now lies between the open jaws (left jaw over the bowl interior). Descending to grasp the wall low.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.32,
          "right_y": 0.058,
          "right_yaw": 0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01AKwDRaoEAVyTPEPtGuYgPc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1928, 0.2836, 0.1459, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0047 left_pitch=-0.0484 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3059 right_y=0.0524 right_z=0.0486 right_yaw=-0.0097 right_pitch=-0.1018 right_roll=-0.0509 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -1.3744, 7.159, 1.6972, -0.0806, -0.0464, -0.0122, -0.1846, -3.5897, 6.6667, 1.8974, 0.2955, 0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cce699395d660d0ca5312e02f103ff2c5bfe079c15ce488bc1445c742d01fe4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cdf9e41b8be8ca0aab042a153526065dba256b1e3a69483436e20956a52e860",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6447fd6f385c643faf078fb2e834fac86dc6e7aa211faa9911650695ca5feefd",
        "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 · 8.194 s
model
claude-opus-5-5
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]: [-0.0196, 0.812, 0.6075, -0.3901, -0.0227, -0.0494, 0.9993, 0.5526, 1.0126, 0.5694, -0.2451, 0.4152, 0.2646, 0.9992]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1746 left_yaw=0.0047 left_pitch=-0.0263 left_roll=-0.0068 left_gripper=0.9993 right_x=0.2962 right_y=0.1032 right_z=0.138 right_yaw=0.0543 right_pitch=-0.0491 right_roll=-0.0265 right_gripper=0.9992\nstate[joint_eff]: [-0.2667, -1.4154, 7.0496, 1.6923, -0.0855, -0.0708, -0.0122, 0.1436, -3.2205, 9.8393, 1.58, 0.359, 0.1929, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8162, 0.6075, -0.4057, -0.0227, -0.0494, 0.9993, 0.3058, 1.1843, 0.3969, 0.0395, 0.2935, 0.1722, 0.9992]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1702 left_yaw=0.0047 left_pitch=-0.0461 left_roll=-0.0063 left_gripper=0.9993 right_x=0.3112 right_y=0.0484 right_z=0.0628 right_yaw=-0.0461 right_pitch=-0.1384 right_roll=-0.0508 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -1.7299, 7.2137, 1.8877, -0.0757, -0.0806, -0.0122, -0.0342, -4.6427, 7.4188, 2.0879, 0.0171, -0.0366, -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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1928, 0.2836, 0.1459, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0047 left_pitch=-0.0484 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3059 right_y=0.0524 right_z=0.0486 right_yaw=-0.0097 right_pitch=-0.1018 right_roll=-0.0509 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -1.3744, 7.159, 1.6972, -0.0806, -0.0464, -0.0122, -0.1846, -3.5897, 6.6667, 1.8974, 0.2955, 0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cce699395d660d0ca5312e02f103ff2c5bfe079c15ce488bc1445c742d01fe4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cdf9e41b8be8ca0aab042a153526065dba256b1e3a69483436e20956a52e860",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6447fd6f385c643faf078fb2e834fac86dc6e7aa211faa9911650695ca5feefd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1wYKEAgSGAI4AUIIdGhpbmtpbmcSDDNNihPOGXH7qC5IZhoMBWHdxFxkxwl5FdUvIjCSYoapsg0lxk4zceJXzD9ktikqE3QxW2yqMfltKZdCL/lHlNrkXgmgQj5kt0HgMY0q9AXyZvXbWitTQRo164vNnkzGd83RDe5uD2uFnFODOQ/vOh5LJCqEpSsX+1UO1BSxyazb9Z7EYN6VM/blqS3tnIi2ApJ819q8a6q4ul6NbnJ5lER5tnhBB1W/IYj+wGRwam4F9rZjrWwrZw7FrpLyHZtW/NZK3XTlnz0GnwXBY0fz8Z6f4XcV/Vg4p6bGFrt2ASbQvSpC0HEgi4RVsGoD0ZZnnM6SYPiztFVoobmZ0fldp4LP86t/E2rQpw82K4bXQVwrapeipxx6IjRADPcaV2aqkwBhJ3htVonEj0EGL+k7bRgmNij8GzCwmr0jwxWx+4G2NYYiaWGyPIguB0VBxDqkLtkJl1lUB7KEwowx88ngPrG39r0I+FYDtMkOA3tp8vZQDQqN24qCdEY53aKLHqblAQddaK4OLcqu0ff70XAgK7rtY48UiioGGrrfJzUVAijbmpCgcDnFXQPWOtYp+064+dDSwp3r7wQw0fEaqjX7RpXFUazQkZ+S40QvXPDL9/VEdZU/l8UtZ7/klPLcFjfegs/YC9gNKBXDpfm6YA5lpXtRmCBMdd3Cd0Ea9Ql/tYTlE1xlaJ4XCdsD8Ju7YwxMc1qgF0inBpdt71ZdqR17prbCK6gB0bCDE49Y/w22Uhxvo5R8u131d17vRYi04SDJ61f4sJkVDYq5mPIVI5f5itWIgTfhp5KgTBIxgHyj8580jG27OJKRF3ET06GDIKPrlTRaLF+/83+ade7cYyg1ww6PDZ7fVx0iD1hu138KTGoqtWRtTfABxXuvdx2iBon6kYN4au4gIoMoqmlTVyrdTM8T6YvbJfYgn+H1vEHIzTEn7ClmNztLmm+gK8u909BdHGBqgCwvzCLcliWto0ZNZLSYJUaDf82HQzKeYPd38RRZUd7MCE7Z2pbtv0QyYSh2nGxv75yP8PmkkzgWe5nI/s+0k3PkmGkbOGWa4AEL7qKvgqmkJzN9/ps2y6v6+4cygjhpplC+VTEKUpPq+e6g8TrpOC4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019rfQczJZ7qwyo12aA9hz3W",
      "input": {
        "note": "Descending further (now z≈0.05); the bowl wall still sits between the jaws.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.32,
          "right_y": 0.058,
          "right_yaw": 0,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019rfQczJZ7qwyo12aA9hz3W",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1925, 0.2836, 0.1459, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0047 left_pitch=-0.0484 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3058 right_y=0.0524 right_z=0.0485 right_yaw=-0.0097 right_pitch=-0.1022 right_roll=-0.051 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -1.388, 6.9949, 1.6923, -0.0366, -0.0806, -0.0122, -0.1162, -3.5897, 6.6667, 1.8437, 0.2662, 0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6d90872327d745764fcda12117d35611c6b08d5bfd357c4a0f188c12cfb234f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6cf09c1f576eeef0dc9ae2e592a9737a58ad333cb2ea861c5d224524deb859b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6d38192d5abfbfe41d9cd8fd329d8882014f2c8703151c6755ecdc53a693187",
        "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 · 8.34 s
model
claude-opus-5-5
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]: [-0.0196, 0.8162, 0.6075, -0.4057, -0.0227, -0.0494, 0.9993, 0.3058, 1.1843, 0.3969, 0.0395, 0.2935, 0.1722, 0.9992]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1702 left_yaw=0.0047 left_pitch=-0.0461 left_roll=-0.0063 left_gripper=0.9993 right_x=0.3112 right_y=0.0484 right_z=0.0628 right_yaw=-0.0461 right_pitch=-0.1384 right_roll=-0.0508 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -1.7299, 7.2137, 1.8877, -0.0757, -0.0806, -0.0122, -0.0342, -4.6427, 7.4188, 2.0879, 0.0171, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1928, 0.2836, 0.1459, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0047 left_pitch=-0.0484 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3059 right_y=0.0524 right_z=0.0486 right_yaw=-0.0097 right_pitch=-0.1018 right_roll=-0.0509 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -1.3744, 7.159, 1.6972, -0.0806, -0.0464, -0.0122, -0.1846, -3.5897, 6.6667, 1.8974, 0.2955, 0.1343, -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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1925, 0.2836, 0.1459, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0047 left_pitch=-0.0484 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3058 right_y=0.0524 right_z=0.0485 right_yaw=-0.0097 right_pitch=-0.1022 right_roll=-0.051 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -1.388, 6.9949, 1.6923, -0.0366, -0.0806, -0.0122, -0.1162, -3.5897, 6.6667, 1.8437, 0.2662, 0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6d90872327d745764fcda12117d35611c6b08d5bfd357c4a0f188c12cfb234f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6cf09c1f576eeef0dc9ae2e592a9737a58ad333cb2ea861c5d224524deb859b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6d38192d5abfbfe41d9cd8fd329d8882014f2c8703151c6755ecdc53a693187",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EVv395MXbVnPRmKbZSn8Wg",
      "input": {
        "note": "Arm stalled at z≈0.05; top view shows the gripper just right of and behind the pink bowl. Trying a small step forward/left and down toward its right wall.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.07,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01EVv395MXbVnPRmKbZSn8Wg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1928, 0.284, 0.1455, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0047 left_pitch=-0.0484 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3059 right_y=0.0524 right_z=0.0486 right_yaw=-0.0098 right_pitch=-0.1017 right_roll=-0.0514 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.3744, 7.0496, 1.7167, -0.0611, -0.0513, -0.0122, -0.1573, -3.5761, 6.653, 1.8828, 0.3199, 0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a1cdaafa4f7dc99616b6adabacd9b53a6cf31b9e1f855c1129ff38d73fe1e54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d812224b22b3469fe8ccd514b5253b3ff345739cbb439b26b74d5f762af48295",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8324ab2b7f6787760864c3949151138a6e751e903512b3d909a768028327b69a",
        "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 · 9.553 s
model
claude-opus-5-5
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]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1928, 0.2836, 0.1459, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0047 left_pitch=-0.0484 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3059 right_y=0.0524 right_z=0.0486 right_yaw=-0.0097 right_pitch=-0.1018 right_roll=-0.0509 right_gripper=0.9992\nstate[joint_eff]: [-0.0068, -1.3744, 7.159, 1.6972, -0.0806, -0.0464, -0.0122, -0.1846, -3.5897, 6.6667, 1.8974, 0.2955, 0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1925, 0.2836, 0.1459, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0047 left_pitch=-0.0484 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3058 right_y=0.0524 right_z=0.0485 right_yaw=-0.0097 right_pitch=-0.1022 right_roll=-0.051 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -1.388, 6.9949, 1.6923, -0.0366, -0.0806, -0.0122, -0.1162, -3.5897, 6.6667, 1.8437, 0.2662, 0.1343, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1928, 0.284, 0.1455, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0047 left_pitch=-0.0484 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3059 right_y=0.0524 right_z=0.0486 right_yaw=-0.0098 right_pitch=-0.1017 right_roll=-0.0514 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.3744, 7.0496, 1.7167, -0.0611, -0.0513, -0.0122, -0.1573, -3.5761, 6.653, 1.8828, 0.3199, 0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a1cdaafa4f7dc99616b6adabacd9b53a6cf31b9e1f855c1129ff38d73fe1e54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d812224b22b3469fe8ccd514b5253b3ff345739cbb439b26b74d5f762af48295",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8324ab2b7f6787760864c3949151138a6e751e903512b3d909a768028327b69a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GFB8KQuaFstwLepmsPMcj8",
      "input": {
        "note": "Testing whether a tiny 1 cm descent tracks, to tell a controller hold from a contact.",
        "targets": {
          "right_z": 0.038
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_01GFB8KQuaFstwLepmsPMcj8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1925, 0.284, 0.1455, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0047 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3059 right_y=0.0523 right_z=0.0485 right_yaw=-0.0098 right_pitch=-0.1021 right_roll=-0.0515 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -1.388, 7.0359, 1.7167, -0.0171, -0.0757, -0.0122, -0.1573, -3.2068, 6.653, 1.873, 0.2613, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3dbd3c725cc4cba7deee81dacce74f315eabb458d0f88baaff18a7ded4ce5a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a07a67a172b5133a0dd32be617e92aff81df62ea113e47cf6f3d2223c956135e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4536282f9e606210da1b31c3144387a0b9d463550d9f32d78246ef1c3983b809",
        "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 · 4.873 s
model
claude-opus-5-5
