adhoc

completed
2026-09-22T21:56:22.541378+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 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
506.5 s
total steps
269
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 across the table. I'm moving the left arm to hover ~20 cm above the leftmost (image-left) bowl to get a wrist-camera look before grasping its rim.
move_to
left_x0.3000left_y-0.2200left_z0.2000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7952, 0.606, -0.3756, -0.0227, -0.0406, 0.9966, -0.0181, 0.7933, 0.6033, -0.3763, -0.0139, -0.02, 0.9985] state[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1815 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9966 right_x=0.2951 right_y=0.0007 right_z=0.1806 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9985 state[joint_eff]: [-0.5128, -1.5385, 9.894, 1.7558, -0.0415, 0.2369, -0.3687, -0.6222, -1.4291, 10.1265, 1.8779, -0.1392, 0.0269, -0.1734] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.22, "left_z": 0.2, "left_gripper": 1}, "note": "Three bowls sit in a row across the table. I'm moving the left arm to hover ~20 cm above the leftmost (image-left) bowl to get a wrist-camera look before grasping its rim."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteWrist view shows the white bowl centred ~7 cm to my left and the purple bowl ~5 cm to my right, so the white bowl centre is near left_y=-0.15. Moving to the white bowl's left rim (y=-0.076) and lowering to 8 cm to line up a rim grasp.
move_to
left_x0.3000left_y-0.0760left_z0.0800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9745, 1.3685, 1.008, -0.5125, -0.7521, -0.688, 0.9966, -0.02, 0.8005, 0.6048, -0.3885, -0.0162, -0.02, 0.9984] state[eef_state]: left_x=0.2968 left_y=-0.216 left_z=0.1879 left_yaw=-0.0243 left_pitch=-0.0295 left_roll=0.0183 left_gripper=0.9966 right_x=0.2942 right_y=0.0006 right_z=0.1768 right_yaw=0.0 right_pitch=-0.0183 right_roll=0.0016 right_gripper=0.9984 state[joint_eff]: [-0.3077, -5.2991, 8.8274, 1.2234, -0.4957, -0.0269, -0.3687, 0.0889, -1.812, 7.0769, 1.8681, -0.0269, -0.0611, -0.022] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.076, "left_z": 0.08, "left_gripper": 1}, "note": "Wrist view shows the white bowl centred ~7 cm to my left and the purple bowl ~5 cm to my right, so the white bowl centre is near left_y=-0.15. Moving to the white bowl's left rim (y=-0.076) and lowering to 8 cm to line up a rim grasp."})
tool
executing move_to over 13 steps (1.3s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe white bowl is now centred on the jaw column but still ahead of the fingertips; its centre is about left_y=-0.08 and left_x≈0.33. Moving so the jaws straddle its left rim (y=-0.03) at 4 cm height.
move_to
left_x0.3300left_y-0.0300left_z0.0400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4973, 1.0878, 0.3408, 0.0288, -0.4339, -0.3336, 0.9966, -0.02, 0.804, 0.6048, -0.3927, -0.0166, -0.02, 0.9983] state[eef_state]: left_x=0.2933 left_y=-0.0706 left_z=0.072 left_yaw=0.0233 left_pitch=-0.0758 left_roll=0.0358 left_gripper=0.9966 right_x=0.2938 right_y=0.0006 right_z=0.175 right_yaw=0.0004 right_pitch=-0.0259 right_roll=0.002 right_gripper=0.9983 state[joint_eff]: [0.212, -3.412, 6.7487, 1.8193, -0.0757, 0.2173, -0.3687, -0.1983, -1.6068, 7.0496, 1.7607, -0.0464, -0.0317, -0.0171] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.03, "left_z": 0.04, "left_gripper": 1}, "note": "The white bowl is now centred on the jaw column but still ahead of the fingertips; its centre is about left_y=-0.08 and left_x\u22480.33. Moving so the jaws straddle its left rim (y=-0.03) at 4 cm height."})
tool
executing move_to over 4 steps (0.4s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteWrist view shows the white bowl's near-left rim about 4 cm to the right of and ahead of the jaws. Nudging right and forward to put the rim between the jaws.
move_to
left_x0.3500left_y-0.0600left_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2398, 1.3262, 0.3054, 0.271, -0.276, -0.2031, 0.9966, -0.02, 0.8066, 0.6048, -0.3931, -0.0166, -0.02, 0.9983] state[eef_state]: left_x=0.3144 left_y=-0.0236 left_z=0.0272 left_yaw=0.0836 left_pitch=-0.1519 left_roll=0.0539 left_gripper=0.9966 right_x=0.2939 right_y=0.0006 right_z=0.1742 right_yaw=0.0004 right_pitch=-0.029 right_roll=0.002 right_gripper=0.9983 state[joint_eff]: [0.1573, -4.7111, 5.3538, 1.956, 0.0464, 0.2222, -0.3687, -0.1983, -1.4974, 7.0222, 1.707, -0.0659, -0.0562, -0.0122] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.06, "left_z": 0.03}, "note": "Wrist view shows the white bowl's near-left rim about 4 cm to the right of and ahead of the jaws. Nudging right and forward to put the rim between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe white bowl's left rim now sits right at the jaw column. Lowering 1 cm and closing to pinch the rim wall.
move_to
left_z0.0100left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3462, 1.5017, 0.4343, 0.2684, -0.3271, -0.2607, 0.9963, -0.02, 0.8104, 0.6048, -0.3935, -0.0166, -0.02, 0.9983] state[eef_state]: left_x=0.3385 left_y=-0.058 left_z=0.0197 left_yaw=0.0536 left_pitch=-0.1832 left_roll=0.062 left_gripper=0.9963 right_x=0.2941 right_y=0.0006 right_z=0.1731 right_yaw=0.0004 right_pitch=-0.0332 right_roll=0.0021 right_gripper=0.9983 state[joint_eff]: [-0.5128, -5.135, 7.0769, 1.6142, -0.2222, -0.0317, -0.0366, -0.0615, -1.6479, 7.2274, 1.6923, -0.0415, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.01, "left_gripper": 0}, "note": "The white bowl's left rim now sits right at the jaw column. Lowering 1 cm and closing to pinch the rim wall."})
tool
executing move_to over 10 steps (1.0s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteGripper closed to 0.009 — empty, so the jaws missed the rim to its left. Reopening and shifting 2 cm toward the bowl centre to retry.
move_to
left_gripper1.0000left_y-0.0800left_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3508, 1.5414, 0.424, 0.3054, -0.3332, -0.2699, 0.0089, -0.02, 0.8108, 0.6048, -0.3931, -0.0166, -0.0204, 0.9983] state[eef_state]: left_x=0.3372 left_y=-0.058 left_z=0.0101 left_yaw=0.0599 left_pitch=-0.193 left_roll=0.0646 left_gripper=0.0089 right_x=0.2942 right_y=0.0006 right_z=0.173 right_yaw=0.0006 right_pitch=-0.0332 right_roll=0.0018 right_gripper=0.9983 state[joint_eff]: [0.3214, -4.6017, 4.3966, 1.7998, -0.0855, 0.0562, 0.6422, -0.0752, -1.347, 7.0496, 1.6923, -0.0611, -0.0415, -0.0073] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_y": -0.08, "left_z": 0.025}, "note": "Gripper closed to 0.009 \u2014 empty, so the jaws missed the rim to its left. Reopening and shifting 2 cm toward the bowl centre to retry."})
tool
executing move_to over 10 steps (1.0s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteJaws now straddle the bowl's left rim in the wrist view; closing to pinch the rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4362, 1.5269, 0.4633, 0.1932, -0.3767, -0.3389, 0.9953, -0.02, 0.8108, 0.6048, -0.3927, -0.0166, -0.0204, 0.9983] state[eef_state]: left_x=0.3289 left_y=-0.0777 left_z=0.0117 left_yaw=0.0529 left_pitch=-0.2286 left_roll=0.0699 left_gripper=0.9953 right_x=0.2942 right_y=0.0006 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0328 right_roll=0.0018 right_gripper=0.9983 state[joint_eff]: [-0.3761, -6.6667, 7.4325, 1.3016, -0.398, -0.0317, -0.1587, -0.1162, -1.2923, 7.0496, 1.7607, -0.0806, -0.0317, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Jaws now straddle the bowl's left rim in the wrist view; closing to pinch the rim."})
tool
executing move_to over 10 steps (1.0s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteSecond empty close: the wrist view shows the bowl edge above the jaw tip, so the fingertips are ~6 cm short of the bowl. Lifting clear and repositioning over the bowl's left rim at x=0.385.
move_to
left_gripper1.0000left_z0.0900left_x0.3850left_y-0.0330
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4377, 1.5242, 0.4656, 0.1871, -0.382, -0.3408, 0.0089, -0.02, 0.8108, 0.6048, -0.3931, -0.0166, -0.02, 0.9983] state[eef_state]: left_x=0.329 left_y=-0.0773 left_z=0.0126 left_yaw=0.0568 left_pitch=-0.2276 left_roll=0.0728 left_gripper=0.0089 right_x=0.2942 right_y=0.0006 right_z=0.173 right_yaw=0.0004 right_pitch=-0.0332 right_roll=0.0021 right_gripper=0.9983 state[joint_eff]: [-0.0889, -4.9983, 4.9162, 1.4383, -0.1685, -0.0122, 0.5641, -0.212, -1.347, 7.0496, 1.7363, -0.0611, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.09, "left_x": 0.385, "left_y": -0.033}, "note": "Second empty close: the wrist view shows the bowl edge above the jaw tip, so the fingertips are ~6 cm short of the bowl. Lifting clear and repositioning over the bowl's left rim at x=0.385."})
tool
executing move_to over 10 steps (1.0s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteWrist view shows the bowl's left rim just right of the jaw column. Descending to rim height (3.5 cm) with a 1 cm shift toward the bowl so the jaws straddle the rim wall.
