adhoc

completed
2026-09-23T00:33:33.660345+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
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
400.7 s
total steps
419
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 sit in a row on the table. I'll bring the right arm above the rightmost (pink) bowl to inspect it from the wrist camera before grasping its rim.
move_to
right_x0.3300right_y0.1400right_z0.1800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7944, 0.6041, -0.3813, -0.0223, -0.0257, 0.9996, -0.0174, 0.7921, 0.5995, -0.3843, -0.017, -0.0345, 0.9992] state[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2935 right_y=0.0015 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.6906, -1.5111, 10.0991, 1.7705, -0.0611, 0.0757, -0.0562, -0.759, -1.3607, 10.3863, 2.0147, -0.0952, 0.1538, -0.0952] 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": 0.33, "right_y": 0.14, "right_z": 0.18, "right_gripper": 1}, "note": "Three bowls sit in a row on the table. I'll bring the right arm above the rightmost (pink) bowl to inspect it from the wrist camera before grasping its rim."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteRight wrist cam shows the pink bowl slightly right of the jaw column; I'm shifting ~3 cm right and descending to 10 cm to line up on the bowl rim.
move_to
right_x0.3300right_y0.1050right_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7998, 0.6075, -0.3862, -0.0227, -0.0261, 0.9996, 0.6273, 1.1954, 0.7666, -0.3237, 0.4667, 0.3119, 0.9992] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1787 left_yaw=0.0009 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9996 right_x=0.3177 right_y=0.1366 right_z=0.1548 right_yaw=0.055 right_pitch=-0.0803 right_roll=-0.0506 right_gripper=0.9992 state[joint_eff]: [-0.0889, -1.6479, 6.8034, 1.746, 0.0024, -0.0659, -0.0122, 0.1573, -4.6427, 9.7162, 1.8877, 0.4078, 0.1636, -0.0952] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.105, "right_z": 0.1}, "note": "Right wrist cam shows the pink bowl slightly right of the jaw column; I'm shifting ~3 cm right and descending to 10 cm to line up on the bowl rim."})
tool
executing move_to over 4 steps (0.4s)
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 is centered on the jaw column; advancing 3 cm radially and dropping to 4.5 cm so the open jaws straddle the near rim wall.
move_to
right_x0.3500right_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8017, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.4866, 1.2369, 0.564, -0.1352, 0.3897, 0.2348, 0.9991] state[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1758 left_yaw=0.0009 left_pitch=-0.0156 left_roll=0.0002 left_gripper=0.9996 right_x=0.316 right_y=0.0953 right_z=0.087 right_yaw=0.0136 right_pitch=-0.1584 right_roll=-0.0908 right_gripper=0.9991 state[joint_eff]: [-0.0342, -1.2103, 7.3915, 1.7265, -0.0708, -0.0562, -0.0122, -0.2256, -4.0, 7.5419, 2.0147, 0.1392, -0.0024, -0.0171] 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_z": 0.045}, "note": "Pink bowl is centered on the jaw column; advancing 3 cm radially and dropping to 4.5 cm so the open jaws straddle the near rim wall."})
tool
executing move_to over 3 steps (0.3s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe arm only partly tracked the last command (speed-clamped), so I'm re-sending the same approach pose to settle the jaws over the pink bowl's near rim.
move_to
right_x0.3500right_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.469, 1.3182, 0.5327, -0.0257, 0.3588, 0.2058, 0.9991] state[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.175 left_yaw=0.0009 left_pitch=-0.0187 left_roll=0.0003 left_gripper=0.9996 right_x=0.3225 right_y=0.0979 right_z=0.0662 right_yaw=0.0364 right_pitch=-0.1723 right_roll=-0.0935 right_gripper=0.9991 state[joint_eff]: [-0.1846, -0.9368, 7.0769, 1.6923, -0.0562, -0.0611, -0.0122, -0.335, -4.7932, 6.8991, 1.6923, 0.3248, 0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_z": 0.04}, "note": "The arm only partly tracked the last command (speed-clamped), so I'm re-sending the same approach pose to settle the jaws over the pink bowl's near rim."})
tool
executing move_to over 3 steps (0.3s)
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 arm has stopped tracking (likely fingertips already at the rim). Closing the jaws to pinch the near rim of the pink bowl.
move_to
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.469, 1.3205, 0.5282, -0.0246, 0.3611, 0.2058, 0.9991] state[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1751 left_yaw=0.0009 left_pitch=-0.0183 left_roll=0.0003 left_gripper=0.9996 right_x=0.3214 right_y=0.0969 right_z=0.064 right_yaw=0.0342 right_pitch=-0.1768 right_roll=-0.0974 right_gripper=0.9991 state[joint_eff]: [-0.0752, -1.2923, 7.0222, 1.7167, -0.0757, -0.0611, -0.0122, -0.2667, -4.8615, 6.8581, 1.6484, 0.3101, 0.0464, -0.0073] 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_gripper": 0.05}, "note": "The arm has stopped tracking (likely fingertips already at the rim). Closing the jaws to pinch the near rim of the pink bowl."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteGripper settled at 0.054 (~5 mm), consistent with pinching the thin bowl wall. Lifting to check in the overhead view whether the bowl came with it.
move_to
right_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.4694, 1.3205, 0.527, -0.0284, 0.3569, 0.2047, 0.0543] state[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.175 left_yaw=0.0009 left_pitch=-0.0187 left_roll=0.0003 left_gripper=0.9996 right_x=0.3203 right_y=0.0973 right_z=0.0628 right_yaw=0.0382 right_pitch=-0.1827 right_roll=-0.0976 right_gripper=0.0543 state[joint_eff]: [-0.0205, -1.306, 7.0632, 1.7167, -0.0269, -0.0659, -0.0122, -0.0752, -4.4513, 6.1197, 1.4969, 0.1392, 0.0269, 0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15}, "note": "Gripper settled at 0.054 (~5 mm), consistent with pinching the thin bowl wall. Lifting to check in the overhead view whether the bowl came with it."})
tool
executing move_to over 6 steps (0.6s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe lift left the pink bowl on the table, so that close was empty. Opening up and moving 5 cm further out at 12 cm height to test whether the arm can actually reach past x=0.35 over the bowl.
move_to
right_gripper1.0000right_z0.1200right_x0.3700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.469, 1.1965, 0.7563, -0.3866, 0.3534, 0.2008, 0.0538] state[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1749 left_yaw=0.0009 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9996 right_x=0.3208 right_y=0.098 right_z=0.1342 right_yaw=0.0423 right_pitch=-0.1884 right_roll=-0.1001 right_gripper=0.0538 state[joint_eff]: [-0.0889, -1.3197, 7.2, 1.7265, -0.0708, -0.0659, -0.0122, -0.3487, -5.1214, 9.2786, 1.6044, 0.1685, 0.0024, -0.0659] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.12, "right_x": 0.37}, "note": "The lift left the pink bowl on the table, so that close was empty. Opening up and moving 5 cm further out at 12 cm height to test whether the arm can actually reach past x=0.35 over the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteNow at x=0.35 with the pink bowl filling the wrist view and its near rim just above the jaws; descending to 3.5 cm so the open jaws straddle the rim wall.
move_to
right_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.3912, 1.3895, 0.7933, -0.2966, 0.297, 0.1303, 0.9951] state[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9996 right_x=0.35 right_y=0.0923 right_z=0.0977 right_yaw=0.0441 right_pitch=-0.27 right_roll=-0.1352 right_gripper=0.9951 state[joint_eff]: [-0.0889, -1.3744, 7.0085, 1.6923, -0.0659, -0.0513, -0.0122, -0.6632, -4.9026, 10.2222, 1.8193, 0.0269, 0.0708, -0.1197] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.035}, "note": "Now at x=0.35 with the pink bowl filling the wrist view and its near rim just above the jaws; descending to 3.5 cm so the open jaws straddle the rim wall."})
tool
executing move_to over 5 steps (0.5s)
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 noteJaws are down at 2.8 cm astride the pink bowl's near rim; closing to pinch the rim wall.
move_to
right_gripper0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.3904, 1.5211, 0.6403, -0.0853, 0.2871, 0.1299, 0.9963] state[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9996 right_x=0.337 right_y=0.0885 right_z=0.028 right_yaw=0.0439 right_pitch=-0.3417 right_roll=-0.1538 right_gripper=0.9963 state[joint_eff]: [-0.0342, -1.3197, 7.0222, 1.7363, -0.0855, -0.0464, -0.0122, -0.0615, -5.7094, 5.7094, 1.5604, 0.1929, -0.0366, 0.1197] 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_gripper": 0.02}, "note": "Jaws are down at 2.8 cm astride the pink bowl's near rim; closing to pinch the rim wall."})
tool
executing move_to over 10 steps (1.0s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThat close was empty (0.025) and the wrist view shows the jaws still short of the bowl's near rim; opening and pushing 5 cm further out while holding pitch level.
move_to
right_gripper1.0000right_x0.3800right_z0.0300right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.3904, 1.5318, 0.6262, -0.0982, 0.279, 0.1268, 0.025] state[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9996 right_x=0.3288 right_y=0.0866 right_z=0.0178 right_yaw=0.0477 right_pitch=-0.3797 right_roll=-0.1626 right_gripper=0.025 state[joint_eff]: [-0.0752, -1.3333, 7.0222, 1.6923, -0.0464, -0.0708, -0.0122, -0.3214, -6.5709, 6.612, 1.4139, 0.2173, 0.0024, 0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.38, "right_z": 0.03, "right_pitch": 0}, "note": "That close was empty (0.025) and the wrist view shows the jaws still short of the bowl's near rim; opening and pushing 5 cm further out while holding pitch level."})
tool
executing move_to over 13 steps (1.3s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteI realize the jaws close along the arm's y axis, so pinching the bowl's *near* wall can never work; I need to straddle the left or right side wall. Lifting clear first.
move_to
right_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3893, -0.0227, -0.0257, 0.9996, 0.3786, 1.6787, 0.4744, 0.5014, 0.3332, 0.0292, 0.9961] state[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0007 left_pitch=-0.0202 left_roll=0.0006 left_gripper=0.9996 right_x=0.3668 right_y=0.0876 right_z=0.0142 right_yaw=0.0684 right_pitch=-0.09 right_roll=-0.1728 right_gripper=0.9961 state[joint_eff]: [-0.0479, -1.3333, 7.0222, 1.7167, -0.0562, -0.022, -0.0122, -0.4718, -5.7641, 4.7932, 2.0391, 0.3248, 0.0269, -0.1685] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.13}, "note": "I realize the jaws close along the arm's y axis, so pinching the bowl's *near* wall can never work; I need to straddle the left or right side wall. Lifting clear first."})
tool
executing move_to over 8 steps (0.8s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteBowl centre is on the jaw column at y≈0.087; shifting 5 cm to the arm's right so the jaws straddle the bowl's right-hand side wall.
move_to
right_y0.0370right_x0.3600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6029, -0.4053, -0.0227, -0.0261, 0.9996, 0.3782, 1.3457, 0.6876, -0.0601, 0.3279, 0.0242, 0.9971] state[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1699 left_yaw=0.0009 left_pitch=-0.0408 left_roll=0.0007 left_gripper=0.9996 right_x=0.3639 right_y=0.0873 right_z=0.111 right_yaw=0.0746 right_pitch=-0.106 right_roll=-0.178 right_gripper=0.9971 state[joint_eff]: [-0.1026, -1.6068, 7.1043, 1.8388, -0.0611, -0.022, -0.0122, -0.3077, -6.106, 9.4701, 1.8144, 0.1197, 0.0073, 0.0904] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.037, "right_x": 0.36}, "note": "Bowl centre is on the jaw column at y\u22480.087; shifting 5 cm to the arm's right so the jaws straddle the bowl's right-hand side wall."})
tool
executing move_to over 5 steps (0.5s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe bowl's right-hand wall now sits under the jaw column; descending to 3 cm so one jaw goes inside the bowl and one stays outside the wall.
move_to
right_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.194, 1.285, 0.6212, -0.0772, 0.2138, -0.0822, 0.9973] state[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1694 left_yaw=0.0009 left_pitch=-0.0431 left_roll=0.0008 left_gripper=0.9996 right_x=0.3546 right_y=0.0351 right_z=0.0979 right_yaw=0.0422 right_pitch=-0.1559 right_roll=-0.1902 right_gripper=0.9973 state[joint_eff]: [-0.0068, -1.347, 6.9949, 1.7021, -0.0513, -0.0562, -0.0171, -0.1846, -5.6137, 6.6667, 1.8779, -0.0611, 0.0269, 0.0024] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03}, "note": "The bowl's right-hand wall now sits under the jaw column; descending to 3 cm so one jaw goes inside the bowl and one stays outside the wall."})
tool
executing move_to over 5 steps (0.5s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe last descent didn't take (z stayed at 0.10); re-commanding the descent to 2.5 cm beside the bowl's right wall.
move_to
right_z0.0250right_x0.3550right_y0.0360
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.1757, 1.2736, 0.6197, -0.0711, 0.1738, -0.1089, 0.9973] state[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1694 left_yaw=0.0009 left_pitch=-0.0431 left_roll=0.0008 left_gripper=0.9996 right_x=0.3556 right_y=0.0358 right_z=0.1013 right_yaw=0.0725 right_pitch=-0.146 right_roll=-0.1814 right_gripper=0.9973 state[joint_eff]: [-0.0615, -1.1282, 6.9949, 1.707, -0.0317, -0.022, -0.0122, 0.0889, -5.5726, 6.5846, 1.8632, 0.0317, -0.0415, -0.0122] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.025, "right_x": 0.355, "right_y": 0.036}, "note": "The last descent didn't take (z stayed at 0.10); re-commanding the descent to 2.5 cm beside the bowl's right wall."})
tool
executing move_to over 5 steps (0.5s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe arm is frozen at z=0.10 — likely an awkward IK pose; backing in slightly (x=0.33) with a small forward pitch to unstick the descent.
move_to
right_z0.0600right_x0.3300right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.1757, 1.2736, 0.6197, -0.0711, 0.1738, -0.1093, 0.9973] state[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1694 left_yaw=0.0009 left_pitch=-0.0431 left_roll=0.0008 left_gripper=0.9996 right_x=0.3556 right_y=0.0358 right_z=0.1013 right_yaw=0.0727 right_pitch=-0.1461 right_roll=-0.1817 right_gripper=0.9973 state[joint_eff]: [-0.0205, -1.1419, 7.1453, 1.7118, -0.0366, -0.0562, -0.0122, 0.0752, -5.5043, 6.8855, 1.8242, -0.0024, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.06, "right_x": 0.33, "right_pitch": 0.2}, "note": "The arm is frozen at z=0.10 \u2014 likely an awkward IK pose; backing in slightly (x=0.33) with a small forward pitch to unstick the descent."})
tool
executing move_to over 12 steps (1.2s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteDescent worked after adding forward pitch; the bowl's right wall is on the jaw column but still ahead of the fingertips, so advancing 4.5 cm at rim height.
move_to
right_x0.3650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8108, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.2161, 1.4391, 0.1307, 0.8036, 0.2092, -0.1143, 0.9973] state[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1692 left_yaw=0.0009 left_pitch=-0.0439 left_roll=0.0008 left_gripper=0.9996 right_x=0.3192 right_y=0.0362 right_z=0.0354 right_yaw=0.0868 right_pitch=0.0744 right_roll=-0.1807 right_gripper=0.9973 state[joint_eff]: [-0.0205, -1.3744, 7.2, 1.7167, -0.0757, -0.0464, -0.0122, 0.4034, -4.0957, 4.465, 2.2637, 0.2955, -0.1148, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.365}, "note": "Descent worked after adding forward pitch; the bowl's right wall is on the jaw column but still ahead of the fingertips, so advancing 4.5 cm at rim height."})
tool
executing move_to over 4 steps (0.4s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteTop view shows the gripper is still well short of (and right of) the pink bowl — the bowls are further out than I assumed. Moving forward to x=0.42 at a safe 9 cm height.
move_to
right_x0.4200right_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8127, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.1749, 1.6127, 0.2646, 0.8341, 0.1795, -0.1329, 0.9973] state[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1686 left_yaw=0.0009 left_pitch=-0.0465 left_roll=0.0008 left_gripper=0.9996 right_x=0.3556 right_y=0.0345 right_z=0.0303 right_yaw=0.0808 right_pitch=0.0619 right_roll=-0.1836 right_gripper=0.9973 state[joint_eff]: [-0.0342, -1.4838, 6.9949, 1.6679, -0.0708, -0.0757, -0.0122, -0.3487, -5.0803, 5.5453, 1.707, 0.0513, -0.105, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_z": 0.09}, "note": "Top view shows the gripper is still well short of (and right of) the pink bowl \u2014 the bowls are further out than I assumed. Moving forward to x=0.42 at a safe 9 cm height."})
tool
executing move_to over 5 steps (0.5s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe arm stalled again at x=0.358; changing pitch has unstuck it before, so I'm commanding a combined move forward to x=0.44 at 8 cm height with more forward pitch.
move_to
right_x0.4400right_z0.0800right_pitch0.3500right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8139, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.1726, 1.6234, 0.2806, 0.8162, 0.1699, -0.1352, 0.9973] state[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1682 left_yaw=0.0009 left_pitch=-0.0477 left_roll=0.0009 left_gripper=0.9996 right_x=0.3581 right_y=0.0358 right_z=0.028 right_yaw=0.0878 right_pitch=0.0487 right_roll=-0.182 right_gripper=0.9973 state[joint_eff]: [-0.1846, -1.4427, 7.1726, 1.707, -0.0562, -0.0122, -0.0122, -0.2393, -5.2718, 5.4359, 1.8632, 0.0366, -0.1001, -0.0122] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_z": 0.08, "right_pitch": 0.35, "right_yaw": 0.0}, "note": "The arm stalled again at x=0.358; changing pitch has unstuck it before, so I'm commanding a combined move forward to x=0.44 at 8 cm height with more forward pitch."})
tool
executing move_to over 11 steps (1.1s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteNow reaching out at x=0.43; the pink bowl's right wall sits ~3 cm to the arm's left of the jaw column, so shifting +y to put that wall between the jaws.
move_to
right_y0.0720right_x0.4400right_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8173, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.1799, 1.8668, 0.4652, 1.0824, 0.2356, -0.1398, 0.9973] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1673 left_yaw=0.0009 left_pitch=-0.0511 left_roll=0.0009 left_gripper=0.9996 right_x=0.4271 right_y=0.0394 right_z=0.0575 right_yaw=0.0379 right_pitch=0.2574 right_roll=-0.1895 right_gripper=0.9973 state[joint_eff]: [-0.0889, -1.6615, 7.1863, 1.6728, -0.0513, -0.0806, -0.0122, 0.1299, -6.6803, 5.9282, 2.3223, 0.3101, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.072, "right_x": 0.44, "right_z": 0.05}, "note": "Now reaching out at x=0.43; the pink bowl's right wall sits ~3 cm to the arm's left of the jaw column, so shifting +y to put that wall between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe bowl's right rim edge is now on the jaw column; dropping to 2.5 cm so the jaws straddle that wall.
move_to
right_z0.0250right_x0.4450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8173, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.2707, 1.9331, 0.5198, 1.087, 0.2928, -0.1238, 0.9973] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1673 left_yaw=0.0009 left_pitch=-0.0511 left_roll=0.0009 left_gripper=0.9996 right_x=0.4348 right_y=0.0714 right_z=0.0498 right_yaw=0.0705 right_pitch=0.255 right_roll=-0.1936 right_gripper=0.9973 state[joint_eff]: [-0.0752, -1.347, 7.0085, 1.7265, -0.0513, -0.0757, -0.0122, -0.1299, -7.3915, 5.2444, 1.8486, 0.2759, 0.1587, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.025, "right_x": 0.445}, "note": "The bowl's right rim edge is now on the jaw column; dropping to 2.5 cm so the jaws straddle that wall."})
tool
executing move_to over 2 steps (0.2s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteDescent has stopped (jaws likely at rim level, bowl wall between them); closing the gripper to pinch the pink bowl's side wall.
move_to
right_gripper0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8219, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.2871, 1.9438, 0.535, 1.0695, 0.3103, -0.1238, 0.9973] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1661 left_yaw=0.0009 left_pitch=-0.0557 left_roll=0.001 left_gripper=0.9996 right_x=0.4361 right_y=0.0762 right_z=0.0466 right_yaw=0.0724 right_pitch=0.2435 right_roll=-0.2022 right_gripper=0.9973 state[joint_eff]: [-0.1026, -1.7709, 7.0222, 1.6532, -0.0855, -0.0464, -0.0122, -0.5128, -7.4598, 4.9026, 1.8877, 0.2613, 0.149, -0.0073] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.02}, "note": "Descent has stopped (jaws likely at rim level, bowl wall between them); closing the gripper to pinch the pink bowl's side wall."})
tool
executing move_to over 10 steps (1.0s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteEmpty close again — the wrist view shows both jaws ended up inside the bowl, with the rim wall ~3 cm to the arm's right. Opening and shifting -y by 2.7 cm to put the wall between the jaws.
move_to
right_gripper1.0000right_y0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8223, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.2871, 1.9438, 0.5346, 1.0698, 0.3058, -0.1211, 0.0246] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.166 left_yaw=0.0009 left_pitch=-0.0557 left_roll=0.001 left_gripper=0.9996 right_x=0.436 right_y=0.077 right_z=0.0465 right_yaw=0.0749 right_pitch=0.2435 right_roll=-0.198 right_gripper=0.0246 state[joint_eff]: [-0.0889, -1.2786, 7.0359, 1.6874, -0.0562, -0.0855, -0.0122, -0.2667, -7.5966, 3.9043, 1.8779, 0.149, -0.0464, 0.1197] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_y": 0.05}, "note": "Empty close again \u2014 the wrist view shows both jaws ended up inside the bowl, with the rim wall ~3 cm to the arm's right. Opening and shifting -y by 2.7 cm to put the wall between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe bowl's rim edge now runs through the gap between the jaws; closing to pinch the wall.
move_to
right_gripper0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.823, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.1986, 1.943, 0.5091, 1.0744, 0.2218, -0.1562, 0.9952] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1658 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9996 right_x=0.4344 right_y=0.0514 right_z=0.0383 right_yaw=0.0787 right_pitch=0.215 right_roll=-0.2062 right_gripper=0.9952 state[joint_eff]: [-0.0615, -1.4701, 7.0222, 1.663, -0.0757, -0.0708, -0.0122, -0.5265, -8.3761, 3.4667, 2.083, -0.0415, 0.1148, -0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.02}, "note": "The bowl's rim edge now runs through the gap between the jaws; closing to pinch the wall."})
tool
executing move_to over 10 steps (1.0s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe bowl visibly shifted when the jaws closed, so I may have the rim. Lifting to 12 cm to check whether the bowl comes up with the gripper.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.823, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.1963, 1.943, 0.5083, 1.0779, 0.2176, -0.157, 0.029] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1658 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9996 right_x=0.4346 right_y=0.0512 right_z=0.0388 right_yaw=0.0804 right_pitch=0.2174 right_roll=-0.2051 right_gripper=0.029 state[joint_eff]: [-0.0752, -1.347, 7.0769, 1.7363, -0.0806, -0.0708, -0.0122, 0.1162, -7.788, 4.0821, 1.7411, 0.1538, 0.0317, 0.6471] 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_z": 0.12}, "note": "The bowl visibly shifted when the jaws closed, so I may have the rim. Lifting to 12 cm to check whether the bowl comes up with the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 172
top_cam
camera top_cam step 172
assistant
agent noteAmbiguous whether the bowl is held; retracting 6 cm toward the base at 14 cm height — if the bowl is in the jaws it will travel with the gripper in the top view.
move_to
right_x0.3700right_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8249, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.1963, 1.6184, 0.5568, 0.6922, 0.2134, -0.1623, 0.0294] state[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1653 left_yaw=0.0009 left_pitch=-0.0583 left_roll=0.0011 left_gripper=0.9996 right_x=0.4293 right_y=0.0509 right_z=0.1036 right_yaw=0.0872 right_pitch=0.2042 right_roll=-0.2101 right_gripper=0.0294 state[joint_eff]: [-0.0889, -1.1556, 7.0359, 1.7216, -0.0366, -0.0317, -0.0122, -0.0615, -7.5009, 8.5402, 2.0537, 0.0415, -0.0171, 0.0366] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_z": 0.14}, "note": "Ambiguous whether the bowl is held; retracting 6 cm toward the base at 14 cm height \u2014 if the bowl is in the jaws it will travel with the gripper in the top view."})
tool
executing move_to over 5 steps (0.5s)
step 177
assistant
agent noteThe pink bowl is now held in the jaws (gone from its table spot). Carrying it left and forward to hover over the purple bowl for stacking.
move_to
right_x0.4200right_y0.2900right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8288, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.2447, 1.2716, 0.4431, 0.4824, 0.239, -0.1547, 0.0294] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1643 left_yaw=0.0009 left_pitch=-0.0622 left_roll=0.0012 left_gripper=0.9996 right_x=0.3776 right_y=0.0549 right_z=0.1425 right_yaw=0.1089 right_pitch=0.2292 right_roll=-0.209 right_gripper=0.0294 state[joint_eff]: [-0.0342, -1.2239, 6.9949, 1.7411, -0.0806, -0.0513, -0.0122, 0.2667, -3.6718, 6.3521, 2.0, 0.2076, 0.0513, -0.0171] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.29, "right_z": 0.18}, "note": "The pink bowl is now held in the jaws (gone from its table spot). Carrying it left and forward to hover over the purple bowl for stacking."})
tool
executing move_to over 20 steps (2.0s)
step 197
assistant
agent noteI'm carrying the lavender bowl; the remaining table bowls are a white one far left and the pink one at the right. Moving over the pink bowl to lower the held bowl into it.
move_to
right_x0.4400right_y0.0200right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8341, 0.6029, -0.4152, -0.0227, -0.0261, 0.9996, 0.8452, 1.832, 1.1542, 0.1402, 0.7471, 0.0872, 0.0294] state[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1614 left_yaw=0.001 left_pitch=-0.0747 left_roll=0.0014 left_gripper=0.9996 right_x=0.4112 right_y=0.288 right_z=0.158 right_yaw=0.1698 right_pitch=0.1732 right_roll=-0.2572 right_gripper=0.0294 state[joint_eff]: [-0.0205, -1.8803, 7.0769, 1.7656, -0.0269, -0.0317, -0.0122, -0.1983, -9.1829, 9.6615, 1.917, 0.486, 0.3199, -0.0122] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.02, "right_z": 0.2}, "note": "I'm carrying the lavender bowl; the remaining table bowls are a white one far left and the pink one at the right. Moving over the pink bowl to lower the held bowl into it."})
tool
executing move_to over 23 steps (2.3s)
step 220
assistant
agent noteTop view confirms the white and purple bowls are still on the table and the pink one is in my jaws; returning over the purple bowl to lower the pink bowl into it.
move_to
right_x0.4200right_y0.2900right_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8345, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.0647, 1.4136, 0.8185, 0.1574, 0.0616, -0.2855, 0.0294] state[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1612 left_yaw=0.001 left_pitch=-0.0755 left_roll=0.0014 left_gripper=0.9996 right_x=0.4381 right_y=0.0211 right_z=0.1808 right_yaw=0.152 right_pitch=0.1199 right_roll=-0.2645 right_gripper=0.0294 state[joint_eff]: [-0.0752, -1.3607, 7.0085, 1.7265, -0.0464, -0.0513, -0.0122, -0.1983, -8.1026, 7.8017, 2.0391, -0.0952, 0.1197, -0.0122] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.29, "right_z": 0.16}, "note": "Top view confirms the white and purple bowls are still on the table and the pink one is in my jaws; returning over the purple bowl to lower the pink bowl into it."})
tool
executing move_to over 23 steps (2.3s)
step 243
assistant
agent noteConfirmed: I'm holding the lavender bowl; the pink bowl sits at the right of the table. Moving over the pink bowl at 14 cm to nest the held bowl into it.
move_to
right_x0.4400right_y0.0200right_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8345, 0.6029, -0.4164, -0.0227, -0.0261, 0.9996, 0.8234, 1.8503, 1.2156, -0.001, 0.6952, 0.086, 0.0294] state[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1611 left_yaw=0.001 left_pitch=-0.0763 left_roll=0.0015 left_gripper=0.9996 right_x=0.4144 right_y=0.2859 right_z=0.1468 right_yaw=0.1965 right_pitch=0.0777 right_roll=-0.2951 right_gripper=0.0294 state[joint_eff]: [-0.253, -1.4564, 7.0085, 1.6484, -0.022, -0.0708, -0.0122, 0.1436, -9.2239, 8.9915, 1.6288, 0.3492, 0.2125, -0.0122] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.02, "right_z": 0.14}, "note": "Confirmed: I'm holding the lavender bowl; the pink bowl sits at the right of the table. Moving over the pink bowl at 14 cm to nest the held bowl into it."})
tool
executing move_to over 23 steps (2.3s)
step 266
assistant
agent noteHovering with the held bowl over the right-hand table bowl; lowering 2 cm before opening so the held bowl drops into it rather than onto the rim.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8371, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.0643, 1.52, 0.7448, 0.2295, 0.0628, -0.3325, 0.0294] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1605 left_yaw=0.001 left_pitch=-0.0782 left_roll=0.0015 left_gripper=0.9996 right_x=0.4339 right_y=0.0204 right_z=0.1194 right_yaw=0.1747 right_pitch=0.0054 right_roll=-0.2952 right_gripper=0.0294 state[joint_eff]: [-0.0752, -1.7162, 7.1179, 1.6972, -0.0415, -0.0269, -0.0122, -0.212, -8.4855, 6.6256, 2.21, -0.0904, 0.149, -0.0122] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1}, "note": "Hovering with the held bowl over the right-hand table bowl; lowering 2 cm before opening so the held bowl drops into it rather than onto the rim."})
tool
executing move_to over 2 steps (0.2s)
step 268
assistant
agent noteRe-calibrating from the top view: the purple bowl is further left (right_y≈0.39) than I estimated. Moving there with the pink bowl still held.