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]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1925, 0.2836, 0.1459, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0047 left_pitch=-0.0484 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3058 right_y=0.0524 right_z=0.0485 right_yaw=-0.0097 right_pitch=-0.1022 right_roll=-0.051 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -1.388, 6.9949, 1.6923, -0.0366, -0.0806, -0.0122, -0.1162, -3.5897, 6.6667, 1.8437, 0.2662, 0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1928, 0.284, 0.1455, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0047 left_pitch=-0.0484 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3059 right_y=0.0524 right_z=0.0486 right_yaw=-0.0098 right_pitch=-0.1017 right_roll=-0.0514 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.3744, 7.0496, 1.7167, -0.0611, -0.0513, -0.0122, -0.1573, -3.5761, 6.653, 1.8828, 0.3199, 0.1294, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1925, 0.284, 0.1455, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0047 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3059 right_y=0.0523 right_z=0.0485 right_yaw=-0.0098 right_pitch=-0.1021 right_roll=-0.0515 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -1.388, 7.0359, 1.7167, -0.0171, -0.0757, -0.0122, -0.1573, -3.2068, 6.653, 1.873, 0.2613, 0.0904, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3dbd3c725cc4cba7deee81dacce74f315eabb458d0f88baaff18a7ded4ce5a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a07a67a172b5133a0dd32be617e92aff81df62ea113e47cf6f3d2223c956135e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4536282f9e606210da1b31c3144387a0b9d463550d9f32d78246ef1c3983b809",
        "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_01V2LEV9gmKMCSoz4XFR3b5c",
      "input": {
        "note": "The jaws look close to the table and the arm won't go lower; the bowl wall is ahead-left of the fingertips. Lifting slightly while moving forward-left to put the wall between the jaws.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.33,
          "right_y": 0.075,
          "right_yaw": 0,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01V2LEV9gmKMCSoz4XFR3b5c",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.3733, 1.2293, 0.3408, 0.2077, 0.2909, 0.1654, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0047 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3139 right_y=0.0724 right_z=0.058 right_yaw=0.0298 right_pitch=-0.076 right_roll=-0.0315 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -1.2513, 7.0222, 1.6728, -0.0611, -0.0513, -0.0122, -0.0205, -2.7282, 8.7179, 1.8193, 0.3297, 0.2173, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e01f1d125b168543b0072f0542b0ce1cfd79d20ebb0e7c025af30b823c61aeea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6ef85f3d98284b697a76a816d0b130c9bdbd897bfc234ae0b6ed71419731387",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:201c9c70626ae9c5a2ead039c7c14b3d47d0576d2aeaa88cef7785dfc0fafbb5",
        "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 · 5.617 s
model
claude-opus-5-5
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]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1928, 0.284, 0.1455, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0047 left_pitch=-0.0484 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3059 right_y=0.0524 right_z=0.0486 right_yaw=-0.0098 right_pitch=-0.1017 right_roll=-0.0514 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.3744, 7.0496, 1.7167, -0.0611, -0.0513, -0.0122, -0.1573, -3.5761, 6.653, 1.8828, 0.3199, 0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1925, 0.284, 0.1455, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0047 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3059 right_y=0.0523 right_z=0.0485 right_yaw=-0.0098 right_pitch=-0.1021 right_roll=-0.0515 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -1.388, 7.0359, 1.7167, -0.0171, -0.0757, -0.0122, -0.1573, -3.2068, 6.653, 1.873, 0.2613, 0.0904, -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]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.3733, 1.2293, 0.3408, 0.2077, 0.2909, 0.1654, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0047 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3139 right_y=0.0724 right_z=0.058 right_yaw=0.0298 right_pitch=-0.076 right_roll=-0.0315 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -1.2513, 7.0222, 1.6728, -0.0611, -0.0513, -0.0122, -0.0205, -2.7282, 8.7179, 1.8193, 0.3297, 0.2173, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e01f1d125b168543b0072f0542b0ce1cfd79d20ebb0e7c025af30b823c61aeea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6ef85f3d98284b697a76a816d0b130c9bdbd897bfc234ae0b6ed71419731387",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:201c9c70626ae9c5a2ead039c7c14b3d47d0576d2aeaa88cef7785dfc0fafbb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkAgKEAgSGAI4AUIIdGhpbmtpbmcSDEcurFiXyuDktzneahoMpuUe7YQo1z++PmVNIjARognVNTnDycKhTfzZ/hMTli0kuz0YZ5oIYLwcBi3Ddik6VLLBo5QZ+J92rPaSrvAqrQdZUN3c19qDlRA0IOg5wTXskApyfuPnjHhG54FtgMGFxXyH0Lp4dzYUpK0vdAO6vZXWo7NGhJdOhI7adUyv0xNpNfl0IivuANVkDo9JjuuCSj54HVvoZLwncAl4H49huUEREy8X4h5a/WBow/kaEcv/roCEUQAQFPkH982lPm/XTYn9x3xUdqspbwkA2EFuhRpeCUkelXCP9K3qgEM6yryBhxfgrHzehG23ODzw6u4nfDbduu6s7YFemlLacunk6bcHvvm1ydo5vkzs3A49SGR9F8AUXLJACc4cGp8clJtd9tWnP6z4T7GDBrDV51+3MzHvkuKiUb8wQhFBuISs8yix3nHsbsoSEFwYNRlXdLwWdYSvuCP0x72O+jkzqPbjoqSSDPPv0WhvXZSXS67ndkb4nBBY3BjwdXNAVERmx+amcVRaTJNxDNULl5BH1vASCZfLjkiNZFOU45Uj2iCL0QiU2RJW4o8IyDZykfjB0VssJ9Vl1S46RH10/eEh+kqte6qVFLWfVBEyhBfQo9a+/g3JvjAiq5zS2ntNHsrCWjXc7zb1176X8RoSzuwnrJsgK4MdLp+NyrCK8bgzrdMvu9mJ0ZNDiGauzc7OY0uWNzGrEtI5M4v9XGRXIW5QwvuD9vI4KOetOPH6Rshkayh+Aott2cpEK+c1bAHhgHcFek26b++AG54x8drHuocJu1ce95HQIyRDptWp2kVnkRzWV+xhwI/yg1eLXjAJp1AJxmRqNHKVaO1Fxq8oXXdY99ro9nzmMaT77khUMDEs6HUyW3U7yp8lazEC6NzPtSixskAgHOIVTBRBSjM1XDmQQG/6vtr/dg0HrMj/pxCUe7gRHldXNeA0KzNipT9yvLq40t8GLTtfgNGQv3R/RAKevehOXTxbtXJ6w9hu2eahNSOCdrI2LN5/UrIb42Jpfr2fjn7ynsVninSCyVsKMYBqiq3nK7QWMVvrVKa0p1AMLyb6mFE+L/7kLh/3DAqG8IYQikw6seZFxNutvjs1sttg8uktsohrsuKAQxZqAA74B1odokFo35nUbMhv+LkkVMhKR+5h4JY9dUVURyQULw/n8XJYbm80k+um+YeecnrqT0SXlNjulHT9/Qd6VZnD1847mY5b56NrWSTdodo1M33Tw7Lvlu9CTRdw8E5Waq3U/UVYq+P8Wp5b3HzjEPMJor/iljb4raqhIVuPutCWH+9vPgE6H9/s/5oKOqv/57l13zQ8G4TGJ+XQM09wjMA/yq3oyBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Li7Wy7vHjSooVJmKo2vwMX",
      "input": {
        "note": "Pink bowl's right wall is now on the jaw column but a few cm ahead of the fingertips. Advancing forward at rim height.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.355,
          "right_y": 0.072,
          "right_yaw": 0,
          "right_z": 0.065
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Li7Wy7vHjSooVJmKo2vwMX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8177, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.3267, 1.3972, 0.3668, 0.3153, 0.2737, 0.1566, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1694 left_yaw=0.0048 left_pitch=-0.0499 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3299 right_y=0.0652 right_z=0.0355 right_yaw=0.0011 right_pitch=-0.1123 right_roll=-0.0393 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.3197, 7.0222, 1.6777, -0.0757, -0.0659, -0.0122, -0.4581, -4.8342, 8.7453, 2.0488, 0.0317, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dccd963bb0191748b58fe8e2219c636ef18bf1251ecc0526c7df4eaedf842dea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:147310fbc5383c16c4a2fd43aa741df9324dfa94f5d64804f8a5fc0239d89b74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:62f1e83cbafb8b62ecebe93e6e40bd5b672f2269d7b4eac3e02aac8f0356a457",
        "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 · 6.886 s
model
claude-opus-5-5
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]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.318, 1.2026, 0.3038, 0.1925, 0.284, 0.1455, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0047 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3059 right_y=0.0523 right_z=0.0485 right_yaw=-0.0098 right_pitch=-0.1021 right_roll=-0.0515 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -1.388, 7.0359, 1.7167, -0.0171, -0.0757, -0.0122, -0.1573, -3.2068, 6.653, 1.873, 0.2613, 0.0904, -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]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.3733, 1.2293, 0.3408, 0.2077, 0.2909, 0.1654, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0047 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3139 right_y=0.0724 right_z=0.058 right_yaw=0.0298 right_pitch=-0.076 right_roll=-0.0315 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -1.2513, 7.0222, 1.6728, -0.0611, -0.0513, -0.0122, -0.0205, -2.7282, 8.7179, 1.8193, 0.3297, 0.2173, -0.0171]",
      "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]: [-0.0196, 0.8177, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.3267, 1.3972, 0.3668, 0.3153, 0.2737, 0.1566, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1694 left_yaw=0.0048 left_pitch=-0.0499 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3299 right_y=0.0652 right_z=0.0355 right_yaw=0.0011 right_pitch=-0.1123 right_roll=-0.0393 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.3197, 7.0222, 1.6777, -0.0757, -0.0659, -0.0122, -0.4581, -4.8342, 8.7453, 2.0488, 0.0317, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dccd963bb0191748b58fe8e2219c636ef18bf1251ecc0526c7df4eaedf842dea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:147310fbc5383c16c4a2fd43aa741df9324dfa94f5d64804f8a5fc0239d89b74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62f1e83cbafb8b62ecebe93e6e40bd5b672f2269d7b4eac3e02aac8f0356a457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQkKEAgSGAI4AUIIdGhpbmtpbmcSDIcyFEIicNzGoYRdshoMPxm/vG7gU0gYpHE+IjBpEaguA6noJNX760Cp22O0+HkzThuY++S+QQ4GkbiqOw1iQk/YzHAGVHXneerqVA0q0gi6b7eyrHDG7Bm+IVyduGlFqM06Ks74SIiEQXnQieaIa5CniLweQcGlzJbVjUB1sV41QpmN6gjWAEtZYs27fB2NqWtYjb8xCNszwtRVza8mSm6tGJlxbYdh6u4AytCwNHXjqDCMw4jSaP4+/yPRnPQf51mGhuthCRcsLl5tHTZVtf7uyqIDrnwBskZ8QsV/YmInc+9cHCOZypISFCZ+n+PeekN8/468CEFePe/Plfma5l7RVyCPFEThI5CXc/jKPiBIqBcBA2T65DlcXQ1ddcH9M3ucDv05yw7jQoRfurI6RxtmgKDUeB7UDLpmzTgcFBNVloZSxw2oWSEDGsAgACqWDsE0fgmT+KDw/oFaivGhlpmFJe5BvC9lVbJLQSLPr+n7Zk7jhBBnCOGfQD+VNPKPjWCQrgQY+LLaLkOpeNi5YOIAPGuaBm2YdAEVUJouDQmGseB1DICfPmUFm+TSsFk3c8284o3ZWko0qP8muwbQGuI+OWvBeKw9CJucCaKyw9s6XPlS+abONhty5Y4fLThGZQbhla5Jl9wyg+bUcqG2c5ANOv4B8jJRQUee0pj5lUJa53/TwJvAmGHYvc4fxoh8VfDm5ODYdjDHfYNMUr0nHAl+4zxDWcRyrqgURGt3p92l0xcH4NHin60c7/NqC34iDcu4Hcyx7+D71rkeUxAmbj5PavDQJtDrOLYTVyph1j4LRvQxKJu7g7JENlTh+ZpzrKbKEnZ8wC5i2BuAjPZylL2m/MC8IkR8icXR53fYF/53euoXxWOaSgGX/zEPRd50r1qSOFXC98s/Z/kaTM1e32EMhW6DeLIk3/ThSVASw6E8oemaSSkCXaZ6jB1+bcRjvXEISIZaYzXVi3uO/f9/VQ5qDJABElnbLe+YzCAmH08WdoKIY6/heNxUG695StajAGsBglrNoRe6pryXnuq+O/PgJSDVv/Oxl6GW1oSAiaHn6FYf25ts7OdmzWNzftt+uqrvuz9saf24jvbYfk1khHKNLlHSoDX92wVPE83ast+dDB84EQzh6UWGVOjjzM/RPX2H0uhfZx5P4AF2X6OoTxlYu4XM9mrDDpHoNCskY6kS4XOf7i4VCjhsVmHMILfBwoFAKj2x2V7YompJGYl9XboO/ysv+gpQI8222qq/TnXTi6n4O4mG6DpJeNqP25prqLjcx9+cS2IC+9ErZd2/yFKAEUWVUbowbiBGf0g3txd6BOHo3EKzMYGk5fsNGlcZOD2CqFLLzjYBQ55aZalMsMk/LeQA+p35qiFlx6BkYC/qvDAYskJ6h6f8ckAqWWYbNHs+88CidCOC00GLWdaHDIyhzP6cjVZYfIl3oxY1HFi/1TCILqiSo1n+tXANZYw0KzH8sssOUN8jGwOm4r9aSJBf+ZoRKZV99wLH//kXi7AVBZCE052X74RCNqUxZzcJfmWuoI8jbnaolHM78+1P6SL2ljK1wh/6fuoGYg2fP/SHFRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013Ldsjv6wWgYRphhEFi2ivc",
      "input": {
        "note": "Arm is at z≈0.035 beside the pink bowl; its wall is still slightly ahead-left of the jaws. Nudging forward and left to bring the wall between the jaws.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.36,
          "right_y": 0.08,