move_to
left_z0.0350left_y-0.0420
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2043, 1.4708, 0.733, -0.1055, -0.2413, -0.186, 0.9943, -0.02, 0.8146, 0.6048, -0.3935, -0.0162, -0.0204, 0.9983] state[eef_state]: left_x=0.3775 left_y=-0.0314 left_z=0.074 left_yaw=0.0864 left_pitch=-0.2492 left_roll=0.0712 left_gripper=0.9943 right_x=0.2943 right_y=0.0006 right_z=0.1719 right_yaw=0.0002 right_pitch=-0.0374 right_roll=0.0017 right_gripper=0.9983 state[joint_eff]: [0.3487, -7.1453, 8.6085, 1.4286, -0.0659, 0.2466, 0.0269, 0.0479, -1.6752, 7.0496, 1.7411, -0.0269, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.035, "left_y": -0.042}, "note": "Wrist view shows the bowl's left rim just right of the jaw column. Descending to rim height (3.5 cm) with a 1 cm shift toward the bowl so the jaws straddle the rim wall."})
tool
executing move_to over 3 steps (0.3s)
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 noteThe rim edge sits ~2 cm right of the jaw centre line in the wrist view; shifting 2 cm right so the rim wall falls between the open jaws.
move_to
left_y-0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2375, 1.5639, 0.6716, 0.0059, -0.2535, -0.2001, 0.9953, -0.02, 0.8173, 0.6048, -0.3939, -0.0162, -0.0204, 0.9983] state[eef_state]: left_x=0.372 left_y=-0.0408 left_z=0.0363 left_yaw=0.0749 left_pitch=-0.2869 left_roll=0.0839 left_gripper=0.9953 right_x=0.2945 right_y=0.0006 right_z=0.1711 right_yaw=0.0002 right_pitch=-0.0404 right_roll=0.0017 right_gripper=0.9983 state[joint_eff]: [-0.1162, -6.9402, 6.106, 1.7167, -0.1978, -0.1148, 0.1001, -0.3761, -1.6068, 7.0222, 1.7021, -0.0562, -0.0562, -0.0073] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.06}, "note": "The rim edge sits ~2 cm right of the jaw centre line in the wrist view; shifting 2 cm right so the rim wall falls between the open jaws."})
tool
executing move_to over 2 steps (0.2s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteRim wall appears to lie between the open jaws now; closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2813, 1.594, 0.6621, 0.0261, -0.2821, -0.2394, 0.9955, -0.02, 0.8173, 0.6048, -0.3931, -0.0166, -0.0204, 0.9983] state[eef_state]: left_x=0.3685 left_y=-0.0516 left_z=0.0265 left_yaw=0.079 left_pitch=-0.2959 left_roll=0.0857 left_gripper=0.9955 right_x=0.2946 right_y=0.0006 right_z=0.1712 right_yaw=0.0006 right_pitch=-0.0396 right_roll=0.0019 right_gripper=0.9983 state[joint_eff]: [-0.4034, -7.241, 8.1162, 1.3797, -0.1832, -0.105, 0.0024, -0.1846, -1.4017, 7.0222, 1.7118, -0.0806, -0.0415, -0.0122] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Rim wall appears to lie between the open jaws now; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteGripper settled at 0.022 (~2 mm), which could be the thin rim. Lifting 8 cm to see whether the white bowl comes with it.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3115, 1.5818, 0.6861, 0.0139, -0.2768, -0.2813, 0.0224, -0.02, 0.8173, 0.6048, -0.3935, -0.0166, -0.0204, 0.9983] state[eef_state]: left_x=0.3733 left_y=-0.0657 left_z=0.0371 left_yaw=0.0652 left_pitch=-0.2733 left_roll=0.0437 left_gripper=0.0224 right_x=0.2945 right_y=0.0006 right_z=0.1712 right_yaw=0.0006 right_pitch=-0.04 right_roll=0.0019 right_gripper=0.9983 state[joint_eff]: [0.253, -5.2718, 5.8872, 0.7204, -0.2857, 0.2125, 0.906, -0.0205, -1.3744, 7.2547, 1.7363, -0.0415, -0.0611, -0.0073] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Gripper settled at 0.022 (~2 mm), which could be the thin rim. Lifting 8 cm to see whether the white bowl comes with it."})
tool
executing move_to over 6 steps (0.6s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe rim pinch failed (bowl stayed on the table). New plan: grip the bowl's narrow tapered base, which fits inside the jaws. Moving right to centre the arm over the white bowl first.
move_to
left_y-0.1150left_gripper1.0000left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3126, 1.4467, 0.8612, -0.3126, -0.2813, -0.2813, 0.0325, -0.02, 0.8204, 0.6048, -0.3939, -0.0166, -0.02, 0.9983] state[eef_state]: left_x=0.3722 left_y=-0.065 left_z=0.1012 left_yaw=0.0696 left_pitch=-0.2872 left_roll=0.0535 left_gripper=0.0325 right_x=0.2946 right_y=0.0006 right_z=0.1703 right_yaw=0.0004 right_pitch=-0.0435 right_roll=0.0023 right_gripper=0.9983 state[joint_eff]: [-0.1026, -7.4462, 8.8957, 1.409, -0.1245, -0.0464, 1.033, -0.1709, -1.306, 7.0359, 1.7558, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.115, "left_gripper": 1, "left_z": 0.1}, "note": "The rim pinch failed (bowl stayed on the table). New plan: grip the bowl's narrow tapered base, which fits inside the jaws. Moving right to centre the arm over the white bowl first."})
tool
executing move_to over 10 steps (1.0s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteWhite bowl is now centred on the jaw column in the wrist view. Advancing 3 cm forward and descending to 3 cm so the open jaws come down around the bowl's tapered lower body.
move_to
left_x0.3950left_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4709, 1.5215, 0.9073, -0.3622, -0.3622, -0.4103, 0.9945, -0.02, 0.8211, 0.6044, -0.3973, -0.0166, -0.0204, 0.9983] state[eef_state]: left_x=0.3629 left_y=-0.1105 left_z=0.0887 left_yaw=0.0608 left_pitch=-0.3239 left_roll=0.0638 left_gripper=0.9945 right_x=0.2941 right_y=0.0006 right_z=0.1692 right_yaw=0.0006 right_pitch=-0.048 right_roll=0.0021 right_gripper=0.9983 state[joint_eff]: [-0.4444, -5.6684, 9.0325, 1.3455, -0.3541, 0.0366, -0.0659, -0.2256, -1.4017, 7.0496, 1.746, -0.0611, -0.0757, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.395, "left_z": 0.03}, "note": "White bowl is now centred on the jaw column in the wrist view. Advancing 3 cm forward and descending to 3 cm so the open jaws come down around the bowl's tapered lower body."})
tool
executing move_to over 4 steps (0.4s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteWrist view shows the white bowl filling the frame directly under the gripper. Descending with jaws fully open so the fingers straddle the whole bowl (rim ≈ 9 cm vs 9.5 cm jaw opening); a stalled descent will tell me the fingers hit the rim.
move_to
left_x0.3720left_y-0.1040left_z0.0050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4278, 1.7332, 0.8799, -0.1841, -0.3447, -0.3893, 0.9954, -0.02, 0.823, 0.6044, -0.4026, -0.0166, -0.02, 0.9983] state[eef_state]: left_x=0.3803 left_y=-0.1039 left_z=0.024 left_yaw=0.0892 left_pitch=-0.3851 left_roll=0.0963 left_gripper=0.9954 right_x=0.2935 right_y=0.0006 right_z=0.1676 right_yaw=0.0004 right_pitch=-0.0553 right_roll=0.0026 right_gripper=0.9983 state[joint_eff]: [0.0615, -9.0598, 5.9692, 1.4335, -0.0952, 0.1392, 0.0806, -0.253, -1.5795, 6.9812, 1.7802, -0.0806, -0.0317, -0.0073] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.372, "left_y": -0.104, "left_z": 0.005}, "note": "Wrist view shows the white bowl filling the frame directly under the gripper. Descending with jaws fully open so the fingers straddle the whole bowl (rim \u2248 9 cm vs 9.5 cm jaw opening); a stalled descent will tell me the fingers hit the rim."})
tool
executing move_to over 2 steps (0.2s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteAt table level the wrist view shows the left finger over the bowl interior and the right finger on bare table, so the bowl is ~3 cm to my left. Shifting left to centre the jaws across the bowl.
move_to
left_y-0.0800left_z0.0150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4305, 1.758, 0.8471, -0.0956, -0.3416, -0.3901, 0.9955, -0.02, 0.8242, 0.6041, -0.4126, -0.0166, -0.0204, 0.9983] state[eef_state]: left_x=0.3835 left_y=-0.1071 left_z=0.0149 left_yaw=0.0786 left_pitch=-0.3595 left_roll=0.0771 left_gripper=0.9955 right_x=0.292 right_y=0.0007 right_z=0.1651 right_yaw=0.0006 right_pitch=-0.0667 right_roll=0.0025 right_gripper=0.9983 state[joint_eff]: [-0.5949, -7.665, 4.8342, 1.2234, -0.3297, -0.022, -0.0024, -0.3761, -1.2923, 7.2547, 1.7753, -0.0855, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.08, "left_z": 0.015}, "note": "At table level the wrist view shows the left finger over the bowl interior and the right finger on bare table, so the bowl is ~3 cm to my left. Shifting left to centre the jaws across the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteToo close to judge: the bowl's rim curves off the lower-left of the wrist frame, so the bowl centre is left of and nearer than the fingertips. Backing up and rising to 10 cm for a wider look.
move_to
left_y-0.0550left_x0.3450left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3611, 1.7481, 0.8078, -0.0841, -0.3107, -0.3561, 0.9955, -0.02, 0.8242, 0.6041, -0.4149, -0.0166, -0.0204, 0.9983] state[eef_state]: left_x=0.3789 left_y=-0.0815 left_z=0.0059 left_yaw=0.1064 left_pitch=-0.3893 left_roll=0.0828 left_gripper=0.9955 right_x=0.2917 right_y=0.0007 right_z=0.1647 right_yaw=0.0006 right_pitch=-0.069 right_roll=0.0025 right_gripper=0.9983 state[joint_eff]: [-0.3487, -9.4701, 5.053, 1.4872, -0.1099, 0.1001, -0.0122, -0.1983, -1.388, 6.9949, 1.707, -0.022, -0.0562, -0.0073] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.055, "left_x": 0.345, "left_z": 0.1}, "note": "Too close to judge: the bowl's rim curves off the lower-left of the wrist frame, so the bowl centre is left of and nearer than the fingertips. Backing up and rising to 10 cm for a wider look."})
tool
executing move_to over 7 steps (0.7s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe previous command produced no motion (readback unchanged), so I'm commanding a simple straight lift to 16 cm to free the arm before re-approaching.