move_to
right_x0.4200right_y0.3800right_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8375, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.0563, 1.5383, 0.7242, 0.2874, 0.0448, -0.3416, 0.0294] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1604 left_yaw=0.001 left_pitch=-0.0786 left_roll=0.0015 left_gripper=0.9996 right_x=0.4361 right_y=0.0202 right_z=0.1152 right_yaw=0.1868 right_pitch=0.024 right_roll=-0.2961 right_gripper=0.0294 state[joint_eff]: [-0.0889, -1.4427, 6.9949, 1.6972, -0.0513, -0.0366, -0.0122, 0.5265, -5.0256, 5.559, 1.7314, 0.1636, 0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.38, "right_z": 0.15}, "note": "Re-calibrating from the top view: the purple bowl is further left (right_y\u22480.39) than I estimated. Moving there with the pink bowl still held."})
tool
executing move_to over 30 steps (3.0s)
step 298
assistant
agent noteThe held bowl is the lavender one; the pink bowl sits on the table to the arm's right at about y=0.06. Moving over it to nest the held bowl inside.
move_to
right_x0.4400right_y0.0700right_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8383, 0.6029, -0.416, -0.0227, -0.0261, 0.9996, 0.9482, 2.1426, 1.684, -0.3565, 0.7345, 0.1921, 0.0294] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1601 left_yaw=0.001 left_pitch=-0.0797 left_roll=0.0015 left_gripper=0.9996 right_x=0.4124 right_y=0.3775 right_z=0.1331 right_yaw=0.2396 right_pitch=-0.0294 right_roll=-0.3363 right_gripper=0.0294 state[joint_eff]: [-0.0752, -1.5658, 6.9949, 1.663, -0.0513, -0.0464, -0.0122, -0.335, -12.041, 9.2103, 1.6093, 0.5983, 0.4225, -0.0122] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.07, "right_z": 0.16}, "note": "The held bowl is the lavender one; the pink bowl sits on the table to the arm's right at about y=0.06. Moving over it to nest the held bowl inside."})
tool
executing move_to over 26 steps (2.6s)
step 324
assistant
agent notePixel calibration now says the target bowl is at right_y≈0.377 — exactly where I hovered two moves ago. Returning there at 14 cm to lower the held bowl into it.
move_to
right_x0.4150right_y0.3775right_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8398, 0.6029, -0.416, -0.0227, -0.0261, 0.9996, 0.2279, 1.5368, 0.9291, -0.0444, 0.1925, -0.3119, 0.0294] state[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1597 left_yaw=0.001 left_pitch=-0.0812 left_roll=0.0016 left_gripper=0.9996 right_x=0.4355 right_y=0.07 right_z=0.1376 right_yaw=0.2171 right_pitch=-0.1009 right_roll=-0.3462 right_gripper=0.0294 state[joint_eff]: [-0.1846, -1.4564, 6.9949, 1.6728, -0.0855, -0.0366, -0.0122, -0.294, -9.8393, 7.1043, 2.0098, -0.1148, 0.0171, -0.0122] camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_y": 0.3775, "right_z": 0.14}, "note": "Pixel calibration now says the target bowl is at right_y\u22480.377 \u2014 exactly where I hovered two moves ago. Returning there at 14 cm to lower the held bowl into it."})
tool
executing move_to over 26 steps (2.6s)
step 350
assistant
agent noteNo bowl under me here — the remaining table bowls are the white one (out of this arm's reach) and the pink one at right_y≈0.11. Moving there to nest the held bowl into the pink bowl.
move_to
right_x0.4400right_y0.1150right_z0.1450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8398, 0.6029, -0.416, -0.0227, -0.0261, 0.9996, 0.9371, 2.1757, 1.7897, -0.551, 0.6754, 0.1917, 0.0294] state[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1597 left_yaw=0.001 left_pitch=-0.0812 left_roll=0.0016 left_gripper=0.9996 right_x=0.4076 right_y=0.3742 right_z=0.125 right_yaw=0.2628 right_pitch=-0.1525 right_roll=-0.3796 right_gripper=0.0294 state[joint_eff]: [-0.0615, -1.5385, 7.1863, 1.6874, -0.0659, -0.0269, -0.0122, -0.1709, -12.2325, 9.2103, 1.2283, 0.5885, 0.3199, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.115, "right_z": 0.145}, "note": "No bowl under me here \u2014 the remaining table bowls are the white one (out of this arm's reach) and the pink one at right_y\u22480.11. Moving there to nest the held bowl into the pink bowl."})
tool
executing move_to over 22 steps (2.2s)
step 372
assistant
agent noteI now see I was correctly over the lavender table bowl two moves ago (that bowl, not my held one, filled the wrist view). Going back there to release the held pink bowl into it.
move_to
right_x0.4120right_y0.3740right_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8402, 0.6029, -0.4152, -0.0227, -0.0261, 0.9996, 0.366, 1.6348, 1.0679, -0.2077, 0.2977, -0.2707, 0.0294] state[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1597 left_yaw=0.001 left_pitch=-0.0808 left_roll=0.0016 left_gripper=0.9996 right_x=0.4343 right_y=0.1148 right_z=0.1275 right_yaw=0.242 right_pitch=-0.2103 right_roll=-0.3929 right_gripper=0.0294 state[joint_eff]: [-0.0889, -1.265, 6.9949, 1.6777, -0.0562, -0.0317, -0.0122, -0.1983, -9.5521, 6.9538, 1.9365, 0.0171, 0.022, -0.0122] camera 'top_cam' (step 372): [image omitted: streamed camera frame] camera 'left_cam' (step 372): [image omitted: streamed camera frame] camera 'right_cam' (step 372): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.412, "right_y": 0.374, "right_z": 0.13}, "note": "I now see I was correctly over the lavender table bowl two moves ago (that bowl, not my held one, filled the wrist view). Going back there to release the held pink bowl into it."})
tool
executing move_to over 22 steps (2.2s)
step 394
assistant
agent noteThe gripper reads empty — my earlier "grasp" was wrong; all three bowls are still on the table. The jaws are inside the lavender bowl, so I'm shifting right onto its rim wall and dropping to rim height for a real pinch.
move_to
right_gripper1.0000right_y0.3250right_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8436, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.923, 2.2173, 1.8835, -0.7052, 0.622, 0.1677, 0.0294] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1587 left_yaw=0.001 left_pitch=-0.0847 left_roll=0.0016 left_gripper=0.9996 right_x=0.4042 right_y=0.3695 right_z=0.1151 right_yaw=0.2848 right_pitch=-0.2655 right_roll=-0.4245 right_gripper=0.0294 state[joint_eff]: [-0.0479, -1.7709, 7.0222, 1.6777, -0.0513, -0.0611, -0.0122, -0.1162, -12.5744, 9.3333, 1.2918, 0.5641, 0.3834, -0.0171] camera 'top_cam' (step 394): [image omitted: streamed camera frame] camera 'left_cam' (step 394): [image omitted: streamed camera frame] camera 'right_cam' (step 394): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_y": 0.325, "right_z": 0.05}, "note": "The gripper reads empty \u2014 my earlier \"grasp\" was wrong; all three bowls are still on the table. The jaws are inside the lavender bowl, so I'm shifting right onto its rim wall and dropping to rim height for a real pinch."})
tool
executing move_to over 10 steps (1.0s)
step 404
assistant
agent noteJaws are still inside the lavender bowl; shifting a further 5 cm to the arm's right so the bowl's right-hand rim wall falls between the open jaws.
move_to
right_y0.2750right_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8444, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.8684, 2.1696, 1.4986, -0.3965, 0.5873, 0.1043, 0.9947] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1585 left_yaw=0.001 left_pitch=-0.0854 left_roll=0.0016 left_gripper=0.9996 right_x=0.3967 right_y=0.3228 right_z=0.0346 right_yaw=0.2826 right_pitch=-0.3209 right_roll=-0.4595 right_gripper=0.9947 state[joint_eff]: [-0.0479, -1.5521, 6.9675, 1.6923, -0.0904, -0.0562, -0.0122, -0.8821, -13.6684, 5.9419, 1.2283, 0.3492, -0.0269, -0.2857] camera 'top_cam' (step 404): [image omitted: streamed camera frame] camera 'left_cam' (step 404): [image omitted: streamed camera frame] camera 'right_cam' (step 404): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.275, "right_z": 0.03}, "note": "Jaws are still inside the lavender bowl; shifting a further 5 cm to the arm's right so the bowl's right-hand rim wall falls between the open jaws."})
tool
executing move_to over 4 steps (0.4s)
step 408
assistant
agent noteFinal attempt within budget: closing the jaws where the lavender bowl's rim passes between them.
move_to
right_gripper0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8448, 0.6029, -0.4152, -0.0227, -0.0265, 0.9996, 0.8078, 2.0716, 1.3102, -0.2707, 0.5602, 0.0483, 0.9942] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1585 left_yaw=0.0012 left_pitch=-0.0854 left_roll=0.0013 left_gripper=0.9996 right_x=0.3957 right_y=0.2832 right_z=0.0295 right_yaw=0.2771 right_pitch=-0.3166 right_roll=-0.4567 right_gripper=0.9942 state[joint_eff]: [-0.0615, -1.347, 7.1043, 1.6825, -0.0366, -0.0757, -0.0122, -0.5538, -11.6444, 5.5043, 1.0623, 0.1294, -0.105, -0.0611] camera 'top_cam' (step 408): [image omitted: streamed camera frame] camera 'left_cam' (step 408): [image omitted: streamed camera frame] camera 'right_cam' (step 408): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.02}, "note": "Final attempt within budget: closing the jaws where the lavender bowl's rim passes between them."})
tool
executing move_to over 10 steps (1.0s)
step 418
assistant
agent noteI could not get a reliable grasp on any bowl within the call budget. Every close settled at 0.02–0.05 (empty), and the jaws kept ending up inside the bowl rather than straddling its rim wall. The bowls remain unstacked.
give_up
hindsightKey things I learned: (1) The bowls sit far out, around right_x≈0.40–0.44, and the three of them span right_y≈0.05 (right), ≈0.33 (middle), ≈0.55 (left, only reachable by the left arm). Top-cam scale near them is ~2.3 px/cm in image-x. (2) A parallel gripper can only grab a bowl by pinching its LEFT or RIGHT side wall (jaws close along the arm's y axis); straddling the near/far rim just slides off. You must offset in y by the bowl radius (~5 cm) from the bowl centre and descend to z≈0.02–0.04, and the wall is only ~3 mm thick so a successful grasp reads ~0.03–0.05 — indistinguishable from empty, so verify only by lifting and looking at the TOP camera with the arm displaced sideways. (3) The wrist camera is very misleading here: when the gripper is over a bowl you see the bowl that is on the table, not the one you hold, and lighting makes the lavender bowl look pink. Do not judge which bowl is held from colour. (4) The right arm frequently stalls: a repeated identical target does nothing; changing pitch (e.g. right_pitch 0.2–0.35) immediately unsticks the descent/advance. (5) Budget: locating the bowls accurately took most of my 40 calls — start by moving one arm to a known y and reading its pixel position to calibrate, rather than guessing.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8448, 0.6029, -0.4152, -0.0227, -0.0261, 0.9996, 0.7879, 2.0644, 1.2808, -0.2577, 0.5407, 0.0216, 0.0245] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1585 left_yaw=0.001 left_pitch=-0.0854 left_roll=0.0016 left_gripper=0.9996 right_x=0.3954 right_y=0.2736 right_z=0.023 right_yaw=0.2844 right_pitch=-0.3393 right_roll=-0.464 right_gripper=0.0245 state[joint_eff]: [-0.0615, -1.2103, 7.1316, 1.6874, -0.0806, -0.0562, -0.0122, 0.0342, -11.9043, 5.8872, 1.1697, 0.2759, -0.0122, 0.1294] camera 'top_cam' (step 418): [image omitted: streamed camera frame] camera 'left_cam' (step 418): [image omitted: streamed camera frame] camera 'right_cam' (step 418): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I could not get a reliable grasp on any bowl within the call budget. Every close settled at 0.02\u20130.05 (empty), and the jaws kept ending up inside the bowl rather than straddling its rim wall. The bowls remain unstacked.", "hindsight": "Key things I learned: (1) The bowls sit far out, around right_x\u22480.40\u20130.44, and the three of them span right_y\u22480.05 (right), \u22480.33 (middle), \u22480.55 (left, only reachable by the left arm). Top-cam scale near them is ~2.3 px/cm in image-x. (2) A parallel gripper can only grab a bowl by pinching its LEFT or RIGHT side wall (jaws close along the arm's y axis); straddling the near/far rim just slides off. You must offset in y by the bowl radius (~5 cm) from the bowl centre and descend to z\u22480.02\u20130.04, and the wall is only ~3 mm thick so a successful grasp reads ~0.03\u20130.05 \u2014 indistinguishable from empty, so verify only by lifting and looking at the TOP camera with the arm displaced sideways. (3) The wrist camera is very misleading here: when the gripper is over a bowl you see the bowl that is on the table, not the one you hold, and lighting makes the lavender bowl look pink. Do not judge which bowl is held from colour. (4) The right arm frequently stalls: a repeated identical target does nothing; changing pitch (e.g. right_pitch 0.2\u20130.35) immediately unsticks the descent/advance. (5) Budget: locating the bowls accurately took most of my 40 calls \u2014 start by moving one arm to a known y and reading its pixel position to calibrate, rather than guessing."})
tool
give_up: I could not get a reliable grasp on any bowl within the call budget. Every close settled at 0.02–0.05 (empty), and the jaws kept ending up inside the bowl rather than straddling its rim wall. The bowls remain 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 · 18.46 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7944, 0.6041, -0.3813, -0.0223, -0.0257, 0.9996, -0.0174, 0.7921, 0.5995, -0.3843, -0.017, -0.0345, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2935 right_y=0.0015 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6906, -1.5111, 10.0991, 1.7705, -0.0611, 0.0757, -0.0562, -0.759, -1.3607, 10.3863, 2.0147, -0.0952, 0.1538, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f978c1afce43206cf6e47547aabbf4549045ef1214712af7f2e381a88aafae4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16a671889e0cba0ff1499e939060f82f4085632649eea3ae550b6a86dfd39bde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d28053eb20e7b497d172cdc477fbeb112f1915f6f45975d2d09d4cbe7719f76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 13.41 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7944, 0.6041, -0.3813, -0.0223, -0.0257, 0.9996, -0.0174, 0.7921, 0.5995, -0.3843, -0.017, -0.0345, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2935 right_y=0.0015 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6906, -1.5111, 10.0991, 1.7705, -0.0611, 0.0757, -0.0562, -0.759, -1.3607, 10.3863, 2.0147, -0.0952, 0.1538, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f978c1afce43206cf6e47547aabbf4549045ef1214712af7f2e381a88aafae4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16a671889e0cba0ff1499e939060f82f4085632649eea3ae550b6a86dfd39bde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d28053eb20e7b497d172cdc477fbeb112f1915f6f45975d2d09d4cbe7719f76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WTKYiGeBSVXKeVhGAMh6vZ",
      "input": {
        "note": "Three bowls sit in a row on the table. I'll bring the right arm above the rightmost (pink) bowl to inspect it from the wrist camera before grasping its rim.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.33,
          "right_y": 0.14,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01WTKYiGeBSVXKeVhGAMh6vZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7998, 0.6075, -0.3862, -0.0227, -0.0261, 0.9996, 0.6273, 1.1954, 0.7666, -0.3237, 0.4667, 0.3119, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1787 left_yaw=0.0009 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9996 right_x=0.3177 right_y=0.1366 right_z=0.1548 right_yaw=0.055 right_pitch=-0.0803 right_roll=-0.0506 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -1.6479, 6.8034, 1.746, 0.0024, -0.0659, -0.0122, 0.1573, -4.6427, 9.7162, 1.8877, 0.4078, 0.1636, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99013fee73b754ec0c95dd64af63b917e691e5bc5394aa116a3d861cc6e72924",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f617ea0e92a0ba3d0f8ae4265b7b7daddbc9dab82e52e90bde90b7364ac9896d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e91f8e86f323257357123922d6cef0608d5a48d52f876a0407ef97101aec861",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 9.49 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7944, 0.6041, -0.3813, -0.0223, -0.0257, 0.9996, -0.0174, 0.7921, 0.5995, -0.3843, -0.017, -0.0345, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2935 right_y=0.0015 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6906, -1.5111, 10.0991, 1.7705, -0.0611, 0.0757, -0.0562, -0.759, -1.3607, 10.3863, 2.0147, -0.0952, 0.1538, -0.0952]",
      "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, 0.7998, 0.6075, -0.3862, -0.0227, -0.0261, 0.9996, 0.6273, 1.1954, 0.7666, -0.3237, 0.4667, 0.3119, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1787 left_yaw=0.0009 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9996 right_x=0.3177 right_y=0.1366 right_z=0.1548 right_yaw=0.055 right_pitch=-0.0803 right_roll=-0.0506 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -1.6479, 6.8034, 1.746, 0.0024, -0.0659, -0.0122, 0.1573, -4.6427, 9.7162, 1.8877, 0.4078, 0.1636, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99013fee73b754ec0c95dd64af63b917e691e5bc5394aa116a3d861cc6e72924",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f617ea0e92a0ba3d0f8ae4265b7b7daddbc9dab82e52e90bde90b7364ac9896d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e91f8e86f323257357123922d6cef0608d5a48d52f876a0407ef97101aec861",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011qfsHpazKgMpDLvqko8h5T",
      "input": {
        "note": "Right wrist cam shows the pink bowl slightly right of the jaw column; I'm shifting ~3 cm right and descending to 10 cm to line up on the bowl rim.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.105,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011qfsHpazKgMpDLvqko8h5T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8017, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.4866, 1.2369, 0.564, -0.1352, 0.3897, 0.2348, 0.9991]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1758 left_yaw=0.0009 left_pitch=-0.0156 left_roll=0.0002 left_gripper=0.9996 right_x=0.316 right_y=0.0953 right_z=0.087 right_yaw=0.0136 right_pitch=-0.1584 right_roll=-0.0908 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -1.2103, 7.3915, 1.7265, -0.0708, -0.0562, -0.0122, -0.2256, -4.0, 7.5419, 2.0147, 0.1392, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7e40050f8898c697d11342e579a0da99dc4d8af90685be45ed553936f5353b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10adb23560cda3eb2f9be56566ad8e86dd423cf17516a1204d40e6c91a6fdd6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24a727e0a9618990928ed6a7ee2848c53770699add92a4b06fe7024e3ba6e9e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 4.354 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7944, 0.6041, -0.3813, -0.0223, -0.0257, 0.9996, -0.0174, 0.7921, 0.5995, -0.3843, -0.017, -0.0345, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0016 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2935 right_y=0.0015 right_z=0.1775 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.6906, -1.5111, 10.0991, 1.7705, -0.0611, 0.0757, -0.0562, -0.759, -1.3607, 10.3863, 2.0147, -0.0952, 0.1538, -0.0952]",
      "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, 0.7998, 0.6075, -0.3862, -0.0227, -0.0261, 0.9996, 0.6273, 1.1954, 0.7666, -0.3237, 0.4667, 0.3119, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1787 left_yaw=0.0009 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9996 right_x=0.3177 right_y=0.1366 right_z=0.1548 right_yaw=0.055 right_pitch=-0.0803 right_roll=-0.0506 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -1.6479, 6.8034, 1.746, 0.0024, -0.0659, -0.0122, 0.1573, -4.6427, 9.7162, 1.8877, 0.4078, 0.1636, -0.0952]",
      "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, 0.8017, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.4866, 1.2369, 0.564, -0.1352, 0.3897, 0.2348, 0.9991]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1758 left_yaw=0.0009 left_pitch=-0.0156 left_roll=0.0002 left_gripper=0.9996 right_x=0.316 right_y=0.0953 right_z=0.087 right_yaw=0.0136 right_pitch=-0.1584 right_roll=-0.0908 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -1.2103, 7.3915, 1.7265, -0.0708, -0.0562, -0.0122, -0.2256, -4.0, 7.5419, 2.0147, 0.1392, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7e40050f8898c697d11342e579a0da99dc4d8af90685be45ed553936f5353b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10adb23560cda3eb2f9be56566ad8e86dd423cf17516a1204d40e6c91a6fdd6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24a727e0a9618990928ed6a7ee2848c53770699add92a4b06fe7024e3ba6e9e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISggsKjgEIEhgCKkC34W3lHpuLIkepyhTOtEMG+Jaqa4Rkr9CjZ5m1clEJu66caDeB26kwyKR8H/ccqTm7MSXksmH8SMYVENXoIj31Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZS9zNUGEgyON4JheLL4D5mvCJwaDOAIHBVbWVJlUt+mTSIw9u0f9awUSfpQztCSxCpJavMFhQCdqvt1Q84R9tTrFpjLxrUpvrQxa4A1EekHC+yAKqAJDdwd3ncKPaOyH+d89NFdIuz0wD8+Q7XujRASe5uXTZV8n4OE05QRFs3GmEUoaSVBHTtTC7mBcBALTThBMzYNggu3d/F1xVxGhyVIpNmR/1l/4tBm5By13+ElFlkLT1tli2he2kumBQk455sz8dMlqTVzjioG7Iw0WyKnfB3OcrnOGY4v/ZZ6WG1000PyQmoCtJp0h/qXgtWFpzhUWcbUcYwRquyKwkIlBxknaBkILXD/Wj/irpsxSPgrAds7OqmQrLnkEdu0ypjh7aIHtEj7ME5FntGrVUg3whEF41TpdcWPm7gh8SlKRZNbrIYfhI9apE8rJIRDuCT9Z1/li2ezjiSpS4V2HW+54gGj5Z3lWRePALUQAwtK+bAVyCtJdcccbd5uWpueBBiqeuEaTU8WzIuiMDxya+dhryHJ4cAYmYBTLmfWBE1GNfJ4wYBI4GHztkLP2dBwJ7xxgKNdYAXB14bwanEMar6emk6l6Zgbcw6QDoA6xVSKCJui5wN69zzTqbuVCSIL6lbjkzRn88mTExYbroy0v1okzasrF1R5WMXzlqeFEs4q9mtNCGESLZsTkClHzVcKTqLtkX/o1WIGcxVRajdeEC3PHBIXmGB2wb/VsGSFejvsoPHb5N5OdLltxXs6Em7CSZZ5IH+6HrEgaIQkrpd9mbbKjqKMHIVj5cphH9pzWUaEzwbPc0unUYfkFzr7u+c8mCs04my+8tvVNJ4onpJ4v9SPGx70/rYb/3EM//QbUYxuVYu+LHo5YzJ7kJ+xFr5npnIURJuhGvI7wZFK94GNBHsbNnNMUdRLp4o0YxG686m5tFmBHEbCYWsXetf1Gca0Zr4BU+25/4MMbX0QnoA7ek3sSBGh0it9J4MYkdw/fhx5kQZYmP6Oeb6k9X+1+FI/NEPiUc8P+NWAm9ePy2oVhwmERAgBikm0NDHxwzSOrMT7VkmeSC7gQ4OT0RviUpGzkxqLBNLneR+wQboGjddNxDJkH2zXKpPhH3NLvv6Ep0EvpSabcTT/B84gyhjJ9UzPu+so5OkV43sRqqVmwxK43vR+ewv01L1GlJDAt0WShaOWa4D9h3cnQWBGyeSepsMHHda/E0gSuDeKLiwr4A3ZdZBZM45cFrNIa3mH9KILxVAPMMwjcG1hSnrkf/z7zGIKe7+MuajwvG1yc591zn5EMT3PzGYNhRxrpaGCHfgevyVe+HnN6Iff8L3jV1NHd5ALkAUX7BOzd0H5kQJQTeZvY+cd6ixq+2l9JAXIl3+RKv3qjYnlgDb9qdaI6QsaOf7iHe/Ygy2TKiDfCNCD7S9CxaAlX0Pq9QA2p9Oar3gGudXfcO8KKNjLcwIi60MVTswuzzCOcu0hZZlXCOS/ryZ/D8jEbzxU86Go2K6cADo+zCa2Z8pQOAzqYEuJlGQwk8X4eSlgh9EuAlS5DkMU5jn2ikUZWzfT21hsukjdoc41O0wSldW424Gt6rlSfhe4Mc3GhAIfY1gg9kzmgyFZhge6kXUJkJ5yRKcDgJvPUoM4AFW10t3iAxsdOX+RdxfcFT8EoWeeglbzz4hLNAjN2qRRgw2GTa9jzzo7eDMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V1SdgHtwhxSAfavES6CFsx",
      "input": {
        "note": "Pink bowl is centered on the jaw column; advancing 3 cm radially and dropping to 4.5 cm so the open jaws straddle the near rim wall.",
        "targets": {
          "right_x": 0.35,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01V1SdgHtwhxSAfavES6CFsx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.469, 1.3182, 0.5327, -0.0257, 0.3588, 0.2058, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.175 left_yaw=0.0009 left_pitch=-0.0187 left_roll=0.0003 left_gripper=0.9996 right_x=0.3225 right_y=0.0979 right_z=0.0662 right_yaw=0.0364 right_pitch=-0.1723 right_roll=-0.0935 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -0.9368, 7.0769, 1.6923, -0.0562, -0.0611, -0.0122, -0.335, -4.7932, 6.8991, 1.6923, 0.3248, 0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d77c3bd5867ed40135b68fafaa5d8320baed4c95687831b65c72e61c2e2e30f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cb659cfda5c27adc92727f4dabc620229d646ec86727f92cfcefe3a86c30664",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a795cf16c406f18f8763ba0242adb1e87f35509125cefc2e53238224347feac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 7.773 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7998, 0.6075, -0.3862, -0.0227, -0.0261, 0.9996, 0.6273, 1.1954, 0.7666, -0.3237, 0.4667, 0.3119, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1787 left_yaw=0.0009 left_pitch=-0.0069 left_roll=0.0 left_gripper=0.9996 right_x=0.3177 right_y=0.1366 right_z=0.1548 right_yaw=0.055 right_pitch=-0.0803 right_roll=-0.0506 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -1.6479, 6.8034, 1.746, 0.0024, -0.0659, -0.0122, 0.1573, -4.6427, 9.7162, 1.8877, 0.4078, 0.1636, -0.0952]",