          "right_yaw": 0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013Ldsjv6wWgYRphhEFi2ivc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3241, 1.412, 0.3885, 0.3717, 0.271, 0.1562, 0.9992]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0048 left_pitch=-0.0537 left_roll=-0.0061 left_gripper=0.9993 right_x=0.3439 right_y=0.0694 right_z=0.0491 right_yaw=0.0025 right_pitch=-0.0528 right_roll=-0.0178 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -1.6752, 7.2684, 1.707, -0.0855, -0.0806, -0.0122, -0.5538, -4.9573, 7.3231, 1.8877, 0.0366, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f7d020947f1811cca4e93604302f2ed0808575b0fe5ee5194b98b8f34870070",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bf4fb214fb1f32320dc52671646366d8ced6eb26455b7b3db61ab869cb94252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8b363b0b33721730457496d4d489ebfc07d9924e1249dcddfefb39fe7a98f2df",
        "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 · 6.567 s
model
claude-opus-5-5
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]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.3733, 1.2293, 0.3408, 0.2077, 0.2909, 0.1654, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0047 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3139 right_y=0.0724 right_z=0.058 right_yaw=0.0298 right_pitch=-0.076 right_roll=-0.0315 right_gripper=0.9992\nstate[joint_eff]: [-0.212, -1.2513, 7.0222, 1.6728, -0.0611, -0.0513, -0.0122, -0.0205, -2.7282, 8.7179, 1.8193, 0.3297, 0.2173, -0.0171]",
      "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]: [-0.0196, 0.8177, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.3267, 1.3972, 0.3668, 0.3153, 0.2737, 0.1566, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1694 left_yaw=0.0048 left_pitch=-0.0499 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3299 right_y=0.0652 right_z=0.0355 right_yaw=0.0011 right_pitch=-0.1123 right_roll=-0.0393 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.3197, 7.0222, 1.6777, -0.0757, -0.0659, -0.0122, -0.4581, -4.8342, 8.7453, 2.0488, 0.0317, -0.022, -0.0171]",
      "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]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3241, 1.412, 0.3885, 0.3717, 0.271, 0.1562, 0.9992]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0048 left_pitch=-0.0537 left_roll=-0.0061 left_gripper=0.9993 right_x=0.3439 right_y=0.0694 right_z=0.0491 right_yaw=0.0025 right_pitch=-0.0528 right_roll=-0.0178 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -1.6752, 7.2684, 1.707, -0.0855, -0.0806, -0.0122, -0.5538, -4.9573, 7.3231, 1.8877, 0.0366, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f7d020947f1811cca4e93604302f2ed0808575b0fe5ee5194b98b8f34870070",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bf4fb214fb1f32320dc52671646366d8ced6eb26455b7b3db61ab869cb94252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b363b0b33721730457496d4d489ebfc07d9924e1249dcddfefb39fe7a98f2df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSigsKEAgSGAI4AUIIdGhpbmtpbmcSDDVniFXroATi92CWzRoMrj7CAT4NmEccwdrNIjBIlFhZ/eUFhuJEavvRz+B9+CrMEn0ki2f7zjYpYnsxO1hl7YA+7dXjYVBhcH/p/tcqpwr1ac8DfEknBlA4gs6xT+VWjk8+//PQFcntYRYlQSgXKurjQBuVAJqIOvKv4dFPsenicxn4YPDmrgHAZzLCyP0Buu1jTfGsjaP4mUXik/yfZtS/z7Yb1IsZ7ccBYKVlqAcRyT8VwjEFwQ4VWFIL5QR9agWg5ejuoyNKAfgkhp9UCXRhCUt41RIGruJnO0cQMt8bzia7hLaWrD6PQARY97wo+PJsjQUBtltdO9meN5hA0WT0iCWxOgJrACpryg5tE4GvFFRmy2FC4tEBsgSe5PWfpBpWE0VzFMtgvwRXE6Wo2hLoUVNvTffGLw0sQ8zld+l0Qj39RaKjamb5Wto2mMnNsUZKldL3PKajUrhvgBhdUQMdhymLnJGd2q4Udl5DQ6iMw8b+ZnsBvqMW++HHITdsBn/kqNQKVPjBJaDBC+Xen+ZNz8Y/+dIDUuOF1kcSAfWPH6vFjNXAcf1RqeFuIHpZpFXrwiI5c0QM5R4cweABK/40rQ+7osvJkhpkCsFbpXnANXQ3ysI7MysytH7DQ0Wi4e9VWAN5uG3deQ1VNGKYStD8RxR2UyJdLI50YQK9BPTks9pq34v6GfLkAFRHIfiEq5UYjpS9eJ6D9pMoKtKoC7sHvUxysKLG221XHhOrl945HIxwDX982OK4RTdnMbD/604wl4lH17uUHega3MgoRQbGOSRcJrONaDPtC29rkMDbV6rMKgbQt+O3s8G1Ojg4dDQ+RZKYpzPbF+R8w5rdUZWd4tWlY6lxe3T3QNAvZYZTqWri014Ocbvu/2T8EqF27NkCFKXHr9yLSipGktTpK5zy7TZ0lmtI/zWb+Reyi+4SnHtPZ/MGlpYN/TgkRHafXlE7PWWHf7fEyDpmITuzm8Sbxq5F3c9SCMPcCnv8nLeyv3VKl2U9Z0AsQMOBnp0LfxdHSXZvQkO9qT+WGieMvtjU4WoFI+pTr4gcbbHaMSj3IIalz+0iGSGNNSGHTnO3HOCZ9w7BFK7HNVotNDGDpvrBNugIalmu7DSMr2voEHYtreFti5jC7cqAFH6Z1PhVjaDJfAhGxW2d4ufHZga0YxYwLmDJ5VvreOc0c2iU+BsWJIgroWev4oONUoT7bUu7KH/3tQh5Rn+UMC8GqfC27Hr9x6lcQb3OBhoWqhVT0q4GF5E5zMtqg5ef1m5BDUgUjCYJ3Ov4Ann+q/n5hdKqlU7T8DjrFCmDnkykDdLxWyzaL856EPb1QlOYgR96bqTviw0Xb+fJXhONaZlR4cPcYwOQGh7pocvkslrVod0kw0e1DMgl680nZoAuiogSDRNjPeb2zfojihJ3C9UIaWeGT5I1Ri4YiSXn2V0/opEma5IvV6gRMz3RsQK4km/xPIlgDhX2Abmqy+9CcnqLAOk6zUcdctklb/5u7Yiq3vHIVOafcwc4lHx9eSHgc2NgvvDj4yhzGqAsQqIrnvq0K/KsTq3aQNbEHpZ0NYfQa6SOLQsb8FyTFDwABnM+Ij6B0EyKh/tD+1XNQcWV26gJHxgFf8HEt8roQ1gJKVRptnEJUvmlD2X2Wv6pMOyeqi84P1YtZWKOCQf+9SHY2ZpVZEqfGuUyWcjHjgmTsFxm0lL6+iZTl5oAN3y6ikSHLVvVV5oqu45B5YOvwn2pnLNZgW6p85RALLGOsd/0UKAT0Ofk8Y7thNoMhm/SF1QYxWu6uhflWlg8QOKKENKc0IUe2Wo6PhSzkcqS2ZxHCw2a8slz5YgSMozeH/kcBzm6NLhT7R/WSU0kCQJymxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BzNof2v6JcZfvJTyz6c1FW",
      "input": {
        "note": "Left jaw appears to be sitting on the bowl's rim (arm pushed up to z≈0.05). Lifting and shifting ~2.5 cm left so the left jaw drops inside the bowl and the wall sits between the jaws.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.35,
          "right_y": 0.097,
          "right_yaw": 0,
          "right_z": 0.075
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01BzNof2v6JcZfvJTyz6c1FW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3241, 1.412, 0.3885, 0.3717, 0.271, 0.1562, 0.9992]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0048 left_pitch=-0.0537 left_roll=-0.0061 left_gripper=0.9993 right_x=0.3439 right_y=0.0694 right_z=0.0491 right_yaw=0.0025 right_pitch=-0.0528 right_roll=-0.0178 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -1.4154, 7.1316, 1.707, -0.0757, -0.0317, -0.0122, -0.6222, -5.1761, 7.3368, 1.9023, 0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6934292f2baeb7a06a4055aa3758fad89ac97b8d985de6bf344a1e4c7e70a94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b943d8a95b528a32710252df2513ac545d6f5c8d222aa4ffb4a8f17f2199e731",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ebaf4d2d68c66a0b45ff8158a564e071eab42d2e1c6e49001c3a8dccba1092f5",
        "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 · 11.52 s
model
claude-opus-5-5
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]: [-0.0196, 0.8177, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.3267, 1.3972, 0.3668, 0.3153, 0.2737, 0.1566, 0.9992]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1694 left_yaw=0.0048 left_pitch=-0.0499 left_roll=-0.0062 left_gripper=0.9993 right_x=0.3299 right_y=0.0652 right_z=0.0355 right_yaw=0.0011 right_pitch=-0.1123 right_roll=-0.0393 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -1.3197, 7.0222, 1.6777, -0.0757, -0.0659, -0.0122, -0.4581, -4.8342, 8.7453, 2.0488, 0.0317, -0.022, -0.0171]",
      "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]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3241, 1.412, 0.3885, 0.3717, 0.271, 0.1562, 0.9992]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0048 left_pitch=-0.0537 left_roll=-0.0061 left_gripper=0.9993 right_x=0.3439 right_y=0.0694 right_z=0.0491 right_yaw=0.0025 right_pitch=-0.0528 right_roll=-0.0178 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -1.6752, 7.2684, 1.707, -0.0855, -0.0806, -0.0122, -0.5538, -4.9573, 7.3231, 1.8877, 0.0366, -0.0269, -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]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3241, 1.412, 0.3885, 0.3717, 0.271, 0.1562, 0.9992]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0048 left_pitch=-0.0537 left_roll=-0.0061 left_gripper=0.9993 right_x=0.3439 right_y=0.0694 right_z=0.0491 right_yaw=0.0025 right_pitch=-0.0528 right_roll=-0.0178 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -1.4154, 7.1316, 1.707, -0.0757, -0.0317, -0.0122, -0.6222, -5.1761, 7.3368, 1.9023, 0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6934292f2baeb7a06a4055aa3758fad89ac97b8d985de6bf344a1e4c7e70a94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b943d8a95b528a32710252df2513ac545d6f5c8d222aa4ffb4a8f17f2199e731",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebaf4d2d68c66a0b45ff8158a564e071eab42d2e1c6e49001c3a8dccba1092f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwoKEAgSGAI4AUIIdGhpbmtpbmcSDGURn3dBnQ0mCqSpdRoMPM/WOuuYt0XqlzdDIjDl/oWZzTLSa9Ja11mEfs03mMCsOcIAX0PFrZVx0juVRy3H98f5QJJb4hELaLtCslMqzAk2cExoPk1Y/UOOTUGUPwVNx2qzQ5JsY4ZPKd04RqsCF3PVOFpYTGUgzOSNMN0XN/B4TuulWwBGEiQyMUFE7fNqn97nCm6V7nUA82llp70sX27BA+Sd8B/dyVEky6Z8qfyHeOs0oXiw7dmiAqepAupdzyNxQxEzt27gQfnxtksAsEnJcq0UI4mrejjVhUhnM446oqkPOK+StsaVmlaEUqUWnya/A2pzESabC1fy3np7bf0VyFjIoNnzcJzOgsciMJDi1twKgrH+WS8zGq1Xo3++c93aZQ7SUQO9vQYiQ17n5dUEtJdNWybDn/Ej+i1Er4rAP/p8+/Zwl113PylkVzblEtNEQO1N1ZU3hOM5AKKnCkUJybk3kAx0HRsDiq6wq57JmrefpM7HpFFNCkOYzJWgXpDl3CS0H/eOPo0jW6RS+LsOhgBdhNIkLKUn8q1kaHZIFXfYDK16HV6e8ok4vW+Z13QpYcJKJ6hhMn4LhvbPlsZj7lCsLoqUipw7q7+qUSsEVzbqxDbuViiPrM0dZWwiKuQE2siaYMIDKPM3hkn2BE3jewN8MCTEmTvWeN5GIw8cZrgjWbqiPZDXO06y2ZE4RXALSM0C9XK3ZCY/pNzey1qYjBAgDcJKyt8UIHwUqFzYTW0AXtCoPsSS4/yU7Clz1HNaTqmks/dE32ES93BAqYel2PuXA8RZB412S8pXYmUZhlTwBa6b5AB6+RnB/DPXgXNJ+O0BSbHfQgc59YuhMc4w0fpeurbzzwU1YyckVyPA46IzDd8vCm4DrB+nbSajRteBTAb2zBb9Wlmt9AwF81Uv+VBGTybc0UzxnozbispXccxglgCy4X12JGQjAvfbom0xxaRlta2x7f5EHw+JiCyRobn0MknDVJqz9vdozQW7s0wHIIYR+WifRkIPbJ2BX4rRzSYZXd2ZFEMSJ60pqYoAw4pFwX04ZFh9Bd1O92UrjUg0R6cd7tviKPm8r5JbM2nke7MMFtdT+HbFCU4HgJElQv8m1vxBAAJP9Hjd7JBowycXBKNj18CWsMCbHc8ghqX19jub5wdzlSZJ/NkynqH7CkqswyZif412Jo4v3reOf8Hk0klu5MrrRoi1OV9SOtSMBCavDuTLT/TpSouXtHboQ2KA1xr5bnBdaR6Yb1zjSh69wtg3uuOhc++MjLXZZPdUEyJ/rSkfRAlU8phrlidYXWxpeslA5+qz3MqdmZT49fjHGCehVCG6SDD00C820t25yZ2KA3CeWE9ZpIy+Q6TcwlvO3txCD/N57AtMjid5nDAJwQxpbxS4MTO+Ar/nokulltNEwFoLfasbU7sWdQrbGZfxy22Mv5bfV4UF/9CGgivPyALkPpUZZmYCAeOZtQE730bVjes8ZH+mvJzQ0+unGSlhwVnSvYOWnCn9i8C8pYYJyV/+u0OQkLEj8S8uDL9U4mGU/5KrE54PdGwNJge8WyRIxg0IFhp2OaWHB6sbPWJe71bgk6XAueTFLenD/zXW+RMvtn7/X6bb8pIuFNoUxevaqBsn8kMK1e5gGbvpPAySe5n5KZDz4+zRWk7wFWqojVmaB7CVM3LNCE1xKcHr/qaNj8jSrutK6z17vEgnVVcFwfIQyUMiMizUd/LGzCcJuiHw7L9HuGcnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011FR2YcGiwCQKduTQXDB244",
      "input": {
        "note": "Right arm froze again low beside the bowl. Raising clear (this freed it before), positioned so the left jaw will come down inside the bowl.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.345,
          "right_y": 0.1,
          "right_yaw": 0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_011FR2YcGiwCQKduTQXDB244",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.4088, -0.0227, -0.0494, 0.9993, 0.4519, 1.1824, 0.6525, 0.0597, 0.3405, 0.2077, 0.9992]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1678 left_yaw=0.0048 left_pitch=-0.056 left_roll=-0.006 left_gripper=0.9993 right_x=0.3596 right_y=0.113 right_z=0.1773 right_yaw=0.0421 right_pitch=0.1295 right_roll=0.0569 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.3744, 7.0222, 1.7167, -0.0855, -0.0757, -0.0122, 0.4855, -2.8239, 6.4889, 1.2088, 0.3053, 0.1441, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b350e011cae47ab008afa1470292f5503d0db097c3122dff394dcba757654d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab4e81ee1149456e6c25227d55eb71d63d21d1d180076488933223b96f7bab66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:99c3eb4830abb93320e1a4bdfac523c4844550279f72cdb11f4b625f0a9aa06d",
        "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 · 3.884 s
model
claude-opus-5-5