move_to
left_z0.1600left_x0.3600left_y-0.0760
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3462, 1.7428, 0.8036, -0.0811, -0.3069, -0.337, 0.9955, -0.02, 0.8242, 0.6041, -0.4152, -0.0166, -0.0204, 0.9983] state[eef_state]: left_x=0.3796 left_y=-0.0764 left_z=0.0067 left_yaw=0.1064 left_pitch=-0.3879 left_roll=0.0895 left_gripper=0.9955 right_x=0.2917 right_y=0.0007 right_z=0.1646 right_yaw=0.0006 right_pitch=-0.0694 right_roll=0.0025 right_gripper=0.9983 state[joint_eff]: [-0.2393, -9.3607, 4.9983, 1.4628, -0.105, 0.1832, -0.0122, -0.1846, -1.4291, 7.1863, 1.6777, -0.0464, -0.0708, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.16, "left_x": 0.36, "left_y": -0.076}, "note": "The previous command produced no motion (readback unchanged), so I'm commanding a simple straight lift to 16 cm to free the arm before re-approaching."})
tool
executing move_to over 10 steps (1.0s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteNew plan: insert the closed jaws into the bowl and then open them so they press outward on the inner wall. Closing the gripper and lowering into the bowl's interior.
move_to
left_gripper0.0000left_x0.3650left_y-0.0780left_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3649, 1.4742, 1.1179, -0.6628, -0.3111, -0.3527, 0.9955, -0.02, 0.8249, 0.6041, -0.4152, -0.0166, -0.0204, 0.9983] state[eef_state]: left_x=0.3662 left_y=-0.0781 left_z=0.1428 left_yaw=0.1 left_pitch=-0.3845 left_roll=0.0826 left_gripper=0.9955 right_x=0.2917 right_y=0.0007 right_z=0.1644 right_yaw=0.0006 right_pitch=-0.0701 right_roll=0.0026 right_gripper=0.9983 state[joint_eff]: [-0.5128, -7.9932, 9.0872, 1.3748, -0.2906, 0.0269, -0.0122, -0.0889, -1.2103, 7.1179, 1.6874, -0.0562, -0.0806, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0, "left_x": 0.365, "left_y": -0.078, "left_z": 0.02}, "note": "New plan: insert the closed jaws into the bowl and then open them so they press outward on the inner wall. Closing the gripper and lowering into the bowl's interior."})
tool
executing move_to over 10 steps (1.0s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe jaws are inside the bowl. Opening them fully so they wedge against the inner wall.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 1.6436, 0.7792, -0.2123, -0.3111, -0.3595, 0.0086, -0.02, 0.8249, 0.6041, -0.4156, -0.0166, -0.02, 0.9983] state[eef_state]: left_x=0.3538 left_y=-0.074 left_z=0.0183 left_yaw=0.1138 left_pitch=-0.4354 left_roll=0.107 left_gripper=0.0086 right_x=0.2916 right_y=0.0007 right_z=0.1643 right_yaw=0.0004 right_pitch=-0.0705 right_roll=0.0029 right_gripper=0.9983 state[joint_eff]: [-0.1573, -6.4479, 5.559, 1.5067, -0.1001, 0.0659, 0.6325, -0.212, -1.4154, 7.2547, 1.6581, -0.0708, -0.0122, -0.0122] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "The jaws are inside the bowl. Opening them fully so they wedge against the inner wall."})
tool
executing move_to over 10 steps (1.0s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteJaws opened fully with no contact, so the bowl is wider (~13 cm) than the jaw stroke. Going back to a rim pinch: moving over the bowl's left rim (y=-0.012) at 7 cm with the jaws half open.
move_to
left_x0.3600left_y-0.0120left_z0.0700left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 1.6341, 0.7788, -0.1867, -0.3077, -0.3706, 0.9937, -0.02, 0.8249, 0.6041, -0.4156, -0.0162, -0.0204, 0.9983] state[eef_state]: left_x=0.3593 left_y=-0.0767 left_z=0.0242 left_yaw=0.1103 left_pitch=-0.4054 left_roll=0.0799 left_gripper=0.9937 right_x=0.2916 right_y=0.0006 right_z=0.1643 right_yaw=0.0003 right_pitch=-0.0705 right_roll=0.0023 right_gripper=0.9983 state[joint_eff]: [-0.0615, -5.7504, 5.9282, 0.8181, -0.232, 0.0904, -0.2662, -0.0752, -1.4291, 6.9949, 1.6532, -0.0611, -0.0562, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.012, "left_z": 0.07, "left_gripper": 0.6}, "note": "Jaws opened fully with no contact, so the bowl is wider (~13 cm) than the jaw stroke. Going back to a rim pinch: moving over the bowl's left rim (y=-0.012) at 7 cm with the jaws half open."})
tool
executing move_to over 6 steps (0.6s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteWrist view shows the bowl's left rim about 1 cm right of the jaw centre. Shifting 1 cm right and dropping to rim height so the rim wall sits between the half-open jaws.
move_to
left_y-0.0230left_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1513, 1.4986, 0.7849, -0.3141, -0.2111, -0.2188, 0.6034, -0.02, 0.8249, 0.6041, -0.416, -0.0166, -0.0204, 0.9983] state[eef_state]: left_x=0.353 left_y=-0.0127 left_z=0.0525 left_yaw=0.151 left_pitch=-0.4313 left_roll=0.0822 left_gripper=0.6034 right_x=0.2916 right_y=0.0007 right_z=0.1642 right_yaw=0.0006 right_pitch=-0.0709 right_roll=0.0026 right_gripper=0.9983 state[joint_eff]: [0.253, -7.6376, 9.1009, 1.2918, -0.022, 0.1832, 0.0806, -0.0889, -1.4017, 7.0496, 1.6532, -0.0659, -0.0269, -0.0073] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.023, "left_z": 0.035}, "note": "Wrist view shows the bowl's left rim about 1 cm right of the jaw centre. Shifting 1 cm right and dropping to rim height so the rim wall sits between the half-open jaws."})
tool
executing move_to over 2 steps (0.2s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteClosing the jaws at rim height to pinch the bowl's left rim wall.
move_to
left_gripper0.0000left_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.165, 1.5154, 0.7738, -0.2913, -0.2142, -0.2119, 0.6031, -0.02, 0.8249, 0.6041, -0.416, -0.0162, -0.0204, 0.9983] state[eef_state]: left_x=0.3529 left_y=-0.0171 left_z=0.0461 left_yaw=0.1366 left_pitch=-0.4357 left_roll=0.0907 left_gripper=0.6031 right_x=0.2916 right_y=0.0006 right_z=0.1642 right_yaw=0.0003 right_pitch=-0.0709 right_roll=0.0023 right_gripper=0.9983 state[joint_eff]: [-0.5402, -4.9709, 4.9846, 1.1893, -0.0855, -0.2076, -0.0415, -0.1162, -1.4017, 6.9949, 1.6532, -0.022, -0.0562, -0.0073] 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": {"left_gripper": 0, "left_z": 0.04}, "note": "Closing the jaws at rim height to pinch the bowl's left rim wall."})
tool
executing move_to over 7 steps (0.7s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteGripper settled at 0.036 (~3.4 mm), consistent with the rim thickness. Lifting to see whether the bowl comes up with it.
move_to
left_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1638, 1.5272, 0.7528, -0.2554, -0.2016, -0.2325, 0.0362, -0.02, 0.8249, 0.6041, -0.416, -0.0166, -0.0204, 0.9983] state[eef_state]: left_x=0.3525 left_y=-0.0188 left_z=0.039 left_yaw=0.1382 left_pitch=-0.435 left_roll=0.0661 left_gripper=0.0362 right_x=0.2916 right_y=0.0007 right_z=0.1642 right_yaw=0.0006 right_pitch=-0.0709 right_roll=0.0026 right_gripper=0.9983 state[joint_eff]: [-0.1983, -5.1214, 6.3521, 0.8327, -0.2662, 0.1636, 0.9695, -0.212, -1.1282, 7.0222, 1.6435, -0.0415, -0.0464, -0.0122] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.13}, "note": "Gripper settled at 0.036 (~3.4 mm), consistent with the rim thickness. Lifting to see whether the bowl comes up with it."})
tool
executing move_to over 6 steps (0.6s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
assistant
agent noteThe bowl stayed put again — the jaws likely closed just outside the wall. Reopening and shifting 1.3 cm further toward the bowl centre so the inner jaw definitely drops inside the bowl before closing.
move_to
left_gripper0.7000left_z0.0400left_y-0.0320
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1638, 1.4292, 0.9806, -0.5926, -0.2024, -0.2356, 0.0394, -0.02, 0.8249, 0.6041, -0.416, -0.0166, -0.02, 0.9983] state[eef_state]: left_x=0.354 left_y=-0.0189 left_z=0.1115 left_yaw=0.1423 left_pitch=-0.4456 left_roll=0.0687 left_gripper=0.0394 right_x=0.2916 right_y=0.0007 right_z=0.1642 right_yaw=0.0004 right_pitch=-0.0709 right_roll=0.0029 right_gripper=0.9983 state[joint_eff]: [-0.0479, -7.665, 8.6906, 1.243, -0.1636, -0.0122, 0.6862, 0.0068, -1.388, 7.2, 1.6484, -0.0269, -0.0317, -0.0073] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.7, "left_z": 0.04, "left_y": -0.032}, "note": "The bowl stayed put again \u2014 the jaws likely closed just outside the wall. Reopening and shifting 1.3 cm further toward the bowl centre so the inner jaw definitely drops inside the bowl before closing."})
tool
executing move_to over 7 steps (0.7s)
step 186
assistant
agent noteBoth jaws are currently inside the bowl's mouth; shifting 1.3 cm back left so the outer jaw clears the rim, dropping 1 cm lower for a deeper bite on the wall, and closing.
move_to
left_y-0.0190left_z0.0280left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2081, 1.5349, 0.7956, -0.3527, -0.2115, -0.2768, 0.6948, -0.02, 0.8249, 0.6041, -0.4191, -0.0166, -0.0204, 0.9983] state[eef_state]: left_x=0.3448 left_y=-0.0312 left_z=0.0397 left_yaw=0.1391 left_pitch=-0.4893 left_roll=0.0718 left_gripper=0.6948 right_x=0.2911 right_y=0.0007 right_z=0.1636 right_yaw=0.0006 right_pitch=-0.074 right_roll=0.0026 right_gripper=0.9983 state[joint_eff]: [-0.5812, -5.7094, 5.8872, 1.3114, -0.3053, 0.0659, -0.0464, -0.1026, -1.4017, 7.0359, 1.6777, -0.0562, -0.0757, -0.0073] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.019, "left_z": 0.028, "left_gripper": 0}, "note": "Both jaws are currently inside the bowl's mouth; shifting 1.3 cm back left so the outer jaw clears the rim, dropping 1 cm lower for a deeper bite on the wall, and closing."})
tool
executing move_to over 7 steps (0.7s)
step 193
assistant
agent noteThe close was empty again — both jaws were inside the bowl. Backing the arm up and high so the overhead camera shows all three bowls unobstructed and I can re-measure the white bowl's position.