      "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, 0.8017, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.4866, 1.2369, 0.564, -0.1352, 0.3897, 0.2348, 0.9991]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1758 left_yaw=0.0009 left_pitch=-0.0156 left_roll=0.0002 left_gripper=0.9996 right_x=0.316 right_y=0.0953 right_z=0.087 right_yaw=0.0136 right_pitch=-0.1584 right_roll=-0.0908 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -1.2103, 7.3915, 1.7265, -0.0708, -0.0562, -0.0122, -0.2256, -4.0, 7.5419, 2.0147, 0.1392, -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 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.469, 1.3182, 0.5327, -0.0257, 0.3588, 0.2058, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.175 left_yaw=0.0009 left_pitch=-0.0187 left_roll=0.0003 left_gripper=0.9996 right_x=0.3225 right_y=0.0979 right_z=0.0662 right_yaw=0.0364 right_pitch=-0.1723 right_roll=-0.0935 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -0.9368, 7.0769, 1.6923, -0.0562, -0.0611, -0.0122, -0.335, -4.7932, 6.8991, 1.6923, 0.3248, 0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d77c3bd5867ed40135b68fafaa5d8320baed4c95687831b65c72e61c2e2e30f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cb659cfda5c27adc92727f4dabc620229d646ec86727f92cfcefe3a86c30664",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a795cf16c406f18f8763ba0242adb1e87f35509125cefc2e53238224347feac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9AMKjgEIEhgCKkAEeeXHrsHvgyXc3VB2h9MSQ0Lq36b5K1ToyhQkFCW1rCGAF+BXmBl72Ov4vaujHsaHhNT9pQqrcRFV2F3YDwVJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZi9zNUGEgz5TQTBWCCapXqCmakaDBkk/5a/PZC55ffqyiIwQZE0eEMxDrNER97WgkxODB++tZr4/HXZFLr61oyHwY3NKX521KrQi3yi1Sx8dNieKpICPshUF5Rwcf+NxviMgMDiLKdrHZ7bR6yqy42o/kU6xqPJovLuGVO+7ZSUQhXgCYTpTz6jtZUHshZf3Z/FWrXMpOmS2AWCB9AlyUD+3ddKfcnevtxjvWjeJ5VF3kM6qxtia+JJ7Obb3YZEB0b/gSkcJPWlh1dSTjsU0Dt6oq0VoK8mqUbgeR2zSH/i0V6Q3dAYZGCiwMH2eg4cPN5J/z4MBt9muIq94JdiG+rXtpqE9RBQDqarb/I4vQJ39WIt7SWbCDFjLGKKD7zz4x1GzdTt/dinGyHhxqpegWRatvhBicpgvnQFTi9pXI31aXjEGqF4fRnixzWsQ9pE9ZHmQLfPwfyS0P/fl6fiJUvWI5zRy/nsvRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0184kdgSo8SS7nhZYVfC8r6F",
      "input": {
        "note": "The arm only partly tracked the last command (speed-clamped), so I'm re-sending the same approach pose to settle the jaws over the pink bowl's near rim.",
        "targets": {
          "right_x": 0.35,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0184kdgSo8SS7nhZYVfC8r6F",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.469, 1.3205, 0.5282, -0.0246, 0.3611, 0.2058, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1751 left_yaw=0.0009 left_pitch=-0.0183 left_roll=0.0003 left_gripper=0.9996 right_x=0.3214 right_y=0.0969 right_z=0.064 right_yaw=0.0342 right_pitch=-0.1768 right_roll=-0.0974 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.2923, 7.0222, 1.7167, -0.0757, -0.0611, -0.0122, -0.2667, -4.8615, 6.8581, 1.6484, 0.3101, 0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96a20a15b6685b3909ca75c1600d7700ebbbe3fcb5be611e196156fc0e08025a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e221fbece9acc8caaefc4e939727ce1d0e304c383d6cb35f9d1bcf84db789a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30890dea859b26900f943163c99e87b45765d478b5b247a5ff3329d4911f18c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 4.349 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8017, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.4866, 1.2369, 0.564, -0.1352, 0.3897, 0.2348, 0.9991]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1758 left_yaw=0.0009 left_pitch=-0.0156 left_roll=0.0002 left_gripper=0.9996 right_x=0.316 right_y=0.0953 right_z=0.087 right_yaw=0.0136 right_pitch=-0.1584 right_roll=-0.0908 right_gripper=0.9991\nstate[joint_eff]: [-0.0342, -1.2103, 7.3915, 1.7265, -0.0708, -0.0562, -0.0122, -0.2256, -4.0, 7.5419, 2.0147, 0.1392, -0.0024, -0.0171]\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, 0.8047, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.469, 1.3182, 0.5327, -0.0257, 0.3588, 0.2058, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.175 left_yaw=0.0009 left_pitch=-0.0187 left_roll=0.0003 left_gripper=0.9996 right_x=0.3225 right_y=0.0979 right_z=0.0662 right_yaw=0.0364 right_pitch=-0.1723 right_roll=-0.0935 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -0.9368, 7.0769, 1.6923, -0.0562, -0.0611, -0.0122, -0.335, -4.7932, 6.8991, 1.6923, 0.3248, 0.0415, -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 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.469, 1.3205, 0.5282, -0.0246, 0.3611, 0.2058, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1751 left_yaw=0.0009 left_pitch=-0.0183 left_roll=0.0003 left_gripper=0.9996 right_x=0.3214 right_y=0.0969 right_z=0.064 right_yaw=0.0342 right_pitch=-0.1768 right_roll=-0.0974 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.2923, 7.0222, 1.7167, -0.0757, -0.0611, -0.0122, -0.2667, -4.8615, 6.8581, 1.6484, 0.3101, 0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96a20a15b6685b3909ca75c1600d7700ebbbe3fcb5be611e196156fc0e08025a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e221fbece9acc8caaefc4e939727ce1d0e304c383d6cb35f9d1bcf84db789a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30890dea859b26900f943163c99e87b45765d478b5b247a5ff3329d4911f18c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2gkKjgEIEhgCKkDkicPAXDLZDStvRRH67dQb35lXgLmO9g3l9z6zA3CT1Qgj+ER45BU3WLk4xfhQw0JqAHmOqCvqNmrlXaoURsMpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaC9zNUGEgz1URBKhJs/P5GaVV8aDMPWIMaZnr747UG9qyIw5cO48x1Wv95a6RZqQLfvAe2OpwGJC77VOqPbMdO4HKXmLRpg1sB/S1u7Tdy85OpuKvgHiXmu30+lDZfaofTRtITxgimBuJ5YAeOSsR1cn/WNyN/GhKFxRzphEJDDkaDMqnSC0exPzB4vRSNwaSrD10MrJY/bLlalnImwyUJwwFMHEeLfJLk0p3tH92JQfpSYI3qvdJH1yZ5safzCDvDJX8ZQQECDJubx6kDyCldXysREwPDr83pY8ETT+LxU7x6Nba6QOVGnxS6AVmaFSWpyZ6wqcWtuYS8GDxd9tnodHCpguEDzjLMqEg3q5mcCFsb/gUGz+a++4HSXeVxMyKC9y+eZv8gKmI/yM9ngeF1CePjGzv7tbWwvefcpe+UgA4TUmvyh6ZgbdAr1pu44DMS9ru5IffaiQ4nTjS7Jv4+kWjY5WWV8aDXyaviZWmxrHdt9PATV55xCvazVQod+2scBJQ8Ljes1ds/IcgBEKOyIl7jCdhDin/91YSB3bZT8Kp2JySyLdaQpzyrCfjdWJG5iR6AgXgbjd6lSuwUCYJCCc+3/f+QOpF+EWnVqfipSduuxjxWG65Aq8j/hSkCZjre94XQ7Yud8K/jzFOMsDb24xM4N1nF429mdHg4mJw6dDknKnRG09GWKVt9suJVFrOUxYtMNi0lF8rv8OzxhGpxsnCtARY/Hoc2eUxGRSzWsooXSyuNmb8fiaYZo2lZRMcJg+6DURVnBh1b7G3bHbAI6FuoMxtZH/DT1AOBjeXPoonWlUQwH+3s5ivG5lszteW1JkfBPQHODUXkVO1ko14qXpMvzO22cBLZO3kv680nE+rKwP1fexnWERU3u5d/2g+Bk7wVHIK39VqsLh1XYe9W77fL6YRJDOk8kDeRqQcTVYpmFwH9qu95Ha+b9EspgsRIGBTOJVEcy9IEy14GRXujJpdLOJlz4L5tAbdWG79iC98DKnwa/s3iTZxIBvgneGsiWTP8bLn78ucDDZliVA+Jo2qq5Qiuv09UzcjP3oEszUHpfdsqMxkZy3BsJDXgSe+NEZuKbBidSxhZsivkIRzO3jTXiHlCEpySKmtabfg6ZhjNsYqMPzjZKZAGG2Qjcr49ETRNkNN4lNRFwBQVaaqJ2m29i7NXid48Uk58Ei/Nqw/6RpvBq82E3TivNmYnEwjstOKg7eWxsJbWggbQ3cH7qI53WdoevVM2swLHTMhk9e1Yb5SkPyrPtJBVecKP0AnS2mDU4c1r2Ij3OnHxeBbPpXYheL/K+kXYJEZVI5J9NdXVb0hzG5gieYOcU5ZVdQ2pe+roV+I4srRzA/JtwB6Su7mqPxv7twN56GvVavM7Uu10briUmwDurub4izvKvL1BkTguM2czbGJRJeUxazWFjM9dW5/hG8vEUlVkFKwekDN0QSikWwUjoTjOhGtwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016k2bYvUapxRkfGJWM5a544",
      "input": {
        "note": "The arm has stopped tracking (likely fingertips already at the rim). Closing the jaws to pinch the near rim of the pink bowl.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016k2bYvUapxRkfGJWM5a544",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.4694, 1.3205, 0.527, -0.0284, 0.3569, 0.2047, 0.0543]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.175 left_yaw=0.0009 left_pitch=-0.0187 left_roll=0.0003 left_gripper=0.9996 right_x=0.3203 right_y=0.0973 right_z=0.0628 right_yaw=0.0382 right_pitch=-0.1827 right_roll=-0.0976 right_gripper=0.0543\nstate[joint_eff]: [-0.0205, -1.306, 7.0632, 1.7167, -0.0269, -0.0659, -0.0122, -0.0752, -4.4513, 6.1197, 1.4969, 0.1392, 0.0269, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4894ffb7bc16dd8b99e5dd6c128dee15b65639510077cc6c7cca6ff8e9fc39e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55f222efca11c46405195ff4322b4d82180e99391f0059a6733bd86b6606d208",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f17738bac00e9f1902e0dfff531e7fffec6356e996d4325b849e760aaf28117f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 11.16 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.469, 1.3182, 0.5327, -0.0257, 0.3588, 0.2058, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.175 left_yaw=0.0009 left_pitch=-0.0187 left_roll=0.0003 left_gripper=0.9996 right_x=0.3225 right_y=0.0979 right_z=0.0662 right_yaw=0.0364 right_pitch=-0.1723 right_roll=-0.0935 right_gripper=0.9991\nstate[joint_eff]: [-0.1846, -0.9368, 7.0769, 1.6923, -0.0562, -0.0611, -0.0122, -0.335, -4.7932, 6.8991, 1.6923, 0.3248, 0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.469, 1.3205, 0.5282, -0.0246, 0.3611, 0.2058, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1751 left_yaw=0.0009 left_pitch=-0.0183 left_roll=0.0003 left_gripper=0.9996 right_x=0.3214 right_y=0.0969 right_z=0.064 right_yaw=0.0342 right_pitch=-0.1768 right_roll=-0.0974 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.2923, 7.0222, 1.7167, -0.0757, -0.0611, -0.0122, -0.2667, -4.8615, 6.8581, 1.6484, 0.3101, 0.0464, -0.0073]",
      "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, 0.8047, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.4694, 1.3205, 0.527, -0.0284, 0.3569, 0.2047, 0.0543]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.175 left_yaw=0.0009 left_pitch=-0.0187 left_roll=0.0003 left_gripper=0.9996 right_x=0.3203 right_y=0.0973 right_z=0.0628 right_yaw=0.0382 right_pitch=-0.1827 right_roll=-0.0976 right_gripper=0.0543\nstate[joint_eff]: [-0.0205, -1.306, 7.0632, 1.7167, -0.0269, -0.0659, -0.0122, -0.0752, -4.4513, 6.1197, 1.4969, 0.1392, 0.0269, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4894ffb7bc16dd8b99e5dd6c128dee15b65639510077cc6c7cca6ff8e9fc39e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55f222efca11c46405195ff4322b4d82180e99391f0059a6733bd86b6606d208",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f17738bac00e9f1902e0dfff531e7fffec6356e996d4325b849e760aaf28117f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISswQKjgEIEhgCKkB4Ah2ZH0DU1fsvoBGdQ3Laioe2JgDdBeBBUT2HRdhjNivVaStKUULtUdKiTPRqd7sjRa8y7VHg/evtiNPnDNHJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaW9zNUGEgxYPLH0wpk0X00PHH8aDIViUrBsaMVsjP/9PyIwh0ThYQiZUh5cc/AyntzVzGOInUy4abd9rrOeMi470P1RidOwdFv21Xxi+HciKuMcKtECKNPbWSgYjE1gBkx150Xtech0+yWj0/kCOyr1RBmF69h5oFwxLTkvH70vpm39pDU59z68u3qw79CqMAWw9DcYsGVu6PzHlWwE2KMp1f2rTDhhyplrxs6DZALuvQHCaDEl7hVpinqPbbw+mUSzLKTUK4JXceIruwtZCGECYQnuZb0CN+szToHz+NLGlGo83oe+Wf5fiKzqXXlpmpwP0Ax4QAHS6BmSXoqd9lXU1KipRUHKTZ0PwVlkQUSq7oeHYyDQD4lPIs3l6FrPH3+sNUJw8Gv0edY2EkFIyQsrLOea2LqLx+UpkNLLtxzhSoPNXIT5eR2cygqvHVCU79B4OeOH0PPJDeyzGp7oys6w3ZIc1LMHmu+R4BMuS2yjVgrsrncdnK5WzFPwSWN9hrRnK3BAqgs/B99Lu0pGzdaSHhq9s8eynfPDI5yG60KVi6tF/BzpyhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013MjM6brYyuNCEAHv8N1MwJ",
      "input": {
        "note": "Gripper settled at 0.054 (~5 mm), consistent with pinching the thin bowl wall. Lifting to check in the overhead view whether the bowl came with it.",
        "targets": {
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_013MjM6brYyuNCEAHv8N1MwJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.469, 1.1965, 0.7563, -0.3866, 0.3534, 0.2008, 0.0538]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1749 left_yaw=0.0009 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9996 right_x=0.3208 right_y=0.098 right_z=0.1342 right_yaw=0.0423 right_pitch=-0.1884 right_roll=-0.1001 right_gripper=0.0538\nstate[joint_eff]: [-0.0889, -1.3197, 7.2, 1.7265, -0.0708, -0.0659, -0.0122, -0.3487, -5.1214, 9.2786, 1.6044, 0.1685, 0.0024, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:784590fe788f16ab3eaee363edb14a4f260842f82b662ed358d34205c905ac65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4880567d0f2ec5179ad8a06173aaac8f80fd22f02974d5e6ae1a8a16adbebd72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:76913ba1013594c7b923150ce60f5f82ba91335365c136415293ae6a6614493f",
        "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 · 5.575 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.469, 1.3205, 0.5282, -0.0246, 0.3611, 0.2058, 0.9991]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1751 left_yaw=0.0009 left_pitch=-0.0183 left_roll=0.0003 left_gripper=0.9996 right_x=0.3214 right_y=0.0969 right_z=0.064 right_yaw=0.0342 right_pitch=-0.1768 right_roll=-0.0974 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -1.2923, 7.0222, 1.7167, -0.0757, -0.0611, -0.0122, -0.2667, -4.8615, 6.8581, 1.6484, 0.3101, 0.0464, -0.0073]",
      "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, 0.8047, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.4694, 1.3205, 0.527, -0.0284, 0.3569, 0.2047, 0.0543]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.175 left_yaw=0.0009 left_pitch=-0.0187 left_roll=0.0003 left_gripper=0.9996 right_x=0.3203 right_y=0.0973 right_z=0.0628 right_yaw=0.0382 right_pitch=-0.1827 right_roll=-0.0976 right_gripper=0.0543\nstate[joint_eff]: [-0.0205, -1.306, 7.0632, 1.7167, -0.0269, -0.0659, -0.0122, -0.0752, -4.4513, 6.1197, 1.4969, 0.1392, 0.0269, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8051, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.469, 1.1965, 0.7563, -0.3866, 0.3534, 0.2008, 0.0538]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1749 left_yaw=0.0009 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9996 right_x=0.3208 right_y=0.098 right_z=0.1342 right_yaw=0.0423 right_pitch=-0.1884 right_roll=-0.1001 right_gripper=0.0538\nstate[joint_eff]: [-0.0889, -1.3197, 7.2, 1.7265, -0.0708, -0.0659, -0.0122, -0.3487, -5.1214, 9.2786, 1.6044, 0.1685, 0.0024, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:784590fe788f16ab3eaee363edb14a4f260842f82b662ed358d34205c905ac65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4880567d0f2ec5179ad8a06173aaac8f80fd22f02974d5e6ae1a8a16adbebd72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76913ba1013594c7b923150ce60f5f82ba91335365c136415293ae6a6614493f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YK8LPPiPdhtqvy1sYbvknv",
      "input": {
        "note": "The lift left the pink bowl on the table, so that close was empty. Opening up and moving 5 cm further out at 12 cm height to test whether the arm can actually reach past x=0.35 over the bowl.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.37,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YK8LPPiPdhtqvy1sYbvknv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.3912, 1.3895, 0.7933, -0.2966, 0.297, 0.1303, 0.9951]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9996 right_x=0.35 right_y=0.0923 right_z=0.0977 right_yaw=0.0441 right_pitch=-0.27 right_roll=-0.1352 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -1.3744, 7.0085, 1.6923, -0.0659, -0.0513, -0.0122, -0.6632, -4.9026, 10.2222, 1.8193, 0.0269, 0.0708, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:962a81c3212ee8b763728923c2556b0009ba551032f1431beb009f50bee3867d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7da4f176977d4f6f2163546e541e84917e116467f953c6065fc7bd17cf48e8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3cd9e7c6786ead8111e85dc7e47c0fa609cf69e7d29ee325433b48825456ff82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 3.616 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.4694, 1.3205, 0.527, -0.0284, 0.3569, 0.2047, 0.0543]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.175 left_yaw=0.0009 left_pitch=-0.0187 left_roll=0.0003 left_gripper=0.9996 right_x=0.3203 right_y=0.0973 right_z=0.0628 right_yaw=0.0382 right_pitch=-0.1827 right_roll=-0.0976 right_gripper=0.0543\nstate[joint_eff]: [-0.0205, -1.306, 7.0632, 1.7167, -0.0269, -0.0659, -0.0122, -0.0752, -4.4513, 6.1197, 1.4969, 0.1392, 0.0269, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8051, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.469, 1.1965, 0.7563, -0.3866, 0.3534, 0.2008, 0.0538]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1749 left_yaw=0.0009 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9996 right_x=0.3208 right_y=0.098 right_z=0.1342 right_yaw=0.0423 right_pitch=-0.1884 right_roll=-0.1001 right_gripper=0.0538\nstate[joint_eff]: [-0.0889, -1.3197, 7.2, 1.7265, -0.0708, -0.0659, -0.0122, -0.3487, -5.1214, 9.2786, 1.6044, 0.1685, 0.0024, -0.0659]",
      "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, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.3912, 1.3895, 0.7933, -0.2966, 0.297, 0.1303, 0.9951]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9996 right_x=0.35 right_y=0.0923 right_z=0.0977 right_yaw=0.0441 right_pitch=-0.27 right_roll=-0.1352 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -1.3744, 7.0085, 1.6923, -0.0659, -0.0513, -0.0122, -0.6632, -4.9026, 10.2222, 1.8193, 0.0269, 0.0708, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:962a81c3212ee8b763728923c2556b0009ba551032f1431beb009f50bee3867d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7da4f176977d4f6f2163546e541e84917e116467f953c6065fc7bd17cf48e8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cd9e7c6786ead8111e85dc7e47c0fa609cf69e7d29ee325433b48825456ff82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStgUKjgEIEhgCKkDPGh4UtDScrzWxwYdZ4ykvrwnjchypOWzRbs96qZXXojVH+6gd7LQd1VoW5IcnCtUs9ykL75qtRcP385yF+y8pMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbi9zNUGEgzqPA342DO3/swtQX0aDDFxVD0eSU3KirjNfiIwwN4L2dDS3O5ndUwRAPOPs6ttWF7xOp1tgmZo45ehx21N+D5TutXc2a9lygrQxFKmKtQD7mC9opAQXbxr3EXJDrzkBHD83sMfGgwY12UbxetW/lvqoRQPJMuAfq3jQFfydnbeRwMIRNL5XU3Jc53KAeRFic4DY4Erad41gzjC/RS7GsUd6FLqI+oUtlm9Y7ig0sWBodLh+nWdsN1rr6MCou5Kby5nZbF6x6SSAq8m+inW7rNjx59l9M/iRN0+BjvLFIGwGKeaq9wjo2o7R+EQzdCbpO/CZtLh6NEsgquyNhPKfb3dC5H/api+CZd/liaKyeX1peBCtWkkOfC2t3zWPGmaAb7BNsQwwAbZmTrsojCmL9eRH4EgpwxQxxBuizv3DCspAUhLlh9z6V3DYY06usWHV86ImmD8hT33vUpUVG8AgF1xWpE3nllMCij4oMfi2jlL/H8b0cQXCFp1sdPMKv/1Je5Mlyrna9J8OxuRPeKQA08lse6vajyQrdSBYodcVtEY6POW0Dy5c5e/ydy7tcg4b+zL696gBfZGYRncxK5R89a0xWRFJJaD9lBN6VV6bDRLhCql9n56+G+Kshox8Gtirf1FrhqZ3ix5pfXINilYYGdsIPe8maiU2zwGnp7Sce3QW0a1vVOHAsumF7bOcJ4p8w0SfxgPOY3tGEkZmkgvMquyC7cbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HfDGVuft1cYtADp9FHYDPf",
      "input": {
        "note": "Now at x=0.35 with the pink bowl filling the wrist view and its near rim just above the jaws; descending to 3.5 cm so the open jaws straddle the rim wall.",
        "targets": {
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01HfDGVuft1cYtADp9FHYDPf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.3904, 1.5211, 0.6403, -0.0853, 0.2871, 0.1299, 0.9963]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9996 right_x=0.337 right_y=0.0885 right_z=0.028 right_yaw=0.0439 right_pitch=-0.3417 right_roll=-0.1538 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.3197, 7.0222, 1.7363, -0.0855, -0.0464, -0.0122, -0.0615, -5.7094, 5.7094, 1.5604, 0.1929, -0.0366, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b972208c6143f5bcdd2651a30d850d6306beebf5bca6b41fa20d53b7f922f2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a60b0fa688b3c97b66de5610bf750c7a0c6406cd6a5182544a81499af96d71b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6be3292a1882401344652e035842451f0b0e6254c3c585c9cbc59b5a6fe67f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /messages · status 200 · 6.811 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.469, 1.1965, 0.7563, -0.3866, 0.3534, 0.2008, 0.0538]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1749 left_yaw=0.0009 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9996 right_x=0.3208 right_y=0.098 right_z=0.1342 right_yaw=0.0423 right_pitch=-0.1884 right_roll=-0.1001 right_gripper=0.0538\nstate[joint_eff]: [-0.0889, -1.3197, 7.2, 1.7265, -0.0708, -0.0659, -0.0122, -0.3487, -5.1214, 9.2786, 1.6044, 0.1685, 0.0024, -0.0659]",
      "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, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.3912, 1.3895, 0.7933, -0.2966, 0.297, 0.1303, 0.9951]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9996 right_x=0.35 right_y=0.0923 right_z=0.0977 right_yaw=0.0441 right_pitch=-0.27 right_roll=-0.1352 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -1.3744, 7.0085, 1.6923, -0.0659, -0.0513, -0.0122, -0.6632, -4.9026, 10.2222, 1.8193, 0.0269, 0.0708, -0.1197]",
      "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, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.3904, 1.5211, 0.6403, -0.0853, 0.2871, 0.1299, 0.9963]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9996 right_x=0.337 right_y=0.0885 right_z=0.028 right_yaw=0.0439 right_pitch=-0.3417 right_roll=-0.1538 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.3197, 7.0222, 1.7363, -0.0855, -0.0464, -0.0122, -0.0615, -5.7094, 5.7094, 1.5604, 0.1929, -0.0366, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b972208c6143f5bcdd2651a30d850d6306beebf5bca6b41fa20d53b7f922f2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a60b0fa688b3c97b66de5610bf750c7a0c6406cd6a5182544a81499af96d71b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6be3292a1882401344652e035842451f0b0e6254c3c585c9cbc59b5a6fe67f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QMKjgEIEhgCKkAQUP7YneEiuRIFBSYsRixpCS26uf5dTLDzyuEdFWwGdW+C3CjA60EWnHnzmf3ly3T3FOxu2HVWWeGEX+Ln+WxSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAby9zNUGEgy312I9gMENyu8AneMaDMTkw0f+CY1QRSj9xyIwjwnbmOOteY/5hUaQ8CSzM/XkqkZ4gqgmW7/dEKRty9GInDi2Itags4gWvlBB8tvdKvsB7OQCHLegp/A5bDmStLPp8qFdFfk6H2t6qejqX3VrSjwswlUAOhxEjC6RRjx34tebr+QIgjJkqtyUiLS8DU/zEfgVk5hcwox+VJPuZVggVEnJQ4oFwjklYP/k6JZmsdjS3szrioUU0wObm6ra4dptaIGMP6gyjzhHRxRQZN7/mxztgIHn6r+GJGk6/ivH+PL8QqVhAjhdDHQhLkIhSNufiEmdCXvRREOFnL3ScgZugTi1gsidOdbW6jBZEg2uI6D3hIptJICLw1f6bpD1ZNk2X++70+Z5Ys9uNsdJ6E2zvRfN3Pl8veU0xUCKpwzUHHNI+8UB59kN//zEQNEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hgd7TciJfk9uCAZWQbAzkd",
      "input": {
        "note": "Jaws are down at 2.8 cm astride the pink bowl's near rim; closing to pinch the rim wall.",
        "targets": {
          "right_gripper": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Hgd7TciJfk9uCAZWQbAzkd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.3904, 1.5318, 0.6262, -0.0982, 0.279, 0.1268, 0.025]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9996 right_x=0.3288 right_y=0.0866 right_z=0.0178 right_yaw=0.0477 right_pitch=-0.3797 right_roll=-0.1626 right_gripper=0.025\nstate[joint_eff]: [-0.0752, -1.3333, 7.0222, 1.6923, -0.0464, -0.0708, -0.0122, -0.3214, -6.5709, 6.612, 1.4139, 0.2173, 0.0024, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1478c9ca2b0d38a3dd39e5a5697f4e7cb715e4014d52ff76399180edb5aaafbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:727cae597e942160ba2e9ac403d3afba13167e6a84c24749d1e97dfec0501f39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5865f76795e98c25b8a080e6509451432bdcc667ae979d31eebe4e28f6a7038",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 13.92 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.3912, 1.3895, 0.7933, -0.2966, 0.297, 0.1303, 0.9951]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9996 right_x=0.35 right_y=0.0923 right_z=0.0977 right_yaw=0.0441 right_pitch=-0.27 right_roll=-0.1352 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -1.3744, 7.0085, 1.6923, -0.0659, -0.0513, -0.0122, -0.6632, -4.9026, 10.2222, 1.8193, 0.0269, 0.0708, -0.1197]",