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]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3241, 1.412, 0.3885, 0.3717, 0.271, 0.1562, 0.9992]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0048 left_pitch=-0.0537 left_roll=-0.0061 left_gripper=0.9993 right_x=0.3439 right_y=0.0694 right_z=0.0491 right_yaw=0.0025 right_pitch=-0.0528 right_roll=-0.0178 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -1.6752, 7.2684, 1.707, -0.0855, -0.0806, -0.0122, -0.5538, -4.9573, 7.3231, 1.8877, 0.0366, -0.0269, -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]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3241, 1.412, 0.3885, 0.3717, 0.271, 0.1562, 0.9992]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0048 left_pitch=-0.0537 left_roll=-0.0061 left_gripper=0.9993 right_x=0.3439 right_y=0.0694 right_z=0.0491 right_yaw=0.0025 right_pitch=-0.0528 right_roll=-0.0178 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -1.4154, 7.1316, 1.707, -0.0757, -0.0317, -0.0122, -0.6222, -5.1761, 7.3368, 1.9023, 0.0269, -0.0513, -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]: [-0.0196, 0.823, 0.6075, -0.4088, -0.0227, -0.0494, 0.9993, 0.4519, 1.1824, 0.6525, 0.0597, 0.3405, 0.2077, 0.9992]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1678 left_yaw=0.0048 left_pitch=-0.056 left_roll=-0.006 left_gripper=0.9993 right_x=0.3596 right_y=0.113 right_z=0.1773 right_yaw=0.0421 right_pitch=0.1295 right_roll=0.0569 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.3744, 7.0222, 1.7167, -0.0855, -0.0757, -0.0122, 0.4855, -2.8239, 6.4889, 1.2088, 0.3053, 0.1441, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b350e011cae47ab008afa1470292f5503d0db097c3122dff394dcba757654d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab4e81ee1149456e6c25227d55eb71d63d21d1d180076488933223b96f7bab66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99c3eb4830abb93320e1a4bdfac523c4844550279f72cdb11f4b625f0a9aa06d",
        "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_01CqkBF5KMtbdUCmNRMbpJbB",
      "input": {
        "note": "Pink bowl is directly below on the jaw column. Shifting right ~3 cm so its right wall falls between the jaws, and descending in one move.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.35,
          "right_y": 0.08,
          "right_yaw": 0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CqkBF5KMtbdUCmNRMbpJbB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3679, 1.5517, 0.3542, 0.527, 0.3061, 0.1856, 0.9992]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1673 left_yaw=0.0048 left_pitch=-0.0575 left_roll=-0.006 left_gripper=0.9993 right_x=0.3418 right_y=0.0785 right_z=0.0217 right_yaw=0.0012 right_pitch=-0.0627 right_roll=-0.0207 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -1.4427, 7.0906, 1.7265, -0.0708, -0.0366, -0.0122, -0.4034, -5.5043, 4.506, 1.8974, 0.0855, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1529f0d2aa8cccdc40946101dcbf8df8730d304239085ee01badc4e1c229669f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47540a74f5addcc5d23ad3da10d216ca61497189c34c44b72bb26b49d73595d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:643d6d52e7f2bc90a2b7f6504c89c2d074863a8f029e072c2f4843fc3fb13f6b",
        "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 · 4.558 s
model
claude-opus-5-5
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]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3241, 1.412, 0.3885, 0.3717, 0.271, 0.1562, 0.9992]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0048 left_pitch=-0.0537 left_roll=-0.0061 left_gripper=0.9993 right_x=0.3439 right_y=0.0694 right_z=0.0491 right_yaw=0.0025 right_pitch=-0.0528 right_roll=-0.0178 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -1.4154, 7.1316, 1.707, -0.0757, -0.0317, -0.0122, -0.6222, -5.1761, 7.3368, 1.9023, 0.0269, -0.0513, -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]: [-0.0196, 0.823, 0.6075, -0.4088, -0.0227, -0.0494, 0.9993, 0.4519, 1.1824, 0.6525, 0.0597, 0.3405, 0.2077, 0.9992]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1678 left_yaw=0.0048 left_pitch=-0.056 left_roll=-0.006 left_gripper=0.9993 right_x=0.3596 right_y=0.113 right_z=0.1773 right_yaw=0.0421 right_pitch=0.1295 right_roll=0.0569 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.3744, 7.0222, 1.7167, -0.0855, -0.0757, -0.0122, 0.4855, -2.8239, 6.4889, 1.2088, 0.3053, 0.1441, -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]: [-0.0196, 0.8249, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3679, 1.5517, 0.3542, 0.527, 0.3061, 0.1856, 0.9992]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1673 left_yaw=0.0048 left_pitch=-0.0575 left_roll=-0.006 left_gripper=0.9993 right_x=0.3418 right_y=0.0785 right_z=0.0217 right_yaw=0.0012 right_pitch=-0.0627 right_roll=-0.0207 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -1.4427, 7.0906, 1.7265, -0.0708, -0.0366, -0.0122, -0.4034, -5.5043, 4.506, 1.8974, 0.0855, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1529f0d2aa8cccdc40946101dcbf8df8730d304239085ee01badc4e1c229669f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47540a74f5addcc5d23ad3da10d216ca61497189c34c44b72bb26b49d73595d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:643d6d52e7f2bc90a2b7f6504c89c2d074863a8f029e072c2f4843fc3fb13f6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwcKEAgSGAI4AUIIdGhpbmtpbmcSDBmlRMFmWMkeAl2kMhoM62QixNiDaOBuGKMvIjC2oOvdrfOCVbz0DMW6EXhCJPT2XIl0wvMOmLXES+nK6JYZfOeN1XUtM/SmAskzxTQq3AafvEAUXKGXsvnYA+rlkazxh3u+AjwyleklbJhUGHPhVfP5zXTgKtxxflSZkQoXfkycItkYVgin1xw3bk09ztud7Rx56VMNo5+wQJAzlkcUzniz2fpBYZjrVvUQckWajTHo426HDhRZHYWqGyzidfeNewgeBdHbo3zoaRzwTYspYb1oko54Nr75g875eeL9PEc/HK+ljW8F3gpro5crHwh/jcJ46WyZN2V0L6Nkd8dEYcte0QU1UbsCYFCZDb9tsLRQbYQtTv2NqNU82TrN7FSvwSNlZWmnlGqyoMG9Zo9zQkdCWTTbxsBz7nPk1SIrwzld0TywUWkmmxVY8PIml/3SBzT6XwBFU+oVhWb+pnqcpgkBt96RCKLmM9HpCo7HxEgWZ69HnCMZ/EyJ4fhLA5wuRHYdwf7wPPbN5ywsFH2bCkzI8DoUOOQqLSx+EhYB+gpafEoK9Ag4TdGSflQwfMPKwEpd7VxJCp3ooajlfQTJrx9aM3YCSsRdNNVopR/wbUX07IK2UBdhOFtmYnJlXjiDMPjOXNk7CMx1StXGj3Q7iipXCwKDe4Kg/lSR4LW7NoqypzErl5nP42uYLr05W46GiY4XOLJ6sJc4dyvjcYaJgF+SKvKUOlHPAEbvWjpcHdCFPlT5rcJQtKFyhd5iL5idiWXuj+KNeKrCM4rndHpKmpFHgWXi06ndJqJPE6pKZbDiN/WUMp3Sfa/qtalmC1XUAWddLUriKbPUrmoSqJUFqdYtEOwrPL6xXIBSagHFc0N4vM+F8rQfvlNvXyUkXM7oswzNvQLwzDF6BTJrztAIYLUF0QwT/jGQHGIKfhT/NV5klir5kqMwkLVuZqP/Psux6u28u5uI5iPf4iQ2IwtPGr+28xpkPteS7b3Lnysym9pdLsmyqHEDcBKw4U7/LV7et1KEBKShe/k6JT067CTTZrpIVdk8KrQppvIrxFkCD/YvY2AQUg2M0pKadPbDWSsgfO30vkaTP74y4EwHFIpeA6Hj1rEVnMo6v3tZ7+qpzXggK0BjZuRkcJydYcIuYfZBW0VvYoGctMXB3cVY+mOL3A0cV8DEhHGkPlUKBh5Lan44PLsLQk69z2seZM2mZmX/ApYhxTwUWxUIQsQbIRkRLJfhDO2McQ6jO2CdyBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WShaXLMdCTM9xgc3JcX9VC",
      "input": {
        "note": "Bowl's right wall now sits between the jaws at z≈0.02 (left jaw inside the bowl). Closing to pinch the wall.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WShaXLMdCTM9xgc3JcX9VC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3714, 1.5417, 0.3592, 0.585, 0.2855, 0.1947, 0.039]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1673 left_yaw=0.0048 left_pitch=-0.0575 left_roll=-0.006 left_gripper=0.9993 right_x=0.3511 right_y=0.0872 right_z=0.0372 right_yaw=0.0175 right_pitch=0.0012 right_roll=0.024 right_gripper=0.039\nstate[joint_eff]: [-0.1983, -1.2513, 7.1179, 1.6581, -0.0659, -0.022, -0.0122, -0.0752, -4.3009, 4.9026, 1.0623, 0.2564, -0.1587, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ba8788dd688bc4001344bbb1a250813e869f441c5eae887176e8640161b60bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0b46eb99bed054c1b9d0ab411ad18174d00c1e86f2a9b69d3419b8927a35981",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24f05692388fb90d51f2097a99d53cc40894e99e1b5c8038bf99539fa3dfd8ea",
        "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 · 8.315 s
model
claude-opus-5-5
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]: [-0.0196, 0.823, 0.6075, -0.4088, -0.0227, -0.0494, 0.9993, 0.4519, 1.1824, 0.6525, 0.0597, 0.3405, 0.2077, 0.9992]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1678 left_yaw=0.0048 left_pitch=-0.056 left_roll=-0.006 left_gripper=0.9993 right_x=0.3596 right_y=0.113 right_z=0.1773 right_yaw=0.0421 right_pitch=0.1295 right_roll=0.0569 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -1.3744, 7.0222, 1.7167, -0.0855, -0.0757, -0.0122, 0.4855, -2.8239, 6.4889, 1.2088, 0.3053, 0.1441, -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]: [-0.0196, 0.8249, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3679, 1.5517, 0.3542, 0.527, 0.3061, 0.1856, 0.9992]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1673 left_yaw=0.0048 left_pitch=-0.0575 left_roll=-0.006 left_gripper=0.9993 right_x=0.3418 right_y=0.0785 right_z=0.0217 right_yaw=0.0012 right_pitch=-0.0627 right_roll=-0.0207 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -1.4427, 7.0906, 1.7265, -0.0708, -0.0366, -0.0122, -0.4034, -5.5043, 4.506, 1.8974, 0.0855, -0.0659, -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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3714, 1.5417, 0.3592, 0.585, 0.2855, 0.1947, 0.039]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1673 left_yaw=0.0048 left_pitch=-0.0575 left_roll=-0.006 left_gripper=0.9993 right_x=0.3511 right_y=0.0872 right_z=0.0372 right_yaw=0.0175 right_pitch=0.0012 right_roll=0.024 right_gripper=0.039\nstate[joint_eff]: [-0.1983, -1.2513, 7.1179, 1.6581, -0.0659, -0.022, -0.0122, -0.0752, -4.3009, 4.9026, 1.0623, 0.2564, -0.1587, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ba8788dd688bc4001344bbb1a250813e869f441c5eae887176e8640161b60bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0b46eb99bed054c1b9d0ab411ad18174d00c1e86f2a9b69d3419b8927a35981",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24f05692388fb90d51f2097a99d53cc40894e99e1b5c8038bf99539fa3dfd8ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/gcKEAgSGAI4AUIIdGhpbmtpbmcSDHhAsjdALlrcVYg8lRoMJitpz5OIyUHLUTp9IjCVSnLIWG37E+LCzK7ypE4GC8/8k3tWyn40SCLC7oKjLaf6rj4lCONL315E8ExayVkqmwfRlnZaShEAMsFL30neJkM3RrY2GvmNYWO0jHgcXqCQa638oncQ2sLN2Hb5osOJn4O8luhEpHS0i/x2ybEfp9GYmhpkasLLv8/14bHuVT/GUd/WvESMl/nM5wqtFMTuZFMNk2rnNuz3rJ4b304CtA0cVOAw+d2fVPmC6VMkQ7/MzPf8UiZ3y1wwlsCro9zmFUFwDPom1kKwJtXkx9VYyZi+7fZA1WkcUYda5vISODPCMJ52fSBdqXQicqZPWJwhXQEG7+10XvlT6wrAmFVcVOHIE1+OUm5EoCaI7C5P25lNvk//eWlIKWAQI2NXJ51xKOdRYAY9jwOZQaPzuCDzh+hj3nXt2sPn9wDFZhnPklHmrLWpx5Jatd8j4f4gpCtCYaRDv93zTiZ8f85MiR/fCLG1iEhsFSuQFYRlKrOCZPt9ue2tsON7meQUXY3IP2arHWm8VWHRvEc1IaJAwkrKZuZ01bg1/j5YYRPZolc1dG25OUGRK0f8mehaaO5vESDbp83nfhCbo5flmtXQrRk5ibB9hNvVxJOH0E7+priiHpKO8zVIslx9Y9gEMJLSeC/371uib1bQ5XCbfrPHMC4gTTCMfmEga4H1pqV5ivnoV4N9xOQh/Fvh2XWRY5gsdWqoKna17UQOV5lHRLG6EplJR4kpAfVi/EOU+ZEW5mpBhwMVX8NkDNvvXd4wlpHjEuN0N2jJMpB6bt3NvQ2Y7x++6ZnhJ8twcwpOhC1Uw0abDtwGZSCbBRvpO50oPN7b/EvOpX1fzuu5AooniSkaR0L12fP/P5cmbqCG/dh9KFlf3g+XMf4RYir6dRKFep/5XaWqSBCx3KT/7VV6AcJAiUVKsu2Es0XC6EG4dQm8DrmBO8pXwP3pUlL8Qt+39ZJ3eMgRntMt+8Dw4TvPCP2wo1+5gIIo9sOfrCno3nK05HrY2odNGHWdLsK5nsQi+ce4k14zHMQxv1glAhnjJc8IYCBLqi0DMefSHgdu8tKrWENfds/AEUVUJLRW+i/rrYVszwfY/ZN0DhokVv0V4lRIeIQgJ9KrUR8LpX8aNRVQWfM7AoE6Pw3ZBVxiNXSeezWvkKSI5pM0mwYXrg7FjWN9jdd1etJFmzu1ZOqzhpcSsMGn32VMpfFBhL1T6RblJqRuds9UTGeGgBHTPLVD1+kgoPbtcUkIJWGn+socN8eey/thh8hSxvZ2eQxmfxmS/QkAjNfjnqfsaC06IxsYQeybyBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qkdo7yCZ4HqCFfrD2kE3Ny",
      "input": {
        "note": "Jaws closed on the pink bowl's wall (reading 0.039 ≈ thin wall). Lifting to confirm the bowl comes up with the gripper.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_yaw": 0,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Qkdo7yCZ4HqCFfrD2kE3Ny",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3893, 1.2293, 0.5743, 0.036, 0.3065, 0.186, 0.042]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1668 left_yaw=0.0048 left_pitch=-0.0595 left_roll=-0.0059 left_gripper=0.9993 right_x=0.349 right_y=0.0894 right_z=0.1209 right_yaw=0.0228 right_pitch=-0.0146 right_roll=-0.0021 right_gripper=0.042\nstate[joint_eff]: [-0.2667, -1.347, 6.9949, 1.6581, -0.0513, -0.0464, -0.0122, 0.2393, -5.3812, 9.4564, 1.8144, 0.3492, 0.1001, 0.6374]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb00a9bb3f56bef033051b617754b4b1149a3650477615cd3c0347a00552d402",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60a677537a00b52545529ad749cada6543507d0ea2bdd7660e30dee07ae9d025",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:898ef12e3cdda178d4485f18010771d868fe39d45284606444115335381f0460",
        "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 · 4.023 s
model
claude-opus-5-5