move_to
left_x0.2500left_z0.2500left_y0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1688, 1.5497, 0.7635, -0.3157, -0.2005, -0.2497, 0.0086, -0.02, 0.8268, 0.6041, -0.4191, -0.0166, -0.0204, 0.9983] state[eef_state]: left_x=0.3415 left_y=-0.0189 left_z=0.0281 left_yaw=0.1537 left_pitch=-0.5031 left_roll=0.08 left_gripper=0.0086 right_x=0.2912 right_y=0.0007 right_z=0.1631 right_yaw=0.0006 right_pitch=-0.0759 right_roll=0.0027 right_gripper=0.9983 state[joint_eff]: [0.6632, -6.0786, 5.3538, 1.3407, -0.0024, 0.1343, 0.6178, -0.1846, -1.5932, 6.9949, 1.6728, -0.0562, -0.0513, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_z": 0.25, "left_y": 0.0}, "note": "The close was empty again \u2014 both jaws were inside the bowl. Backing the arm up and high so the overhead camera shows all three bowls unobstructed and I can re-measure the white bowl's position."})
tool
executing move_to over 15 steps (1.5s)
step 208
assistant
agent noteSide pinches keep sliding off the smooth rim. New plan: roll the wrist 90° so the jaws close vertically, then clamp the bowl's rim between a finger inside the bowl and one above it. Moving above the white bowl's left rim with the wrist rolled.
move_to
left_x0.3600left_y-0.0500left_z0.1500left_roll1.5000left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1562, 1.1553, 1.33, -1.2518, -0.1955, -0.2508, 0.0103, -0.02, 0.8307, 0.6037, -0.4225, -0.0166, -0.0204, 0.9983] state[eef_state]: left_x=0.2623 left_y=-0.0029 left_z=0.241 left_yaw=0.1583 left_pitch=-0.4809 left_roll=0.0658 left_gripper=0.0103 right_x=0.2909 right_y=0.0007 right_z=0.1612 right_yaw=0.0006 right_pitch=-0.0835 right_roll=0.0028 right_gripper=0.9983 state[joint_eff]: [0.335, -3.2342, 7.5829, 1.033, -0.1343, 0.1294, 0.1734, -0.212, -1.7436, 7.0085, 1.6825, -0.0464, -0.0269, -0.0073] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.05, "left_z": 0.15, "left_roll": 1.5, "left_gripper": 0.7}, "note": "Side pinches keep sliding off the smooth rim. New plan: roll the wrist 90\u00b0 so the jaws close vertically, then clamp the bowl's rim between a finger inside the bowl and one above it. Moving above the white bowl's left rim with the wrist rolled."})
tool
executing move_to over 19 steps (1.9s)
step 227
assistant
agent noteWrist is rolled 90° so the jaws now close vertically. Lowering to rim height so the lower finger sits inside the bowl just under the rim and the upper finger is above it.
move_to
left_z0.0600left_x0.3550left_y-0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5919, 1.6119, 1.0397, -0.7013, -1.0348, 0.4953, 0.6981, -0.02, 0.8307, 0.5983, -0.4229, -0.0166, -0.0227, 0.9983] state[eef_state]: left_x=0.3491 left_y=-0.0474 left_z=0.1404 left_yaw=0.1541 left_pitch=-0.5258 left_roll=1.4205 left_gripper=0.6981 right_x=0.29 right_y=0.0007 right_z=0.1588 right_yaw=0.0019 right_pitch=-0.0892 right_roll=0.0011 right_gripper=0.9983 state[joint_eff]: [-0.4581, -6.5983, 6.0923, 0.9255, -0.7937, 0.1441, -0.0073, -0.0889, -1.3607, 7.5692, 1.6337, -0.0415, 0.0317, -0.0073] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.06, "left_x": 0.355, "left_y": -0.05}, "note": "Wrist is rolled 90\u00b0 so the jaws now close vertically. Lowering to rim height so the lower finger sits inside the bowl just under the rim and the upper finger is above it."})
tool
executing move_to over 6 steps (0.6s)
step 233
assistant
agent noteClosing the vertically-oriented jaws to clamp the bowl's rim from above and inside.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5949, 1.7756, 0.8898, -0.4313, -1.0302, 0.5083, 0.6987, -0.02, 0.8333, 0.598, -0.4229, -0.0166, -0.0235, 0.9983] state[eef_state]: left_x=0.3482 left_y=-0.0484 left_z=0.063 left_yaw=0.165 left_pitch=-0.5674 left_roll=1.462 left_gripper=0.6987 right_x=0.2901 right_y=0.0007 right_z=0.1579 right_yaw=0.0023 right_pitch=-0.0923 right_roll=0.0006 right_gripper=0.9983 state[joint_eff]: [0.4034, -7.2274, 4.9299, 0.7888, -0.5397, -0.0708, 0.0464, -0.1709, -1.6342, 7.1453, 1.6337, -0.0806, -0.0611, -0.0073] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Closing the vertically-oriented jaws to clamp the bowl's rim from above and inside."})
tool
executing move_to over 7 steps (0.7s)
step 240
assistant
agent noteEmpty again; with the wrist rolled I now read the bowl as sitting forward of the fingertips rather than to the side. Advancing 4.5 cm so the rolled jaws span the bowl's near rim.
move_to
left_x0.3900left_gripper0.7000left_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5949, 1.7897, 0.8787, -0.4328, -1.0252, 0.5083, 0.0086, -0.02, 0.8337, 0.5957, -0.4229, -0.0162, -0.0235, 0.9983] state[eef_state]: left_x=0.3444 left_y=-0.0464 left_z=0.0555 left_yaw=0.1736 left_pitch=-0.59 left_roll=1.4799 left_gripper=0.0086 right_x=0.2897 right_y=0.0006 right_z=0.1567 right_yaw=0.002 right_pitch=-0.0949 right_roll=0.0004 right_gripper=0.9983 state[joint_eff]: [-0.1709, -8.8, 5.7778, 0.6178, -0.5934, -0.0024, 0.5495, -0.0615, -1.3197, 7.2547, 1.6581, -0.0562, -0.0611, -0.0073] camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_gripper": 0.7, "left_z": 0.05}, "note": "Empty again; with the wrist rolled I now read the bowl as sitting forward of the fingertips rather than to the side. Advancing 4.5 cm so the rolled jaws span the bowl's near rim."})
tool
executing move_to over 7 steps (0.7s)
step 247
assistant
agent noteThe bowl rim is now right at the jaw wedges in the wrist view; closing the vertical jaws to clamp the rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5236, 1.898, 0.9756, -0.3466, -1.013, 0.6201, 0.6949, -0.02, 0.8364, 0.5957, -0.4229, -0.0166, -0.0231, 0.9983] state[eef_state]: left_x=0.3791 left_y=-0.0417 left_z=0.0469 left_yaw=0.1964 left_pitch=-0.6027 left_roll=1.4998 left_gripper=0.6949 right_x=0.2899 right_y=0.0007 right_z=0.156 right_yaw=0.0021 right_pitch=-0.0976 right_roll=0.001 right_gripper=0.9983 state[joint_eff]: [0.3624, -8.0205, 6.9265, 0.8181, -0.4225, 0.1294, -0.1538, -0.2393, -1.6615, 7.0222, 1.6239, -0.0806, -0.0122, -0.0073] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The bowl rim is now right at the jaw wedges in the wrist view; closing the vertical jaws to clamp the rim."})
tool
executing move_to over 7 steps (0.7s)
step 254
assistant
agent noteStill empty. Last attempt: shifting 3 cm toward the side where the bowl bulk appears in the wrist view, keeping the vertical-jaw clamp at rim height.
move_to
left_gripper0.7000left_y-0.0750left_x0.3750left_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5236, 1.9038, 0.9768, -0.3374, -1.0103, 0.6209, 0.0085, -0.02, 0.8364, 0.5953, -0.4229, -0.0162, -0.0235, 0.9983] state[eef_state]: left_x=0.3803 left_y=-0.0427 left_z=0.0454 left_yaw=0.1921 left_pitch=-0.6013 left_roll=1.4944 left_gripper=0.0085 right_x=0.2898 right_y=0.0006 right_z=0.1558 right_yaw=0.002 right_pitch=-0.098 right_roll=0.0005 right_gripper=0.9983 state[joint_eff]: [-0.2256, -9.1009, 4.7248, 0.7106, -0.5592, -0.022, 0.5299, -0.0752, -1.265, 7.2137, 1.6239, -0.0415, -0.0708, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.7, "left_y": -0.075, "left_x": 0.375, "left_z": 0.05}, "note": "Still empty. Last attempt: shifting 3 cm toward the side where the bowl bulk appears in the wrist view, keeping the vertical-jaw clamp at rim height."})
tool
executing move_to over 7 steps (0.7s)
step 261
assistant
agent noteNudging another 1.5 cm toward the bowl and closing the vertical jaws on its rim — final grasp attempt within my remaining budget.
move_to
left_gripper0.0000left_y-0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6071, 1.9408, 1.0657, -0.5056, -1.0187, 0.4797, 0.6946, -0.02, 0.8379, 0.5945, -0.4229, -0.0166, -0.0235, 0.9983] state[eef_state]: left_x=0.3746 left_y=-0.0727 left_z=0.0489 left_yaw=0.176 left_pitch=-0.6056 left_roll=1.4824 left_gripper=0.6946 right_x=0.2898 right_y=0.0007 right_z=0.1551 right_yaw=0.0023 right_pitch=-0.1003 right_roll=0.0008 right_gripper=0.9983 state[joint_eff]: [-0.5265, -7.6786, 6.8581, 0.4078, -0.6618, -0.0611, -0.1538, -0.0205, -1.4838, 7.2547, 1.6239, -0.0757, -0.0659, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0, "left_y": -0.09}, "note": "Nudging another 1.5 cm toward the bowl and closing the vertical jaws on its rim \u2014 final grasp attempt within my remaining budget."})
tool
executing move_to over 7 steps (0.7s)
step 268
assistant
agent noteI could not get a reliable grasp on any bowl within the call budget. The bowls are ~13 cm across — wider than the 9.5 cm jaw stroke — so they can only be taken by pinching the thin (~3 mm) rim wall, and every close (8 attempts, both with jaws closing horizontally and with the wrist rolled 90° for a vertical rim clamp) settled at 0.008–0.04, i.e. empty. No bowl was moved, so nothing is stacked.