      "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, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.3904, 1.5211, 0.6403, -0.0853, 0.2871, 0.1299, 0.9963]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9996 right_x=0.337 right_y=0.0885 right_z=0.028 right_yaw=0.0439 right_pitch=-0.3417 right_roll=-0.1538 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.3197, 7.0222, 1.7363, -0.0855, -0.0464, -0.0122, -0.0615, -5.7094, 5.7094, 1.5604, 0.1929, -0.0366, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.3904, 1.5318, 0.6262, -0.0982, 0.279, 0.1268, 0.025]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9996 right_x=0.3288 right_y=0.0866 right_z=0.0178 right_yaw=0.0477 right_pitch=-0.3797 right_roll=-0.1626 right_gripper=0.025\nstate[joint_eff]: [-0.0752, -1.3333, 7.0222, 1.6923, -0.0464, -0.0708, -0.0122, -0.3214, -6.5709, 6.612, 1.4139, 0.2173, 0.0024, 0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1478c9ca2b0d38a3dd39e5a5697f4e7cb715e4014d52ff76399180edb5aaafbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:727cae597e942160ba2e9ac403d3afba13167e6a84c24749d1e97dfec0501f39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5865f76795e98c25b8a080e6509451432bdcc667ae979d31eebe4e28f6a7038",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISwggKjgEIEhgCKkDzDkrC2tZJwm59HJYD3R52/mfRfbcULP/QdDo2nEGEEiBW3BE/Z9kUqbUYvjXe1okOne2LAP7GULA1RUHE/vsVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcO9zNUGEgw95GIIALDJ7ddHRXYaDECwEmqL/W4TRQPISCIwSmfj0h9yfdMR62M0Ja844MDB6fo6e31jChi+qQmBxy0OSaDnIDeBr2SkmltTF2NTKuAGVRGGMckUm1Wme3u89XjGBMUU8xnn51kugEKNXC1u37h1xZRcuW8FMTxic8VFCX3UXv3quTyGy7UjmNAudHki+oHNIfJG98UyUQT53sYg8cRuufGuakXkNWLZNHcjnDngQecZ0m3RvCBJLxY/tH/BFMaL0lx704ais7syA+ps1U5JN2CAxBmsHTByDVtzpA/DvjsWXkZFku0FtH1bKHs3oLzarydb4vS27AAjAWd2Bc9G83p+2tfG89bXH7P+WFnb1V3414GgeD7WocY6plKylLmKOTq7OBwMD7l83qW6Fc3a+HA5dvqBO1faIL6Pxzn6j6/YjniJTHMuZvr+BvfWI8g6DbJ+xC7HbkyO+EQ6FBfwVauFjOGlE8egXff3BckpqbHg/FDGmBFY3M90UZU0TBv/cRXkd1TgsBq4wygg58OcBzsTAcx3Azi2mNMmiVMEYlveRvY9jQJKPeZyUit/gYBLj/CzezEyqx5eVA4JSkVoI5S9mSUeqqFmuBaGFbgR3QT8xood+xeKCMxGDfDy0tJAztTux0agIYmtCBa77ZpNSW0ylPO8ULLt3IsyR1TnDJ0X59m9Mz1BB4ETWJL87N17BV708gGeVV3dffBZ4fDmi4Ec1wn2Q4ts66Ue6vOnP1Es1ci+Wnu8boe/Rtd7HOfhZXrArJmSZRxlO09QUASoACQxL9EfXnQEH0thmhuutQu8BlBOetCGIEIfJwsoAv9H7R5knaspkquJq2GzzdMvax7cqPTx5b6T7u5JK2dUspbfHLkS9P/XBGEn7eTkAvTZCVpplOS6m57aQePhfFPD1Yj+W5y32rH6dCvaFOdeaxCxcVeew0jeO4JKryIXi9xYuCI1jntZp+H4kbCpmEMmmCV2SQVyHGmx0DJrt0qfIFfvf1GgctYJR836SEqhc/nlUnh4XIlUcZQ745e0zqxq2z3v/oF/Cgq0qXlF3phFJb5CVRXY1XxV63MMfbC0RtwQChxYEoyF14svXur0P6AhF4T3xDKHf+4LeKXRZtD9OgOa7F1LBLmRiovSIADjdyRx6AejfWmbGL6BBoNpPN2EYEdR240UHmalgOZCBR+CF2t6zz9j1lZO1MHp9GX4YP+giEVF74EkIuZ2Wbu9l/aRE6NRhzo5F7DWelSKYYk0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hu6dzBSx5Gv8pFWL2ovxEc",
      "input": {
        "note": "That close was empty (0.025) and the wrist view shows the jaws still short of the bowl's near rim; opening and pushing 5 cm further out while holding pitch level.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0,
          "right_x": 0.38,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01Hu6dzBSx5Gv8pFWL2ovxEc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3893, -0.0227, -0.0257, 0.9996, 0.3786, 1.6787, 0.4744, 0.5014, 0.3332, 0.0292, 0.9961]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0007 left_pitch=-0.0202 left_roll=0.0006 left_gripper=0.9996 right_x=0.3668 right_y=0.0876 right_z=0.0142 right_yaw=0.0684 right_pitch=-0.09 right_roll=-0.1728 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.3333, 7.0222, 1.7167, -0.0562, -0.022, -0.0122, -0.4718, -5.7641, 4.7932, 2.0391, 0.3248, 0.0269, -0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fad8e732bd5790492a402d8622107844d7367c43d0708842f98e5506e6c72ec0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bcb7c4e45494470126ca078fdd94942f32ba61f5584b4d0f5bb500da81af6a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c1cb96ee412d640b3da73fb203f86a859c9ee3e68fdbc35fab44a84eeb0b180",
        "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 · 5.195 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.3904, 1.5211, 0.6403, -0.0853, 0.2871, 0.1299, 0.9963]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9996 right_x=0.337 right_y=0.0885 right_z=0.028 right_yaw=0.0439 right_pitch=-0.3417 right_roll=-0.1538 right_gripper=0.9963\nstate[joint_eff]: [-0.0342, -1.3197, 7.0222, 1.7363, -0.0855, -0.0464, -0.0122, -0.0615, -5.7094, 5.7094, 1.5604, 0.1929, -0.0366, 0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.3904, 1.5318, 0.6262, -0.0982, 0.279, 0.1268, 0.025]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9996 right_x=0.3288 right_y=0.0866 right_z=0.0178 right_yaw=0.0477 right_pitch=-0.3797 right_roll=-0.1626 right_gripper=0.025\nstate[joint_eff]: [-0.0752, -1.3333, 7.0222, 1.6923, -0.0464, -0.0708, -0.0122, -0.3214, -6.5709, 6.612, 1.4139, 0.2173, 0.0024, 0.1148]\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, 0.8062, 0.6037, -0.3893, -0.0227, -0.0257, 0.9996, 0.3786, 1.6787, 0.4744, 0.5014, 0.3332, 0.0292, 0.9961]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0007 left_pitch=-0.0202 left_roll=0.0006 left_gripper=0.9996 right_x=0.3668 right_y=0.0876 right_z=0.0142 right_yaw=0.0684 right_pitch=-0.09 right_roll=-0.1728 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.3333, 7.0222, 1.7167, -0.0562, -0.022, -0.0122, -0.4718, -5.7641, 4.7932, 2.0391, 0.3248, 0.0269, -0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fad8e732bd5790492a402d8622107844d7367c43d0708842f98e5506e6c72ec0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bcb7c4e45494470126ca078fdd94942f32ba61f5584b4d0f5bb500da81af6a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c1cb96ee412d640b3da73fb203f86a859c9ee3e68fdbc35fab44a84eeb0b180",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015inLS9ZztQWb2SjJnscx1q",
      "input": {
        "note": "I realize the jaws close along the arm's y axis, so pinching the bowl's *near* wall can never work; I need to straddle the left or right side wall. Lifting clear first.",
        "targets": {
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015inLS9ZztQWb2SjJnscx1q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6029, -0.4053, -0.0227, -0.0261, 0.9996, 0.3782, 1.3457, 0.6876, -0.0601, 0.3279, 0.0242, 0.9971]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1699 left_yaw=0.0009 left_pitch=-0.0408 left_roll=0.0007 left_gripper=0.9996 right_x=0.3639 right_y=0.0873 right_z=0.111 right_yaw=0.0746 right_pitch=-0.106 right_roll=-0.178 right_gripper=0.9971\nstate[joint_eff]: [-0.1026, -1.6068, 7.1043, 1.8388, -0.0611, -0.022, -0.0122, -0.3077, -6.106, 9.4701, 1.8144, 0.1197, 0.0073, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f452741475d480beb0e55be5402450576060cca6a0aa636a63339f74f9178a01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb5ae0aee7c2d77c48c265bea261e381d9219a51731a96ecd43df4037a1757e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dad2e90bedac71d75417fc57901cb1011644575dce87e6a75ea6774e9a173a40",
        "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 · 5.008 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3893, -0.0227, -0.0261, 0.9996, 0.3904, 1.5318, 0.6262, -0.0982, 0.279, 0.1268, 0.025]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0009 left_pitch=-0.0202 left_roll=0.0003 left_gripper=0.9996 right_x=0.3288 right_y=0.0866 right_z=0.0178 right_yaw=0.0477 right_pitch=-0.3797 right_roll=-0.1626 right_gripper=0.025\nstate[joint_eff]: [-0.0752, -1.3333, 7.0222, 1.6923, -0.0464, -0.0708, -0.0122, -0.3214, -6.5709, 6.612, 1.4139, 0.2173, 0.0024, 0.1148]\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, 0.8062, 0.6037, -0.3893, -0.0227, -0.0257, 0.9996, 0.3786, 1.6787, 0.4744, 0.5014, 0.3332, 0.0292, 0.9961]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0007 left_pitch=-0.0202 left_roll=0.0006 left_gripper=0.9996 right_x=0.3668 right_y=0.0876 right_z=0.0142 right_yaw=0.0684 right_pitch=-0.09 right_roll=-0.1728 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.3333, 7.0222, 1.7167, -0.0562, -0.022, -0.0122, -0.4718, -5.7641, 4.7932, 2.0391, 0.3248, 0.0269, -0.1685]",
      "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, 0.8101, 0.6029, -0.4053, -0.0227, -0.0261, 0.9996, 0.3782, 1.3457, 0.6876, -0.0601, 0.3279, 0.0242, 0.9971]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1699 left_yaw=0.0009 left_pitch=-0.0408 left_roll=0.0007 left_gripper=0.9996 right_x=0.3639 right_y=0.0873 right_z=0.111 right_yaw=0.0746 right_pitch=-0.106 right_roll=-0.178 right_gripper=0.9971\nstate[joint_eff]: [-0.1026, -1.6068, 7.1043, 1.8388, -0.0611, -0.022, -0.0122, -0.3077, -6.106, 9.4701, 1.8144, 0.1197, 0.0073, 0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f452741475d480beb0e55be5402450576060cca6a0aa636a63339f74f9178a01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb5ae0aee7c2d77c48c265bea261e381d9219a51731a96ecd43df4037a1757e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dad2e90bedac71d75417fc57901cb1011644575dce87e6a75ea6774e9a173a40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISogUKjgEIEhgCKkBQmQkduxhdYROGO3Kc/JIlHyRwKpTMa5bgv2Y4Z8igYzj5/Ds7G9tsWq4/iKTE+J08PGy8j1uxywdCMqkvPVXZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdm9zNUGEgzVTTrE/a+mKPcxfGEaDEDnWNUOimu0y5S7aCIwgTCWJ7/+c5AvP9lCZT++uPY7ItYl+tM2nh95UxOS+AHWFC8Nlt2VurE3mfbx3K7qKsADSIlWnYrORJMcDpfuljLNJBpaHT/CHX6D2WEZtFCKqOkbxyuApVHuCVs/EIVXhScOphjbXOclQpcp4O21jIT50O40yqM07htNje1a1cHWhOxlBg5jff7ahl7O2PdMbKHi7nu52atoU2xaNZ8z68Gri4dy/Pu5KzPv904q9PX70eTijsQWOdGqNoccKLHiZSKlJcajop6vNvy7SyeX0k964U40GaY/CACNPw11k+aKh052o0TuBicmV7QuZ5JPu2QXR13wNoL46gssAuHc3ZcpgogOLZdSi6mmy715miXPr03zDX6Dx+pqcA8kFPuN6EF5alRiVL4FqtagIUZGF9JWu9XRhazWkJQSytMGWpdiUU5mPIeQlfQ6R++9Ug29s4wObKaaxOOTnZ+SsvTMvgQgegP68x1hrdt7yHzTe4PGv/+DFTZejbmSNB0+77Fdx8twaUS3BzzGzUdk+qipOPdb6Y7JKB/LaRihsqGZrDXsbEZW+OCZhF/9wCyALu99weuCzufLeg3MFQQ74opW6vZpQRfcngRjysztWE6x/iBiepdvoQIAyJg4f47EaTexhsCdTQNLxB+lpS+XpD8Rg5hT4BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QsuMN3dmdB2zGSosZprYP9",
      "input": {
        "note": "Bowl centre is on the jaw column at y≈0.087; shifting 5 cm to the arm's right so the jaws straddle the bowl's right-hand side wall.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.037
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QsuMN3dmdB2zGSosZprYP9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.194, 1.285, 0.6212, -0.0772, 0.2138, -0.0822, 0.9973]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1694 left_yaw=0.0009 left_pitch=-0.0431 left_roll=0.0008 left_gripper=0.9996 right_x=0.3546 right_y=0.0351 right_z=0.0979 right_yaw=0.0422 right_pitch=-0.1559 right_roll=-0.1902 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -1.347, 6.9949, 1.7021, -0.0513, -0.0562, -0.0171, -0.1846, -5.6137, 6.6667, 1.8779, -0.0611, 0.0269, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b13e416e04a1fc57e51f878beb76203fc3611aa02379a8691f014e34e11f669f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:129525cf0c460757068b99b082ea75089209459508f6b1435d1833f5c8c68aa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c05767127c2372da48a67faed7fa7ebdf72360b76531295aeb6069ed344e763",
        "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 · 5.576 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.3893, -0.0227, -0.0257, 0.9996, 0.3786, 1.6787, 0.4744, 0.5014, 0.3332, 0.0292, 0.9961]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1746 left_yaw=0.0007 left_pitch=-0.0202 left_roll=0.0006 left_gripper=0.9996 right_x=0.3668 right_y=0.0876 right_z=0.0142 right_yaw=0.0684 right_pitch=-0.09 right_roll=-0.1728 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -1.3333, 7.0222, 1.7167, -0.0562, -0.022, -0.0122, -0.4718, -5.7641, 4.7932, 2.0391, 0.3248, 0.0269, -0.1685]",
      "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, 0.8101, 0.6029, -0.4053, -0.0227, -0.0261, 0.9996, 0.3782, 1.3457, 0.6876, -0.0601, 0.3279, 0.0242, 0.9971]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1699 left_yaw=0.0009 left_pitch=-0.0408 left_roll=0.0007 left_gripper=0.9996 right_x=0.3639 right_y=0.0873 right_z=0.111 right_yaw=0.0746 right_pitch=-0.106 right_roll=-0.178 right_gripper=0.9971\nstate[joint_eff]: [-0.1026, -1.6068, 7.1043, 1.8388, -0.0611, -0.022, -0.0122, -0.3077, -6.106, 9.4701, 1.8144, 0.1197, 0.0073, 0.0904]\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, 0.8101, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.194, 1.285, 0.6212, -0.0772, 0.2138, -0.0822, 0.9973]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1694 left_yaw=0.0009 left_pitch=-0.0431 left_roll=0.0008 left_gripper=0.9996 right_x=0.3546 right_y=0.0351 right_z=0.0979 right_yaw=0.0422 right_pitch=-0.1559 right_roll=-0.1902 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -1.347, 6.9949, 1.7021, -0.0513, -0.0562, -0.0171, -0.1846, -5.6137, 6.6667, 1.8779, -0.0611, 0.0269, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b13e416e04a1fc57e51f878beb76203fc3611aa02379a8691f014e34e11f669f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:129525cf0c460757068b99b082ea75089209459508f6b1435d1833f5c8c68aa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c05767127c2372da48a67faed7fa7ebdf72360b76531295aeb6069ed344e763",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStgUKjgEIEhgCKkBcKbFfq8cTZFMcF4ep8lLPZKJu+0DfNV9LuL4lEt4BH3ZeRbN1Udk1spERgSA71mzEpaApCNjEkKFNOgCTTgseMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd69zNUGEgyNfcbjhZO2AF6UP+saDFJ3OCNotOdnyxW6tCIwzR6KmAWeHKckoF/Do8pPKjJ6ikfjvAO1LMHcs9W8KGKo6n0WCWDho6YJRRcEFmjoKtQDXT2GprsAyj+U/bdiqtDUehfPd5ZehbSzzZQTawupdjBA9ZufT0szQdu1hBqrJy574z3RDhnZJHk6iVjnXemcdzleT1howbu1sWHX+DwnkjHrbSZbWiVnjectYBaIgLD7WLx5NnYGJ8GoK/2oLXxKAvxt+OkWHQRw2WI1GpehUjztpfKkMeIxpZ6b3TA8l2UjtrA35H+pm/F7dwAruNldcHfJlSLVKbaMQAaNraZirlVD3BffDZVj6d6uyXzFd0DDvO6vI//v8chQjT9V5JhA4CEvMmf5UDaZar0pMep0XTGK6R9b/ukJ+R/0+CP0NA5/JY3j5qoGFfxR+XWUZMaCbJ+RzUp0UE40CUHw8KyfEzlpyV2eQd/iaa3dF9wOe6C8POKYpflIo0g/BOXWy2wpdWCgy9XkGTzqCDkRTaezprEUfSfMT8+BjS1oYAiTFbUjDq1nj09Jr5CWntTqJyVGR3T8GyQJtniuQ5Dt58+7wI6ncFQYtRMbsbLPjBlFwMu1v/Nd8qgTVHHIObE0NjIvBx5pVs5MD7JVWS3TfiUAyAbY8/qu5flzyUemc9MAMLcKzJMLnlY0WXHWLEQXEaAjF80edGX2Z0SdDkh4ar2psKJxzliCGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Eriv9ZhqakeqYgjGx3dxZ5",
      "input": {
        "note": "The bowl's right-hand wall now sits under the jaw column; descending to 3 cm so one jaw goes inside the bowl and one stays outside the wall.",
        "targets": {
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Eriv9ZhqakeqYgjGx3dxZ5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.1757, 1.2736, 0.6197, -0.0711, 0.1738, -0.1089, 0.9973]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1694 left_yaw=0.0009 left_pitch=-0.0431 left_roll=0.0008 left_gripper=0.9996 right_x=0.3556 right_y=0.0358 right_z=0.1013 right_yaw=0.0725 right_pitch=-0.146 right_roll=-0.1814 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -1.1282, 6.9949, 1.707, -0.0317, -0.022, -0.0122, 0.0889, -5.5726, 6.5846, 1.8632, 0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18f798587f30a2a40a4610dbbf9e1689f15abb0791cc2b8790535c47f124c57d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f20b3718e106bd93d61d15468aab87be953a29cfc5f4f819693a12a49808cb5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b95afdd30f1d8d68ed4d35555eb1957abdae3f6aa1f1c1bb3c371eb345119b67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 4.415 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6029, -0.4053, -0.0227, -0.0261, 0.9996, 0.3782, 1.3457, 0.6876, -0.0601, 0.3279, 0.0242, 0.9971]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1699 left_yaw=0.0009 left_pitch=-0.0408 left_roll=0.0007 left_gripper=0.9996 right_x=0.3639 right_y=0.0873 right_z=0.111 right_yaw=0.0746 right_pitch=-0.106 right_roll=-0.178 right_gripper=0.9971\nstate[joint_eff]: [-0.1026, -1.6068, 7.1043, 1.8388, -0.0611, -0.022, -0.0122, -0.3077, -6.106, 9.4701, 1.8144, 0.1197, 0.0073, 0.0904]\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, 0.8101, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.194, 1.285, 0.6212, -0.0772, 0.2138, -0.0822, 0.9973]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1694 left_yaw=0.0009 left_pitch=-0.0431 left_roll=0.0008 left_gripper=0.9996 right_x=0.3546 right_y=0.0351 right_z=0.0979 right_yaw=0.0422 right_pitch=-0.1559 right_roll=-0.1902 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -1.347, 6.9949, 1.7021, -0.0513, -0.0562, -0.0171, -0.1846, -5.6137, 6.6667, 1.8779, -0.0611, 0.0269, 0.0024]",
      "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, 0.8101, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.1757, 1.2736, 0.6197, -0.0711, 0.1738, -0.1089, 0.9973]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1694 left_yaw=0.0009 left_pitch=-0.0431 left_roll=0.0008 left_gripper=0.9996 right_x=0.3556 right_y=0.0358 right_z=0.1013 right_yaw=0.0725 right_pitch=-0.146 right_roll=-0.1814 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -1.1282, 6.9949, 1.707, -0.0317, -0.022, -0.0122, 0.0889, -5.5726, 6.5846, 1.8632, 0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18f798587f30a2a40a4610dbbf9e1689f15abb0791cc2b8790535c47f124c57d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f20b3718e106bd93d61d15468aab87be953a29cfc5f4f819693a12a49808cb5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b95afdd30f1d8d68ed4d35555eb1957abdae3f6aa1f1c1bb3c371eb345119b67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISjAYKjgEIEhgCKkAjgf0kABYJn2E6BdP3dbWLnTlWD/d9LJQ48ItbCD9COBcdZAqXDwo0BKcKr6uMOOxhQhXRf7tZ/t2HlgmlvNjbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeS9zNUGEgxqO7RlgAu4qpjU4aQaDNQZ4bh4B3ci9H81XCIwio7AV6+MvlPRhGxj6r+elYzZI/CLFRR1uxn5Fhr7Tcx9V3AMKzCw4AN1uKBUBgXxKqoEK9ryqxwvKlw4VPbgYw8HpjoJasXs3SD1HOuWhcdPEY93gw20LUjC5HeVDN5abn8yYuBDHje7WMR6mxaVIsax9q97TE0xr6xYNNOtGT6zCZuGE3V1c4sfTwWfhNk1H4vk2cndFKrBNj/bjQ2AAxg1kqQF1HETzZHf4B0u8eubdQs1DDgPjCm4grxM+ApBihLQAAeRxPFocMu8V7pzSnUx+MjxcQ5dYkuWLRbJpmlxhUX6BqgieDFvH3hgxgj7dF04DsmltoFlvcjJamXbnrIa6RKGUAfNqWfLBb4W4IoVJtYnUV4CxwsLXaMYWhol3OJCqTCi9JcPLQaJsTVI9Abo3OPJWd4ifHe9v2sLtxWdza0xP3XgGvlPq6GOGP2MnoOwiNF7Nb3NcMXT0W5Hyr0/OvV0gCcFj+8OfCs3hBEA6aeEX15RoLPJuYT2RjTwea1ZlniOkyxddYPLBUHKMSzryoYo48PHt6SfEyFqpK2liKOy+3XWkjUcm4oh6cW34GRMbUjZ4I0QuHXaPJCmd/OgojLZ9jZJys6hWBuIsqFQ1sKGSNGqLA+ctzl8CzYnAkPVokZU8MMZvAViY2xUnC/Hy0TpkUaorVuOnAzbb3Elx7jQmknFujFKNMf/62a/kkUvrgcPoskacX4jDaT9fZctGBqXN8Zff7/8jGpaq/ImIsovydjhMlOPMAjqRPjbdzv//GKnuTqC9U+mk5O+m/vxQROwkWU4HvNBzn4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017Ai8DueokvCXD9B5SGBsLe",
      "input": {
        "note": "The last descent didn't take (z stayed at 0.10); re-commanding the descent to 2.5 cm beside the bowl's right wall.",
        "targets": {
          "right_x": 0.355,
          "right_y": 0.036,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017Ai8DueokvCXD9B5SGBsLe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.1757, 1.2736, 0.6197, -0.0711, 0.1738, -0.1093, 0.9973]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1694 left_yaw=0.0009 left_pitch=-0.0431 left_roll=0.0008 left_gripper=0.9996 right_x=0.3556 right_y=0.0358 right_z=0.1013 right_yaw=0.0727 right_pitch=-0.1461 right_roll=-0.1817 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.1419, 7.1453, 1.7118, -0.0366, -0.0562, -0.0122, 0.0752, -5.5043, 6.8855, 1.8242, -0.0024, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c798d34cf7b907fe1887bf960c85a63cb8969c0c1c6aa3785da7f7425c3519a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fd3e338c5a8d9e24854e1752f8fd9f3c0534edb327313d5f5791f506dd5b676",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0759a8660b9f6ab31a0bfc83b27ab131b588bf333a5491acbab624b4463ee37",
        "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 · 8.625 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.194, 1.285, 0.6212, -0.0772, 0.2138, -0.0822, 0.9973]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1694 left_yaw=0.0009 left_pitch=-0.0431 left_roll=0.0008 left_gripper=0.9996 right_x=0.3546 right_y=0.0351 right_z=0.0979 right_yaw=0.0422 right_pitch=-0.1559 right_roll=-0.1902 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -1.347, 6.9949, 1.7021, -0.0513, -0.0562, -0.0171, -0.1846, -5.6137, 6.6667, 1.8779, -0.0611, 0.0269, 0.0024]",
      "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, 0.8101, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.1757, 1.2736, 0.6197, -0.0711, 0.1738, -0.1089, 0.9973]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1694 left_yaw=0.0009 left_pitch=-0.0431 left_roll=0.0008 left_gripper=0.9996 right_x=0.3556 right_y=0.0358 right_z=0.1013 right_yaw=0.0725 right_pitch=-0.146 right_roll=-0.1814 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -1.1282, 6.9949, 1.707, -0.0317, -0.022, -0.0122, 0.0889, -5.5726, 6.5846, 1.8632, 0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.1757, 1.2736, 0.6197, -0.0711, 0.1738, -0.1093, 0.9973]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1694 left_yaw=0.0009 left_pitch=-0.0431 left_roll=0.0008 left_gripper=0.9996 right_x=0.3556 right_y=0.0358 right_z=0.1013 right_yaw=0.0727 right_pitch=-0.1461 right_roll=-0.1817 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.1419, 7.1453, 1.7118, -0.0366, -0.0562, -0.0122, 0.0752, -5.5043, 6.8855, 1.8242, -0.0024, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c798d34cf7b907fe1887bf960c85a63cb8969c0c1c6aa3785da7f7425c3519a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fd3e338c5a8d9e24854e1752f8fd9f3c0534edb327313d5f5791f506dd5b676",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0759a8660b9f6ab31a0bfc83b27ab131b588bf333a5491acbab624b4463ee37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrgMKjgEIEhgCKkAKewnRYTi15AI4XVjSUjZnOS6M8XTYhJp9lOra34l4SdBjrMqQwx9WQvT6juLksd9Wi9jAZiwUj81ZGab5Pz+/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAem9zNUGEgwaIXcty8zXmKCwPLoaDKV7Ng7VMuSNonLryCIwduDDADW2pLoVFWQMI1PxSfQpfkA/1mSUqnAqshIkLspOSeV+w45GFEnePqNmdv4TKswBIg1EPHLqMGkfC8AiiDZ2v0jT/9dsxHNBMp/XMbPNlzGIFj7JCRqdnYq9d3KkuU/utwLY71+TDdmHjN9VmCnEk5kHWRiqW/0qFYyY3J6tbfI2slmfgle6fMj30XelqxUYSsIJyqazNwRFqKJWHSTGZDdtpi6CjRyylsnodncwiwMRLbaLaiwpQVSLVHaBn8z+dQRM9Rav2JR4cehsdBDn+nVQFG6XsovCxkpKet5V5+268ZQKBeHHm4hYDy6OF3tdHtbeqqIkL7bRQVBQGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AhAbNmKyWRaW78qM2cSG41",
      "input": {
        "note": "The arm is frozen at z=0.10 — likely an awkward IK pose; backing in slightly (x=0.33) with a small forward pitch to unstick the descent.",
        "targets": {
          "right_pitch": 0.2,
          "right_x": 0.33,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01AhAbNmKyWRaW78qM2cSG41",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8108, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.2161, 1.4391, 0.1307, 0.8036, 0.2092, -0.1143, 0.9973]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1692 left_yaw=0.0009 left_pitch=-0.0439 left_roll=0.0008 left_gripper=0.9996 right_x=0.3192 right_y=0.0362 right_z=0.0354 right_yaw=0.0868 right_pitch=0.0744 right_roll=-0.1807 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.3744, 7.2, 1.7167, -0.0757, -0.0464, -0.0122, 0.4034, -4.0957, 4.465, 2.2637, 0.2955, -0.1148, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f27434e26545e421d2fcd8522709b056f5297f04a31e2f85cf3e032648c538c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fca634578ab66fb1ba4baf0f45afd54bfe6ddf8dbcd8387867b8eb7a4e05a34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:598fe3fc4632fa1219029c6c080be07e091af18d4af65743267d46e4f9c45d1d",