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]: [-0.0196, 0.8249, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3679, 1.5517, 0.3542, 0.527, 0.3061, 0.1856, 0.9992]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1673 left_yaw=0.0048 left_pitch=-0.0575 left_roll=-0.006 left_gripper=0.9993 right_x=0.3418 right_y=0.0785 right_z=0.0217 right_yaw=0.0012 right_pitch=-0.0627 right_roll=-0.0207 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -1.4427, 7.0906, 1.7265, -0.0708, -0.0366, -0.0122, -0.4034, -5.5043, 4.506, 1.8974, 0.0855, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3714, 1.5417, 0.3592, 0.585, 0.2855, 0.1947, 0.039]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1673 left_yaw=0.0048 left_pitch=-0.0575 left_roll=-0.006 left_gripper=0.9993 right_x=0.3511 right_y=0.0872 right_z=0.0372 right_yaw=0.0175 right_pitch=0.0012 right_roll=0.024 right_gripper=0.039\nstate[joint_eff]: [-0.1983, -1.2513, 7.1179, 1.6581, -0.0659, -0.022, -0.0122, -0.0752, -4.3009, 4.9026, 1.0623, 0.2564, -0.1587, 0.8034]\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]: [-0.0196, 0.8268, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3893, 1.2293, 0.5743, 0.036, 0.3065, 0.186, 0.042]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1668 left_yaw=0.0048 left_pitch=-0.0595 left_roll=-0.0059 left_gripper=0.9993 right_x=0.349 right_y=0.0894 right_z=0.1209 right_yaw=0.0228 right_pitch=-0.0146 right_roll=-0.0021 right_gripper=0.042\nstate[joint_eff]: [-0.2667, -1.347, 6.9949, 1.6581, -0.0513, -0.0464, -0.0122, 0.2393, -5.3812, 9.4564, 1.8144, 0.3492, 0.1001, 0.6374]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb00a9bb3f56bef033051b617754b4b1149a3650477615cd3c0347a00552d402",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60a677537a00b52545529ad749cada6543507d0ea2bdd7660e30dee07ae9d025",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:898ef12e3cdda178d4485f18010771d868fe39d45284606444115335381f0460",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NSbqETbu3SrkCy4cWgBiAB",
      "input": {
        "note": "Pink bowl lifted with the right gripper. Carrying it left so its centre sits over the middle (white/lilac) bowl.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.35,
          "right_y": 0.235,
          "right_yaw": 0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01NSbqETbu3SrkCy4cWgBiAB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.828, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.8433, 1.5654, 0.9588, -0.1986, 0.6403, 0.4881, 0.0449]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1665 left_yaw=0.0048 left_pitch=-0.0606 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3427 right_y=0.2316 right_z=0.1331 right_yaw=0.0487 right_pitch=-0.0454 right_roll=-0.0364 right_gripper=0.0449\nstate[joint_eff]: [-0.1026, -1.3744, 7.1043, 1.707, -0.0513, -0.0317, -0.0122, 0.1162, -7.1316, 9.1009, 1.4286, 0.4615, 0.2222, 0.5543]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24b491e645650d10f49ac6ccc6b3e64a27d3b6562579559b2ae40be4620610f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a6de0f3625fdc9b91b5b0da3e473162ee587884e1cd14d95f74273cc6ce429f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da8d1dabff35b4fd80f980804209faecd18a81f3fa55d9fa49d1392ce0642a37",
        "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 · 3.254 s
model
claude-opus-5-5
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]: [-0.0196, 0.8249, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3714, 1.5417, 0.3592, 0.585, 0.2855, 0.1947, 0.039]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1673 left_yaw=0.0048 left_pitch=-0.0575 left_roll=-0.006 left_gripper=0.9993 right_x=0.3511 right_y=0.0872 right_z=0.0372 right_yaw=0.0175 right_pitch=0.0012 right_roll=0.024 right_gripper=0.039\nstate[joint_eff]: [-0.1983, -1.2513, 7.1179, 1.6581, -0.0659, -0.022, -0.0122, -0.0752, -4.3009, 4.9026, 1.0623, 0.2564, -0.1587, 0.8034]\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]: [-0.0196, 0.8268, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3893, 1.2293, 0.5743, 0.036, 0.3065, 0.186, 0.042]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1668 left_yaw=0.0048 left_pitch=-0.0595 left_roll=-0.0059 left_gripper=0.9993 right_x=0.349 right_y=0.0894 right_z=0.1209 right_yaw=0.0228 right_pitch=-0.0146 right_roll=-0.0021 right_gripper=0.042\nstate[joint_eff]: [-0.2667, -1.347, 6.9949, 1.6581, -0.0513, -0.0464, -0.0122, 0.2393, -5.3812, 9.4564, 1.8144, 0.3492, 0.1001, 0.6374]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.828, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.8433, 1.5654, 0.9588, -0.1986, 0.6403, 0.4881, 0.0449]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1665 left_yaw=0.0048 left_pitch=-0.0606 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3427 right_y=0.2316 right_z=0.1331 right_yaw=0.0487 right_pitch=-0.0454 right_roll=-0.0364 right_gripper=0.0449\nstate[joint_eff]: [-0.1026, -1.3744, 7.1043, 1.707, -0.0513, -0.0317, -0.0122, 0.1162, -7.1316, 9.1009, 1.4286, 0.4615, 0.2222, 0.5543]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24b491e645650d10f49ac6ccc6b3e64a27d3b6562579559b2ae40be4620610f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a6de0f3625fdc9b91b5b0da3e473162ee587884e1cd14d95f74273cc6ce429f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da8d1dabff35b4fd80f980804209faecd18a81f3fa55d9fa49d1392ce0642a37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvgcKEAgSGAI4AUIIdGhpbmtpbmcSDG5FktYV/g6kUImUlxoMl4kaCVoYNJSquBQeIjBeldUpG/j60nXpP/L5elai+65QP9262YU1Eh746jO9p5CvMGiU7+tWxmmu3zCeL7Mq2wZsUBxzQd8quJcNqeqHR6EsX0CWJOWfxi/JDqR7KkT2HniSA6WAJ/2jX8tSocz3kidSL+9RyOpV9iPQCJ5193XX3Mh+gmF2bZKuoZQ8QXT5mOOZ0fFRMs1Amx+tMpEZxBtE6P/yEzJoURPetq5Owi/gUSncuRuUhNRaZKHutAvd/C5imAWLYNVS6BIScIsnmpC7PA6WFaWEGdXaUSmODCynpbwwhh6ykFbLYKGi3ifQzGA20nVZCtgFK17HKQTFJdAoDSOqaU8ohwzv4cmrVcNIkugH6GGHLKfjSRinzD/ydyewl8Aok/Ld4tbYJn2wHQ5kuD/9DztfdBTy6ZqcgjLOyjmAMb3N7h0PJeFTLqXUQq1Shd5aXP7fvYem7yLTwsBqEVqxVdz05FSMyBWnLhssMZbNIPPhkS9UmQ2F2diRz9waqc/N+z26hq2SpO6XevFW/luAPPt+MdlNt0v0toJz2oR7QdJsrevmaGKxmgfQOl6I8u+vV9SOPCoirrmMsjngiZryRdZuAX5cXtYPiQfFP/mMB1YWhS/jZLPFT7Ybh7xWnXOoDob4/PvYgDREVdkBA2Ei7UAOPE0ZRny7gEustiFCXrRljjFl7Vkp5RjGLP7NVnDwIaANZhZqj8Gx0o4vyjNooyzuvnyLbZ4VQ69s+fBb5w8K0WVOGtd+kT8J9EluYSCJdOGmrWI3Pc88aw2WVprNTw7QyIJssUWwk1QBShRDN3lbdIpPJG7Qvs5oFOQgWZr570TrFjJniEWJVztXQKhsQbnFYxZyFb9trcPDpFRHZ16rlsraPO57XDEfcMKo3B9Je0Jf1vQ/OABE6JgpCPgE/A+iYIyhqfaevg7pE8QXwUKYBOMw4/XwytZYXTT8DmdzqFA8H+ODDPBSsj2YdcaTPRk3Phleh8kF3T4Jr3J5A0iLw1ntS++HpaZUUaG+PcIqZb/mUczjbjB2rFgYEiRqcAJgjoo5tJczxUN5jYZUja/vH3BOIrMRZ6XIWysgIPY7moJ864UEeCk6I4h8JqShlww969O5qFouoUFHxZSSi0aY0cIciixgU/ASh4l0iK1l4D+0MN05yVq5fgF9T7AJfrnXrCTD0vg7tyAko5XNNakkjjET2LlTeaMDskKaTSE0GZwkRSSpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UGRbMAVAWkxjvuvi3BR8Vx",
      "input": {
        "note": "Pink bowl is hovering over the middle bowl in the top view. Lowering it into the middle bowl before releasing.",
        "targets": {
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01UGRbMAVAWkxjvuvi3BR8Vx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.8463, 1.6855, 0.815, -0.0101, 0.635, 0.49, 0.0474]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1663 left_yaw=0.0048 left_pitch=-0.061 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3337 right_y=0.2244 right_z=0.062 right_yaw=0.0505 right_pitch=-0.1011 right_roll=-0.0862 right_gripper=0.0474\nstate[joint_eff]: [-0.0479, -1.4974, 7.0085, 1.6923, -0.0806, -0.0415, -0.0122, -0.4444, -7.3504, 6.1744, 1.9609, 0.2515, -0.0317, 0.2515]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe856c0ad976fea39d8d8c030759fa49b948389b3e702d61b030c71ea395767d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14a4d860bc9dbc0fb8efd0e45bb8acbfb7b07ea9c2a9a461c9a694f3f628711f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:066b009a933fa310c18bf95d33ce322010ac0181f2604ad013e48dd80a3574ef",
        "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 · 7.891 s
model
claude-opus-5-5
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]: [-0.0196, 0.8268, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.3893, 1.2293, 0.5743, 0.036, 0.3065, 0.186, 0.042]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1668 left_yaw=0.0048 left_pitch=-0.0595 left_roll=-0.0059 left_gripper=0.9993 right_x=0.349 right_y=0.0894 right_z=0.1209 right_yaw=0.0228 right_pitch=-0.0146 right_roll=-0.0021 right_gripper=0.042\nstate[joint_eff]: [-0.2667, -1.347, 6.9949, 1.6581, -0.0513, -0.0464, -0.0122, 0.2393, -5.3812, 9.4564, 1.8144, 0.3492, 0.1001, 0.6374]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.828, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.8433, 1.5654, 0.9588, -0.1986, 0.6403, 0.4881, 0.0449]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1665 left_yaw=0.0048 left_pitch=-0.0606 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3427 right_y=0.2316 right_z=0.1331 right_yaw=0.0487 right_pitch=-0.0454 right_roll=-0.0364 right_gripper=0.0449\nstate[joint_eff]: [-0.1026, -1.3744, 7.1043, 1.707, -0.0513, -0.0317, -0.0122, 0.1162, -7.1316, 9.1009, 1.4286, 0.4615, 0.2222, 0.5543]",
      "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]: [-0.0196, 0.8288, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.8463, 1.6855, 0.815, -0.0101, 0.635, 0.49, 0.0474]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1663 left_yaw=0.0048 left_pitch=-0.061 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3337 right_y=0.2244 right_z=0.062 right_yaw=0.0505 right_pitch=-0.1011 right_roll=-0.0862 right_gripper=0.0474\nstate[joint_eff]: [-0.0479, -1.4974, 7.0085, 1.6923, -0.0806, -0.0415, -0.0122, -0.4444, -7.3504, 6.1744, 1.9609, 0.2515, -0.0317, 0.2515]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe856c0ad976fea39d8d8c030759fa49b948389b3e702d61b030c71ea395767d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14a4d860bc9dbc0fb8efd0e45bb8acbfb7b07ea9c2a9a461c9a694f3f628711f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:066b009a933fa310c18bf95d33ce322010ac0181f2604ad013e48dd80a3574ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5wYKEAgSGAI4AUIIdGhpbmtpbmcSDEgbk9L3X+mm/YaQHhoMQskPrdRehKn3HkdtIjB2jqG08By1BmpaVdGASpC/BgTQYN0cT1qW6jqBu2JevUA/a/EK+fHRlRMHe6xWuxcqhAbIGrpIs/G7txxeSpLxXVww1kkU7CWyDmxaU5Hf9uegGQsh4T7oVnIzciOZFTAWsib2uZQMiElYcsM+rRYpBfX+Bh68i20LCnQ0pyXqLJtqJ27XnB5QnICjULoynofqzYjlhbQYfh2XhDxOxG6MfSMjtnD7mAGpZeZBjp1WfJ5pN+wvOjsaRGcaoFuc9j0+4aEa+l7MaLi0enXf/46IsprFLv0FKaCtO7OCfqXvi3H7qCoKHd7mX2pDOo0Xvf02K6MFMmXNI1Sa8mePEdc4ZKS1vxEM/qkKhUoib3mznbHCUG5zOFrLYViY0oaQ2wdyHY9hpt+cu4/xEGjjYjQwYZmoCYXaFAxLuTRr//GTDGFnE67vBEKNp5kTv3uQ5UkrJLpQVY2I913RbWMiff/AXcCt9rIp62/HaAd8Pob27PtBEPaOUPUtV2RpSdu090Q9nGDPSt/+wtrMVLtijM8PSyMkjTv6NEzq5s2QzGMR30IqRDRRJnN8Co+vsBSSuaTzg0MSumkmggQ8hHQ0+N9R6/MeWcXHEZsXJnQWmekYLSNizHfidjFN0hUcew4+azP7nsI31sxeRTp9fE6Vs4XpHRQaia3jU/BkyS4mb+n17zIQ1vDVa/4sCKlV3XonXtfzcUZnU9XgdV9f5b0NrKHgu8TVXJSqPFAeLAWVVRJ2GoTq0zcjXomNnfavcNbLCaBLCue12u1ml/ZcEnReCgZbLLnr8kyP+PyYunXDBNqWRz0vuXfMrN+0HnpLvNyrud89VDL64bN81IJfZMVTGgu1VC62GVDreurJokg8+7Asoh0qIsfiX0hwBQEPEcA7x25GTk/DkQlMVndnPXulyu5Ozwcwvq/YyWN6RHzYC38/zj0gmdMDjJM4dM5OCddWq8npnA8lVU4O6HXOZ+8SWwy4WAXDg7vZxZy/9PiRfaU3/jaWJAZeuRMeDbffS2/d1wjLwdvXQzm7QkC1ixRXgZU7rtXbv9y7s4YrUQWyeATGXU8AHhrdcqIFroCpJ8w7VE4MHGJzXqKxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014zmgyJTmktPSwJCtEc7Qrs",
      "input": {