give_up
hindsightConcrete lessons for this rig/task: (1) There are three bowls in a row across the table, ~13 cm diameter, ~6 cm tall, with the left one near left_x≈0.36, left_y≈-0.09, the middle ~22 cm to its right (left_y≈-0.31) and the right one ~39 cm right (right_y≈0.17). (2) The bowls are WIDER than the 9.5 cm jaw stroke: you cannot grip across them, and inserting closed jaws and opening fully also fails (gripper reaches 0.99 without touching the inner wall). Only a rim pinch is possible. (3) The wrist camera is nearly useless for this object at close range: the bowl fills the frame and the tilt/scale ambiguity made my lateral estimates swing by ±5 cm between consecutive frames; every alignment I trusted from it produced an empty close. Calibrate instead from the top camera with a known arm pose in frame (I found grasp point (x=0.38,y=-0.107) projected to top_cam ≈ (65,95), and horizontal scale ≈ 2.5–3 px/cm in the bowl region). (4) A settled gripper reading of ~0.035 after closing on a rim is ambiguous — it lifted nothing; only a 5 cm lift plus top-camera check confirms. (5) Rolling the wrist to 1.5 rad works mechanically and makes the grasp azimuth-independent in principle, but it rotates the wrist image ~90°, which made my reading of "left/forward" wrong; note the rotation before interpreting. (6) Budget: each grasp attempt costs 2–3 calls (position, close, lift-check); with 40 calls plan at most ~6 attempts and spend the first two establishing a top-camera pixel↔metre calibration with the arm visible next to the target.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6426, 1.9736, 1.1046, -0.5793, -1.0187, 0.4164, 0.0085, -0.02, 0.8379, 0.5945, -0.4229, -0.0166, -0.0238, 0.9983] state[eef_state]: left_x=0.3702 left_y=-0.0848 left_z=0.0452 left_yaw=0.1777 left_pitch=-0.6188 left_roll=1.49 left_gripper=0.0085 right_x=0.2898 right_y=0.0007 right_z=0.1551 right_yaw=0.0025 right_pitch=-0.1003 right_roll=0.0005 right_gripper=0.9983 state[joint_eff]: [-0.7043, -7.9932, 7.2821, 0.4567, -0.652, -0.1441, 0.5739, -0.1162, -1.4701, 6.9949, 1.6581, -0.0611, -0.0757, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). 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
give_up({"reason": "I could not get a reliable grasp on any bowl within the call budget. The bowls are ~13 cm across \u2014 wider than the 9.5 cm jaw stroke \u2014 so they can only be taken by pinching the thin (~3 mm) rim wall, and every close (8 attempts, both with jaws closing horizontally and with the wrist rolled 90\u00b0 for a vertical rim clamp) settled at 0.008\u20130.04, i.e. empty. No bowl was moved, so nothing is stacked.", "hindsight": "Concrete lessons for this rig/task: (1) There are three bowls in a row across the table, ~13 cm diameter, ~6 cm tall, with the left one near left_x\u22480.36, left_y\u2248-0.09, the middle ~22 cm to its right (left_y\u2248-0.31) and the right one ~39 cm right (right_y\u22480.17). (2) The bowls are WIDER than the 9.5 cm jaw stroke: you cannot grip across them, and inserting closed jaws and opening fully also fails (gripper reaches 0.99 without touching the inner wall). Only a rim pinch is possible. (3) The wrist camera is nearly useless for this object at close range: the bowl fills the frame and the tilt/scale ambiguity made my lateral estimates swing by \u00b15 cm between consecutive frames; every alignment I trusted from it produced an empty close. Calibrate instead from the top camera with a known arm pose in frame (I found grasp point (x=0.38,y=-0.107) projected to top_cam \u2248 (65,95), and horizontal scale \u2248 2.5\u20133 px/cm in the bowl region). (4) A settled gripper reading of ~0.035 after closing on a rim is ambiguous \u2014 it lifted nothing; only a 5 cm lift plus top-camera check confirms. (5) Rolling the wrist to 1.5 rad works mechanically and makes the grasp azimuth-independent in principle, but it rotates the wrist image ~90\u00b0, which made my reading of \"left/forward\" wrong; note the rotation before interpreting. (6) Budget: each grasp attempt costs 2\u20133 calls (position, close, lift-check); with 40 calls plan at most ~6 attempts and spend the first two establishing a top-camera pixel\u2194metre calibration with the arm visible next to the target."})
tool
give_up: I could not get a reliable grasp on any bowl within the call budget. The bowls are ~13 cm across — wider than the 9.5 cm jaw stroke — so they can only be taken by pinching the thin (~3 mm) rim wall, and every close (8 attempts, both with jaws closing horizontally and with the wrist rolled 90° for a vertical rim clamp) settled at 0.008–0.04, i.e. empty. No bowl was moved, so nothing is stacked.
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 · 19.95 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, 0.7952, 0.606, -0.3756, -0.0227, -0.0406, 0.9966, -0.0181, 0.7933, 0.6033, -0.3763, -0.0139, -0.02, 0.9985]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1815 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9966 right_x=0.2951 right_y=0.0007 right_z=0.1806 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.5128, -1.5385, 9.894, 1.7558, -0.0415, 0.2369, -0.3687, -0.6222, -1.4291, 10.1265, 1.8779, -0.1392, 0.0269, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b674c79e4b700342ba636ae34fc69f936a97386db41a10efa7f00e85b879b8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b53bbfe2d9ab58e6af2ee6e1596d7054f0f6cbb833eb7d700a77d47723b5bd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:12272c845f1e75baf45f19f07c9c29794dff29178b8da4869ca1cdab12c526c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 22.71 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, 0.7952, 0.606, -0.3756, -0.0227, -0.0406, 0.9966, -0.0181, 0.7933, 0.6033, -0.3763, -0.0139, -0.02, 0.9985]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1815 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9966 right_x=0.2951 right_y=0.0007 right_z=0.1806 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.5128, -1.5385, 9.894, 1.7558, -0.0415, 0.2369, -0.3687, -0.6222, -1.4291, 10.1265, 1.8779, -0.1392, 0.0269, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b674c79e4b700342ba636ae34fc69f936a97386db41a10efa7f00e85b879b8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b53bbfe2d9ab58e6af2ee6e1596d7054f0f6cbb833eb7d700a77d47723b5bd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12272c845f1e75baf45f19f07c9c29794dff29178b8da4869ca1cdab12c526c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SiRjaoTb9qRipTUi3L33pS",
      "input": {
        "note": "Three bowls sit in a row across the table. I'm moving the left arm to hover ~20 cm above the leftmost (image-left) bowl to get a wrist-camera look before grasping its rim.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.3,
          "left_y": -0.22,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01SiRjaoTb9qRipTUi3L33pS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9745, 1.3685, 1.008, -0.5125, -0.7521, -0.688, 0.9966, -0.02, 0.8005, 0.6048, -0.3885, -0.0162, -0.02, 0.9984]\nstate[eef_state]: left_x=0.2968 left_y=-0.216 left_z=0.1879 left_yaw=-0.0243 left_pitch=-0.0295 left_roll=0.0183 left_gripper=0.9966 right_x=0.2942 right_y=0.0006 right_z=0.1768 right_yaw=0.0 right_pitch=-0.0183 right_roll=0.0016 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -5.2991, 8.8274, 1.2234, -0.4957, -0.0269, -0.3687, 0.0889, -1.812, 7.0769, 1.8681, -0.0269, -0.0611, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5ed964a58056d7de92d6082c5fbc75222634b403fcc63fee907b6bf231f98bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:278c3619f1877da97be9a78a0024cc163ea912177e848ed547d96b8e99101f83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3462e8370b65e8d4ecb1a41b2f113bf998903939086b627059ccd0008bc04457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 16.35 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, 0.7952, 0.606, -0.3756, -0.0227, -0.0406, 0.9966, -0.0181, 0.7933, 0.6033, -0.3763, -0.0139, -0.02, 0.9985]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1815 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9966 right_x=0.2951 right_y=0.0007 right_z=0.1806 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.5128, -1.5385, 9.894, 1.7558, -0.0415, 0.2369, -0.3687, -0.6222, -1.4291, 10.1265, 1.8779, -0.1392, 0.0269, -0.1734]",