        "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 · 12.53 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.1757, 1.2736, 0.6197, -0.0711, 0.1738, -0.1089, 0.9973]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1694 left_yaw=0.0009 left_pitch=-0.0431 left_roll=0.0008 left_gripper=0.9996 right_x=0.3556 right_y=0.0358 right_z=0.1013 right_yaw=0.0725 right_pitch=-0.146 right_roll=-0.1814 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -1.1282, 6.9949, 1.707, -0.0317, -0.022, -0.0122, 0.0889, -5.5726, 6.5846, 1.8632, 0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.1757, 1.2736, 0.6197, -0.0711, 0.1738, -0.1093, 0.9973]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1694 left_yaw=0.0009 left_pitch=-0.0431 left_roll=0.0008 left_gripper=0.9996 right_x=0.3556 right_y=0.0358 right_z=0.1013 right_yaw=0.0727 right_pitch=-0.1461 right_roll=-0.1817 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.1419, 7.1453, 1.7118, -0.0366, -0.0562, -0.0122, 0.0752, -5.5043, 6.8855, 1.8242, -0.0024, -0.0464, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8108, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.2161, 1.4391, 0.1307, 0.8036, 0.2092, -0.1143, 0.9973]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1692 left_yaw=0.0009 left_pitch=-0.0439 left_roll=0.0008 left_gripper=0.9996 right_x=0.3192 right_y=0.0362 right_z=0.0354 right_yaw=0.0868 right_pitch=0.0744 right_roll=-0.1807 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.3744, 7.2, 1.7167, -0.0757, -0.0464, -0.0122, 0.4034, -4.0957, 4.465, 2.2637, 0.2955, -0.1148, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f27434e26545e421d2fcd8522709b056f5297f04a31e2f85cf3e032648c538c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fca634578ab66fb1ba4baf0f45afd54bfe6ddf8dbcd8387867b8eb7a4e05a34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:598fe3fc4632fa1219029c6c080be07e091af18d4af65743267d46e4f9c45d1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISogYKjgEIEhgCKkAEa6JKMVhSeB/IQmiLaA8LQ0Fg50UksbDRcc+GRH7+n5X72itmjGzXyd+RPbpq7K/MG/dUY1Dvt5GYMRvzo5wRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfK9zNUGEgyITU7r1KXX93mHfgAaDDVt68nu0WrvBqWhpSIwcVHw7TgfYa/4JlUSVxhMqFoCasFKq/Mz2jg/9BpYnIMaQ8zkgRkP1wWXfzvs4ZbGKsAEDNm9Xk6DsDz42Ufo1G+YS5Q4DQANRpovAe4vYfK8El8Wwz+Fl8IGcDbaBkFxLwVbr8j7Q015r+prLhufj2qBcdWgBPco5CY18m7d1JxwsLjxaCLTyvUYUZWYhpQv6RowPaWeCVEBSp+EIjiiJUyjAkQEryH5nCCwG6REkotfKhvYZH2oU4SuMI5CPssskZ/ZMffkUaakgZZtHmI+gPeSUy0qz2PSToaXuAZsKHpTlIPCH5UTnM4LjIgyIzR1Ziph1nF2vdUb6iNEZN/tcAVqyKI22zMkjhYx9ET5ElLVJJyalO9191NASbMvFvUkAdwztJ59yhb0FjZTQJBMq3V9kf02pdONcTJC04Nav9+Ze1kHorT0NxQ7eFnVEfFhM1IJz95USWsYMnlCYoggv9r8/f2Fa6f6MueMrgIAU5fqzZoANQttJTfedD67+zLh9Ufaloqef81/b9mtUXX2OrznyvR0f50K5Y5kVML5RIDyrhOz4/ouRFTTG2XDtbYiXrBbBCMh5LZ1WOtRY5OemDhyPb0MJNvRkopU5ezX1glrilFf6NxMgK+ldWcRJNlNNHXzYo9N9plQLv3Md3T/CQTnRgtVaogZ32lBqa+HmYZ7IvFCawx1gGmVbjdqscvAL3lzuHpQgVHUkZeI97x5UtGEn6oSqyUAps2ENuGk1Lq1OnBcIBBa3keUazZdP7kwSNOyGkHEQYO7sl3TSeY2xDPW1YUQ8wj2ZQRKUcU9NwoMVABYraltcDeeRoCQHpLfrEaBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ezc8tsiA4V1CtoQLZt8rU7",
      "input": {
        "note": "Descent worked after adding forward pitch; the bowl's right wall is on the jaw column but still ahead of the fingertips, so advancing 4.5 cm at rim height.",
        "targets": {
          "right_x": 0.365
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Ezc8tsiA4V1CtoQLZt8rU7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.1749, 1.6127, 0.2646, 0.8341, 0.1795, -0.1329, 0.9973]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1686 left_yaw=0.0009 left_pitch=-0.0465 left_roll=0.0008 left_gripper=0.9996 right_x=0.3556 right_y=0.0345 right_z=0.0303 right_yaw=0.0808 right_pitch=0.0619 right_roll=-0.1836 right_gripper=0.9973\nstate[joint_eff]: [-0.0342, -1.4838, 6.9949, 1.6679, -0.0708, -0.0757, -0.0122, -0.3487, -5.0803, 5.5453, 1.707, 0.0513, -0.105, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6356d4684570370c3a3e2ac53fda8354aa113e98a9eba81ff5ce5ba854610745",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43b826926e197839e04bf73402098dc6cf07c80027ff6b24767e2655cbf1e60c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4f58b659c07611ba1ae3da27db02c9e2d11e1b3588c2d82bc2edc2821aedbd79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 5.316 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.1757, 1.2736, 0.6197, -0.0711, 0.1738, -0.1093, 0.9973]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1694 left_yaw=0.0009 left_pitch=-0.0431 left_roll=0.0008 left_gripper=0.9996 right_x=0.3556 right_y=0.0358 right_z=0.1013 right_yaw=0.0727 right_pitch=-0.1461 right_roll=-0.1817 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.1419, 7.1453, 1.7118, -0.0366, -0.0562, -0.0122, 0.0752, -5.5043, 6.8855, 1.8242, -0.0024, -0.0464, -0.0122]\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, 0.8108, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.2161, 1.4391, 0.1307, 0.8036, 0.2092, -0.1143, 0.9973]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1692 left_yaw=0.0009 left_pitch=-0.0439 left_roll=0.0008 left_gripper=0.9996 right_x=0.3192 right_y=0.0362 right_z=0.0354 right_yaw=0.0868 right_pitch=0.0744 right_roll=-0.1807 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.3744, 7.2, 1.7167, -0.0757, -0.0464, -0.0122, 0.4034, -4.0957, 4.465, 2.2637, 0.2955, -0.1148, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.1749, 1.6127, 0.2646, 0.8341, 0.1795, -0.1329, 0.9973]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1686 left_yaw=0.0009 left_pitch=-0.0465 left_roll=0.0008 left_gripper=0.9996 right_x=0.3556 right_y=0.0345 right_z=0.0303 right_yaw=0.0808 right_pitch=0.0619 right_roll=-0.1836 right_gripper=0.9973\nstate[joint_eff]: [-0.0342, -1.4838, 6.9949, 1.6679, -0.0708, -0.0757, -0.0122, -0.3487, -5.0803, 5.5453, 1.707, 0.0513, -0.105, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6356d4684570370c3a3e2ac53fda8354aa113e98a9eba81ff5ce5ba854610745",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43b826926e197839e04bf73402098dc6cf07c80027ff6b24767e2655cbf1e60c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f58b659c07611ba1ae3da27db02c9e2d11e1b3588c2d82bc2edc2821aedbd79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UpJkaenHcHpjpfF1vwpnL8",
      "input": {
        "note": "Top view shows the gripper is still well short of (and right of) the pink bowl — the bowls are further out than I assumed. Moving forward to x=0.42 at a safe 9 cm height.",
        "targets": {
          "right_x": 0.42,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01UpJkaenHcHpjpfF1vwpnL8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8139, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.1726, 1.6234, 0.2806, 0.8162, 0.1699, -0.1352, 0.9973]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1682 left_yaw=0.0009 left_pitch=-0.0477 left_roll=0.0009 left_gripper=0.9996 right_x=0.3581 right_y=0.0358 right_z=0.028 right_yaw=0.0878 right_pitch=0.0487 right_roll=-0.182 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -1.4427, 7.1726, 1.707, -0.0562, -0.0122, -0.0122, -0.2393, -5.2718, 5.4359, 1.8632, 0.0366, -0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:facf13e70b3af8190c8d903cae7249a702efa4bc8ba2ad8a86b14ca63eca0fd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f68fa400172456f2e120b8c5dee94d4f92bf957da3fc6069bdab5d5bd18fb050",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:15d5954ed9625224821a9b8ebfd6411cd1af62a994c4aaadc182b6fbd2a1d6e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 7.911 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8108, 0.6029, -0.4076, -0.0227, -0.0261, 0.9996, 0.2161, 1.4391, 0.1307, 0.8036, 0.2092, -0.1143, 0.9973]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1692 left_yaw=0.0009 left_pitch=-0.0439 left_roll=0.0008 left_gripper=0.9996 right_x=0.3192 right_y=0.0362 right_z=0.0354 right_yaw=0.0868 right_pitch=0.0744 right_roll=-0.1807 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.3744, 7.2, 1.7167, -0.0757, -0.0464, -0.0122, 0.4034, -4.0957, 4.465, 2.2637, 0.2955, -0.1148, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8127, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.1749, 1.6127, 0.2646, 0.8341, 0.1795, -0.1329, 0.9973]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1686 left_yaw=0.0009 left_pitch=-0.0465 left_roll=0.0008 left_gripper=0.9996 right_x=0.3556 right_y=0.0345 right_z=0.0303 right_yaw=0.0808 right_pitch=0.0619 right_roll=-0.1836 right_gripper=0.9973\nstate[joint_eff]: [-0.0342, -1.4838, 6.9949, 1.6679, -0.0708, -0.0757, -0.0122, -0.3487, -5.0803, 5.5453, 1.707, 0.0513, -0.105, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8139, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.1726, 1.6234, 0.2806, 0.8162, 0.1699, -0.1352, 0.9973]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1682 left_yaw=0.0009 left_pitch=-0.0477 left_roll=0.0009 left_gripper=0.9996 right_x=0.3581 right_y=0.0358 right_z=0.028 right_yaw=0.0878 right_pitch=0.0487 right_roll=-0.182 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -1.4427, 7.1726, 1.707, -0.0562, -0.0122, -0.0122, -0.2393, -5.2718, 5.4359, 1.8632, 0.0366, -0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:facf13e70b3af8190c8d903cae7249a702efa4bc8ba2ad8a86b14ca63eca0fd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f68fa400172456f2e120b8c5dee94d4f92bf957da3fc6069bdab5d5bd18fb050",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15d5954ed9625224821a9b8ebfd6411cd1af62a994c4aaadc182b6fbd2a1d6e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISlwUKjgEIEhgCKkAGdFuR+mmF1CGJ6DX/QAri406zpnvLgeWf9WFeHHQVPeSX7ze+a0rvRtA3lFDGKvivd5gK87RmAud4suz7jpdyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYW+zNUGEgzAmdoQ7tN3fHhRhOwaDOo1Z9SBb75lQuIEmSIwc6l1dqvN2wbaL6Dq2Bp3vxIqioEcn7qH6wsqLbiOzqHivnUngXNabmBQSJ8PemnzKrUDBQhZsusnOvjPQDaaeHjPPYSwcWhIz6bcIeLZuPX6U0IZjSKBwxy3DoDswmOsylEiaJZYmYZX6l0kZyFBBTNjt8hg5T/tcCR/4R/Hk7uzkMEea0Q/ukl6OPtWLsXdCAMzyPXlEJRju4jg3yEZgiwlzv3oawUbBW5QeF/aJJEKrZMQUJniOcBeRA42DWkYbTEDe6oF9uuL2jFYY7430MP8qh8iR9UsEr35ASufVNCSe9TgMkSANj3v6hQ8oGnLzBIGBRHwmVNOyuxTNsE+IENXVLcZwNiqbcPBVDPNHN1ToDWflqp7aVmKNCatK9K/rwAznocUSJmcxcmzuneXQiH3WQBzUb/L6wCHdYfdcnAzcwCXdazMa/nlBFq6N2+WJGsFX4/+K8pgK+rL/6JXzzFDJj6dnfYxbgIiV7dgM/tCWuCMpMjxCMXSvul4sENMZRI54WgPw7MvFL69aLeL3KBpisKzOOmMaldbx6Bey1g10z7Zbnk2qYhcjR1eV+XexZLO9/3ekw0nsK6Rx/ntBMH2qAq5wPQr/t2ugK5wcbkesZn5BfKVCiWmMFIySjuLg9K2KfObJ5oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0129SQFBe3eU1py9DgEnVrZ2",
      "input": {
        "note": "The arm stalled again at x=0.358; changing pitch has unstuck it before, so I'm commanding a combined move forward to x=0.44 at 8 cm height with more forward pitch.",
        "targets": {
          "right_pitch": 0.35,
          "right_x": 0.44,
          "right_yaw": 0.0,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_0129SQFBe3eU1py9DgEnVrZ2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.1799, 1.8668, 0.4652, 1.0824, 0.2356, -0.1398, 0.9973]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1673 left_yaw=0.0009 left_pitch=-0.0511 left_roll=0.0009 left_gripper=0.9996 right_x=0.4271 right_y=0.0394 right_z=0.0575 right_yaw=0.0379 right_pitch=0.2574 right_roll=-0.1895 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -1.6615, 7.1863, 1.6728, -0.0513, -0.0806, -0.0122, 0.1299, -6.6803, 5.9282, 2.3223, 0.3101, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64a36a018e76b7b26959c2a23f85f582909b6ae968d49bde9e1c17d5f40728d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea172de6a3c5ad9674ad799bf79a91b98c04798cc6d8feea98644880a2eb7172",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0dd103d7ab7b31cee248f8a1dd115a44a1711c174e6023a2ee18bdd2c70381d9",
        "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 · 5.087 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.1749, 1.6127, 0.2646, 0.8341, 0.1795, -0.1329, 0.9973]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1686 left_yaw=0.0009 left_pitch=-0.0465 left_roll=0.0008 left_gripper=0.9996 right_x=0.3556 right_y=0.0345 right_z=0.0303 right_yaw=0.0808 right_pitch=0.0619 right_roll=-0.1836 right_gripper=0.9973\nstate[joint_eff]: [-0.0342, -1.4838, 6.9949, 1.6679, -0.0708, -0.0757, -0.0122, -0.3487, -5.0803, 5.5453, 1.707, 0.0513, -0.105, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8139, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.1726, 1.6234, 0.2806, 0.8162, 0.1699, -0.1352, 0.9973]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1682 left_yaw=0.0009 left_pitch=-0.0477 left_roll=0.0009 left_gripper=0.9996 right_x=0.3581 right_y=0.0358 right_z=0.028 right_yaw=0.0878 right_pitch=0.0487 right_roll=-0.182 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -1.4427, 7.1726, 1.707, -0.0562, -0.0122, -0.0122, -0.2393, -5.2718, 5.4359, 1.8632, 0.0366, -0.1001, -0.0122]",
      "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, 0.8173, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.1799, 1.8668, 0.4652, 1.0824, 0.2356, -0.1398, 0.9973]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1673 left_yaw=0.0009 left_pitch=-0.0511 left_roll=0.0009 left_gripper=0.9996 right_x=0.4271 right_y=0.0394 right_z=0.0575 right_yaw=0.0379 right_pitch=0.2574 right_roll=-0.1895 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -1.6615, 7.1863, 1.6728, -0.0513, -0.0806, -0.0122, 0.1299, -6.6803, 5.9282, 2.3223, 0.3101, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64a36a018e76b7b26959c2a23f85f582909b6ae968d49bde9e1c17d5f40728d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea172de6a3c5ad9674ad799bf79a91b98c04798cc6d8feea98644880a2eb7172",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dd103d7ab7b31cee248f8a1dd115a44a1711c174e6023a2ee18bdd2c70381d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsQgKjgEIEhgCKkDKIP9RoXqKf3izViuyB3DVNaMH2OpenGZUTVmLcqwy6j6/gPstoW2H4lHeqCEYnlSKhmDqgSTBw6ld2x9cEz9VMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY6+zNUGEgx6s/20SJ1Rfu98N6gaDJEZk/GFPWVWt6NpuyIwNxqSxZ/oqo/VwRRInldO2YTlZmSiMydaEbzOBaIyiu2bAjnTxlNgh2eOcKhct1fxKs8GuZkz8Vtu4/MpQjGeP+QDUI2stxEUBt8NrSgVsWYM/a0R2wbUxxsSFqorfaNF+1+iY6A+hhKJ2ISEXVtamqx0d02tr7aSyb47CPHmBDVUCsGQ2xwKOFL8N3VyWhJeECE1pvyyncMbh2A6iPwS46tIuV53t7IG1IpbIRAhuvUgnvMA1Uj0n7g2CLh/oka93ND4GpDO+PnR+Hnh1YX3h13OySXrRxMnybPoIWxP98+o7F1pMsn15Z71MdgCNea7hJ0g0feyIwAVntDVb+bl1zt4spaomM+RKUDYOoBpa0bvnqgNb+nrh0H/On++lTfpzzTTR2iLI+Fjjnjulazhaa9JW7nDwwD0vFB7lL9Ff4GBCJZ9nlHHxqMVnH5PbHpR48W68U5i0Sh3wQbnuIoA623njIbcL/RtY2i9nZK6OJfn4UlZBkGjAjMw3JMOotrMKUQKMtlCgdlA0HTQeees2I6bptUTSXcGD6mM0l+razKPbYGBaMbXVsvNOkL/oEGnt3CD05B3zwjtCUY/9NmxN2/1/3beNNqenc2wQEC+7AlH9g5xCgrQcQ+BOalQK64VUfQJj6GDcVU3lmP8rzXbyT9xdRkssVxDAKFR1z1Cv4tFRzXO8xM6/lpQwGUSGKswmjD9zUpnuNcWTygntzVsDpTpCAoTAs2HHv0CCp37LpLSSZV10Ha1NBJyvt3lKO14BX8nhBGvoV5GXt6+tpkDdS4Au/QeR+0843hSUrSVaEj961J7PuBfcrI1Ak4dB8jeSMfV3Z+LAPzJcxYM932fA/InmO/21HwcnLc8rJ5Zmxn1yukXdmlCkGGhrxQkpsSHYP7tupwLMYYgCtMggv2CILi/J24oYH9vAaVU/WNRfJNHe9IsqxPNHDuthW+8C/5EE71nL/RzHxA/Byo3zaMoZIWhaALHbdI5sNIKsR9LQAQls74qN8Z8UNAS6GrKjvhgiobjhOPo0HZln3qUg/xCM8ZKtAweePEmiHgKkedHMqNPQtLmQy6LNQhiSWsde0x7ZqxYXdRcle0DQHyC5vEoCb4FdqcLlGKEgZBhUHDcX9MVb//MtrbOAQ/bAWBPaaudgcyct5AiIbYvNkMOEPucKMvPxqUHzP+0UqK8Kbg2TWs7rxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FQcZDdJjNos8wqYduBLE47",
      "input": {
        "note": "Now reaching out at x=0.43; the pink bowl's right wall sits ~3 cm to the arm's left of the jaw column, so shifting +y to put that wall between the jaws.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.072,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FQcZDdJjNos8wqYduBLE47",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.2707, 1.9331, 0.5198, 1.087, 0.2928, -0.1238, 0.9973]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1673 left_yaw=0.0009 left_pitch=-0.0511 left_roll=0.0009 left_gripper=0.9996 right_x=0.4348 right_y=0.0714 right_z=0.0498 right_yaw=0.0705 right_pitch=0.255 right_roll=-0.1936 right_gripper=0.9973\nstate[joint_eff]: [-0.0752, -1.347, 7.0085, 1.7265, -0.0513, -0.0757, -0.0122, -0.1299, -7.3915, 5.2444, 1.8486, 0.2759, 0.1587, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4abb0c9ae0f3f459de2d3071448da478937558d98a178cc827bae42cfcb239a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce9643ef92445e7a12bd2bb612fa5720b2537069c7cc3e2c4effff459bc286df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47110ea5415e53aa4571132d42f0753361f4b5b50548f3dff50a7b0474bd2337",
        "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 · 7.75 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8139, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.1726, 1.6234, 0.2806, 0.8162, 0.1699, -0.1352, 0.9973]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1682 left_yaw=0.0009 left_pitch=-0.0477 left_roll=0.0009 left_gripper=0.9996 right_x=0.3581 right_y=0.0358 right_z=0.028 right_yaw=0.0878 right_pitch=0.0487 right_roll=-0.182 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -1.4427, 7.1726, 1.707, -0.0562, -0.0122, -0.0122, -0.2393, -5.2718, 5.4359, 1.8632, 0.0366, -0.1001, -0.0122]",
      "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, 0.8173, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.1799, 1.8668, 0.4652, 1.0824, 0.2356, -0.1398, 0.9973]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1673 left_yaw=0.0009 left_pitch=-0.0511 left_roll=0.0009 left_gripper=0.9996 right_x=0.4271 right_y=0.0394 right_z=0.0575 right_yaw=0.0379 right_pitch=0.2574 right_roll=-0.1895 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -1.6615, 7.1863, 1.6728, -0.0513, -0.0806, -0.0122, 0.1299, -6.6803, 5.9282, 2.3223, 0.3101, -0.022, -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, 0.8173, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.2707, 1.9331, 0.5198, 1.087, 0.2928, -0.1238, 0.9973]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1673 left_yaw=0.0009 left_pitch=-0.0511 left_roll=0.0009 left_gripper=0.9996 right_x=0.4348 right_y=0.0714 right_z=0.0498 right_yaw=0.0705 right_pitch=0.255 right_roll=-0.1936 right_gripper=0.9973\nstate[joint_eff]: [-0.0752, -1.347, 7.0085, 1.7265, -0.0513, -0.0757, -0.0122, -0.1299, -7.3915, 5.2444, 1.8486, 0.2759, 0.1587, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4abb0c9ae0f3f459de2d3071448da478937558d98a178cc827bae42cfcb239a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce9643ef92445e7a12bd2bb612fa5720b2537069c7cc3e2c4effff459bc286df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47110ea5415e53aa4571132d42f0753361f4b5b50548f3dff50a7b0474bd2337",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvAYKjgEIEhgCKkAeJSnjazQYyZyR27QDe1+WMTeuXmvV+RHZHtlClRfNRC94Iotj9wT/kQZ9q5vrAjAGLA8ADkRXsRsSOjazdgivMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZS+zNUGEgyniV2u/xYhyC2hNCQaDFM04rIcZ2ZTVys4vSIwsGgamm/TIhHu7ns1gfK+D6CKBzxzYfnToTlLHJ/APwJz5nPy9AAOtFB7Z7osRRBjKtoE7oVhpFuJom5A2N2++lqodRNJIZPoh4p0tTTabU0LVMMSkqOPcZmx0Qz36Szz2V0G4Tj5zcvY1d+6QBOKflPkgKkV6POKaznFeV2RWxoIbC/JkgrF1lKy0K1C/cq37wCWC/Y1QUkGoQQVsS0rnPXE4en3nuZyX7S7CrwIEayb3T/H5Kskz3LJcGTcf53GInwCYvMyUHg6GPbQCdDRA51O2HF5+It9kbGtJjVJAVDwdGbeg2GCcq3wStwxT9XmEobLzp8rcpJpunllo6u2rfegQlhCnyHCyUg8rkthdMSBD3iE0PhNllILnIFiskRt9Yc7h6fVdEuPh5zzLgEw0JFgqZwMtdWosTHFMKCMjeZDe7s0SCsZJbSIEjnTIMq4mvBwc36zlD+FAAGUfCotWgEamxk7baSJ7N9OjMIpsTHtuIN+gN4lWvFnx7txlAQG2LP5bdWKMpWC/xexHU9Tgel88MSXqecx/Kd7D5tedyUbPVVcu94u7Ke35k6RPV7tRVYoSjxe4zmgZSFn7TCYdx1xFBz3olgnkp0/VK8qv1bvS1JDv/rckNDGDbgTpGA8VmND7gReEvAE1TzdPbmNjkC0Fz0//XPK5nOC5l7ZtYpyBJxGN34yw+EALU5aRUpVkKlMtykccKXlJRMoHeiwPPcc0GJQnlZ1o+Bdx8p3WopphA86jtCvVRcd6xBzmcaIwUG0Fqo7H6yvBQDw7tKY4gDNdu9mSJcznCjPhXKsiOR4p6c7entyu1yK6I4I66VujT/OYfb6kbm7Z7wN6GvrFWMK5DVJImVDhTpXWSEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01927co6EtZD5ipQzdaGRSXG",
      "input": {
        "note": "The bowl's right rim edge is now on the jaw column; dropping to 2.5 cm so the jaws straddle that wall.",
        "targets": {
          "right_x": 0.445,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01927co6EtZD5ipQzdaGRSXG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8219, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.2871, 1.9438, 0.535, 1.0695, 0.3103, -0.1238, 0.9973]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1661 left_yaw=0.0009 left_pitch=-0.0557 left_roll=0.001 left_gripper=0.9996 right_x=0.4361 right_y=0.0762 right_z=0.0466 right_yaw=0.0724 right_pitch=0.2435 right_roll=-0.2022 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -1.7709, 7.0222, 1.6532, -0.0855, -0.0464, -0.0122, -0.5128, -7.4598, 4.9026, 1.8877, 0.2613, 0.149, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a3884f5e698fb8c5e31eb7798c18fdc2292cfb699303cc8f1f3a22eedd51b77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4c0c38843190564d2d823b1e2e0210199760fade997d863f4939c35b55a2530",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e14ba3e98f4c54a47b5fbb63f1293d845461e73803060faf99b385d5123c950d",
        "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 · 7.623 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.1799, 1.8668, 0.4652, 1.0824, 0.2356, -0.1398, 0.9973]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1673 left_yaw=0.0009 left_pitch=-0.0511 left_roll=0.0009 left_gripper=0.9996 right_x=0.4271 right_y=0.0394 right_z=0.0575 right_yaw=0.0379 right_pitch=0.2574 right_roll=-0.1895 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -1.6615, 7.1863, 1.6728, -0.0513, -0.0806, -0.0122, 0.1299, -6.6803, 5.9282, 2.3223, 0.3101, -0.022, -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, 0.8173, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.2707, 1.9331, 0.5198, 1.087, 0.2928, -0.1238, 0.9973]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1673 left_yaw=0.0009 left_pitch=-0.0511 left_roll=0.0009 left_gripper=0.9996 right_x=0.4348 right_y=0.0714 right_z=0.0498 right_yaw=0.0705 right_pitch=0.255 right_roll=-0.1936 right_gripper=0.9973\nstate[joint_eff]: [-0.0752, -1.347, 7.0085, 1.7265, -0.0513, -0.0757, -0.0122, -0.1299, -7.3915, 5.2444, 1.8486, 0.2759, 0.1587, -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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8219, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.2871, 1.9438, 0.535, 1.0695, 0.3103, -0.1238, 0.9973]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1661 left_yaw=0.0009 left_pitch=-0.0557 left_roll=0.001 left_gripper=0.9996 right_x=0.4361 right_y=0.0762 right_z=0.0466 right_yaw=0.0724 right_pitch=0.2435 right_roll=-0.2022 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -1.7709, 7.0222, 1.6532, -0.0855, -0.0464, -0.0122, -0.5128, -7.4598, 4.9026, 1.8877, 0.2613, 0.149, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a3884f5e698fb8c5e31eb7798c18fdc2292cfb699303cc8f1f3a22eedd51b77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4c0c38843190564d2d823b1e2e0210199760fade997d863f4939c35b55a2530",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e14ba3e98f4c54a47b5fbb63f1293d845461e73803060faf99b385d5123c950d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsgUKjgEIEhgCKkCxuf5gtraBF5LFR1TFn0N9FJ1d0cyBNCa+Gz8oyHwe+dv0czW+TMbxvQqL0QxJDummxQHo3eO2G1ypqKFWKsngMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZu+zNUGEgxLMAOtJfzyu6C8LdYaDNYkPf0k5DWhA6Nz8CIwEL41K0OS9BifErMWZJiXgRm4owKgmAb8xVHXLU+4Hj3ihGb71HpzEelrZNhoAtVoKtADVcn065gL4mBH6g81+tJ0n5vqMh3A/pgzwaRUCHDsuJAUcy5QPvLrhwFLyLR8jWlIa7H1lEGc7f92deniKYcVmCBevSJNBkvkTAk6/MY7yu2sJNCgfEbbzXbj+aVOPyQJVnbdMngVkMtWUXzfT/bIhVrM3LE1DtLzpMyajmd5X3w9Yd6lgc0txN9qs2g+aYoiZ5guaFS/vtuY5HCYZtqZYS17G4rkM7jdgmLhCu8WgCk3Gq52L1jfsUx9QzpNt4BIeVHIChFJMc9Yv9E5F437vE314XGodlTE2zhORarPKNvzxQiK5+RWi+fstXu/vITzKJkCug5q1z7EDGvT9nOmJl7oDryMgNkbJDLop3ID7vaEY20Dh2e4v7HKMHlbCgm33UFZkPmAaeCeRMEfAxANV5KlbgCi5XGoTk1DNqe5XzMD7xwVDT+X39Y4MgXLjpn7l4c2KT8xhHLNNazp/KPlLZoyuO0rY3ZhG8Jbuvh/GgCHx8fB0PuOHoPq10vqNGJ/twRpQWs2+kLsLuJ27nH+ZNP9G0aw/ARNOp0Wd+EJZgk6wbD7ao0ifScyvwpVyI9yYhZJVEBXcRKJm6WZz6xKkKuYUqgAmYz7VrdCr3GMGgkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AW23y6uP8yXMMUoTn3Y4jG",
      "input": {
        "note": "Descent has stopped (jaws likely at rim level, bowl wall between them); closing the gripper to pinch the pink bowl's side wall.",
        "targets": {
          "right_gripper": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AW23y6uP8yXMMUoTn3Y4jG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8223, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.2871, 1.9438, 0.5346, 1.0698, 0.3058, -0.1211, 0.0246]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.166 left_yaw=0.0009 left_pitch=-0.0557 left_roll=0.001 left_gripper=0.9996 right_x=0.436 right_y=0.077 right_z=0.0465 right_yaw=0.0749 right_pitch=0.2435 right_roll=-0.198 right_gripper=0.0246\nstate[joint_eff]: [-0.0889, -1.2786, 7.0359, 1.6874, -0.0562, -0.0855, -0.0122, -0.2667, -7.5966, 3.9043, 1.8779, 0.149, -0.0464, 0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de4a9c2472ab23436abe5d985e1d1e58855ce407c33936f0eee07b84f530e35f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63f56d904b94d7c35e7178757ec21fede66ffa9e444b920d12bffb6f05e8369a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ce710ef6e2d6947c6b7c7fdaee3a188ef298a1f08cd571c6ab46ae773bb9201",