        "note": "Pink bowl is resting inside the purple middle bowl (wrist view). Releasing it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014zmgyJTmktPSwJCtEc7Qrs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8307, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.8463, 1.6962, 0.8074, -0.0216, 0.6209, 0.4786, 0.9953]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1657 left_yaw=0.0048 left_pitch=-0.0633 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3296 right_y=0.2227 right_z=0.0529 right_yaw=0.064 right_pitch=-0.1305 right_roll=-0.1085 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -1.3333, 7.2274, 1.7411, -0.0562, -0.0024, -0.0122, -0.1026, -8.3761, 6.4205, 1.4042, 0.3785, 0.0269, -0.2125]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e287c8a6cdd2194cc8e743781d32b91cac01e1c8d648e834f492bebba2ec6c7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81406faf63274a2b803021fab5cc4eb5842e518f332017eeae36e6627c14955c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3dd021e62908ede460f746e8d83693ac2606403197b6a22722958a4c59e0a03",
        "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 · 13.36 s
model
claude-opus-5-5
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]: [-0.0196, 0.828, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.8433, 1.5654, 0.9588, -0.1986, 0.6403, 0.4881, 0.0449]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1665 left_yaw=0.0048 left_pitch=-0.0606 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3427 right_y=0.2316 right_z=0.1331 right_yaw=0.0487 right_pitch=-0.0454 right_roll=-0.0364 right_gripper=0.0449\nstate[joint_eff]: [-0.1026, -1.3744, 7.1043, 1.707, -0.0513, -0.0317, -0.0122, 0.1162, -7.1316, 9.1009, 1.4286, 0.4615, 0.2222, 0.5543]",
      "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]: [-0.0196, 0.8288, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.8463, 1.6855, 0.815, -0.0101, 0.635, 0.49, 0.0474]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1663 left_yaw=0.0048 left_pitch=-0.061 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3337 right_y=0.2244 right_z=0.062 right_yaw=0.0505 right_pitch=-0.1011 right_roll=-0.0862 right_gripper=0.0474\nstate[joint_eff]: [-0.0479, -1.4974, 7.0085, 1.6923, -0.0806, -0.0415, -0.0122, -0.4444, -7.3504, 6.1744, 1.9609, 0.2515, -0.0317, 0.2515]",
      "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]: [-0.0196, 0.8307, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.8463, 1.6962, 0.8074, -0.0216, 0.6209, 0.4786, 0.9953]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1657 left_yaw=0.0048 left_pitch=-0.0633 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3296 right_y=0.2227 right_z=0.0529 right_yaw=0.064 right_pitch=-0.1305 right_roll=-0.1085 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -1.3333, 7.2274, 1.7411, -0.0562, -0.0024, -0.0122, -0.1026, -8.3761, 6.4205, 1.4042, 0.3785, 0.0269, -0.2125]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e287c8a6cdd2194cc8e743781d32b91cac01e1c8d648e834f492bebba2ec6c7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81406faf63274a2b803021fab5cc4eb5842e518f332017eeae36e6627c14955c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3dd021e62908ede460f746e8d83693ac2606403197b6a22722958a4c59e0a03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VPPxBTVjJQQyG59QsJR2Xt",
      "input": {
        "note": "Top view shows the pink bowl landed just in front of the purple bowl, not in it. Its wall is still between the jaws, so re-grasping it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VPPxBTVjJQQyG59QsJR2Xt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8314, 0.6075, -0.4088, -0.0227, -0.0494, 0.9993, 0.8463, 1.6962, 0.8059, -0.0261, 0.6125, 0.4755, 0.0079]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1655 left_yaw=0.0048 left_pitch=-0.0644 left_roll=-0.0058 left_gripper=0.9993 right_x=0.3282 right_y=0.223 right_z=0.0511 right_yaw=0.0708 right_pitch=-0.1397 right_roll=-0.1104 right_gripper=0.0079\nstate[joint_eff]: [-0.3624, -1.4017, 6.9949, 1.6825, -0.0611, -0.0806, -0.0073, -0.0479, -7.4872, 5.8325, 1.3602, 0.3736, -0.022, 0.5153]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bba8728ba88ff30d5b965203be5d163861790b6d19780c0b14b610ed98f3e642",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b48c99ba6a074e4bad6bc57904c7c4221e494a8cd57a0c4dd624c417b9589066",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3c4f05c89452a97a1af8c12fe56415be4d642fcb16b62b0c0ee4ac968db1a87",
        "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 · 4.801 s
model
claude-opus-5-5
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]: [-0.0196, 0.8288, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.8463, 1.6855, 0.815, -0.0101, 0.635, 0.49, 0.0474]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1663 left_yaw=0.0048 left_pitch=-0.061 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3337 right_y=0.2244 right_z=0.062 right_yaw=0.0505 right_pitch=-0.1011 right_roll=-0.0862 right_gripper=0.0474\nstate[joint_eff]: [-0.0479, -1.4974, 7.0085, 1.6923, -0.0806, -0.0415, -0.0122, -0.4444, -7.3504, 6.1744, 1.9609, 0.2515, -0.0317, 0.2515]",
      "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]: [-0.0196, 0.8307, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.8463, 1.6962, 0.8074, -0.0216, 0.6209, 0.4786, 0.9953]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1657 left_yaw=0.0048 left_pitch=-0.0633 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3296 right_y=0.2227 right_z=0.0529 right_yaw=0.064 right_pitch=-0.1305 right_roll=-0.1085 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -1.3333, 7.2274, 1.7411, -0.0562, -0.0024, -0.0122, -0.1026, -8.3761, 6.4205, 1.4042, 0.3785, 0.0269, -0.2125]",
      "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]: [-0.0196, 0.8314, 0.6075, -0.4088, -0.0227, -0.0494, 0.9993, 0.8463, 1.6962, 0.8059, -0.0261, 0.6125, 0.4755, 0.0079]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1655 left_yaw=0.0048 left_pitch=-0.0644 left_roll=-0.0058 left_gripper=0.9993 right_x=0.3282 right_y=0.223 right_z=0.0511 right_yaw=0.0708 right_pitch=-0.1397 right_roll=-0.1104 right_gripper=0.0079\nstate[joint_eff]: [-0.3624, -1.4017, 6.9949, 1.6825, -0.0611, -0.0806, -0.0073, -0.0479, -7.4872, 5.8325, 1.3602, 0.3736, -0.022, 0.5153]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bba8728ba88ff30d5b965203be5d163861790b6d19780c0b14b610ed98f3e642",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b48c99ba6a074e4bad6bc57904c7c4221e494a8cd57a0c4dd624c417b9589066",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3c4f05c89452a97a1af8c12fe56415be4d642fcb16b62b0c0ee4ac968db1a87",
        "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_01Pouv61rNJS4GguM8Zd2VKX",
      "input": {
        "note": "The close missed (jaws above the pink rim). The purple bowl, just ahead, looks smaller than the pink one, so I'll instead lift the purple bowl by its right wall and drop it into the pink bowl.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.41,
          "right_y": 0.215,
          "right_yaw": 0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Pouv61rNJS4GguM8Zd2VKX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8314, 0.6075, -0.4088, -0.0227, -0.0494, 0.9993, 0.691, 1.7477, 0.9295, 0.0456, 0.5541, 0.3855, 0.9948]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1655 left_yaw=0.0048 left_pitch=-0.0644 left_roll=-0.0058 left_gripper=0.9993 right_x=0.3926 right_y=0.2087 right_z=0.0804 right_yaw=0.0165 right_pitch=-0.0651 right_roll=-0.0525 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, -1.4701, 7.2137, 1.6777, -0.0904, -0.0366, -0.0122, -0.8274, -6.9128, 9.2513, 1.8877, 0.2906, 0.1734, 0.0415]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adeda3f128661142a3c2f0340140c97d4c73347b7c6d64a3860ea152b4fdfd88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bb763a9dd247e03b617346367b1883fc875a6432525d8f9e7c97d0206a1bdf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:896806b9239393fc88b975483b74552fe1747e91478c26b30afe432dff476517",
        "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 · 5.527 s
model
claude-opus-5-5
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]: [-0.0196, 0.8307, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.8463, 1.6962, 0.8074, -0.0216, 0.6209, 0.4786, 0.9953]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1657 left_yaw=0.0048 left_pitch=-0.0633 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3296 right_y=0.2227 right_z=0.0529 right_yaw=0.064 right_pitch=-0.1305 right_roll=-0.1085 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -1.3333, 7.2274, 1.7411, -0.0562, -0.0024, -0.0122, -0.1026, -8.3761, 6.4205, 1.4042, 0.3785, 0.0269, -0.2125]",
      "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]: [-0.0196, 0.8314, 0.6075, -0.4088, -0.0227, -0.0494, 0.9993, 0.8463, 1.6962, 0.8059, -0.0261, 0.6125, 0.4755, 0.0079]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1655 left_yaw=0.0048 left_pitch=-0.0644 left_roll=-0.0058 left_gripper=0.9993 right_x=0.3282 right_y=0.223 right_z=0.0511 right_yaw=0.0708 right_pitch=-0.1397 right_roll=-0.1104 right_gripper=0.0079\nstate[joint_eff]: [-0.3624, -1.4017, 6.9949, 1.6825, -0.0611, -0.0806, -0.0073, -0.0479, -7.4872, 5.8325, 1.3602, 0.3736, -0.022, 0.5153]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8314, 0.6075, -0.4088, -0.0227, -0.0494, 0.9993, 0.691, 1.7477, 0.9295, 0.0456, 0.5541, 0.3855, 0.9948]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1655 left_yaw=0.0048 left_pitch=-0.0644 left_roll=-0.0058 left_gripper=0.9993 right_x=0.3926 right_y=0.2087 right_z=0.0804 right_yaw=0.0165 right_pitch=-0.0651 right_roll=-0.0525 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, -1.4701, 7.2137, 1.6777, -0.0904, -0.0366, -0.0122, -0.8274, -6.9128, 9.2513, 1.8877, 0.2906, 0.1734, 0.0415]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adeda3f128661142a3c2f0340140c97d4c73347b7c6d64a3860ea152b4fdfd88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bb763a9dd247e03b617346367b1883fc875a6432525d8f9e7c97d0206a1bdf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:896806b9239393fc88b975483b74552fe1747e91478c26b30afe432dff476517",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8gcKEAgSGAI4AUIIdGhpbmtpbmcSDLmuc1bmTkyKATYKDxoMkzZqo5HbE1ginwQfIjBh0n5Ihv0c+9cZ611vEzCQ6Bteh1GHi1vfzCjnvPNMi8YXMau7+asfcJxE7uILruYqjwcrYCknYWrFeCtljD2LF0jq5WelkOiJE6Oov1lTiMBjQWNqHI2ySEVF7aMjwuc1arLnFYrsExLDCIqdNaEukp6wuI1Mj/HUyQNab3PVIqmO3iM+T1igSZ3Yr2C4+TfgNtvRDd0yyMZACWZ4Sgzay667EKGfUwp0y/ncnj2zQS3oKKiwmwsEDbwdu3rDlQZ4166NtCyfq/74U8VS6QkftPFwwbgm/dElNmTHXUBQG15x1Jy9A5UZK2eR3q4nN8iLzaPdgBpM3F5f1g72K8UFebUiMUJS1Q291M6Vz0a6OxDaRpnFxpTVopd8WsHLKrd87Ug8kB8JQS+tGLDeWff1RucLDVVITs8ZD+LGIyYpa+e+26RXela5XzTOnSn6/qDt94iMKp6zZZa7OxVdsKiIee/BJ2IRXFtQtz+pk8k/DNY/reoJQqZot9H3RKRAmHSTetvwm6ukLkh2IypBaK4SQZnSSIF5uI0IpTMmVYxKMwXHyM63vnQe9wLESW8eruFUgih8VMdmBRV7ye03f/e7NDeQpJFXkjXAABsz4GbJ6yU834/Qj3FPs46HAcLrw2wbNVtGsVRf/CBqCNn7GvIfykBVAT6SwZwTwobVVUTDYuqQNX+UTeTpboUR7OfahnHpbBl8yReFSCsSu0oz2Op7VpHhRLjLPyWWcJEHdPsvhzbt0Nrsw47t1tbDO96Agjx8OP3ii6gD8SjVd6O5MDgEKH0RcgZEEz6ERmxa+GH8CPASikR1WoS/O1NbqOfgrm8o2b0Pm2oQC0Rh/JZN03T/fUFidNbfsdUGQvx4HvpW70oQFBydXORJJFGXyw1L6vt/APYSh5UK1JX40YZnoPDOW883eUvlGQAV8o6bUJqR1JKZUUqr1OrLDw9RYVClnuIX1oVH9ITNSucjjVq1SDwcrQcGUaasqVsCMf8ZWVLvF66UMmD0XXZ62StgoAILKd4EPvVPQJWVnwmrJ9zJQ32kEOAyDQ0k9siZHXzI65G3kYQc1Q9Q3r1d6/NabpWxr2UtRJhTqkTZIR5+XdQKAAOawkrbEVEDlYmfPMTeMSAAEsqKGt4227w8O+cuSLBe/S1JQkI5vjxrAwkAi1PLeLrAs4YlnXKCPmawXaXWM9VG3dRC9IwE4pDoNEbQXQDKJXblRfuUNEUMyNkAOeVGAoNTRdCbjQFC8ZnTUaz/W+19ycvrOkiyWoIhbQrdQdKd/YtPCBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011JrwugGudkmCMEy11o8Xp9",
      "input": {
        "note": "Purple bowl sits left of the jaws with its right wall at image x≈70. Shifting left ~2 cm and forward, and descending so the wall falls between the jaws.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.42,
          "right_y": 0.232,