      "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]: [-0.9745, 1.3685, 1.008, -0.5125, -0.7521, -0.688, 0.9966, -0.02, 0.8005, 0.6048, -0.3885, -0.0162, -0.02, 0.9984]\nstate[eef_state]: left_x=0.2968 left_y=-0.216 left_z=0.1879 left_yaw=-0.0243 left_pitch=-0.0295 left_roll=0.0183 left_gripper=0.9966 right_x=0.2942 right_y=0.0006 right_z=0.1768 right_yaw=0.0 right_pitch=-0.0183 right_roll=0.0016 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -5.2991, 8.8274, 1.2234, -0.4957, -0.0269, -0.3687, 0.0889, -1.812, 7.0769, 1.8681, -0.0269, -0.0611, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5ed964a58056d7de92d6082c5fbc75222634b403fcc63fee907b6bf231f98bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:278c3619f1877da97be9a78a0024cc163ea912177e848ed547d96b8e99101f83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3462e8370b65e8d4ecb1a41b2f113bf998903939086b627059ccd0008bc04457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015GuRS5B7b9vXhy9CAjvfeF",
      "input": {
        "note": "Wrist view shows the white bowl centred ~7 cm to my left and the purple bowl ~5 cm to my right, so the white bowl centre is near left_y=-0.15. Moving to the white bowl's left rim (y=-0.076) and lowering to 8 cm to line up a rim grasp.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.3,
          "left_y": -0.076,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_015GuRS5B7b9vXhy9CAjvfeF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4973, 1.0878, 0.3408, 0.0288, -0.4339, -0.3336, 0.9966, -0.02, 0.804, 0.6048, -0.3927, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.2933 left_y=-0.0706 left_z=0.072 left_yaw=0.0233 left_pitch=-0.0758 left_roll=0.0358 left_gripper=0.9966 right_x=0.2938 right_y=0.0006 right_z=0.175 right_yaw=0.0004 right_pitch=-0.0259 right_roll=0.002 right_gripper=0.9983\nstate[joint_eff]: [0.212, -3.412, 6.7487, 1.8193, -0.0757, 0.2173, -0.3687, -0.1983, -1.6068, 7.0496, 1.7607, -0.0464, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e56238f4643310ec5315e146c02e9aade985139762770ab8a94f4dd13e9e7d03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b63a869af2fbeda3a8a56b7c0922acb7eb7707f9191cec8ee7f5de6b2d3931f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ebb9f9fcea9c7935b3eb2773f49fc74b71eb8cbdf2d59cda192c81cee700848b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 12.73 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, 0.7952, 0.606, -0.3756, -0.0227, -0.0406, 0.9966, -0.0181, 0.7933, 0.6033, -0.3763, -0.0139, -0.02, 0.9985]\nstate[eef_state]: left_x=0.2957 left_y=0.0017 left_z=0.1815 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9966 right_x=0.2951 right_y=0.0007 right_z=0.1806 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.5128, -1.5385, 9.894, 1.7558, -0.0415, 0.2369, -0.3687, -0.6222, -1.4291, 10.1265, 1.8779, -0.1392, 0.0269, -0.1734]",
      "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]: [-0.9745, 1.3685, 1.008, -0.5125, -0.7521, -0.688, 0.9966, -0.02, 0.8005, 0.6048, -0.3885, -0.0162, -0.02, 0.9984]\nstate[eef_state]: left_x=0.2968 left_y=-0.216 left_z=0.1879 left_yaw=-0.0243 left_pitch=-0.0295 left_roll=0.0183 left_gripper=0.9966 right_x=0.2942 right_y=0.0006 right_z=0.1768 right_yaw=0.0 right_pitch=-0.0183 right_roll=0.0016 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -5.2991, 8.8274, 1.2234, -0.4957, -0.0269, -0.3687, 0.0889, -1.812, 7.0769, 1.8681, -0.0269, -0.0611, -0.022]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4973, 1.0878, 0.3408, 0.0288, -0.4339, -0.3336, 0.9966, -0.02, 0.804, 0.6048, -0.3927, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.2933 left_y=-0.0706 left_z=0.072 left_yaw=0.0233 left_pitch=-0.0758 left_roll=0.0358 left_gripper=0.9966 right_x=0.2938 right_y=0.0006 right_z=0.175 right_yaw=0.0004 right_pitch=-0.0259 right_roll=0.002 right_gripper=0.9983\nstate[joint_eff]: [0.212, -3.412, 6.7487, 1.8193, -0.0757, 0.2173, -0.3687, -0.1983, -1.6068, 7.0496, 1.7607, -0.0464, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e56238f4643310ec5315e146c02e9aade985139762770ab8a94f4dd13e9e7d03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b63a869af2fbeda3a8a56b7c0922acb7eb7707f9191cec8ee7f5de6b2d3931f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebb9f9fcea9c7935b3eb2773f49fc74b71eb8cbdf2d59cda192c81cee700848b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISjxIKjgEIEhgCKkD3SNBEsAF1yTyqS4xE3NjsbBqUvjCh6Na7c6bCn/kFgGYQ/xxr1ynPh/TzxY9Ji0Nt3a+La7OkXYHX6klFOc3iMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc/zy9UGEgwGgGRQ11hKiN2pJKIaDA0nNjdbSZ+sIr74wiIwIegO0h4msyN8CDdW/zzY7xQ0xL8XEmJrar+J9xCIp2MFZoErEL2qAKtxB5RVPAx+Kq0QLM+D3cYEHSXhOqQEWRxinAohW1/+Q2LFRuez9ywip2AbdnxAg1x0kREBR+7pySd/lWKqj0EuPYxitwQuDP6VoFtvLkOrJ45YY75JsZ2G8zZn7TCtYYtvk9C/7x85vhV4rFCHnSNo6gFxf1R5frfxC30VJBTlKnu7EKawPZZqY3dybFOhQBL6QYcbIWE3H9t/uROdz6345vcE5UMmJmE6rGsS99oG5D7Abn9F9Djn2vkhLu6rNd3LnAqsJ2WjIPYaP+tRncodILUW+KMzcbKQWFXSCia3t/VITKKWo4+Pd9mssXIdGnmgBD6eskocDla2fYYrLgs/DFmLBfU2+kzmmN4CCHSLRbDHEFRdEfYlQWTjuH9cqj+yF7GxoIpt16GDzYjj9OViSr2+D6h3xG5E74LWvWdLFyS2mFpeKkl3ctPtwDGP9D2lGU08QelgYV0TY/WaVpKHVrskKYKgc2ZS5cY8zLuOyeyPTFtyInS+SjQPbvRmlmhmqEJwizseyNk3YItBX/iH2hNjFezCi8sV5vep/S6NVGBv08bisg0Z6YtSwMo2Vk6nQdzZYpp5eNT95+cKbGUKZ+HRz7pAcdqiXpeMcGpxc27c6EJoTa3T7XkJOhQTA+Dikh50Zm2ajlM+Qqc1QQo+uba0GTjo2uwKhLzKyWLqgj1+sSPh5p8IyUMa4xNwgBQRkCL6LH3l5YP9PwSatu65FVVqqDHIShUcMVRSNHEIJb4vfnhemXhy+PUUIs9KsHBqvTdjGLFyqb8BjW0Ug0wJAcRSnVYzYJX3JEWtkxUY7bLkH71I07Lx26nL+y5yAwMecabh9KNNbkFxHcqCpt5USrarD6IZ2ToJPErMEyumwFmnVr63RP/DJPPDHfb3Ykvc4Dt2UnMqSC+u4a+mS6i03EWdKYB91yIb4JuuCL6TbnKXeOgoKCcu5RsX0VeHxE4M3cxO2ttaV5KVSrICzCs+H5ZssXL/6ohEi+cUURtNLpIkUGH2bBnYPCAUID3oJsiTom0444WrqGDln/lW/uMuyT+985wpDGaT4za4sCecrLxMDKBf1bSV96ZNILAmxMDkJJXE6XB/+S/4ijKzs42SQw5rUG5FPyMI2C6qOmjrJifRrZNSvIFiOqmACqQAh9SnFtkS2YuT7KYq/mOpsvEa/0p9NYXpifC045SC8nk0zVlZfiMQk/WCwLy5pVuAfOifsHJsXT2ymiNdW39dgoLW+n9tbz1hCVfGwCt/7+2z7wVrMTpQnUMW5XFgbSb4PrZvGkkRnH7AYSv/EIJYwJ3ualtwNanCp2psyR8NWnaA/9GmAtaYjTjT3UXzblKSu6xtU1jjIsaeuSon+2clsDJk/0uu0pbPrLpvMa+c+XDx5eVXX3Ueh+vOLMuXUpXgGsVlDw8xXm84nAedYu5Vb/378LeqtwwDqv2w/Y7HnOCMB6Of2lyeF6d3LprNZMK1Z8pU98GqY5egBqSOyS7pGhUdreqtcaUwcpk/Jz09/ycUI4LKYUXMzt2A5od6N4VnijSpmcJPLpljaVn1mAthJa9OtNXvBui4ATm0z+HGGC0SCqNtBdvCr7NZLGYN3X7ha3hUg9HwCgadF1jTkAcyVad6ETPH7hC6KV87vKIz9es6fcXpZcOrKVwxkO7IFrFS/SISPFRK/yyU8rBU1HiLlyck+Y+Xf9lFHTyaFUBuWGM4OU7CMS3xnrccjNuo6FswINkpuoRi8d+4koAgD7It9+MsK699g8Isw6Y6oRkXuwzNoN+yweUOc0V8ieqC9QywiyBMKFrZ4AniZVI6Xlybvv5MBgIJvu6AWM1Pux4bMg4PPG5OLfYMTd7sHOGyQ5haLo7c8v3IpoUlK97gx/Zhbe1CfKwxl2rm9j954h9H6Pf/sUyMABP+JTvveq9dehmkijUt4gknF8TNPElswOOMEMK4zrAnEBrJKAnq091KMPRunTdv9a/V8dhM7NTYyrXnPTalIVDSvZdh58MkHUFbF/2fzZHnQT0+Z1Q009/AeWN5FPrEX5lWMTA8X3q2naTVQY+l0wxLzysfngqkfiUNyVc/sg/xVmM5LmJ6e+v6+xst5OEC24HNHYLWRJle4hOZXMjXakP95bSTg+xJ9Bdck9JSTPdsPrDn+uL2wRECXS7HJVGskF/gP+BJrQlzj/AI4fVOu/gWXp8+oJIW0fJe8mviZimfp36VVTbZOXK8WMHnUjzEjjtOpnq2kneQOQUm4S9y4/qVEeE+qACxAnG5DwKBgDIJtUayHgmP5hfewxiss6U6bt3NASL/+2SiOSsU17oKZztSvY0PXenUh8RR+lkHOBb7g3xCZTMOLS7dmN5hFjM34yE0gJkTS1Gv0nOTj1wKjFDRB/1AMjyN4MbXdPD9S8Fi+z8TCxw0Xb/sSIDGs8vA6Aaswq9kmrv/J8bb124ysxogvbdxhVJF0UOpWigZNgo1XPRAca4iWxdPgMEL7bORvpkUGYP63gLeqNXhgg+43wTKYKA2/GwqhFJtMqsBj4Pf1TRrapcNVIRKTYXxwRIx2eAD4LUlIpJWM/T8FMolwW9lJrtty0s7Q4yL68/dCWZskxcuXLUJpdpyhn1A1ubljpUxNP6r1UNuwxCrwfq0HXpR1lvOjHb5rT2yivryeeqZVV3UOPbZvM2BSImSTlK/WF6WxuTok1wX4nDdIImQynH6jeW/qV7eqvKdKHzFP5Iuu1Cxqn+BwzpHyCVmAGjrOppgQCN0QbuxYblDaHpxf7ezioC41FeKuVkrIUGPSnlBAU4vQq2KzaDYwErnL7VZ+qdbOjcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013fVK7JZDjRhEXRwT1aDjqq",