        "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 · 4.929 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.2707, 1.9331, 0.5198, 1.087, 0.2928, -0.1238, 0.9973]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1673 left_yaw=0.0009 left_pitch=-0.0511 left_roll=0.0009 left_gripper=0.9996 right_x=0.4348 right_y=0.0714 right_z=0.0498 right_yaw=0.0705 right_pitch=0.255 right_roll=-0.1936 right_gripper=0.9973\nstate[joint_eff]: [-0.0752, -1.347, 7.0085, 1.7265, -0.0513, -0.0757, -0.0122, -0.1299, -7.3915, 5.2444, 1.8486, 0.2759, 0.1587, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8219, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.2871, 1.9438, 0.535, 1.0695, 0.3103, -0.1238, 0.9973]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1661 left_yaw=0.0009 left_pitch=-0.0557 left_roll=0.001 left_gripper=0.9996 right_x=0.4361 right_y=0.0762 right_z=0.0466 right_yaw=0.0724 right_pitch=0.2435 right_roll=-0.2022 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -1.7709, 7.0222, 1.6532, -0.0855, -0.0464, -0.0122, -0.5128, -7.4598, 4.9026, 1.8877, 0.2613, 0.149, -0.0073]",
      "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, 0.8223, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.2871, 1.9438, 0.5346, 1.0698, 0.3058, -0.1211, 0.0246]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.166 left_yaw=0.0009 left_pitch=-0.0557 left_roll=0.001 left_gripper=0.9996 right_x=0.436 right_y=0.077 right_z=0.0465 right_yaw=0.0749 right_pitch=0.2435 right_roll=-0.198 right_gripper=0.0246\nstate[joint_eff]: [-0.0889, -1.2786, 7.0359, 1.6874, -0.0562, -0.0855, -0.0122, -0.2667, -7.5966, 3.9043, 1.8779, 0.149, -0.0464, 0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de4a9c2472ab23436abe5d985e1d1e58855ce407c33936f0eee07b84f530e35f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63f56d904b94d7c35e7178757ec21fede66ffa9e444b920d12bffb6f05e8369a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ce710ef6e2d6947c6b7c7fdaee3a188ef298a1f08cd571c6ab46ae773bb9201",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmQoKjgEIEhgCKkDrd3+61iLQp/SwV+HpxQmKY8jGFaIcCQ9qL8aInNWRHOoE5rc7VGNauyi3FGjsDmnab4X9LVs8GIPl6tRr0F99Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaS+zNUGEgyyU2ik0GGgyTL3WtYaDAPLlxNe8Hmcmth4DyIw7UndOB8lUOUfuPxEL7v/fwu5vEFseDjlSXwj/HwynMVii97dblZ4sj7R005zF3Z1KrcIYPlLk5zjRrubEPGYlZzIrnE080H2WGfAkWmzGbe8KfzuvZzThOCntWk9PloC761npaUlXEj3cB4L9MzkeKr82wy741ue++0sOva6EjaTGE2nHJLBKNRSYMVlccGjSiNbPphXh1CajiW/NxPJf233cycjDPD2fanpqd94eOyMzK6a0yUNMC80UeaLjP7Nu2bRygdsi4R9/V8G9Ec39q8bNtvKv3gR0d6rFOgVf+z6UXDyGjhBokrcNbypBiw26CfyI+YU/nUumT2tG6By3Y3kY/J9DiPQrBvO5Wd+/YD2SeLZf2VF51se+r7dwb3yokHAIMgS3MLqnk8Nipj/vhLxsGxxHfhYOgVc3UHtwYgsCm+G4MbZ+WVSs1w6NJWLAYFR8L6xmxnQY8Oj6s3NtabeKIhdkl1DtX6QJtMElyYFbcKAMc5DUKOZG1Uew+2tmTPLTPEv0aKyiMCIURVivfyunaCTKpS+10odbrStgcRN2y4/rZwzXz6hUKgUOS6tO5gpW4vmrjZLlK/vNbc1WTk1b0aKd3WrcU+cz7A9HyCwFNUDeOTSJtyMbjKVEoXNnW8LdAXMkW/FpK4Uz/ACDT++TUWhzAnUNuQTy1HSm+LtVrLnXRv4DZ8srsZzSK2yV8267sGs5gTTWvropfgN27kmnrCKu+l4NCznwFbV8mNyEcShkCpTkcrVRkJgB8nCoskKs+/MANZdqFiFcfmW+LPW+7zC4OGgpWb59LXmeiFGB4FeRx0pWbgpB7A5W9KV4/Q/pg1+WLuI5lv+B36/cy0fd2Yjxko1R97tXwVga91N5+Ib0GymV/mnLU8OsCQ3NLsBsKIX8Rojh0cINvo+F7k/vFGUDfBxeTlxiZjpnNKE5eO9o/rHtrWe75JrEiQrTxELMhaW/kJ6cQ3wCQgDQV9V5eH8ZZs/j+fNHWtDHbpJkw0ZOiTjrekO7VKtIRStoFpSpc33S1YbDLNzzarOn/N/utzNR3KPtIO+5c89x+SV3r8docpKuu3I9tXtjRPc0EdzfBrOCDPw2bbXdc/UuoMTmC/PtGcr9OJ/8qqJrx2YM2nYLp79FoAInFxnGhzDXvVy3MpVqb/z3mXFpqQOyhEi+w8OOlkp4vuaYap69JendWxj4GWTmOQZZ3GbjR0sQMSD2ruEpCkdliu7rbSCtqK2/BdWdW+01uWzxSeZCdKTQ7p+zSO0mb+NVMHyRpjmAPRv3JNaBs/NoHWwxmYJQre6TJa6S9zxMrNxcM4DPMbdKQwqfvxVWAwUH2DeKJ5m+L7DySh15uLP2UjwX4qWOA5Z8GL74ToPAJd6TkSBdGJandZFJqEaWnH3goTG8woB9XOGy3jf+G5Ym3dTcjmeD4tpdrB1lPIK8bgzuOqZuFlwK3eX4Taj2LaE12C4ss9NGybu1ClGMlKznUlwnozVTklK+gcxTaE7y34YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UhTcMAZjsCh3MtZV6eK4Hf",
      "input": {
        "note": "Empty close again — the wrist view shows both jaws ended up inside the bowl, with the rim wall ~3 cm to the arm's right. Opening and shifting -y by 2.7 cm to put the wall between the jaws.",
        "targets": {
          "right_gripper": 1,
          "right_y": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UhTcMAZjsCh3MtZV6eK4Hf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.1986, 1.943, 0.5091, 1.0744, 0.2218, -0.1562, 0.9952]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1658 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9996 right_x=0.4344 right_y=0.0514 right_z=0.0383 right_yaw=0.0787 right_pitch=0.215 right_roll=-0.2062 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -1.4701, 7.0222, 1.663, -0.0757, -0.0708, -0.0122, -0.5265, -8.3761, 3.4667, 2.083, -0.0415, 0.1148, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2168c51039ed41007f025debf69f74318a47b854c81a8fbf4dda46c14cd42ff4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7464e5c9490032ac22215cb537e188f097e801bb02cc821e546a9e8a092bc782",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a4554b9df9f73a40f5976918da23b45dc0f7e79d784595d0ae1f74170b9f6db7",
        "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 · 5.146 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8219, 0.6029, -0.4084, -0.0227, -0.0261, 0.9996, 0.2871, 1.9438, 0.535, 1.0695, 0.3103, -0.1238, 0.9973]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1661 left_yaw=0.0009 left_pitch=-0.0557 left_roll=0.001 left_gripper=0.9996 right_x=0.4361 right_y=0.0762 right_z=0.0466 right_yaw=0.0724 right_pitch=0.2435 right_roll=-0.2022 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -1.7709, 7.0222, 1.6532, -0.0855, -0.0464, -0.0122, -0.5128, -7.4598, 4.9026, 1.8877, 0.2613, 0.149, -0.0073]",
      "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, 0.8223, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.2871, 1.9438, 0.5346, 1.0698, 0.3058, -0.1211, 0.0246]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.166 left_yaw=0.0009 left_pitch=-0.0557 left_roll=0.001 left_gripper=0.9996 right_x=0.436 right_y=0.077 right_z=0.0465 right_yaw=0.0749 right_pitch=0.2435 right_roll=-0.198 right_gripper=0.0246\nstate[joint_eff]: [-0.0889, -1.2786, 7.0359, 1.6874, -0.0562, -0.0855, -0.0122, -0.2667, -7.5966, 3.9043, 1.8779, 0.149, -0.0464, 0.1197]",
      "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, 0.823, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.1986, 1.943, 0.5091, 1.0744, 0.2218, -0.1562, 0.9952]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1658 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9996 right_x=0.4344 right_y=0.0514 right_z=0.0383 right_yaw=0.0787 right_pitch=0.215 right_roll=-0.2062 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -1.4701, 7.0222, 1.663, -0.0757, -0.0708, -0.0122, -0.5265, -8.3761, 3.4667, 2.083, -0.0415, 0.1148, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2168c51039ed41007f025debf69f74318a47b854c81a8fbf4dda46c14cd42ff4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7464e5c9490032ac22215cb537e188f097e801bb02cc821e546a9e8a092bc782",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4554b9df9f73a40f5976918da23b45dc0f7e79d784595d0ae1f74170b9f6db7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAUKjgEIEhgCKkB1rfkUXxTPAk0Y4Bls2W8EBHD87kVVnH7GpMWxbrIE++s+jrSCu9LGQ5SuD2a5cyRK2pUMbBAEIbTQOBg0dtJ0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaq+zNUGEgyLf3AjfjjgscIqresaDHsv+NYYNivrUqUDRSIwZZ9BUOwfCyo05G3ggvulOrg7pgqJdQW+uNfpojbJyfRcqVQ36LBDTY6ldcoQqJCFKtIDIuZ5+UTD7I4W3BFzBqIrrTnHzyYKoq5EnpNRclPF7zz4nnbNOJ2byUmDDo2urATNPGC7zIAO8vOyj3+CVRz9TdXV6IMwVZTaEI+fax6n+hDMmcRXyE8x1uj77LnYTDjmcvzY+HvSM/6FXhuJnI3KQ7xZIkpmfppVQaj+Y4/0jksxeSKYmbZ/SqRyehMDitkyzMcgiy0puOu+DAHTOvFRGF4l0edP5LfUzv+m5jsF6x04hiYpzRtdXyIIvuINSByRRuUnasPfAKA8ORRKmntpIqr+1HXDgnOn2EH1Qwt0j7xLWU9kTmPuHjdL+/nuv83j+0QhuBEg07/3zhBu2WjysHHtEseUmjwpgnAa2w+O7HpIGNan0uqgXjciET080REnE1ADOFMbgopwh24JGP/ku/bZQJmWvgCD6BaevdWaOPtFCtDKLg6AWZPTuFpgYNPNZsuquoj3eQuMKHPA9zO5vhx7VIeAJ8MRtg9BaVQzbqWxUX4yD+0NOdBmJO8q4BxRRqZhtg5PSN1JKspJAv4JvV4mePx88hsOXA71arrHb3X2dWdnXGrZILinX2PnV6TUE1Kw8oKyL3Q1mNH49WZnxxWaM8zDyMpTGA4A4cK1qHvDIBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019rJQRTT748JA8gT48Mgiqm",
      "input": {
        "note": "The bowl's rim edge now runs through the gap between the jaws; closing to pinch the wall.",
        "targets": {
          "right_gripper": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019rJQRTT748JA8gT48Mgiqm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.1963, 1.943, 0.5083, 1.0779, 0.2176, -0.157, 0.029]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1658 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9996 right_x=0.4346 right_y=0.0512 right_z=0.0388 right_yaw=0.0804 right_pitch=0.2174 right_roll=-0.2051 right_gripper=0.029\nstate[joint_eff]: [-0.0752, -1.347, 7.0769, 1.7363, -0.0806, -0.0708, -0.0122, 0.1162, -7.788, 4.0821, 1.7411, 0.1538, 0.0317, 0.6471]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0733280b31aeb61ebe053293030dc7a6c36cbc2e77536f3aa962427272b3ccbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0976ee21b4034e19f04e738a5df6ded0500bb049d94b33d636149c5c7da2f21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:157e0a19f858cfa1144ae7150e8f9baa731064b77e3d46928ff26e34a035e813",
        "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 · 7.367 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8223, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.2871, 1.9438, 0.5346, 1.0698, 0.3058, -0.1211, 0.0246]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.166 left_yaw=0.0009 left_pitch=-0.0557 left_roll=0.001 left_gripper=0.9996 right_x=0.436 right_y=0.077 right_z=0.0465 right_yaw=0.0749 right_pitch=0.2435 right_roll=-0.198 right_gripper=0.0246\nstate[joint_eff]: [-0.0889, -1.2786, 7.0359, 1.6874, -0.0562, -0.0855, -0.0122, -0.2667, -7.5966, 3.9043, 1.8779, 0.149, -0.0464, 0.1197]",
      "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, 0.823, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.1986, 1.943, 0.5091, 1.0744, 0.2218, -0.1562, 0.9952]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1658 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9996 right_x=0.4344 right_y=0.0514 right_z=0.0383 right_yaw=0.0787 right_pitch=0.215 right_roll=-0.2062 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -1.4701, 7.0222, 1.663, -0.0757, -0.0708, -0.0122, -0.5265, -8.3761, 3.4667, 2.083, -0.0415, 0.1148, -0.149]\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, 0.823, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.1963, 1.943, 0.5083, 1.0779, 0.2176, -0.157, 0.029]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1658 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9996 right_x=0.4346 right_y=0.0512 right_z=0.0388 right_yaw=0.0804 right_pitch=0.2174 right_roll=-0.2051 right_gripper=0.029\nstate[joint_eff]: [-0.0752, -1.347, 7.0769, 1.7363, -0.0806, -0.0708, -0.0122, 0.1162, -7.788, 4.0821, 1.7411, 0.1538, 0.0317, 0.6471]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0733280b31aeb61ebe053293030dc7a6c36cbc2e77536f3aa962427272b3ccbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0976ee21b4034e19f04e738a5df6ded0500bb049d94b33d636149c5c7da2f21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:157e0a19f858cfa1144ae7150e8f9baa731064b77e3d46928ff26e34a035e813",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxAQKjgEIEhgCKkCajH3StexG4QemrtDBoOrVcM7eegkcbjhVJ9idkaFQblI2rKtd+EdMcFeEzKaXn5u6vZ6GClIeR3Lba+1z/bTGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbC+zNUGEgyKb/elV96M49CFCjUaDAOqR89a3puKTMAr9yIw8LBft01VSyShGdH6lcsdCjASR9EUUwxHrI2AAgXsxFpNlHbx2QszHcOrzaj039zTKuICfyoagiFlLyqDeIkK2Z8Z48ocpmaX+HrVAhS/wpRG7+xkgyZAJNvTA0RAmj1TpUs9csAl3+MdbO3T1P/gY18YNzal8U0pJ1UMZFMQ6zBJm9bbp9Sj+47lp+rvAU5bOf8ok11CIWSE7RZE4fwMAFT31xGFVDVzvjmNFBRhLwMFrXVkeIpmI3okwUkyeLhlWdBgAMcz+a51OMslS9G5jlVKcZehZTqiK0LVeDyZdG2Pkz9oLrW4wvvmuz8LmjSeWfpyCVEQzlBpkyle1tU4yNHzTPGKOcYIsTDynRthVF/c7HZHmMCBamsXxXEHMJqMArRtp01pYfRLGEiua9P6BupHP4rMN9Pb3Pw4W42izN9lCyv7X9+OXhAL33ZVcn7DT1HYx8LFEC3yYzQCsFmEKXiH1R1qt2PPibHdb0zKqQ+u2jLUfzelHBKdArWY9l0Lhh1Id8NHuwcSwkgMlD8RE7cvZ6VIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TgBNTJB1hRo6Hkkbwr3vQT",
      "input": {
        "note": "The bowl visibly shifted when the jaws closed, so I may have the rim. Lifting to 12 cm to check whether the bowl comes up with the gripper.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TgBNTJB1hRo6Hkkbwr3vQT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8249, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.1963, 1.6184, 0.5568, 0.6922, 0.2134, -0.1623, 0.0294]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1653 left_yaw=0.0009 left_pitch=-0.0583 left_roll=0.0011 left_gripper=0.9996 right_x=0.4293 right_y=0.0509 right_z=0.1036 right_yaw=0.0872 right_pitch=0.2042 right_roll=-0.2101 right_gripper=0.0294\nstate[joint_eff]: [-0.0889, -1.1556, 7.0359, 1.7216, -0.0366, -0.0317, -0.0122, -0.0615, -7.5009, 8.5402, 2.0537, 0.0415, -0.0171, 0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89a7e77e77275d0df0f1a602ec26069404974991f6e93ac8b55e7c786f090da6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:004dfbf26fd2c5dc490bd608cdf33474b8d9e9f55ace19875e15f111e7012351",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ede693edfe086a7b32f357cea47d33cb955a764484f635b5c8c1eda7cabf4c9c",
        "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 · 14.07 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.1986, 1.943, 0.5091, 1.0744, 0.2218, -0.1562, 0.9952]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1658 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9996 right_x=0.4344 right_y=0.0514 right_z=0.0383 right_yaw=0.0787 right_pitch=0.215 right_roll=-0.2062 right_gripper=0.9952\nstate[joint_eff]: [-0.0615, -1.4701, 7.0222, 1.663, -0.0757, -0.0708, -0.0122, -0.5265, -8.3761, 3.4667, 2.083, -0.0415, 0.1148, -0.149]\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, 0.823, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.1963, 1.943, 0.5083, 1.0779, 0.2176, -0.157, 0.029]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1658 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9996 right_x=0.4346 right_y=0.0512 right_z=0.0388 right_yaw=0.0804 right_pitch=0.2174 right_roll=-0.2051 right_gripper=0.029\nstate[joint_eff]: [-0.0752, -1.347, 7.0769, 1.7363, -0.0806, -0.0708, -0.0122, 0.1162, -7.788, 4.0821, 1.7411, 0.1538, 0.0317, 0.6471]\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, 0.8249, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.1963, 1.6184, 0.5568, 0.6922, 0.2134, -0.1623, 0.0294]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1653 left_yaw=0.0009 left_pitch=-0.0583 left_roll=0.0011 left_gripper=0.9996 right_x=0.4293 right_y=0.0509 right_z=0.1036 right_yaw=0.0872 right_pitch=0.2042 right_roll=-0.2101 right_gripper=0.0294\nstate[joint_eff]: [-0.0889, -1.1556, 7.0359, 1.7216, -0.0366, -0.0317, -0.0122, -0.0615, -7.5009, 8.5402, 2.0537, 0.0415, -0.0171, 0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89a7e77e77275d0df0f1a602ec26069404974991f6e93ac8b55e7c786f090da6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:004dfbf26fd2c5dc490bd608cdf33474b8d9e9f55ace19875e15f111e7012351",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ede693edfe086a7b32f357cea47d33cb955a764484f635b5c8c1eda7cabf4c9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjQcKjgEIEhgCKkCootgNdGLbRCoXvAux+/+096LxiLN2JzfFvwLtZohAfgGokiqDVcDi5HSafFcgr3gh8Q5nuIrnCJsV/NBmEnAqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbe+zNUGEgwm0zT/UP9Iy2J4f6EaDPMNox00R99vbf6u3yIwnCHDG32Bos/9Rbj9+p6EGHMT1j4LnpLVdGW2YErFLw6FgF+eJHGX0PjP668PFMB2KqsFkJY7z/YbbERLuI4a73wT7kyvSHZTj8+gkaIBMD6AZiaW//sh60YzJV8aJN3v5mmEd1L0wH+3RbllsWfVgtJmrh3rvXfj1uiEqSeNxZvqXuwplcj5Z+0knwSIa+OzSdRymMo9J/5sR0pG5jY+qAn1EpxUVZRgOAa1tndkkTzjAjAwssQ3c/ykFod7giIk3DkVfOqDmyJ77SgS2Jgr2sezlMPNBOCcHPTC5kHTm44dWn/EyiWrZHecPC8wrotKq35+D4f65ucEqQJ0ntk5fnC7rTEmBsutf4nlbCy4h+n8P8qfMxng0+KcyE8arzgNRTLJHhGY+sJVtnmGJHIwYz2Ny+/TAulpdQq51uXvNyXKCpiOMFGMsbLjDKwwtgNBwYBWQWGYQhTlMCgia5/xkRtozzYglqzhb2IrIyjLS7sxK4RSpemUWTFH8iCHSFU6JYJ+efRD6ztne1g7v2+3W/0p+aXN/GsUXrRblMRu5X6SBZWU9MEEh48xwz/KQxavsoFyOsKkGce7rAEj6GGorYmD+yjG8jrKdfWiN+wT39Md8vSaPEO7oCKzMqf2Qgf47+QCh5TZoflsEsxER6dC0CDSXLVRCYmU40aIb4vaSc6SkNP51al57Myi9nXyhViyWQfI4AKOOkYO5FUkpU/zAbyB1RNjj7TMbKY0xpzgY+fd3BEL6u9WEpqhpaYYb6ssXWWDGTKDIoJ/CFc5x9OkFZiuRD+86X7mjHJe8SToAB6V16l16tMFqaDCJOncN6AEjV6kz7mFZ6z9Ue7N0QpCj2cPrU2x4UlV/+kdTwd6u1VnSqwq78uKFUnIuOATLvhAcd8+H21uIv/ZkFTeirxyIm6nt5K945J4Av6BovduW7ZGh/bjHDve9XXFeyC/KUjuEaukQbZoRGcVcg36bEAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011aneKtqHwcBim8cHD8szwd",
      "input": {
        "note": "Ambiguous whether the bowl is held; retracting 6 cm toward the base at 14 cm height — if the bowl is in the jaws it will travel with the gripper in the top view.",
        "targets": {
          "right_x": 0.37,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_011aneKtqHwcBim8cHD8szwd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.2447, 1.2716, 0.4431, 0.4824, 0.239, -0.1547, 0.0294]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1643 left_yaw=0.0009 left_pitch=-0.0622 left_roll=0.0012 left_gripper=0.9996 right_x=0.3776 right_y=0.0549 right_z=0.1425 right_yaw=0.1089 right_pitch=0.2292 right_roll=-0.209 right_gripper=0.0294\nstate[joint_eff]: [-0.0342, -1.2239, 6.9949, 1.7411, -0.0806, -0.0513, -0.0122, 0.2667, -3.6718, 6.3521, 2.0, 0.2076, 0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd8ade2df1f696217d5990c9d4ffc35ffb5028ef0db92da22b70748392fde236",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2acadbbdcee4422f8a4457fbefe75b4ecbfb18872c52d987a17b78d7810d31da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a776779e3e066eefa2f0e8bdb116f1f81681cb5ea69ae30e8c51f949ebbd5f63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 14.96 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.1963, 1.943, 0.5083, 1.0779, 0.2176, -0.157, 0.029]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1658 left_yaw=0.0009 left_pitch=-0.0564 left_roll=0.001 left_gripper=0.9996 right_x=0.4346 right_y=0.0512 right_z=0.0388 right_yaw=0.0804 right_pitch=0.2174 right_roll=-0.2051 right_gripper=0.029\nstate[joint_eff]: [-0.0752, -1.347, 7.0769, 1.7363, -0.0806, -0.0708, -0.0122, 0.1162, -7.788, 4.0821, 1.7411, 0.1538, 0.0317, 0.6471]\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, 0.8249, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.1963, 1.6184, 0.5568, 0.6922, 0.2134, -0.1623, 0.0294]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1653 left_yaw=0.0009 left_pitch=-0.0583 left_roll=0.0011 left_gripper=0.9996 right_x=0.4293 right_y=0.0509 right_z=0.1036 right_yaw=0.0872 right_pitch=0.2042 right_roll=-0.2101 right_gripper=0.0294\nstate[joint_eff]: [-0.0889, -1.1556, 7.0359, 1.7216, -0.0366, -0.0317, -0.0122, -0.0615, -7.5009, 8.5402, 2.0537, 0.0415, -0.0171, 0.0366]",
      "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, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.2447, 1.2716, 0.4431, 0.4824, 0.239, -0.1547, 0.0294]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1643 left_yaw=0.0009 left_pitch=-0.0622 left_roll=0.0012 left_gripper=0.9996 right_x=0.3776 right_y=0.0549 right_z=0.1425 right_yaw=0.1089 right_pitch=0.2292 right_roll=-0.209 right_gripper=0.0294\nstate[joint_eff]: [-0.0342, -1.2239, 6.9949, 1.7411, -0.0806, -0.0513, -0.0122, 0.2667, -3.6718, 6.3521, 2.0, 0.2076, 0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd8ade2df1f696217d5990c9d4ffc35ffb5028ef0db92da22b70748392fde236",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2acadbbdcee4422f8a4457fbefe75b4ecbfb18872c52d987a17b78d7810d31da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a776779e3e066eefa2f0e8bdb116f1f81681cb5ea69ae30e8c51f949ebbd5f63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VB6oHDbGYkC1661HQaPzqk",
      "input": {
        "note": "The pink bowl is now held in the jaws (gone from its table spot). Carrying it left and forward to hover over the purple bowl for stacking.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.29,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01VB6oHDbGYkC1661HQaPzqk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8341, 0.6029, -0.4152, -0.0227, -0.0261, 0.9996, 0.8452, 1.832, 1.1542, 0.1402, 0.7471, 0.0872, 0.0294]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1614 left_yaw=0.001 left_pitch=-0.0747 left_roll=0.0014 left_gripper=0.9996 right_x=0.4112 right_y=0.288 right_z=0.158 right_yaw=0.1698 right_pitch=0.1732 right_roll=-0.2572 right_gripper=0.0294\nstate[joint_eff]: [-0.0205, -1.8803, 7.0769, 1.7656, -0.0269, -0.0317, -0.0122, -0.1983, -9.1829, 9.6615, 1.917, 0.486, 0.3199, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3c40b583621872af3169ac4839eeaa5773907ebbc082bed82751db0eb6de67b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e53186a3c9a7e1fb077d947b9ed921612e07e741dac587ccb5a75f46958e767b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d0f6925f658052105a9b31eb2a8fe3b065c5a68d087774ab99c22779a31a079",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 17.56 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8249, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.1963, 1.6184, 0.5568, 0.6922, 0.2134, -0.1623, 0.0294]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1653 left_yaw=0.0009 left_pitch=-0.0583 left_roll=0.0011 left_gripper=0.9996 right_x=0.4293 right_y=0.0509 right_z=0.1036 right_yaw=0.0872 right_pitch=0.2042 right_roll=-0.2101 right_gripper=0.0294\nstate[joint_eff]: [-0.0889, -1.1556, 7.0359, 1.7216, -0.0366, -0.0317, -0.0122, -0.0615, -7.5009, 8.5402, 2.0537, 0.0415, -0.0171, 0.0366]",
      "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, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.2447, 1.2716, 0.4431, 0.4824, 0.239, -0.1547, 0.0294]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1643 left_yaw=0.0009 left_pitch=-0.0622 left_roll=0.0012 left_gripper=0.9996 right_x=0.3776 right_y=0.0549 right_z=0.1425 right_yaw=0.1089 right_pitch=0.2292 right_roll=-0.209 right_gripper=0.0294\nstate[joint_eff]: [-0.0342, -1.2239, 6.9949, 1.7411, -0.0806, -0.0513, -0.0122, 0.2667, -3.6718, 6.3521, 2.0, 0.2076, 0.0513, -0.0171]",
      "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, 0.8341, 0.6029, -0.4152, -0.0227, -0.0261, 0.9996, 0.8452, 1.832, 1.1542, 0.1402, 0.7471, 0.0872, 0.0294]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1614 left_yaw=0.001 left_pitch=-0.0747 left_roll=0.0014 left_gripper=0.9996 right_x=0.4112 right_y=0.288 right_z=0.158 right_yaw=0.1698 right_pitch=0.1732 right_roll=-0.2572 right_gripper=0.0294\nstate[joint_eff]: [-0.0205, -1.8803, 7.0769, 1.7656, -0.0269, -0.0317, -0.0122, -0.1983, -9.1829, 9.6615, 1.917, 0.486, 0.3199, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3c40b583621872af3169ac4839eeaa5773907ebbc082bed82751db0eb6de67b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e53186a3c9a7e1fb077d947b9ed921612e07e741dac587ccb5a75f46958e767b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d0f6925f658052105a9b31eb2a8fe3b065c5a68d087774ab99c22779a31a079",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YPqPQqsieALCza1EtzoJbq",
      "input": {
        "note": "I'm carrying the lavender bowl; the remaining table bowls are a white one far left and the pink one at the right. Moving over the pink bowl to lower the held bowl into it.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.02,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01YPqPQqsieALCza1EtzoJbq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8345, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.0647, 1.4136, 0.8185, 0.1574, 0.0616, -0.2855, 0.0294]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1612 left_yaw=0.001 left_pitch=-0.0755 left_roll=0.0014 left_gripper=0.9996 right_x=0.4381 right_y=0.0211 right_z=0.1808 right_yaw=0.152 right_pitch=0.1199 right_roll=-0.2645 right_gripper=0.0294\nstate[joint_eff]: [-0.0752, -1.3607, 7.0085, 1.7265, -0.0464, -0.0513, -0.0122, -0.1983, -8.1026, 7.8017, 2.0391, -0.0952, 0.1197, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3738783028ab4dbdc5421f0d21b39a2597170e82261912ce25d4b03ff13df123",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8853475c2c343f40f4c75b01d6b70e4bdbbdcc070d2e7ee7ddff847c9562a7ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5de5670e4bab432647e0703a5ddb9f371b6cb683687e8d7ad55095979ff0b2b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 8.537 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6029, -0.408, -0.0227, -0.0261, 0.9996, 0.2447, 1.2716, 0.4431, 0.4824, 0.239, -0.1547, 0.0294]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1643 left_yaw=0.0009 left_pitch=-0.0622 left_roll=0.0012 left_gripper=0.9996 right_x=0.3776 right_y=0.0549 right_z=0.1425 right_yaw=0.1089 right_pitch=0.2292 right_roll=-0.209 right_gripper=0.0294\nstate[joint_eff]: [-0.0342, -1.2239, 6.9949, 1.7411, -0.0806, -0.0513, -0.0122, 0.2667, -3.6718, 6.3521, 2.0, 0.2076, 0.0513, -0.0171]",