          "right_yaw": 0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011JrwugGudkmCMEy11o8Xp9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8341, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.6937, 2.006, 0.9348, 0.3046, 0.5602, 0.4011, 0.9954]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1648 left_yaw=0.0048 left_pitch=-0.0667 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4112 right_y=0.2245 right_z=0.0128 right_yaw=0.0064 right_pitch=-0.0572 right_roll=-0.0393 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.7026, 6.9812, 1.7021, -0.0317, -0.0562, -0.0122, 0.2803, -9.4017, 6.2291, 1.0085, -0.0024, -0.1734, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06c989b4b717bfad054c06abbc05f238f4bc3fdb0a092070a7ff8ab1bbe8702d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea4b807111188e244a9c1cc80c03eb5d5fee1cb3a101b13eefa0e279f3968f97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:112200cb01b24f93187c1a11f1f9886ab86ec375694723b31ba4d8a9e0d6c4a5",
        "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 · 3.405 s
model
claude-opus-5-5
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]: [-0.0196, 0.8314, 0.6075, -0.4088, -0.0227, -0.0494, 0.9993, 0.8463, 1.6962, 0.8059, -0.0261, 0.6125, 0.4755, 0.0079]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1655 left_yaw=0.0048 left_pitch=-0.0644 left_roll=-0.0058 left_gripper=0.9993 right_x=0.3282 right_y=0.223 right_z=0.0511 right_yaw=0.0708 right_pitch=-0.1397 right_roll=-0.1104 right_gripper=0.0079\nstate[joint_eff]: [-0.3624, -1.4017, 6.9949, 1.6825, -0.0611, -0.0806, -0.0073, -0.0479, -7.4872, 5.8325, 1.3602, 0.3736, -0.022, 0.5153]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0196, 0.8314, 0.6075, -0.4088, -0.0227, -0.0494, 0.9993, 0.691, 1.7477, 0.9295, 0.0456, 0.5541, 0.3855, 0.9948]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1655 left_yaw=0.0048 left_pitch=-0.0644 left_roll=-0.0058 left_gripper=0.9993 right_x=0.3926 right_y=0.2087 right_z=0.0804 right_yaw=0.0165 right_pitch=-0.0651 right_roll=-0.0525 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, -1.4701, 7.2137, 1.6777, -0.0904, -0.0366, -0.0122, -0.8274, -6.9128, 9.2513, 1.8877, 0.2906, 0.1734, 0.0415]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.0196, 0.8341, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.6937, 2.006, 0.9348, 0.3046, 0.5602, 0.4011, 0.9954]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1648 left_yaw=0.0048 left_pitch=-0.0667 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4112 right_y=0.2245 right_z=0.0128 right_yaw=0.0064 right_pitch=-0.0572 right_roll=-0.0393 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.7026, 6.9812, 1.7021, -0.0317, -0.0562, -0.0122, 0.2803, -9.4017, 6.2291, 1.0085, -0.0024, -0.1734, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06c989b4b717bfad054c06abbc05f238f4bc3fdb0a092070a7ff8ab1bbe8702d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea4b807111188e244a9c1cc80c03eb5d5fee1cb3a101b13eefa0e279f3968f97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:112200cb01b24f93187c1a11f1f9886ab86ec375694723b31ba4d8a9e0d6c4a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/AgKEAgSGAI4AUIIdGhpbmtpbmcSDFH0uIG0zS9KcG8Z9hoMGDr0HdFFrPfPNZXHIjA4PJy6Cb5jWTN2eP58FSJp58aLq+dMk6MM08CNpJUEHX84eqpeXBAvKlLU/mY2my8qmQg+JD9fteI/1HPfUuMX5CGK5h0wkdFeqYnmklhasAI+/PamT1zg+6/8INaZ6h7J1cNEGA80fsa0Uzkc6CFKsqwdQ+dOSu4PwQuOSTM/EN5i2esrnywgZRK3+CwvjBujyfYjgMC/EylTGJoakIstmn7dNobUw8Cb+yExyFDIJ/0chCnxq+bRhe+dhtaIHp8iuNRZAsH+WOvm0/qL38TLLtvwxR4KJgsLI3CMqp2bGnUajUS1B8Sy6e814TsnU6ozV9/MPBP/G9lJfvugtQraMDyrCgcap88mvRPPrv/Jce10bl6OjL79IGmARvul0kO4cMUcI6SDPvm3tmckO+CsQ+Ej14cpvQuJNLRQTNk32niaT+1AYSbeoUgg9eg4pUY6+QUfttOq+90bRR1geqh/CD78lTFKbQ7MZNNIdc5RUyOT16jnr50zYs/qa4Grla7jrAsWmD6+2DMLlYP6lqfWXSGe36z2mrdaKqwOXlXuM1h4Q8V8qJHifeCWAwcteKjip/SAwa8QcmZMAFMTTXT2jBU1DgCqW/xy1xiONaLcvgWwb66LyL586erwKmnfKw7ozdIATfVNsacB9RK/e5pSNyC6KgiV7/6D3FA2G62JH4a46CO3jkTELO1ICulEH3VP7xn+o2CZ0FWRxFvtRiIu+kYC9he/Rmekhsf9aALz4hb+uZFRdkHEtcDmtMeLTp2I2sVQvDZt6l1SRqkwA6aLfO/4lPgr8rFzyXV9UFf6CyfpPgXlj8UfJXAvCUg30P3a3dLPQgyQ7Vc6CZiCUzIC7L1TDZm5CDW+boxMPJwwQg52T9i45/MmtISylDbdcR+mTDPHG9nhZNoSDSnstlRuTdv+YsoTk8iyyJO0Ub2VpR51BVYVDpYX1Scmr2Wc7tABnP91Fo9WRcN8hv0CTe0bVa4LlhyaauvemZJ8EdZY3+ei+Kk+dkH/eHgPQP5JHICCrFVw7cGA/gRjsdaoeeeewQs5Ke51caV1r/NedA7OxdzgugP9vIZ26aq8WH771UFW60EtUcyO+ynAdYlHjfgY+2mZUShDLLPAfQihCN6Oec4yjZMpX7C7WVafFKVNnm7Uao2PUf8lvCr/xRbocaq2LelRC03ENrDYDxMhHFJpZzLUP4oiIpXulXww+h8sMGK+ctWP0S1rUjkHJYcGWuaIY0QjSfrXfevBY/I3USKAkzw+42DdY0WHY7foT7U4CNAf8DdaO2DLusnIUWQzRXlnMjcCC8aW4xHo4/tbmVwq7Mree8uMUGWiGSHKiJ1D8gjG3WYXEruRZKK2sZhBjWXYNjszSrw/z0nnCi5tYzvF8nss0Rzj3SWYyPYfSPfHQCfWsS1/Y54XJ5kojUKQ/VDbdEmpRG5A98WvXl3t2sQOZ3H9AW+4Ov1oQo9BbhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EgoySBNycw5y4ZXe73oUtY",
      "input": {
        "note": "At table level; the purple wall is still near the left jaw. Sliding ~2 cm left/forward to centre the wall between the jaws.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.425,
          "right_y": 0.25,
          "right_yaw": 0,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01EgoySBNycw5y4ZXe73oUtY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8345, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.72, 2.0567, 0.9833, 0.3634, 0.5694, 0.4046, 0.995]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1648 left_yaw=0.0048 left_pitch=-0.0667 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4205 right_y=0.2469 right_z=0.0162 right_yaw=0.0251 right_pitch=-0.0097 right_roll=-0.0052 right_gripper=0.995\nstate[joint_eff]: [-0.0205, -1.5111, 7.0906, 1.7167, -0.0659, -0.0611, -0.0122, 0.1709, -8.4991, 7.0769, 1.4628, 0.3443, 0.1734, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fe805df62326465fee1c04a988288b2bc757a2fed8fe858d2e159fe5b9e39af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d426110d4685c36b0b9c5eb341b171f6a1bbf0ea2a15a0b8ed25404b3b7ee6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c4db19ee27b526c453ba9be34dab8031d1592a161506e7361384ed0e71aaaf0",
        "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 · 4.933 s
model
claude-opus-5-5
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]: [-0.0196, 0.8314, 0.6075, -0.4088, -0.0227, -0.0494, 0.9993, 0.691, 1.7477, 0.9295, 0.0456, 0.5541, 0.3855, 0.9948]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1655 left_yaw=0.0048 left_pitch=-0.0644 left_roll=-0.0058 left_gripper=0.9993 right_x=0.3926 right_y=0.2087 right_z=0.0804 right_yaw=0.0165 right_pitch=-0.0651 right_roll=-0.0525 right_gripper=0.9948\nstate[joint_eff]: [-0.0889, -1.4701, 7.2137, 1.6777, -0.0904, -0.0366, -0.0122, -0.8274, -6.9128, 9.2513, 1.8877, 0.2906, 0.1734, 0.0415]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.0196, 0.8341, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.6937, 2.006, 0.9348, 0.3046, 0.5602, 0.4011, 0.9954]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1648 left_yaw=0.0048 left_pitch=-0.0667 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4112 right_y=0.2245 right_z=0.0128 right_yaw=0.0064 right_pitch=-0.0572 right_roll=-0.0393 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.7026, 6.9812, 1.7021, -0.0317, -0.0562, -0.0122, 0.2803, -9.4017, 6.2291, 1.0085, -0.0024, -0.1734, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8345, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.72, 2.0567, 0.9833, 0.3634, 0.5694, 0.4046, 0.995]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1648 left_yaw=0.0048 left_pitch=-0.0667 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4205 right_y=0.2469 right_z=0.0162 right_yaw=0.0251 right_pitch=-0.0097 right_roll=-0.0052 right_gripper=0.995\nstate[joint_eff]: [-0.0205, -1.5111, 7.0906, 1.7167, -0.0659, -0.0611, -0.0122, 0.1709, -8.4991, 7.0769, 1.4628, 0.3443, 0.1734, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fe805df62326465fee1c04a988288b2bc757a2fed8fe858d2e159fe5b9e39af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d426110d4685c36b0b9c5eb341b171f6a1bbf0ea2a15a0b8ed25404b3b7ee6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c4db19ee27b526c453ba9be34dab8031d1592a161506e7361384ed0e71aaaf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+QYKEAgSGAI4AUIIdGhpbmtpbmcSDCT/e77hMooW28r2+hoMhfUTBL+zFDoIisooIjCDTXmyIBd9mdHKJRE9mOud4crRYboVa3AGT7lemTp5NL81Cqibn+erPwqav8q3edkqlgaVQpwP2uKh+p8MzEJXSVWvfETEB7uQvX3nc/UULiPJSq0sxb0IkPTapfVk0PMUgMy81oL8c3xaVH2oKYCkWBt8KLPy3FSGtnaeYEkdvINK5UDgJ6WR8pD5Wh7Yv6K4m6jMvzPVUcv0HykX/uRi7VjSfTJN0a4uzozNfGqULEGR3LECY74UYGecZC+W3B5jnzh5fsxooLJhwB2yj9oWcBO0gBeKyHOaX+VEaScQGswODkvI/TnDxlUWov1WMrO+gC5dOFUHzfVj80/5CBBp81xLem73/v9AtZSXJHU3glIcYKlKCQvseinRfHaOn/iOpyWdlDBcNpaMZLlxiCPc8/ibWgRfYhZ98KK8c6QKoOrvuQArU62I68QJwQ13YCd4O5kFXs6Ft/WKOBv0Pc/uCMZLPqOaWDte/fvNTx+2kkT26+DVgiDBF+66ZAmQPTergAvWvrrXXNG4mpdDYzYblRaudLKuz5ZjoD7ZICzZABY6ekITQUfJRbDAX8WoNjM9V2UtQdYgaeA3UDpfrvSCRgY34V0+VOc/T7KIIZWlK6Ej+NAuJi82jXebhE5DbC4mP87Py1lbSb1Dn6HfAaqTMufCs5UFh0DeyH6uAOx0dZ8oq4/JC+wWnF9cJuP4FGW3n60mHR9jboK9WbUKCPOV24NVZmf9DRBx0lPLfGS01jd6bPsHD8TPhnmNyy7L/q1/bJwDwgKBryNe0q66LJlLK0bv/QiGHUvmMfFF7Lj++UwJJ20hA7VG9GN+nggw+RRbDYn38HB7AdL+ztpbuUfwhahI5PFwG+q1t8CER1xoQ+lzQyW66JYWHKfWVuVL5S0nsl9LVwlTa1Pknh4APpkhhhJJyX5Agp0DzNtCo3ulKro3Q59+d8VK7XuHDtkWU1IpvQhOdhxLQp+tsbv+jvwj4bWC9olDZ20ZQB40a8VU5uhIqJEPmQvjACeRIXV8edXdErvm1b4I/7qkLtCHU1HDEZIZ27fY1CcnWfIjH/hTctZtl+ehJHWg/gBQhQBXGHgcRmgCJ0dtOaWaqxBSHCDA2yqCs4/n1pcYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SmMhVwgiip2zLZBCPKZgxR",
      "input": {
        "note": "Purple bowl's right wall is between the jaws with the left jaw inside the bowl. Closing on the wall.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SmMhVwgiip2zLZBCPKZgxR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8345, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.7246, 2.0663, 0.9836, 0.3744, 0.5598, 0.4049, 0.0574]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1647 left_yaw=0.0048 left_pitch=-0.0671 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4195 right_y=0.2509 right_z=0.0132 right_yaw=0.0368 right_pitch=-0.0122 right_roll=0.0011 right_gripper=0.0574\nstate[joint_eff]: [-0.0068, -1.347, 7.0359, 1.7021, -0.0806, -0.0513, -0.0122, -0.3214, -10.9744, 5.3402, 1.3748, 0.2906, 0.0611, 0.4078]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c35272b0ec9b75fdd93440ff45ddd4f4cd5a691466ddf6749637e338718acf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:878606103dc374930a7e3ea470ffd3c8a3c3414113f52ad109a1e21a5a3376e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8b6fdc87acd81214478f413b712225b8d11f4ebbb27c430b22699a4864213ff3",
        "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 · 8.117 s
model
claude-opus-5-5
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]: [-0.0196, 0.8341, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.6937, 2.006, 0.9348, 0.3046, 0.5602, 0.4011, 0.9954]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1648 left_yaw=0.0048 left_pitch=-0.0667 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4112 right_y=0.2245 right_z=0.0128 right_yaw=0.0064 right_pitch=-0.0572 right_roll=-0.0393 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.7026, 6.9812, 1.7021, -0.0317, -0.0562, -0.0122, 0.2803, -9.4017, 6.2291, 1.0085, -0.0024, -0.1734, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8345, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.72, 2.0567, 0.9833, 0.3634, 0.5694, 0.4046, 0.995]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1648 left_yaw=0.0048 left_pitch=-0.0667 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4205 right_y=0.2469 right_z=0.0162 right_yaw=0.0251 right_pitch=-0.0097 right_roll=-0.0052 right_gripper=0.995\nstate[joint_eff]: [-0.0205, -1.5111, 7.0906, 1.7167, -0.0659, -0.0611, -0.0122, 0.1709, -8.4991, 7.0769, 1.4628, 0.3443, 0.1734, -0.0562]",