      "input": {
        "note": "The white bowl is now centred on the jaw column but still ahead of the fingertips; its centre is about left_y=-0.08 and left_x≈0.33. Moving so the jaws straddle its left rim (y=-0.03) at 4 cm height.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.33,
          "left_y": -0.03,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013fVK7JZDjRhEXRwT1aDjqq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2398, 1.3262, 0.3054, 0.271, -0.276, -0.2031, 0.9966, -0.02, 0.8066, 0.6048, -0.3931, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3144 left_y=-0.0236 left_z=0.0272 left_yaw=0.0836 left_pitch=-0.1519 left_roll=0.0539 left_gripper=0.9966 right_x=0.2939 right_y=0.0006 right_z=0.1742 right_yaw=0.0004 right_pitch=-0.029 right_roll=0.002 right_gripper=0.9983\nstate[joint_eff]: [0.1573, -4.7111, 5.3538, 1.956, 0.0464, 0.2222, -0.3687, -0.1983, -1.4974, 7.0222, 1.707, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1388c67ad8558f2a429fa86c5b1c03209da430436275434d0efbc44ab830ec5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:593716328854e34553d65d381b886790db5aec864a85cb478404d43c430e3b9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c5630d565e4c804bbd75ca0cee58d6a7635221a330f5dddb75be1662d2179d11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 7.046 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]: [-0.9745, 1.3685, 1.008, -0.5125, -0.7521, -0.688, 0.9966, -0.02, 0.8005, 0.6048, -0.3885, -0.0162, -0.02, 0.9984]\nstate[eef_state]: left_x=0.2968 left_y=-0.216 left_z=0.1879 left_yaw=-0.0243 left_pitch=-0.0295 left_roll=0.0183 left_gripper=0.9966 right_x=0.2942 right_y=0.0006 right_z=0.1768 right_yaw=0.0 right_pitch=-0.0183 right_roll=0.0016 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -5.2991, 8.8274, 1.2234, -0.4957, -0.0269, -0.3687, 0.0889, -1.812, 7.0769, 1.8681, -0.0269, -0.0611, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4973, 1.0878, 0.3408, 0.0288, -0.4339, -0.3336, 0.9966, -0.02, 0.804, 0.6048, -0.3927, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.2933 left_y=-0.0706 left_z=0.072 left_yaw=0.0233 left_pitch=-0.0758 left_roll=0.0358 left_gripper=0.9966 right_x=0.2938 right_y=0.0006 right_z=0.175 right_yaw=0.0004 right_pitch=-0.0259 right_roll=0.002 right_gripper=0.9983\nstate[joint_eff]: [0.212, -3.412, 6.7487, 1.8193, -0.0757, 0.2173, -0.3687, -0.1983, -1.6068, 7.0496, 1.7607, -0.0464, -0.0317, -0.0171]",
      "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]: [-0.2398, 1.3262, 0.3054, 0.271, -0.276, -0.2031, 0.9966, -0.02, 0.8066, 0.6048, -0.3931, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3144 left_y=-0.0236 left_z=0.0272 left_yaw=0.0836 left_pitch=-0.1519 left_roll=0.0539 left_gripper=0.9966 right_x=0.2939 right_y=0.0006 right_z=0.1742 right_yaw=0.0004 right_pitch=-0.029 right_roll=0.002 right_gripper=0.9983\nstate[joint_eff]: [0.1573, -4.7111, 5.3538, 1.956, 0.0464, 0.2222, -0.3687, -0.1983, -1.4974, 7.0222, 1.707, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1388c67ad8558f2a429fa86c5b1c03209da430436275434d0efbc44ab830ec5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:593716328854e34553d65d381b886790db5aec864a85cb478404d43c430e3b9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5630d565e4c804bbd75ca0cee58d6a7635221a330f5dddb75be1662d2179d11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9Q0KjgEIEhgCKkAyPcs8jGPnE7zms3nrgU0RUiqX/whXiTN2pTMC88lMe23IEo2Lk3TOSDieYlRWyDSaxmI4I5N3d2z5IH8Pd7RoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd3zy9UGEgyJZ3J40TqIGavU9bcaDFjnHwVWBGQ3b/k9ziIw8XjEnmg5AoXlp2OmhL0qtDoYDK0h7wkN7G4LxMesg+CCgT2ibUSegTBD5fP8XwDiKpMM2z+6zKDqe+eamFQcdkrqN5OcN1YwTUH8g453ntczVnUgKwhAzF6YpU/eEXcigB0vzCU34uFjw9SRzaF/5GY/a/MiRhEWL9if+obW/Dmdmh3VeHkPaOy0KgmBDOf97KIADhk0wN/qybtjhWNr8BHFiDium2uvRgUXwxT0+due7gS0mVU1QuW0FVbc/c04aCeeCaaJStK5V0xoXiw46AWHRcQm4DbOg68aJiFj5t2eQGpFc3/BbY+XWt+Vm4Ra4wvI2NLJGBuuWVL16CbKKZHXntw2z8GhZWO+yF2j1opBiGx7Pp3rqg0auOtM70y2YR8xg/FUun5O6EH2KISQ1pNk6a/tzrhNPheKfqIo5QGB7qqCyIFWwdJddS9PDxayOEInmZv75GBtQlniB4PvJbp00rcDqso37ZFMcbqe4C1z0ZR4tIGqbUVUCk6VASIK7Vs2q1vkkmnd0wWtmr4Z/V+Ih36XrGp/qiwg+Tl9m5+tCLxSZLfCQAdsQuPtn0pY8/6azdoLBPdEvpTvouKYMx2hVyEKh+9U398SKvHVIE/bOKnnyTk3SEZN/lrQORHN0kkjuwxGp1ruI8djNOEg3LjcXPWCuON1ifSWP85ihBniYfWRyDWMNTBIGBAGm4/Yj40EP5afEB41PgCbsWfHXO/RpdD6hLggc3ikgKBgm4WdMFm7Vea33uWrL/cGJ16Q3ZrP1QpUGtJHAmuacUQES3HLC9qWA2UioCY5+8sOeTIShIbR3zfq02L+UG7JqmcUELLXllsaSSIbPEskpCBVxOPhd6/O2sPj0k8KcpI5rYoKN/+uCQ38ykW5pdbTFcQBkNwwpUxeqa77IJ9PrTEiAudod2n+lv3L+1Nd9qPO2ihkfaSeutyEgiwsoKiUBMFLizhbm7Othl+VWtAi+5g4RFMLZeCs4ECjbc9fiOwvbj7YaLxumGHTL7OjRUa4qnCya1LnNfvatvC5rqpSK+SjlW3z2yK0we0Fyq80tq49lyp9tdTq6rphl0AKucteyki1bVnruYH587Te2V42zR9yCWMhT+/7O78Hp6pXNOP8OaX2EBbMMTukoGkJ+AX/vwDMb+DMv7z4GefV4IGMNOnaYLqveUShzWXYVKUi22zCmza+rDc6BQX92pQLMyidLqyf61JSadug9k1unDUMkw4lKOVN2YMEmvZR4fzSkTPGxJKodEdRBdImUdx0tWfskF+k4xvD4Dx+5eCAaATzI85jPI+FDdsBTJYP4uBpO9PCAA8FqsrIBW1k4H2S480//qKithRrh/ql5+si2Q7WAw6UuWFGdZqsivK2s0q3zRUNuElyo6yye7Jfq/aHBjDVjJsb8Is3IBN9LPv6ctbkiWXWKA/X3i2vHTLyxwF/eeh8IbkIidobVgJ38XDppf01o1Z1ibExmk2mvXzO8B+AvH89QQPYE43aUkECVFcblZiGXNf/5W4gv7ArIK5ZHYWoyMXPaYGsj6FUKPOtnebfzerwMk/ijxEbecoTvezbN9gLvoiz+BLTr67PYbbzuYCMc25TnZ3Qwfw7ngdI+hvrh8ubeZinOV37j6WofvauP/8katvSQOA7hIIFrz6aEDnh7TSRYLusuYAw4LC43qPd8yxH0TjDY0JVaXJEWL0yaA+QoALkU66pOB6cOsimth/Eqpv7+dLR+9pHyPqvhep96RVDgCKDcL1RfdAmqiBdcigvwyJIR3tyagNXtqmieQs5AfSGgG9ObYInC+kIzVRcBgci6NrkIMyi/a/lFsiYOKcc9BwKmMlG7k3gkOGyoKHo2/C9LR6TW3dSBjiLK3Dp/i5ccJyNt6T4kvjJiTITAsGHfG22vzPSDUgyMPXaWrt0N8W+KK2Bwv2mYjEOXxpcSX2bI4UFUVSAzH2Iz+Xj1PqaoN/sfZ/McOjlyvwI8P4JY6NhBIXfRH2OKNKbJPBEzkFR7C6R1C6RIkVuTd0t2QkGMSgpZ2gygK1Ck2YBOldeDQLrMEA4pxTv+qiyOLYN2OiWOwK5XPFER+TR4UoLMjMDxqT2ZmmBLgyq5SbIoQFK6hUCyov4NWcfT0pCfbvgPoQFzCUIV0n+jxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YRY5AaJ7ipLSeHFCrZJBsu",
      "input": {
        "note": "Wrist view shows the white bowl's near-left rim about 4 cm to the right of and ahead of the jaws. Nudging right and forward to put the rim between the jaws.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.06,
          "left_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_01YRY5AaJ7ipLSeHFCrZJBsu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.5017, 0.4343, 0.2684, -0.3271, -0.2607, 0.9963, -0.02, 0.8104, 0.6048, -0.3935, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3385 left_y=-0.058 left_z=0.0197 left_yaw=0.0536 left_pitch=-0.1832 left_roll=0.062 left_gripper=0.9963 right_x=0.2941 right_y=0.0006 right_z=0.1731 right_yaw=0.0004 right_pitch=-0.0332 right_roll=0.0021 right_gripper=0.9983\nstate[joint_eff]: [-0.5128, -5.135, 7.0769, 1.6142, -0.2222, -0.0317, -0.0366, -0.0615, -1.6479, 7.2274, 1.6923, -0.0415, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b1d77ace98de5fb73f73081537175046fe769061884a2e4a2f8b420492401e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eab706105b3ed1eef48c42a11aea555d5f700072cb95758234edf45320f56ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2e2c143393762e170561d82565d1fdf29da2d0064f676a05247f2f515007bd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /messages · status 200 · 6.266 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]: [-0.4973, 1.0878, 0.3408, 0.0288, -0.4339, -0.3336, 0.9966, -0.02, 0.804, 0.6048, -0.3927, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.2933 left_y=-0.0706 left_z=0.072 left_yaw=0.0233 left_pitch=-0.0758 left_roll=0.0358 left_gripper=0.9966 right_x=0.2938 right_y=0.0006 right_z=0.175 right_yaw=0.0004 right_pitch=-0.0259 right_roll=0.002 right_gripper=0.9983\nstate[joint_eff]: [0.212, -3.412, 6.7487, 1.8193, -0.0757, 0.2173, -0.3687, -0.1983, -1.6068, 7.0496, 1.7607, -0.0464, -0.0317, -0.0171]",