      "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, 0.8341, 0.6029, -0.4152, -0.0227, -0.0261, 0.9996, 0.8452, 1.832, 1.1542, 0.1402, 0.7471, 0.0872, 0.0294]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1614 left_yaw=0.001 left_pitch=-0.0747 left_roll=0.0014 left_gripper=0.9996 right_x=0.4112 right_y=0.288 right_z=0.158 right_yaw=0.1698 right_pitch=0.1732 right_roll=-0.2572 right_gripper=0.0294\nstate[joint_eff]: [-0.0205, -1.8803, 7.0769, 1.7656, -0.0269, -0.0317, -0.0122, -0.1983, -9.1829, 9.6615, 1.917, 0.486, 0.3199, -0.0122]",
      "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, 0.8345, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.0647, 1.4136, 0.8185, 0.1574, 0.0616, -0.2855, 0.0294]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1612 left_yaw=0.001 left_pitch=-0.0755 left_roll=0.0014 left_gripper=0.9996 right_x=0.4381 right_y=0.0211 right_z=0.1808 right_yaw=0.152 right_pitch=0.1199 right_roll=-0.2645 right_gripper=0.0294\nstate[joint_eff]: [-0.0752, -1.3607, 7.0085, 1.7265, -0.0464, -0.0513, -0.0122, -0.1983, -8.1026, 7.8017, 2.0391, -0.0952, 0.1197, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3738783028ab4dbdc5421f0d21b39a2597170e82261912ce25d4b03ff13df123",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8853475c2c343f40f4c75b01d6b70e4bdbbdcc070d2e7ee7ddff847c9562a7ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5de5670e4bab432647e0703a5ddb9f371b6cb683687e8d7ad55095979ff0b2b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sdrqj42GCmesQZLyYLZbJE",
      "input": {
        "note": "Top view confirms the white and purple bowls are still on the table and the pink one is in my jaws; returning over the purple bowl to lower the pink bowl into it.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.29,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01Sdrqj42GCmesQZLyYLZbJE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8345, 0.6029, -0.4164, -0.0227, -0.0261, 0.9996, 0.8234, 1.8503, 1.2156, -0.001, 0.6952, 0.086, 0.0294]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1611 left_yaw=0.001 left_pitch=-0.0763 left_roll=0.0015 left_gripper=0.9996 right_x=0.4144 right_y=0.2859 right_z=0.1468 right_yaw=0.1965 right_pitch=0.0777 right_roll=-0.2951 right_gripper=0.0294\nstate[joint_eff]: [-0.253, -1.4564, 7.0085, 1.6484, -0.022, -0.0708, -0.0122, 0.1436, -9.2239, 8.9915, 1.6288, 0.3492, 0.2125, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7aac9d56004bdc679b1d8b83e08e644883b904a8d0021f0c886df08d4641985",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47615d87736d9c274427089b3871baf5a5233a69dd8e00f7aaea2e4b6773c11c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1f065e794c366aa8076d0b295c8fd49ebee3f7d2aac5319e4e3b9eae6abd662",
        "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 · 18.96 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8341, 0.6029, -0.4152, -0.0227, -0.0261, 0.9996, 0.8452, 1.832, 1.1542, 0.1402, 0.7471, 0.0872, 0.0294]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1614 left_yaw=0.001 left_pitch=-0.0747 left_roll=0.0014 left_gripper=0.9996 right_x=0.4112 right_y=0.288 right_z=0.158 right_yaw=0.1698 right_pitch=0.1732 right_roll=-0.2572 right_gripper=0.0294\nstate[joint_eff]: [-0.0205, -1.8803, 7.0769, 1.7656, -0.0269, -0.0317, -0.0122, -0.1983, -9.1829, 9.6615, 1.917, 0.486, 0.3199, -0.0122]",
      "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, 0.8345, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.0647, 1.4136, 0.8185, 0.1574, 0.0616, -0.2855, 0.0294]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1612 left_yaw=0.001 left_pitch=-0.0755 left_roll=0.0014 left_gripper=0.9996 right_x=0.4381 right_y=0.0211 right_z=0.1808 right_yaw=0.152 right_pitch=0.1199 right_roll=-0.2645 right_gripper=0.0294\nstate[joint_eff]: [-0.0752, -1.3607, 7.0085, 1.7265, -0.0464, -0.0513, -0.0122, -0.1983, -8.1026, 7.8017, 2.0391, -0.0952, 0.1197, -0.0122]",
      "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, 0.8345, 0.6029, -0.4164, -0.0227, -0.0261, 0.9996, 0.8234, 1.8503, 1.2156, -0.001, 0.6952, 0.086, 0.0294]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1611 left_yaw=0.001 left_pitch=-0.0763 left_roll=0.0015 left_gripper=0.9996 right_x=0.4144 right_y=0.2859 right_z=0.1468 right_yaw=0.1965 right_pitch=0.0777 right_roll=-0.2951 right_gripper=0.0294\nstate[joint_eff]: [-0.253, -1.4564, 7.0085, 1.6484, -0.022, -0.0708, -0.0122, 0.1436, -9.2239, 8.9915, 1.6288, 0.3492, 0.2125, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7aac9d56004bdc679b1d8b83e08e644883b904a8d0021f0c886df08d4641985",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47615d87736d9c274427089b3871baf5a5233a69dd8e00f7aaea2e4b6773c11c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1f065e794c366aa8076d0b295c8fd49ebee3f7d2aac5319e4e3b9eae6abd662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgAsKjgEIEhgCKkDSXkf5SuqQWmjRzquqGZ+jzvq85BDk2lJEijNjkU94e3Q9ZeZlOiNYtbD8Oib6mXWzFOi65xEa/dEachBTGEqxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfa+zNUGEgxm5k4MVsdiXIPalVQaDBc5JCqf8cTbkT6eDiIwL2S1vQhBuVn+1aO5mIagwdyzY4JRZ+plNsZx9Z/0frE8b6qWSgCBtOn/X7LtZca3Kp4JYYlgzvArA8QtcR08HLCE2tGY1uCJoaSpWXcG7oRR6SoDT53B3LQ0604MaP07RiQRZyN7UlW/pbNz42Ih0vr8ZzuLP78wZbHD1lXvVTmBD1I8DNix/0ziIeQ5X/5lzMdsvoXgyxmmJxHZ6uBBE8nAaRDdWGXguO4N3XfEbhuiSyaq+FYxaACEP2ciX5sDaWa0Qs1OL7fj0f2OcoaOq+MO4DrZUkqIcXQjPusPJglp6WzygYGYbC1X87o8mLZYfBKiZb55Wtp2aZik4U1HLNEaKNh94OqiXEL7kY4AdngAmnUIFf9+1XkXkxYONxi34kNBXoyh/PyvE0rfS9SSPdRxFu5g0FYGWeFwmPguCO7k71AXQkMg4z8jy2tTupSdgIvRZNWSo2UfjC2pPWk2WlcLR6RuRF39fWsC0ypdXT5bvaNeb/6WQGlGjPnd4/53t2OKeEyc1eEUfQ+5hlgnLkRoHi/PwK4RSuPx0t/2qZjJmigjmzUwFW5IIo7BCdzrpDG3LlW2cvQ6EvEfdIyOpGUYds63vkZazDqZadPDAoyZFZ7D0a8MkAu2RYBXObGxC++j05mAkYUpYyPIOY30N+IZMDj8nfifN6b0vCG/asbkIkrp33SDn/9vbdyq7+MVgwE2uq0xE1uknVREQXX0CFxEYA7fEQeB9+0tYz4U4LVnYmpwgAOnrVqMZ0Av4KQRZqyI8CbmfzCasybQc8heCzNOu6CWXiyqOO2ZFOu9E4VETG4mYNr6kJYIlYB44j6dLzrEVLYVaImuer1uj5UXBtcGFhYZoiWo8gC2VWFxMFrOLrdNRQ6Mek4eDyb8cnGGcso5YK9/5Utd6pNYilaA7xFsMwkFUueo7+yoEDYMIJfps/6Hq+TsGSB9+nOiqN/bjUh4tdpfxHEsdF/Up5p9JdqJwcPuCHXVASFim4jHro4Q/f2N5KoYwXepNRlq1CL3griIbbDnNpYjvpj6UoV2FjxLV/n0Ti63oGHED/dFGGJEmbayHtId06jfBZMakM0IKV3hDJbjEBiO7XLDYHKHFl5a9MhfQRonL1wtPnARMs9ndpgN8p4iiaVXABk9QVlJYlI+W8jGMSTd6l7RZrfAHzHidy9CIEU9LTgXmiI33WFeApaE/m0eZYYK/48MuSCzRqA1HsrKl1hFL47LM8aluGyGR9gSuPg9dpCTQCnVU23EisZ1U5mANcK0PHtYVuc6TMuTL+TccoKHR3oeQioreFN1QafyxguS+6tvakbyMkhOAnixut4bc2XUWPRLVPRDdaaBeuPuSYg9xV38+VMOLyK1Y/GHQwugzWn5fivIeIyvat6zY+sL9mTiGFwu2J54uHralNCGvHxZIAnhEOm7Lu8kIsqj6I88rNrfViSw1L9cgcW9eC+bveSnG/uqmb/TOMPQmVk8lezYiQv9CKblCN0d2srOHkQYJVaKrZvhhXx8dH4HXqEmBz0z6zjR7o+ac7a+QnsYss9kyUGAwTMp4BgJYp62sU6gvvlJN5otuYU13U8ozor6UbVrXbp1na34rv+vuItt7BS/W5boZJKTbcYPdDJNcFnHxBpg71vxDt55GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0113T3nDvRbcKEo4vEJbDjK8",
      "input": {
        "note": "Confirmed: I'm holding the lavender bowl; the pink bowl sits at the right of the table. Moving over the pink bowl at 14 cm to nest the held bowl into it.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.02,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_0113T3nDvRbcKEo4vEJbDjK8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8371, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.0643, 1.52, 0.7448, 0.2295, 0.0628, -0.3325, 0.0294]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1605 left_yaw=0.001 left_pitch=-0.0782 left_roll=0.0015 left_gripper=0.9996 right_x=0.4339 right_y=0.0204 right_z=0.1194 right_yaw=0.1747 right_pitch=0.0054 right_roll=-0.2952 right_gripper=0.0294\nstate[joint_eff]: [-0.0752, -1.7162, 7.1179, 1.6972, -0.0415, -0.0269, -0.0122, -0.212, -8.4855, 6.6256, 2.21, -0.0904, 0.149, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8da3f81909320522ea4d994d0b24f7057b69e4aaf17787fdd6d28fd4ce9c6aae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6715383de302522cab70f8a2d626f27dc905b696d515df82ae79fa3896db51a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b86e8420c208d4b85aeb3dfcebba0fa5eecf5b0a0b49fc91e27b59e3ce1ebd69",
        "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 · 15.55 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8345, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.0647, 1.4136, 0.8185, 0.1574, 0.0616, -0.2855, 0.0294]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1612 left_yaw=0.001 left_pitch=-0.0755 left_roll=0.0014 left_gripper=0.9996 right_x=0.4381 right_y=0.0211 right_z=0.1808 right_yaw=0.152 right_pitch=0.1199 right_roll=-0.2645 right_gripper=0.0294\nstate[joint_eff]: [-0.0752, -1.3607, 7.0085, 1.7265, -0.0464, -0.0513, -0.0122, -0.1983, -8.1026, 7.8017, 2.0391, -0.0952, 0.1197, -0.0122]",
      "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, 0.8345, 0.6029, -0.4164, -0.0227, -0.0261, 0.9996, 0.8234, 1.8503, 1.2156, -0.001, 0.6952, 0.086, 0.0294]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1611 left_yaw=0.001 left_pitch=-0.0763 left_roll=0.0015 left_gripper=0.9996 right_x=0.4144 right_y=0.2859 right_z=0.1468 right_yaw=0.1965 right_pitch=0.0777 right_roll=-0.2951 right_gripper=0.0294\nstate[joint_eff]: [-0.253, -1.4564, 7.0085, 1.6484, -0.022, -0.0708, -0.0122, 0.1436, -9.2239, 8.9915, 1.6288, 0.3492, 0.2125, -0.0122]",
      "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, 0.8371, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.0643, 1.52, 0.7448, 0.2295, 0.0628, -0.3325, 0.0294]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1605 left_yaw=0.001 left_pitch=-0.0782 left_roll=0.0015 left_gripper=0.9996 right_x=0.4339 right_y=0.0204 right_z=0.1194 right_yaw=0.1747 right_pitch=0.0054 right_roll=-0.2952 right_gripper=0.0294\nstate[joint_eff]: [-0.0752, -1.7162, 7.1179, 1.6972, -0.0415, -0.0269, -0.0122, -0.212, -8.4855, 6.6256, 2.21, -0.0904, 0.149, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8da3f81909320522ea4d994d0b24f7057b69e4aaf17787fdd6d28fd4ce9c6aae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6715383de302522cab70f8a2d626f27dc905b696d515df82ae79fa3896db51a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b86e8420c208d4b85aeb3dfcebba0fa5eecf5b0a0b49fc91e27b59e3ce1ebd69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01En9ZK2Pn3Kx5qfXAqcZyLH",
      "input": {
        "note": "Hovering with the held bowl over the right-hand table bowl; lowering 2 cm before opening so the held bowl drops into it rather than onto the rim.",
        "targets": {
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01En9ZK2Pn3Kx5qfXAqcZyLH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8375, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.0563, 1.5383, 0.7242, 0.2874, 0.0448, -0.3416, 0.0294]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1604 left_yaw=0.001 left_pitch=-0.0786 left_roll=0.0015 left_gripper=0.9996 right_x=0.4361 right_y=0.0202 right_z=0.1152 right_yaw=0.1868 right_pitch=0.024 right_roll=-0.2961 right_gripper=0.0294\nstate[joint_eff]: [-0.0889, -1.4427, 6.9949, 1.6972, -0.0513, -0.0366, -0.0122, 0.5265, -5.0256, 5.559, 1.7314, 0.1636, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50fb82514b24bfde9d25d3c106f571428d25a8bc19e08f1bf55726fd541dd632",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4650bc0a71e700b752094287fd1af413e120d54a898f8c352647b8c4142f346",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40f55cdc41611e6bbd32ad5568eff28af9ac73bec433fdcd9aa398f0ba4354f2",
        "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 · 10.24 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8345, 0.6029, -0.4164, -0.0227, -0.0261, 0.9996, 0.8234, 1.8503, 1.2156, -0.001, 0.6952, 0.086, 0.0294]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1611 left_yaw=0.001 left_pitch=-0.0763 left_roll=0.0015 left_gripper=0.9996 right_x=0.4144 right_y=0.2859 right_z=0.1468 right_yaw=0.1965 right_pitch=0.0777 right_roll=-0.2951 right_gripper=0.0294\nstate[joint_eff]: [-0.253, -1.4564, 7.0085, 1.6484, -0.022, -0.0708, -0.0122, 0.1436, -9.2239, 8.9915, 1.6288, 0.3492, 0.2125, -0.0122]",
      "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, 0.8371, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.0643, 1.52, 0.7448, 0.2295, 0.0628, -0.3325, 0.0294]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1605 left_yaw=0.001 left_pitch=-0.0782 left_roll=0.0015 left_gripper=0.9996 right_x=0.4339 right_y=0.0204 right_z=0.1194 right_yaw=0.1747 right_pitch=0.0054 right_roll=-0.2952 right_gripper=0.0294\nstate[joint_eff]: [-0.0752, -1.7162, 7.1179, 1.6972, -0.0415, -0.0269, -0.0122, -0.212, -8.4855, 6.6256, 2.21, -0.0904, 0.149, -0.0122]",
      "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, 0.8375, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.0563, 1.5383, 0.7242, 0.2874, 0.0448, -0.3416, 0.0294]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1604 left_yaw=0.001 left_pitch=-0.0786 left_roll=0.0015 left_gripper=0.9996 right_x=0.4361 right_y=0.0202 right_z=0.1152 right_yaw=0.1868 right_pitch=0.024 right_roll=-0.2961 right_gripper=0.0294\nstate[joint_eff]: [-0.0889, -1.4427, 6.9949, 1.6972, -0.0513, -0.0366, -0.0122, 0.5265, -5.0256, 5.559, 1.7314, 0.1636, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50fb82514b24bfde9d25d3c106f571428d25a8bc19e08f1bf55726fd541dd632",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4650bc0a71e700b752094287fd1af413e120d54a898f8c352647b8c4142f346",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40f55cdc41611e6bbd32ad5568eff28af9ac73bec433fdcd9aa398f0ba4354f2",
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      "type": "image"
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  "role": "user"
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[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014nNxth8U3ksaozMsZESyc1",
      "input": {
        "note": "Re-calibrating from the top view: the purple bowl is further left (right_y≈0.39) than I estimated. Moving there with the pink bowl still held.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.38,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 30 steps (3.0s)",
      "tool_use_id": "toolu_014nNxth8U3ksaozMsZESyc1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8383, 0.6029, -0.416, -0.0227, -0.0261, 0.9996, 0.9482, 2.1426, 1.684, -0.3565, 0.7345, 0.1921, 0.0294]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1601 left_yaw=0.001 left_pitch=-0.0797 left_roll=0.0015 left_gripper=0.9996 right_x=0.4124 right_y=0.3775 right_z=0.1331 right_yaw=0.2396 right_pitch=-0.0294 right_roll=-0.3363 right_gripper=0.0294\nstate[joint_eff]: [-0.0752, -1.5658, 6.9949, 1.663, -0.0513, -0.0464, -0.0122, -0.335, -12.041, 9.2103, 1.6093, 0.5983, 0.4225, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a2827746c2d8d669faec6b04db299f52abf57c5bdd33980ab759d144905b3ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d126c7c74c3cac90e59c945738b7e96e54c9776a160fa07b4e2e43df625c9ca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b85393029ec0a8be80889ac3ce758b7b5497deae4f55aacf03c683d3f4a7a9ba",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 9.496 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8371, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.0643, 1.52, 0.7448, 0.2295, 0.0628, -0.3325, 0.0294]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1605 left_yaw=0.001 left_pitch=-0.0782 left_roll=0.0015 left_gripper=0.9996 right_x=0.4339 right_y=0.0204 right_z=0.1194 right_yaw=0.1747 right_pitch=0.0054 right_roll=-0.2952 right_gripper=0.0294\nstate[joint_eff]: [-0.0752, -1.7162, 7.1179, 1.6972, -0.0415, -0.0269, -0.0122, -0.212, -8.4855, 6.6256, 2.21, -0.0904, 0.149, -0.0122]",
      "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, 0.8375, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.0563, 1.5383, 0.7242, 0.2874, 0.0448, -0.3416, 0.0294]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1604 left_yaw=0.001 left_pitch=-0.0786 left_roll=0.0015 left_gripper=0.9996 right_x=0.4361 right_y=0.0202 right_z=0.1152 right_yaw=0.1868 right_pitch=0.024 right_roll=-0.2961 right_gripper=0.0294\nstate[joint_eff]: [-0.0889, -1.4427, 6.9949, 1.6972, -0.0513, -0.0366, -0.0122, 0.5265, -5.0256, 5.559, 1.7314, 0.1636, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8383, 0.6029, -0.416, -0.0227, -0.0261, 0.9996, 0.9482, 2.1426, 1.684, -0.3565, 0.7345, 0.1921, 0.0294]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1601 left_yaw=0.001 left_pitch=-0.0797 left_roll=0.0015 left_gripper=0.9996 right_x=0.4124 right_y=0.3775 right_z=0.1331 right_yaw=0.2396 right_pitch=-0.0294 right_roll=-0.3363 right_gripper=0.0294\nstate[joint_eff]: [-0.0752, -1.5658, 6.9949, 1.663, -0.0513, -0.0464, -0.0122, -0.335, -12.041, 9.2103, 1.6093, 0.5983, 0.4225, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a2827746c2d8d669faec6b04db299f52abf57c5bdd33980ab759d144905b3ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d126c7c74c3cac90e59c945738b7e96e54c9776a160fa07b4e2e43df625c9ca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b85393029ec0a8be80889ac3ce758b7b5497deae4f55aacf03c683d3f4a7a9ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EeMsuELwHrw1EcJXNaFsGW",
      "input": {
        "note": "The held bowl is the lavender one; the pink bowl sits on the table to the arm's right at about y=0.06. Moving over it to nest the held bowl inside.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.07,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01EeMsuELwHrw1EcJXNaFsGW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8398, 0.6029, -0.416, -0.0227, -0.0261, 0.9996, 0.2279, 1.5368, 0.9291, -0.0444, 0.1925, -0.3119, 0.0294]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1597 left_yaw=0.001 left_pitch=-0.0812 left_roll=0.0016 left_gripper=0.9996 right_x=0.4355 right_y=0.07 right_z=0.1376 right_yaw=0.2171 right_pitch=-0.1009 right_roll=-0.3462 right_gripper=0.0294\nstate[joint_eff]: [-0.1846, -1.4564, 6.9949, 1.6728, -0.0855, -0.0366, -0.0122, -0.294, -9.8393, 7.1043, 2.0098, -0.1148, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68e3c8f76fed6d03fadc1b9fab2a9c53099a92cfcdd8c5579b2b27533f082512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bee6a61aeac331eea2de8f26f217b144cb17d16a7036299a87d2f94988c41ed5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49d28fa36f9e0f5368eb0e5b6d94f20b1e26364b7ff9852796a25fd76b69eb8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 10.14 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8375, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.0563, 1.5383, 0.7242, 0.2874, 0.0448, -0.3416, 0.0294]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1604 left_yaw=0.001 left_pitch=-0.0786 left_roll=0.0015 left_gripper=0.9996 right_x=0.4361 right_y=0.0202 right_z=0.1152 right_yaw=0.1868 right_pitch=0.024 right_roll=-0.2961 right_gripper=0.0294\nstate[joint_eff]: [-0.0889, -1.4427, 6.9949, 1.6972, -0.0513, -0.0366, -0.0122, 0.5265, -5.0256, 5.559, 1.7314, 0.1636, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8383, 0.6029, -0.416, -0.0227, -0.0261, 0.9996, 0.9482, 2.1426, 1.684, -0.3565, 0.7345, 0.1921, 0.0294]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1601 left_yaw=0.001 left_pitch=-0.0797 left_roll=0.0015 left_gripper=0.9996 right_x=0.4124 right_y=0.3775 right_z=0.1331 right_yaw=0.2396 right_pitch=-0.0294 right_roll=-0.3363 right_gripper=0.0294\nstate[joint_eff]: [-0.0752, -1.5658, 6.9949, 1.663, -0.0513, -0.0464, -0.0122, -0.335, -12.041, 9.2103, 1.6093, 0.5983, 0.4225, -0.0122]",
      "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, 0.8398, 0.6029, -0.416, -0.0227, -0.0261, 0.9996, 0.2279, 1.5368, 0.9291, -0.0444, 0.1925, -0.3119, 0.0294]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1597 left_yaw=0.001 left_pitch=-0.0812 left_roll=0.0016 left_gripper=0.9996 right_x=0.4355 right_y=0.07 right_z=0.1376 right_yaw=0.2171 right_pitch=-0.1009 right_roll=-0.3462 right_gripper=0.0294\nstate[joint_eff]: [-0.1846, -1.4564, 6.9949, 1.6728, -0.0855, -0.0366, -0.0122, -0.294, -9.8393, 7.1043, 2.0098, -0.1148, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68e3c8f76fed6d03fadc1b9fab2a9c53099a92cfcdd8c5579b2b27533f082512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bee6a61aeac331eea2de8f26f217b144cb17d16a7036299a87d2f94988c41ed5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49d28fa36f9e0f5368eb0e5b6d94f20b1e26364b7ff9852796a25fd76b69eb8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISjwsKjgEIEhgCKkCFktTz8jqgAMl3W6b8O4wkXrfUp0PmCIdMIdPymHXKQoLKYQokMpXa0drB1rmToetLiKY021rDa1m1FW8V7rTGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbS/zNUGEgzPFgFbYMT5cDcGoDUaDMakCiwErhUZG6TnVCIwgIsE9wpPbhVpZMFsWswJsDBdgZDHoThS/quX76gMPR0HI9P1fhEwRgra6KprkMWYKq0J8+37zafrEywvvr93Epl+Fyn0MHoh8tiCNEoI6LpFxG+VVVkgI8RQITOaDGUyMuCp2L4VEYyijlwGrzTik6wLVnOWONgQc3W16Yz0yNPdO4ydWYdijy5gdOdOna76e5Y4xkUmzxELNbZo9usjp37+f+bYzt4fTJwFO1y7QZew9n+mOxclKKPUjRzF+QHDLF1ZVI65rl5j1HvdvXl5C3xi7hhEB+ZCbHMzATx3IEpDP1RHg0Lr3XfqYpDvkTIL0xI/p8IYZt4jdlNPLMAc+megCA1UKdWxfO0apPBWa4AKgqZa/jLkXQh6Ux6kUBB/byQ5I/aoJ3JWRxQ68sIG5Af1OOpfKNfL75mCdLBTp2iZfQFPHCXMksRuh6ox50wxaGeOP6YCscLKs2rlVui3aDJZpURCY50VgYhDKckeZFiO7bOo5z+w/9k9kKLpb+Bbr97MI2SBk3ud5073/52AUF3OYyVT/jzbg37ToTcAyM/jlboZDBtXawUH3dB7osDatDB86j2j/sAKuDTg4EE4zMLA4zLbNpwHxVF3p+u0hOY84bxUt18NA/YdI+kFZX1nczpIjPeoYXLJrLhDLW2B3iXUykX7a8cpHF7j8YU8rHLjIS8hedkAm3+Cm3aOPoWvdGEch6YNtCMc923FGRq3A4XjcYc8mDGPHhMGhCaWSGYFdFmE1exge516j0/AbONyxqUEqvchf3znHanHK4PAyV3Tpov/J3eiz6K4xZyQyqpu11A/Mge947hwykq8N6ESIfn68hU/hF5mzLvSS8im3PX/ZQgKdfDv2mU9LldwP+S9vdg8+gO1347B4iOK1BPQd7qdDfLOnSDH7NSC3YGGGwQY3tJdwwGCuxmhDCUIYkUqouIZkc9DJzb9pQakYbC+nQpNLCASkiq+4Sw+e2KZI6nZgbi88XbECOcQs1JK7ME6gDfsXZRLKCr+Moo8apTNP3Ng0fuD4l+rN8P+6nxTva7HM02u+e3FjfIZVDKuvRYf3EDFu1w2lr3MrzGX0/tJKpaPp6Uc/LmD2etRcZuTUsq8dK7CrPWoDQR5/FWdLbsuccDlnyCMltcIOtoDViOrqxlhYz++m38v56ew5kau9QaMhexXLiFTMUvLqotZ41egke69GeJJQ0f8cYyvdYQm4/FaCvQK9T6URu/yHZFUshskUqbO6DSZ+FlnklZxXAo3ZBC4xi4+eFLAzp+zNFUC+xZAOD99bOxjnC0MHCjsWVY9LcByTJuxoyvomz0UpiDRTir9vvidUB+aXFi90aXdwtnlBXgDgwU6LVGNAj3IQ8fN/r3DdCL4xt3TnooCzdkQ3o3nhhE39Bx+a0IsNljW1Y3hsOfPIuY3MlSufv/Baq11/NtebKruCU09UxUz68+0O1Jzs0kH0lOnWlTWdm7H8gcqX+s5TVMR/AEFH94UPb/k9Q4SHwdfzwJP6l38IeEFe/73g3JjRG0IGmM0y9noSjvBoLRXjugvZLtzYSTOLxJ9Txw4cajXveTxfUaxY8BXrg+RJPvKBTRJdkYuWFw88/eUo0LDxILsg5c3zOK0FUKy9vQ+Wf70xYyBfr6A2UuHvMIgaPID0ResxC9QYzdCGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L4cuZ4yT4qySfBG68TWdtc",
      "input": {
        "note": "Pixel calibration now says the target bowl is at right_y≈0.377 — exactly where I hovered two moves ago. Returning there at 14 cm to lower the held bowl into it.",
        "targets": {
          "right_x": 0.415,
          "right_y": 0.3775,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01L4cuZ4yT4qySfBG68TWdtc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8398, 0.6029, -0.416, -0.0227, -0.0261, 0.9996, 0.9371, 2.1757, 1.7897, -0.551, 0.6754, 0.1917, 0.0294]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1597 left_yaw=0.001 left_pitch=-0.0812 left_roll=0.0016 left_gripper=0.9996 right_x=0.4076 right_y=0.3742 right_z=0.125 right_yaw=0.2628 right_pitch=-0.1525 right_roll=-0.3796 right_gripper=0.0294\nstate[joint_eff]: [-0.0615, -1.5385, 7.1863, 1.6874, -0.0659, -0.0269, -0.0122, -0.1709, -12.2325, 9.2103, 1.2283, 0.5885, 0.3199, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f6026c4986fadfa3c3d3c3aa4785eb8bd6a09db5bd8fcad4ad4812b6aa9c662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64d6ead1c64e0e80b9a0697cea28148be83ce8148b7b743f760af1f8891c78d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ac0376103efa4a2618fd341d53acfe6b3c9603f9e116df142ddce0395a4d33e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 8.799 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8383, 0.6029, -0.416, -0.0227, -0.0261, 0.9996, 0.9482, 2.1426, 1.684, -0.3565, 0.7345, 0.1921, 0.0294]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1601 left_yaw=0.001 left_pitch=-0.0797 left_roll=0.0015 left_gripper=0.9996 right_x=0.4124 right_y=0.3775 right_z=0.1331 right_yaw=0.2396 right_pitch=-0.0294 right_roll=-0.3363 right_gripper=0.0294\nstate[joint_eff]: [-0.0752, -1.5658, 6.9949, 1.663, -0.0513, -0.0464, -0.0122, -0.335, -12.041, 9.2103, 1.6093, 0.5983, 0.4225, -0.0122]",