      "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]: [-0.0196, 0.8345, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.7246, 2.0663, 0.9836, 0.3744, 0.5598, 0.4049, 0.0574]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1647 left_yaw=0.0048 left_pitch=-0.0671 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4195 right_y=0.2509 right_z=0.0132 right_yaw=0.0368 right_pitch=-0.0122 right_roll=0.0011 right_gripper=0.0574\nstate[joint_eff]: [-0.0068, -1.347, 7.0359, 1.7021, -0.0806, -0.0513, -0.0122, -0.3214, -10.9744, 5.3402, 1.3748, 0.2906, 0.0611, 0.4078]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c35272b0ec9b75fdd93440ff45ddd4f4cd5a691466ddf6749637e338718acf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:878606103dc374930a7e3ea470ffd3c8a3c3414113f52ad109a1e21a5a3376e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b6fdc87acd81214478f413b712225b8d11f4ebbb27c430b22699a4864213ff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQgKEAgSGAI4AUIIdGhpbmtpbmcSDNzmgyEi6XboL6M7FxoMt1O/vxtdb1q6DxbQIjDX7NT8hhx7Oity1BfrPE1RidMXcYcq6gFtNBnknwUv2wNH8hvN8BkIXfCo0fbri3oq0gdNvGD+LbOf823Y2/2g76Bfw05cV9y/WOM0vYjnmMxPsNU0wmCpNPjZYx/s1c9PMaA9fbC3kh4bVEAUt6bR3+so1beHBGATp6kOeh0PxmpKams8HfCin4hw8UpU3jc3DGeqbJ8Q7MqYvrPXwFdatcSBCDPKQ+w76Wru1P/qs7zL2B4ZJWe8lceEdAOz56BPEFwt5G0B6p4Vw9+mviA0Dob/fBMpd/MBBdTsv3kfO0XPKh2/rDSpO4p24FbqaNyXyrxMCcdzYkM1FV6Q2vMi5QTvmO9ZRYV7snDJfEgWLdvUcT+hSS1oeoA3MhGVqWPe0cHuV9oRLdKoUDbf4yV3zN98KSAVs5oRRpRVLAxGl455Xm4c/MHZktMLd57/wSW26NZ5C/EMF4yzJxTX+HP/ZbOzmlIrKM1Mamsq8Tmr6l9xJCuNsRSGW2W9Z1awhJbn/7OEPs/tHAgLgV7ZD5EMUJzJaZPO2LGN5j6/s4Xr3cBYBxroUv5G0/KAfMEX4OXKabSNqDvHjCYQvx3LkHtcbNPu7wua5qkcz1kX5BFN2VS+NAxdH7Zf9HpGvfTL1kt04psNRNIqvaTShFlQMjp+0fsHlF7umGj4DsTa9bP5aUcqruqZYmJf2JmHvQMMwO981O5quekhyE5x9G/mSziUOxizdk4OfckwaeFOG61DR0tTN2HGaVul2db13Vsvp+IlIkwFPBJ5r2ctHjJwrttrTn3NHKcMiJ0C5xxRjqBpiKS5S2SW9ZGgbz9EWc/vzo15nurmv9dAJx437HcNllMIg9Oti4myfpIOlXWXjQWAeReSvom5cgRtnUe5B03fS6ZIcUBDuTWu8SOSsdBTWYut09YvcP5eTR2nsvUdIdxAtexRTu1Xdk/8yvqUAZUISXwHuMCAUMEDI0AIJbYj6qFXpNZsaJYXVkEeX9G9zNVzJ4a2H5ZWBIN96pmgGWHofIblvfw9HowTTIs4RW0QxqUPlIRLnwr3HppYZiUHd2BjNuWvm3TsmgBavKUIOL38HmyIofUrw36Nb84vhne0vG1teDQJAxLxVg8GI90jeplLQ7xpG3jLTFCJjE4cNmjhwH1C0ptWTcORmGHa/PT2ophE3gsOCqwFWrqrRh8LnIbvZzKlJkcBLRjam/7nvwk1t0Ox0SQhxmdS4GXT8eJ59hr7MGgm1jBbWUvyp0MYh4qbfVedonsZ6IAqnTHMP8kxneLglsBvMV/N+3jdN4Tjh3tfSaShQ+NzC/f2nii/SZ2KPhDv+qDKdO3ZRrcGbSuAZ86fAa27uVJ4Ubf7lUTvCoIsNq40loYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011c8rY39AZ6MsLzgTW3Kxme",
      "input": {
        "note": "Gripper reads 0.057, suggesting the purple wall is pinched. Lifting to confirm the bowl comes up.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_yaw": 0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_011c8rY39AZ6MsLzgTW3Kxme",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8345, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.7376, 1.8355, 1.1831, -0.12, 0.572, 0.4114, 0.0595]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1648 left_yaw=0.0048 left_pitch=-0.0667 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4148 right_y=0.2526 right_z=0.1134 right_yaw=0.0356 right_pitch=-0.0561 right_roll=-0.0409 right_gripper=0.0595\nstate[joint_eff]: [-0.1983, -1.4838, 7.0222, 1.707, -0.0806, -0.0269, -0.0122, 0.0479, -12.6838, 9.4017, 1.5897, 0.5006, 0.1978, 0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:166f9d65a23499e2fcf8f9d0496048b152fc78beef19d70d6899af9f797e5291",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c699f6093446faeb1321aa15c9ebc2b5719cc71a055413757a30253967b4c93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:22260d97b7219dfe1676a65fa7a0c4fca7be291735673d8d899be2c35e516392",
        "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 · 5.277 s
model
claude-opus-5-5
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]: [-0.0196, 0.8345, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.72, 2.0567, 0.9833, 0.3634, 0.5694, 0.4046, 0.995]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1648 left_yaw=0.0048 left_pitch=-0.0667 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4205 right_y=0.2469 right_z=0.0162 right_yaw=0.0251 right_pitch=-0.0097 right_roll=-0.0052 right_gripper=0.995\nstate[joint_eff]: [-0.0205, -1.5111, 7.0906, 1.7167, -0.0659, -0.0611, -0.0122, 0.1709, -8.4991, 7.0769, 1.4628, 0.3443, 0.1734, -0.0562]",
      "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]: [-0.0196, 0.8345, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.7246, 2.0663, 0.9836, 0.3744, 0.5598, 0.4049, 0.0574]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1647 left_yaw=0.0048 left_pitch=-0.0671 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4195 right_y=0.2509 right_z=0.0132 right_yaw=0.0368 right_pitch=-0.0122 right_roll=0.0011 right_gripper=0.0574\nstate[joint_eff]: [-0.0068, -1.347, 7.0359, 1.7021, -0.0806, -0.0513, -0.0122, -0.3214, -10.9744, 5.3402, 1.3748, 0.2906, 0.0611, 0.4078]",
      "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]: [-0.0196, 0.8345, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.7376, 1.8355, 1.1831, -0.12, 0.572, 0.4114, 0.0595]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1648 left_yaw=0.0048 left_pitch=-0.0667 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4148 right_y=0.2526 right_z=0.1134 right_yaw=0.0356 right_pitch=-0.0561 right_roll=-0.0409 right_gripper=0.0595\nstate[joint_eff]: [-0.1983, -1.4838, 7.0222, 1.707, -0.0806, -0.0269, -0.0122, 0.0479, -12.6838, 9.4017, 1.5897, 0.5006, 0.1978, 0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:166f9d65a23499e2fcf8f9d0496048b152fc78beef19d70d6899af9f797e5291",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c699f6093446faeb1321aa15c9ebc2b5719cc71a055413757a30253967b4c93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22260d97b7219dfe1676a65fa7a0c4fca7be291735673d8d899be2c35e516392",
        "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_01PaDGGKJyiBJTZrUgEnoywd",
      "input": {
        "note": "Lift came up empty; the purple bowl's right rim is just left of and ahead of the jaw column. Opening and descending ~1 cm further left and forward, pressing to table level.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.43,
          "right_y": 0.262,
          "right_yaw": 0,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PaDGGKJyiBJTZrUgEnoywd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8352, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.7395, 2.1246, 1.0672, 0.2863, 0.5896, 0.4278, 0.9952]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1645 left_yaw=0.0048 left_pitch=-0.0678 left_roll=-0.0057 left_gripper=0.9993 right_x=0.4236 right_y=0.2583 right_z=0.0016 right_yaw=0.0156 right_pitch=-0.0468 right_roll=-0.0361 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -1.4564, 7.0222, 1.6435, -0.0659, -0.0562, -0.0122, 0.0752, -10.1402, 5.1214, 1.7167, 0.3248, 0.1587, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba5373a6acc4dac6b58ded5b5f8503a8c032aadef08271dcd8b2104ba166cd5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a695c35e2fe223b8998a3096e81f700019934a54e795302420fdf5288d27e929",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea548a0e5a86242e62267e7e7380d37ee27155a384740c232fda4fb836b8d41b",
        "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 · 13.8 s
model
claude-opus-5-5
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]: [-0.0196, 0.8345, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.7246, 2.0663, 0.9836, 0.3744, 0.5598, 0.4049, 0.0574]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1647 left_yaw=0.0048 left_pitch=-0.0671 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4195 right_y=0.2509 right_z=0.0132 right_yaw=0.0368 right_pitch=-0.0122 right_roll=0.0011 right_gripper=0.0574\nstate[joint_eff]: [-0.0068, -1.347, 7.0359, 1.7021, -0.0806, -0.0513, -0.0122, -0.3214, -10.9744, 5.3402, 1.3748, 0.2906, 0.0611, 0.4078]",
      "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]: [-0.0196, 0.8345, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.7376, 1.8355, 1.1831, -0.12, 0.572, 0.4114, 0.0595]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1648 left_yaw=0.0048 left_pitch=-0.0667 left_roll=-0.0058 left_gripper=0.9993 right_x=0.4148 right_y=0.2526 right_z=0.1134 right_yaw=0.0356 right_pitch=-0.0561 right_roll=-0.0409 right_gripper=0.0595\nstate[joint_eff]: [-0.1983, -1.4838, 7.0222, 1.707, -0.0806, -0.0269, -0.0122, 0.0479, -12.6838, 9.4017, 1.5897, 0.5006, 0.1978, 0.2027]",
      "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]: [-0.0196, 0.8352, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.7395, 2.1246, 1.0672, 0.2863, 0.5896, 0.4278, 0.9952]\nstate[eef_state]: left_x=0.2937 left_y=0.0018 left_z=0.1645 left_yaw=0.0048 left_pitch=-0.0678 left_roll=-0.0057 left_gripper=0.9993 right_x=0.4236 right_y=0.2583 right_z=0.0016 right_yaw=0.0156 right_pitch=-0.0468 right_roll=-0.0361 right_gripper=0.9952\nstate[joint_eff]: [-0.0889, -1.4564, 7.0222, 1.6435, -0.0659, -0.0562, -0.0122, 0.0752, -10.1402, 5.1214, 1.7167, 0.3248, 0.1587, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba5373a6acc4dac6b58ded5b5f8503a8c032aadef08271dcd8b2104ba166cd5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a695c35e2fe223b8998a3096e81f700019934a54e795302420fdf5288d27e929",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea548a0e5a86242e62267e7e7380d37ee27155a384740c232fda4fb836b8d41b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwkKEAgSGAI4AUIIdGhpbmtpbmcSDEgaYv+L6LdUECa7dhoMK/AxYlbFR/GBtLnkIjA17Lk1wrzi1f/Sj4gzKpCmsz0/1YIAPA6m4VcfSeF4daIe8hjAvUcAeqWkynE0nhIq3AhCys5npu8VrWFzoOGt+uplMxNZ9Zy/+gNMz/5qu9KVMYLzfcmM4IpCOYpqecriP6lRU0m+3XRGMkfh5ESqePgGfJWBwEte6FFdXIv6yRAzL8HNviA3y626It5XLge5sbuqY2eZLj0qtW7GyscfccC4+sX8wdcDP1p2cPsBzFuWtWd+wW+t3hT0c7ldONHVOqi4Fgw9bH4UrDhBoSRGNU9b2cB0Y5qlXRvCWwM30iZnkqatEfUcU3jzOOyebMPQWVyesX/sGWfovyYUNgA+hzdF6RC3thFMPCLZ/FZBvzGxBNBrgbSTUU6RLUjUUW/ZZqZ/J+sg5TF/j2QhtHAwNtFVqFsE2XziygQjr0TLUgqvuoCc7kHLOBd42gY8zvCIkpbL7V6GR2Sl1h8FBM4LiuMYI0HcbVqidXZ3NtpSz3Cvc6Btmuub+u+lUCJH5fHUBthcMAKjfEt6rlQco3i2KQVQtPnq1zUPzYV2SIZTT420jGxeYY2BwK3orx9pN0T+eJC/+9v5mIUnnTjlStU+sTj26YViIitMcLWi58PDFGX4VCAvbEDLXQ4J6fwduba/23caT2HffItOKwADWg8L/Vk2dx2Jt1IBwVre3pgKxnui824zyA3cWgQyiLiKPaP7bmUsFX2gLRYrfzXgMvOsxrH8s4x6rvuWlbEax53of5Fx7dXYuqbdhjo84OmX0JWLs/gzMuyxaT3HR+Zp87PQUcTAN+gM8rbiy6XemDxdT15GZzR25f/w6xlfCVyptUnRrjgLTp922MG21mk5C2R0U6ESZLgxFU3aZ1nMke7R2/pxAFoRGWt5FczTOosgqS2VfpaMwSnPfbNh3AhiWQdQ21umEdTF6X7kVxDhOUVobh/CNiyPr32xNlKCHB4s5Ig061KR+mmCwHgsGHW8Xj7H1aLjjFJL5ilqCH6vOQwzrxR3WaON9HF1VWaNmiY+9ZkLyvPY5xLbzca+BGdxI6TuSRBcn/PYy9EDSmjmie5fhFTX8nW60eJTyxkIDXEXm3PnPYSz40InOnu6DKvL8FWOvPVp5P9R6t731lGGG3wdfb5D9mjD1YKTIeileOK93OxRCsAuH2r0r6LlmKh/shxLINA5OIp6N6UN4Ouqo+y6fHSZe/MZw+ms4lX+VwVWm2PUpIoLFka+yJKkPE67jIvh6UF2DlxRilcUDmCKK2ZZfTfUsE2gU1yq9AWlcq3Yc2hG9CWOO+cdL81sbqdgUiRn+UPQdh1SjVjwlaTfB+ciibIwBYh1dAcyEFp2YEznrvXeQ2S7wXwgU0+xLo6MxSYoI1eaHhB1+IqmMfqv1PINcLmZMaQ+t9UeJe9LKD69ck9CxXF3MKx+40x8zvxWPx2CDfeSq1FRCNGirkqAuwEuVaNh2uyYuU/3Nh0eNBIvgiOwq8r3J6y56WgD9kq1Shje6M+77OM7efnFSjlH5iVDakwurHeZQaaGwyigUes1BX4WsGyG/zC0sgIH+qekRyAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L1kaKrgjHm7buB38HHPMLU",
      "input": {
        "note": "Jaws at table level with the purple bowl's right wall reaching in between them near the left jaw. Closing.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01L1kaKrgjHm7buB38HHPMLU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8371, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.7395, 2.1338, 1.0653, 0.2996, 0.5869, 0.4263, 0.0076]\nstate[eef_state]: left_x=0.2938 left_y=0.0018 left_z=0.164 left_yaw=0.0048 left_pitch=-0.0698 left_roll=-0.0057 left_gripper=0.9993 right_x=0.4238 right_y=0.259 right_z=-0.0015 right_yaw=0.0185 right_pitch=-0.0464 right_roll=-0.0344 right_gripper=0.0076\nstate[joint_eff]: [-0.1162, -1.6068, 7.1179, 1.7216, -0.0562, -0.0806, -0.0122, -0.0342, -11.3026, 5.2581, 1.4335, 0.2564, 0.0122, 0.5299]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:323466bc1dacb1ed12ffe6746c448bbb56e7b0f00005e4b218e4a3980e96687f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e683b5857d75955ef424d2611cde89d25706594b880a6278db5b5c92f4585381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:238ab877bd96847ee9d9cc633ac0af20388dc4510f81835a934df7486244d99d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]