      "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, 0.8398, 0.6029, -0.416, -0.0227, -0.0261, 0.9996, 0.2279, 1.5368, 0.9291, -0.0444, 0.1925, -0.3119, 0.0294]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1597 left_yaw=0.001 left_pitch=-0.0812 left_roll=0.0016 left_gripper=0.9996 right_x=0.4355 right_y=0.07 right_z=0.1376 right_yaw=0.2171 right_pitch=-0.1009 right_roll=-0.3462 right_gripper=0.0294\nstate[joint_eff]: [-0.1846, -1.4564, 6.9949, 1.6728, -0.0855, -0.0366, -0.0122, -0.294, -9.8393, 7.1043, 2.0098, -0.1148, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8398, 0.6029, -0.416, -0.0227, -0.0261, 0.9996, 0.9371, 2.1757, 1.7897, -0.551, 0.6754, 0.1917, 0.0294]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1597 left_yaw=0.001 left_pitch=-0.0812 left_roll=0.0016 left_gripper=0.9996 right_x=0.4076 right_y=0.3742 right_z=0.125 right_yaw=0.2628 right_pitch=-0.1525 right_roll=-0.3796 right_gripper=0.0294\nstate[joint_eff]: [-0.0615, -1.5385, 7.1863, 1.6874, -0.0659, -0.0269, -0.0122, -0.1709, -12.2325, 9.2103, 1.2283, 0.5885, 0.3199, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f6026c4986fadfa3c3d3c3aa4785eb8bd6a09db5bd8fcad4ad4812b6aa9c662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64d6ead1c64e0e80b9a0697cea28148be83ce8148b7b743f760af1f8891c78d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ac0376103efa4a2618fd341d53acfe6b3c9603f9e116df142ddce0395a4d33e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISuAwKjgEIEhgCKkCHdP0Yeq2Kkw4YwcBZhlzV724zGV9JccvXNcdh4rTNnhhG7GCNxboRHIqO8PIiM8yFxkp2MHwXMnlN5FLb13DbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcC/zNUGEgxMAGVfRIaFCszXGk0aDCq9nIPDitIhPrut7yIwHsk+1iUZi5qK4jfWwtpISSbnZjUHAlBt38jWZLiOloFpCFbCVu0NO7RqyEakO2MQKtYKYiJdDekvkvb5O+D572Oh843XTDYzDc5JSPji2fenNgrePpFYgPGMsVI4rsJ3V2OpzGeMJSrh8MyLS0ILNt5BLwoFv5RWdHW0vIu9PWdQ2cOWfA1rX9jPTVeG/LcnmOlBDUHx6hhwX6asPcCPPO1Gk006zt4Ae2tH70VtzDW7GT2DVTa2GuIB0CMJnBeGro+zk9RsDlVu8cUbakfNcHcNSAxRqFMntcGV1cq3KfObbg/yvWc55Ag+mc5NT4sfRna0uE4rzI7zSTlakJqx2EgoLe42JDOQ1kT+F34oDym5l/GS3anPOb2u0N/ECSgXFSMHi3dBDCKqgKNWkxQNrHXuf12tiXXPY4cmgmLSUXxhGh3Sw63nDH+IoEXNoVgNLN5kyfXz+tEVdVdzIAHk8xpgz6aY+CwogvjsfiCN8CnzG3TY5FimP+bdsj2Nklx5QsTpS0yl4l3ko4uOxURbBBzd9lhrtbx6QVUIAXoL+SECRZGrY1kuxSw4NMI6J40uFqsfIJpJbBt7O5UUQDP8xFpyaFyozHQZV+GyqOdqDtj+5QLLurbvV9nZGkqMw5/zAdFrHdsmKvF++40DU/GWEzp8EYAPWLW8rFEhbGtZcxLQDDBkLXKEjzAahw5wHLs6kg+5QYoAxkAgZBwu228aEK/R0m2lQkW25QyXMA6tHhxfgjrE+VBkFVQMca5itjBA5gPIrmVlxXifJ+vEvCA7XJXzB0L+hq+AUUvBcMd51VqhI3DJafvmI3KavYgC0BA++jC+AzWc4KI6LltA60hzsVFc65n6p/ZChU/cR0LOjDPboNnLRtOfR5swXhUxZUg5ileXnCVYxk+bYNQbdEremnKcpQAzYFNgc4+jxix5buCBPYka1Wtd/X+u6Tvk4KgkounZGRBkjU9Y2CVyAbr90fIKRqQrkdbGVv5nJiaJswlv2bTMpAoRErNSo24vsIyFbVNuS3IZxvqdTRjsIXiPQ65v2Xj3DKmof6Ckh/X+m0MRCG3m2pEu1YdP6/nXO5O7jAUgpzaFtLeLCVuEnd1IucM7Fu6JmYsXi2hWwrZkJFqVERkqGsfvBPQMh61TmnltVkBJG5BBsIIG1Kk5d/kqY8+hHxIpTiCg+2uUgIEfedmH0AkzdBwn5mG6QsmCDNQwXYM19lTpO9c++Ai3hXMrkin0hS9dWk3aM3h3Q2Hp7SI4gNi4MIacE+rAU+RFjyzS9dxeERy9GR5wNCc4Fkg0EHRl37q02M0zJSshyeHqh0n10xBzMrZ9YK6pQupGeBwIcHdfSTwCP3GCx0L/k9VErpl0Ecul/Ui3XMqC/o9R0fgt5Jix/gUO2vGaBydGYMt/FS9Qey74T2jijgmIqXoDJKfnIpM80Qk9Qrc+zXgwWLwKuuP18ej0rt3myH07j4nboE+/hk+18u7GqTixF0y/T+Hb8wDls6EpPXTHxbN2fw1Yh8CYwYLjY1bRI/aqJhINaLktu1Nxgl1iY6tfXqHt6q/OOppejG/mkQjzTzdOdXlYkVhrCT514dC6kBta88nM9qqSPmJGSYpqfuKFZPglZ6yJz88zSbNid9jaScqLgbg8KtVlXBAvIt/sC2TacoKveXHOIP/0lFT+AzP+wv4CWbEVIj3UHQ6lmcWTzKi90vjRsmq/rZ9YgfHkZ3ORZQs4nU15WtmgDYf+q0yY0ow7RHaXHY7ErDqLdbLMFI3ZGfApHu7iejeF3bV5ZHhZL4wjOgUww9IwN4fYYfS4ZTTDhev5nE5Dypvj+ybRGFWiuGCiUhHzcWP4qof2uuSTDKbg+p2WpV/k7KYa+6L5EZ968tMGs3JF6E1eoBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016zPFyTcbuQBcVc6FAX3xiL",
      "input": {
        "note": "No bowl under me here — the remaining table bowls are the white one (out of this arm's reach) and the pink one at right_y≈0.11. Moving there to nest the held bowl into the pink bowl.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.115,
          "right_z": 0.145
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_016zPFyTcbuQBcVc6FAX3xiL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8402, 0.6029, -0.4152, -0.0227, -0.0261, 0.9996, 0.366, 1.6348, 1.0679, -0.2077, 0.2977, -0.2707, 0.0294]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1597 left_yaw=0.001 left_pitch=-0.0808 left_roll=0.0016 left_gripper=0.9996 right_x=0.4343 right_y=0.1148 right_z=0.1275 right_yaw=0.242 right_pitch=-0.2103 right_roll=-0.3929 right_gripper=0.0294\nstate[joint_eff]: [-0.0889, -1.265, 6.9949, 1.6777, -0.0562, -0.0317, -0.0122, -0.1983, -9.5521, 6.9538, 1.9365, 0.0171, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94f56a53e288d4abd75314ac8b36357c240072c04adf5e6e6ced6b1aba98c294",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:222094d1c94df9677c94bc881e553d62a43c2cf1121ca2d69518b9c7d64d227b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba45c768540d838864a8c02989dc43e0121a71be76712b0b5f351aae9e8510e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 11.08 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8398, 0.6029, -0.416, -0.0227, -0.0261, 0.9996, 0.2279, 1.5368, 0.9291, -0.0444, 0.1925, -0.3119, 0.0294]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1597 left_yaw=0.001 left_pitch=-0.0812 left_roll=0.0016 left_gripper=0.9996 right_x=0.4355 right_y=0.07 right_z=0.1376 right_yaw=0.2171 right_pitch=-0.1009 right_roll=-0.3462 right_gripper=0.0294\nstate[joint_eff]: [-0.1846, -1.4564, 6.9949, 1.6728, -0.0855, -0.0366, -0.0122, -0.294, -9.8393, 7.1043, 2.0098, -0.1148, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8398, 0.6029, -0.416, -0.0227, -0.0261, 0.9996, 0.9371, 2.1757, 1.7897, -0.551, 0.6754, 0.1917, 0.0294]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1597 left_yaw=0.001 left_pitch=-0.0812 left_roll=0.0016 left_gripper=0.9996 right_x=0.4076 right_y=0.3742 right_z=0.125 right_yaw=0.2628 right_pitch=-0.1525 right_roll=-0.3796 right_gripper=0.0294\nstate[joint_eff]: [-0.0615, -1.5385, 7.1863, 1.6874, -0.0659, -0.0269, -0.0122, -0.1709, -12.2325, 9.2103, 1.2283, 0.5885, 0.3199, -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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8402, 0.6029, -0.4152, -0.0227, -0.0261, 0.9996, 0.366, 1.6348, 1.0679, -0.2077, 0.2977, -0.2707, 0.0294]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1597 left_yaw=0.001 left_pitch=-0.0808 left_roll=0.0016 left_gripper=0.9996 right_x=0.4343 right_y=0.1148 right_z=0.1275 right_yaw=0.242 right_pitch=-0.2103 right_roll=-0.3929 right_gripper=0.0294\nstate[joint_eff]: [-0.0889, -1.265, 6.9949, 1.6777, -0.0562, -0.0317, -0.0122, -0.1983, -9.5521, 6.9538, 1.9365, 0.0171, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94f56a53e288d4abd75314ac8b36357c240072c04adf5e6e6ced6b1aba98c294",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:222094d1c94df9677c94bc881e553d62a43c2cf1121ca2d69518b9c7d64d227b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba45c768540d838864a8c02989dc43e0121a71be76712b0b5f351aae9e8510e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS8woKjgEIEhgCKkCx28jHFhRV1TYTdiTuAXWfgiz5t5vPdLzx3koGL7ufUILLyqBcLJj3gwYGE7IMY01cgLJKEFDl4GtxP2bOwNdEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcu/zNUGEgx5Qia0L3Y/KbeU2ucaDIHv+Bc9678Y4/czbCIwoiXwMKB7dnAXsIPZmmFicUjCMXTOr6jBb6gkhdtwyhVWczuyZmqFrmQJSfHdlH3fKpEJ0SF2xdGITz7CD/K2Aa8WDo3QzTQMfkXI25/qVFSJcIUF+HullY+rfmch23imGIWDapIwtB2+4cqUjm9MALmcmb2MONLStx2l8C6EzhD9mgFgcWqA7pIYDgK0JCc/F+x2fDz+8pzx9zUkpChwzAr1wXieA6TDXOvc8oxKp6It2/vCisr0h2DWTQ8ErUq85o3CYrQ3HrxUOiX53chVKlUQiLoT1mRr/6+rksN01zEFPKJXn39UXNw5EQcS6Yvp/V5UvSKjb74RzjZhaTJ5pxc1joIMAMbm0uYHypAWOrAEwr/eDAMBHBwCJTie+o55LHeOhjyjm83yClP9H8uNq3l8/5aX5y9wXLclKbnHHuH3sBURFUY3JrMolaSXg7GMdlCrqQ6xIHHAeCvDCzlCsgjaqJRXT6Ooowx8el8sMjf2SjkzoT5EdgJq3NDVfidotYdAqscrPndt8ifpeR2t1RWwTt+Nk5k2r/wyD9xH+KUUqn9uUeMu7e+Hi+EAdJtqmst+RFME8S29z+zKD1w374PUZIfzpJxvOA/HNktALGkIakEoKGPkDNijZ2qQ6eA9S7kJgLHVyZhIbT0uNkP9M7k6hs4MbRFx1SSIKAnv4L20dGYR3whJjODRzWC8rlIDRB839HgvXNgMnkCEYDzCIXfIu6DCjpgbmStjSJHcC8VMn8GOSm96ga3Ulj+QKcn1fhzLTxpkSsOdcmaLoDeme3bAD0mP22XM1x7q0kZI98Nq/zhZ2756QRAgVrZhNv0PTmuW9HB/6Jw+/ddncbfasWZCiy0nqsswOKiykJmNi9uvcbyQyil83GeNbZ1926tDkwE1HU9RfcocouokC36oUKu1acyKNAkf96zdhCYoXdiOzeAx9gyGTVI9MNTe0Mq97LHfKjivAkGaHBD8f8bBiyNxRb6JwdFGGFDYEpeBgNMHHC1eXnWpcEX50puPHN+GausiF5E0wDUBpjvpZup8pYHFIR8yMEJMHVg8Bzx6eMju/H6NyR4YkxusDhcabPS8cAQr1fTMyG8bSbi10mT9O1sXS+qkgbn0LUCsdabXLzRXTfCRpSoIP/2Yn0ajxkKOCVkU3be1COTKL5ycgQKbOlFPvYmDdYbd4Icp22XhlS6mMmCUV+/+dRCJtbV0nG8Y9/yYSgNSbTljrn+qGINDxXy9IwYHHoyB1vsbJkOYo2iVB3pkZe2thpi2l+QXBdE+SBdI4BRet9qLpk1lCfVdWZ0OWsJsgoKJmWRRAcsF/LFFGZVP5Rj8jg/La4F2lX9tnOeySFQndApU4wwNUYXipFZ0WvQD9nqab1/xCyXTbLblnBZg5gcbfeqsaRxRr6hpEGBPTXcqJrosT+/xYGLola46weqX1V6a3NtgQzZPFQn3Ttz7kJucOex4MgLBvEUmtb7OCAI8oN3eoMJJNWX7I8nElvr163hdih87N0R2olVe/ZljAGb2iEkOgFsl2JnBe5ZHVgsFJcdd4fSdPoFhQLZ7S7j62zaDSg0QJLjfruknxCdKkT3LTeW/NU6JwaK07gnZEEKwUbsQd3i65RlM1lnH2dcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WgL5dhPMNipvbk71QX3vmc",
      "input": {
        "note": "I now see I was correctly over the lavender table bowl two moves ago (that bowl, not my held one, filled the wrist view). Going back there to release the held pink bowl into it.",
        "targets": {
          "right_x": 0.412,
          "right_y": 0.374,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01WgL5dhPMNipvbk71QX3vmc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8436, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.923, 2.2173, 1.8835, -0.7052, 0.622, 0.1677, 0.0294]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1587 left_yaw=0.001 left_pitch=-0.0847 left_roll=0.0016 left_gripper=0.9996 right_x=0.4042 right_y=0.3695 right_z=0.1151 right_yaw=0.2848 right_pitch=-0.2655 right_roll=-0.4245 right_gripper=0.0294\nstate[joint_eff]: [-0.0479, -1.7709, 7.0222, 1.6777, -0.0513, -0.0611, -0.0122, -0.1162, -12.5744, 9.3333, 1.2918, 0.5641, 0.3834, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d97b379db8334b705d2a5eaa86a2e04d40792495a7c3f434c33e96777094b973",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:057102dfaf9accab1e6afbb3ac4bec9dac58259253f3e437aa99cd5791a29759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb898d11c54cd43880d6150eed3b6ad3b7ec55039d25b22888b16e2ce443900b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 8.086 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8398, 0.6029, -0.416, -0.0227, -0.0261, 0.9996, 0.9371, 2.1757, 1.7897, -0.551, 0.6754, 0.1917, 0.0294]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1597 left_yaw=0.001 left_pitch=-0.0812 left_roll=0.0016 left_gripper=0.9996 right_x=0.4076 right_y=0.3742 right_z=0.125 right_yaw=0.2628 right_pitch=-0.1525 right_roll=-0.3796 right_gripper=0.0294\nstate[joint_eff]: [-0.0615, -1.5385, 7.1863, 1.6874, -0.0659, -0.0269, -0.0122, -0.1709, -12.2325, 9.2103, 1.2283, 0.5885, 0.3199, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8402, 0.6029, -0.4152, -0.0227, -0.0261, 0.9996, 0.366, 1.6348, 1.0679, -0.2077, 0.2977, -0.2707, 0.0294]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1597 left_yaw=0.001 left_pitch=-0.0808 left_roll=0.0016 left_gripper=0.9996 right_x=0.4343 right_y=0.1148 right_z=0.1275 right_yaw=0.242 right_pitch=-0.2103 right_roll=-0.3929 right_gripper=0.0294\nstate[joint_eff]: [-0.0889, -1.265, 6.9949, 1.6777, -0.0562, -0.0317, -0.0122, -0.1983, -9.5521, 6.9538, 1.9365, 0.0171, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8436, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.923, 2.2173, 1.8835, -0.7052, 0.622, 0.1677, 0.0294]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1587 left_yaw=0.001 left_pitch=-0.0847 left_roll=0.0016 left_gripper=0.9996 right_x=0.4042 right_y=0.3695 right_z=0.1151 right_yaw=0.2848 right_pitch=-0.2655 right_roll=-0.4245 right_gripper=0.0294\nstate[joint_eff]: [-0.0479, -1.7709, 7.0222, 1.6777, -0.0513, -0.0611, -0.0122, -0.1162, -12.5744, 9.3333, 1.2918, 0.5641, 0.3834, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d97b379db8334b705d2a5eaa86a2e04d40792495a7c3f434c33e96777094b973",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:057102dfaf9accab1e6afbb3ac4bec9dac58259253f3e437aa99cd5791a29759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb898d11c54cd43880d6150eed3b6ad3b7ec55039d25b22888b16e2ce443900b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M3XJeA6P2bZR6gJNdummTF",
      "input": {
        "note": "The gripper reads empty — my earlier \"grasp\" was wrong; all three bowls are still on the table. The jaws are inside the lavender bowl, so I'm shifting right onto its rim wall and dropping to rim height for a real pinch.",
        "targets": {
          "right_gripper": 1,
          "right_y": 0.325,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01M3XJeA6P2bZR6gJNdummTF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8444, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.8684, 2.1696, 1.4986, -0.3965, 0.5873, 0.1043, 0.9947]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1585 left_yaw=0.001 left_pitch=-0.0854 left_roll=0.0016 left_gripper=0.9996 right_x=0.3967 right_y=0.3228 right_z=0.0346 right_yaw=0.2826 right_pitch=-0.3209 right_roll=-0.4595 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.5521, 6.9675, 1.6923, -0.0904, -0.0562, -0.0122, -0.8821, -13.6684, 5.9419, 1.2283, 0.3492, -0.0269, -0.2857]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 404):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d45f9cc81d8307a0fc9af917c0db4367259535823c3f1d0ad411c0d0931b482",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 404):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7601eb32794eea1703f025a56688cff97885d902f46340855f6b97643a445273",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 404):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c7899a82c6f259ae0ab77e2131ad341015e932472ca15c15f93c132e803b1f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 4.893 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8402, 0.6029, -0.4152, -0.0227, -0.0261, 0.9996, 0.366, 1.6348, 1.0679, -0.2077, 0.2977, -0.2707, 0.0294]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1597 left_yaw=0.001 left_pitch=-0.0808 left_roll=0.0016 left_gripper=0.9996 right_x=0.4343 right_y=0.1148 right_z=0.1275 right_yaw=0.242 right_pitch=-0.2103 right_roll=-0.3929 right_gripper=0.0294\nstate[joint_eff]: [-0.0889, -1.265, 6.9949, 1.6777, -0.0562, -0.0317, -0.0122, -0.1983, -9.5521, 6.9538, 1.9365, 0.0171, 0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8436, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.923, 2.2173, 1.8835, -0.7052, 0.622, 0.1677, 0.0294]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1587 left_yaw=0.001 left_pitch=-0.0847 left_roll=0.0016 left_gripper=0.9996 right_x=0.4042 right_y=0.3695 right_z=0.1151 right_yaw=0.2848 right_pitch=-0.2655 right_roll=-0.4245 right_gripper=0.0294\nstate[joint_eff]: [-0.0479, -1.7709, 7.0222, 1.6777, -0.0513, -0.0611, -0.0122, -0.1162, -12.5744, 9.3333, 1.2918, 0.5641, 0.3834, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8444, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.8684, 2.1696, 1.4986, -0.3965, 0.5873, 0.1043, 0.9947]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1585 left_yaw=0.001 left_pitch=-0.0854 left_roll=0.0016 left_gripper=0.9996 right_x=0.3967 right_y=0.3228 right_z=0.0346 right_yaw=0.2826 right_pitch=-0.3209 right_roll=-0.4595 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.5521, 6.9675, 1.6923, -0.0904, -0.0562, -0.0122, -0.8821, -13.6684, 5.9419, 1.2283, 0.3492, -0.0269, -0.2857]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 404):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d45f9cc81d8307a0fc9af917c0db4367259535823c3f1d0ad411c0d0931b482",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 404):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7601eb32794eea1703f025a56688cff97885d902f46340855f6b97643a445273",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 404):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c7899a82c6f259ae0ab77e2131ad341015e932472ca15c15f93c132e803b1f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpQgKjgEIEhgCKkCym+zOCHYR1MmDyXKyvuohL7XunqAOodAxmTLxblCpUWR/8EjLG4Bx3KXLjmkcB0Y+xuW7RtD3A2Ta2brnIALtMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeK/zNUGEgyKM8SNGRZQ0TWeE8UaDINXFpEH8MgvVVo9MyIwMqgolGgSDwWQLDWbOfnI2yIRzW+cNXuJ1WnmnOyNRjXoonywZSf0SEMk8PT4bYIXKsMGhvQXtl4LIMdZsD27oBQC74Lu+eTWGDZ37gFbA8Fn00IkLZe3AHxUUDtE9J3de6T4SBC4zhaUnRLGoCcFhQJRfAD070ZZutUsp3/uBXsVGvJUhnyryhDq2nSf/0ytfnZDILeB8b2wIFe6MA9O6VhFmn8vzXrRycVT8WRV7zA0D2yApLEPmuUMrzYfiM25rgGYv763A6UU/TxlKJUtLEZQwV7OFGeRTwB2419kZkmIOw7jLmsJcWBLJuT9krde7HfuWtVpewAMUNqxlulOutOrYOBJuNhaNlDrdX97mrLdQDNVyoFQLZaZnwp0q58wvP5CXDQ3l8nciQFYSCfZ2TjefSdKUhJ4Ql3srU/talRDQE1GGXyFsegzCWdnqf2c7UhiW2UiVkdEESuIeoYKj18aFaM50U43ZC3adShZ/EiXfH7X4rD+5J72hVn3v7AqoMkHnBeXeip4UiRdhtY99IFEfVxJUvlKPcS0TPOxHeFKJQdN1Dqt6qgZneJe/AbMSF08TUjUix9bDT4ZYQ/qoIwU2pJW5canryU525hwabGTlhPfwj1hREjer3oYVmHUW0zcxZJGKgoY4d+kxqAy+ZMEUdKRQYt2iySVpg3XG2MGJoOPYpNfNBTRn+8l0+ayAIiO52Q6GXA6nKDfzyQefddKJJAKRY3xB2LWqOX93zOnVWJsN5/b9X1m2fufnoKhRAbsRuK5HqHZ3MOXAFM8ZfDG8Av/BNbQ7k9tm79OkFCho4P8nsUp6qByBYQjnGb6zWT90mT7Qs+JYn3baITnmJy7a9e7GSiVZGVJW5HEr7sb1sLPtO/PJu8jzJz6ZU2cftEroBW1WVs8MqsAaSg0F8rPHrwpINmvfnfIPlybR9MhpsTMWJMkaufn5S1vky9llOpioK6YNo5SxcPhq77tMJov9VicfzsJeMaU5K6Dk+qSD2x784sFyuFvwz9Og/98eeKsoh65NOwRvem6rSuwoSIQOP08tafRSjXcJ/84+g63awZ/KhN7Ws5c55S3loLDqngEOpl53AX6DIRcHg1UhD8erDx2uVzoBc7lv+8sDhLyOWWEZwk27YJ1wGvXscwMRNi4l/8ddQypUjCBY8nH4Aldjz0WJxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Atiof2A1EVmo671tKfDeK3",
      "input": {
        "note": "Jaws are still inside the lavender bowl; shifting a further 5 cm to the arm's right so the bowl's right-hand rim wall falls between the open jaws.",
        "targets": {
          "right_y": 0.275,
          "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_01Atiof2A1EVmo671tKfDeK3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8448, 0.6029, -0.4152, -0.0227, -0.0265, 0.9996, 0.8078, 2.0716, 1.3102, -0.2707, 0.5602, 0.0483, 0.9942]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1585 left_yaw=0.0012 left_pitch=-0.0854 left_roll=0.0013 left_gripper=0.9996 right_x=0.3957 right_y=0.2832 right_z=0.0295 right_yaw=0.2771 right_pitch=-0.3166 right_roll=-0.4567 right_gripper=0.9942\nstate[joint_eff]: [-0.0615, -1.347, 7.1043, 1.6825, -0.0366, -0.0757, -0.0122, -0.5538, -11.6444, 5.5043, 1.0623, 0.1294, -0.105, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 408):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d684e3784fc245eca6fad5032dd073bf1a3be6f65fbb648ab9219f5642ebca2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 408):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cb55a52dd9e8b6022545690b60a83100fb31fc92a80267a23b32e2ecd47ecee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 408):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a1a87e8498656a1b2969bd1fd6403189d04422c465db0fc40b5ffbd60a54008",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /messages · status 200 · 10.08 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8436, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.923, 2.2173, 1.8835, -0.7052, 0.622, 0.1677, 0.0294]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1587 left_yaw=0.001 left_pitch=-0.0847 left_roll=0.0016 left_gripper=0.9996 right_x=0.4042 right_y=0.3695 right_z=0.1151 right_yaw=0.2848 right_pitch=-0.2655 right_roll=-0.4245 right_gripper=0.0294\nstate[joint_eff]: [-0.0479, -1.7709, 7.0222, 1.6777, -0.0513, -0.0611, -0.0122, -0.1162, -12.5744, 9.3333, 1.2918, 0.5641, 0.3834, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8444, 0.6029, -0.4156, -0.0227, -0.0261, 0.9996, 0.8684, 2.1696, 1.4986, -0.3965, 0.5873, 0.1043, 0.9947]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1585 left_yaw=0.001 left_pitch=-0.0854 left_roll=0.0016 left_gripper=0.9996 right_x=0.3967 right_y=0.3228 right_z=0.0346 right_yaw=0.2826 right_pitch=-0.3209 right_roll=-0.4595 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -1.5521, 6.9675, 1.6923, -0.0904, -0.0562, -0.0122, -0.8821, -13.6684, 5.9419, 1.2283, 0.3492, -0.0269, -0.2857]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8448, 0.6029, -0.4152, -0.0227, -0.0265, 0.9996, 0.8078, 2.0716, 1.3102, -0.2707, 0.5602, 0.0483, 0.9942]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1585 left_yaw=0.0012 left_pitch=-0.0854 left_roll=0.0013 left_gripper=0.9996 right_x=0.3957 right_y=0.2832 right_z=0.0295 right_yaw=0.2771 right_pitch=-0.3166 right_roll=-0.4567 right_gripper=0.9942\nstate[joint_eff]: [-0.0615, -1.347, 7.1043, 1.6825, -0.0366, -0.0757, -0.0122, -0.5538, -11.6444, 5.5043, 1.0623, 0.1294, -0.105, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 408):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d684e3784fc245eca6fad5032dd073bf1a3be6f65fbb648ab9219f5642ebca2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 408):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cb55a52dd9e8b6022545690b60a83100fb31fc92a80267a23b32e2ecd47ecee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 408):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a1a87e8498656a1b2969bd1fd6403189d04422c465db0fc40b5ffbd60a54008",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISuwQKjgEIEhgCKkAv79+9rc4uU6f1uQn1i7WNz7WYsCzrhlNQIVTTsJR5lx9Pt4wNPEkJ0kIRFijOMNEjZiICNIPrmPbSPSwy+qMwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAee/zNUGEgyeQndFxtvnO9+xuUAaDCUHre5Z/SxgEHxnyCIw1h4H0ajzppl3OVcAxk3FKiaeY7BDocf+WoaJopoFpNRY57cJggsSDYIHIicpZuwkKtkCuDkgbtGA1jSdiLVVPhj36GZSJ0AlI0a2k2a163tLgI/1kpYzrOizS8LJPkQn+Gcw7rYeFp3zaNtSxtza1zFXB6AQo7LgWLTd+l7C1KKNX9ueftYRGOdSrNDJ+cRn+u/TAYbDlvdvhEtJKhi2rllmssnn7eCuSWFXIBCTW+gngLq4MIxYPHXrxSKSv8J0V5+9haNnAtA6kwul84xZB2gskytrezAK9hUNm7yvjMI8W2rhE1bV6YRYIOJGpb1pBUUAkUnt24Z7Bn8gpw31woRzS6unL/OxFFBo7fKOpJa9K427n5vCpYxUMJw5Ooo5LIvSP52MrdQYrPHbIv2jpNwrEAlcAFaKmJ5rK/tAVZqzObo7UmaedudUXuUcY76EY1SSTgsw//15nYPJNva4a3557BDrRSHho+EN66bSBszMeyxS97GpQBklrrf8OCFLn4FCEXrwHiXAT6QHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018R3vdrHLC9sYoHpt7yCZ51",
      "input": {
        "note": "Final attempt within budget: closing the jaws where the lavender bowl's rim passes between them.",
        "targets": {
          "right_gripper": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018R3vdrHLC9sYoHpt7yCZ51",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8448, 0.6029, -0.4152, -0.0227, -0.0261, 0.9996, 0.7879, 2.0644, 1.2808, -0.2577, 0.5407, 0.0216, 0.0245]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1585 left_yaw=0.001 left_pitch=-0.0854 left_roll=0.0016 left_gripper=0.9996 right_x=0.3954 right_y=0.2736 right_z=0.023 right_yaw=0.2844 right_pitch=-0.3393 right_roll=-0.464 right_gripper=0.0245\nstate[joint_eff]: [-0.0615, -1.2103, 7.1316, 1.6874, -0.0806, -0.0562, -0.0122, 0.0342, -11.9043, 5.8872, 1.1697, 0.2759, -0.0122, 0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 418):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f34c092a69bbe3a57dddffe69d01fd1a7527177d3fbae712c1cc1f7b64ae90b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 418):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da15fe92f4c4256811e615897872865f49e8bbd0f2298524da6a031c4e082603",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 418):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a755fcd7ee8256e8e4ebb9d3ebc006ff8625ee7ae6cd3eafd04aab5229c63d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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