      "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]: [-0.2398, 1.3262, 0.3054, 0.271, -0.276, -0.2031, 0.9966, -0.02, 0.8066, 0.6048, -0.3931, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3144 left_y=-0.0236 left_z=0.0272 left_yaw=0.0836 left_pitch=-0.1519 left_roll=0.0539 left_gripper=0.9966 right_x=0.2939 right_y=0.0006 right_z=0.1742 right_yaw=0.0004 right_pitch=-0.029 right_roll=0.002 right_gripper=0.9983\nstate[joint_eff]: [0.1573, -4.7111, 5.3538, 1.956, 0.0464, 0.2222, -0.3687, -0.1983, -1.4974, 7.0222, 1.707, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.5017, 0.4343, 0.2684, -0.3271, -0.2607, 0.9963, -0.02, 0.8104, 0.6048, -0.3935, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3385 left_y=-0.058 left_z=0.0197 left_yaw=0.0536 left_pitch=-0.1832 left_roll=0.062 left_gripper=0.9963 right_x=0.2941 right_y=0.0006 right_z=0.1731 right_yaw=0.0004 right_pitch=-0.0332 right_roll=0.0021 right_gripper=0.9983\nstate[joint_eff]: [-0.5128, -5.135, 7.0769, 1.6142, -0.2222, -0.0317, -0.0366, -0.0615, -1.6479, 7.2274, 1.6923, -0.0415, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b1d77ace98de5fb73f73081537175046fe769061884a2e4a2f8b420492401e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eab706105b3ed1eef48c42a11aea555d5f700072cb95758234edf45320f56ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2e2c143393762e170561d82565d1fdf29da2d0064f676a05247f2f515007bd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0wYKjgEIEhgCKkC9T9zLdqhSkkJ9Y6TGSjUamGuaRcG+KNzoqjFGf8lVf9GtmPM3zT4cuJM9lWXCD5yx2b1iviLfUtKASL/jHQhQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeTzy9UGEgz0DstwbQeptJdU2KEaDNR6SfLSThcU63NVdSIw3d/L+GuitRW3o470aNR1UDyIm1ORhBeRpirNxzhQNSntztQyp5VpkkSavu8xzSaAKvEENX072n0r+exYrsackovhOeYQvbX/vOW45dFYQ9wsmG0IV/pwkfxYdyruarDc81kmIMg7lDtRQMxtnduQ5MQH+9i7a+71qkVz7KpUsGSkaLVoEnpce5u6MFNpY5uciNNDFR9v2wCQKxpDPJoHcHVF5VRpiXL266pKErwZ39cvUoIcvLcctDK+UPPqMlbd8eh0dDDWqmVVPrHpoy4jAKNVEmg2yotCmYutHEG+tFGuE10LRCNaROoJL47QqsZiWRKTl/YMUyFEERoW51CkBhcJhd6M8khuQv3I0s4++X/X8S2rk+b5PD1hzt+5j0sjmklA7Tj/6W8YMIAINMy5FSmkXPj1zKo14GSwGxKoQIfuMNFHloXKhI7rDWyG5j/tiNyCGoU3L8Uypy/Kgy8uQyOOFgRLYYNCYoExA6iDFv1is20GGg1xnHEzThyyCMoulYTuFhcRg0zZSENlU5HcHnsUXIGL2AHWdQESboPFCY9zEs1JIji7GD8VT5vcnRQeh8nYICO5kI7ipiPLZrtBQ47hNXFFvLYwU4qHWrS1NlbkVRgnYul/6xUFEWbvpKbxKUNJkTPHFTbcI0Lzekcnehq4DLR8BEy13pV2beNu7i6V1BQelz+mC/TRo9/AsWTQrxwS7MKI1kYJz1DM0oTYXVndQb8LLLvwIw/PwlBWLTCbaOKBQEdAjFFmUvd1Z0PVR/NqiWg5/Hk91jI6w12oFco4O0YdMQGm/Dq6nwz8agVBIwpWXl46L7n9ESRUpyK6/tQJDPxLq1l3SCzK7I+Uxh2INUzJOzcEmtfFDpuFVTzcjK1J5VLZ1DBQW8z5Jx17q6bdNxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BT4FJPyycUXUz5RF5oJoFp",
      "input": {
        "note": "The white bowl's left rim now sits right at the jaw column. Lowering 1 cm and closing to pinch the rim wall.",
        "targets": {
          "left_gripper": 0,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BT4FJPyycUXUz5RF5oJoFp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3508, 1.5414, 0.424, 0.3054, -0.3332, -0.2699, 0.0089, -0.02, 0.8108, 0.6048, -0.3931, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3372 left_y=-0.058 left_z=0.0101 left_yaw=0.0599 left_pitch=-0.193 left_roll=0.0646 left_gripper=0.0089 right_x=0.2942 right_y=0.0006 right_z=0.173 right_yaw=0.0006 right_pitch=-0.0332 right_roll=0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.3214, -4.6017, 4.3966, 1.7998, -0.0855, 0.0562, 0.6422, -0.0752, -1.347, 7.0496, 1.6923, -0.0611, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5850d6cf3a65086833db851a54c53a88ce7adee9fc1fb815bb7f5274a2608df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bafd0446b43c62baffc6bce46c5957299e9b96b490bada04493ec7018244a242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b57d5c9ea08261b7bc6fd93f81eb979e77f70a6cc9af1ceb8f20be042e84f38f",
        "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 · 5.869 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]: [-0.2398, 1.3262, 0.3054, 0.271, -0.276, -0.2031, 0.9966, -0.02, 0.8066, 0.6048, -0.3931, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3144 left_y=-0.0236 left_z=0.0272 left_yaw=0.0836 left_pitch=-0.1519 left_roll=0.0539 left_gripper=0.9966 right_x=0.2939 right_y=0.0006 right_z=0.1742 right_yaw=0.0004 right_pitch=-0.029 right_roll=0.002 right_gripper=0.9983\nstate[joint_eff]: [0.1573, -4.7111, 5.3538, 1.956, 0.0464, 0.2222, -0.3687, -0.1983, -1.4974, 7.0222, 1.707, -0.0659, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.5017, 0.4343, 0.2684, -0.3271, -0.2607, 0.9963, -0.02, 0.8104, 0.6048, -0.3935, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3385 left_y=-0.058 left_z=0.0197 left_yaw=0.0536 left_pitch=-0.1832 left_roll=0.062 left_gripper=0.9963 right_x=0.2941 right_y=0.0006 right_z=0.1731 right_yaw=0.0004 right_pitch=-0.0332 right_roll=0.0021 right_gripper=0.9983\nstate[joint_eff]: [-0.5128, -5.135, 7.0769, 1.6142, -0.2222, -0.0317, -0.0366, -0.0615, -1.6479, 7.2274, 1.6923, -0.0415, -0.0513, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3508, 1.5414, 0.424, 0.3054, -0.3332, -0.2699, 0.0089, -0.02, 0.8108, 0.6048, -0.3931, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3372 left_y=-0.058 left_z=0.0101 left_yaw=0.0599 left_pitch=-0.193 left_roll=0.0646 left_gripper=0.0089 right_x=0.2942 right_y=0.0006 right_z=0.173 right_yaw=0.0006 right_pitch=-0.0332 right_roll=0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.3214, -4.6017, 4.3966, 1.7998, -0.0855, 0.0562, 0.6422, -0.0752, -1.347, 7.0496, 1.6923, -0.0611, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5850d6cf3a65086833db851a54c53a88ce7adee9fc1fb815bb7f5274a2608df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bafd0446b43c62baffc6bce46c5957299e9b96b490bada04493ec7018244a242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b57d5c9ea08261b7bc6fd93f81eb979e77f70a6cc9af1ceb8f20be042e84f38f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyAUKjgEIEhgCKkD72vvs7Gs/NUaCqIpNcQZ62NLaqkP28VPIXzRiYXJjmj71o1VnfZgOgKrhvfZioCVkbY+7KI1JP+15q6fpgV+zMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAevzy9UGEgzneLAtSub6qyv+400aDEp/HzIcoAwe2F7spiIwtm9+dwGzOABIMkpn2fWtnHPq4qnO1a6Axgd+q6nVEMZBy2Pc4xzm1jd3OnlDpik8KuYDSf3SviN5dvMcRQ6yExrNh5rHoGUNNAE9r/KtqSAGTDdpv4rR7zK6LN/wXYWHPGmQulf9ljqWC5NWu/c/Sz31h1b8Kq6PSusTH76Zd9gTU4s88eyKl7YreB4jxpGLCnpU8aUZLIpFyzt15fC+Noz+V5KwRgdh3nZCfL/XOVXnIPuhx66uQFjCDbDdS+vHSB2WStemMZcRnRlbvwFGfiP9UIwvz0rAKbRi8+xrnaebRn2hDh5Zf/BD88sltRl1CjdF6Ij8PLgRWarMYERRn4msroekTjSpMr5V9lEU9iGc1bVaoJGX2QRtBRgRuKr7L8B/pWHUfjKYc5sgq92o2XfqfS4xzx4wj/OeGmXpBNYVoU50pch4vugbuT23H0NPmoPGtxM5kThgO9C5LKAOPZZma6rM2dav5oZ3MZyLyF3l8uIf4zUjVz8WF1lFk3RmE35xlmCHndPhJ3sAMM7qH/0ewvUIH3o0IeXJuOjtqZct67G3kErYLHCaE9OXlMux3pA3BXOlEP3ADiJVxfrp/eU0Pz3XI5Gqb1TJHiKIne48+ZkZaEdPkmeyTfoVM6TqQH/6Qd8KHlq54Qw7cIx6/trEd4sLj9BPPjIlLp897u8iCcD7GDISrQUhSur1PWrs+nt3i8C6NIvxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LmsrMwGBy5zVhjfhCAmrXJ",
      "input": {
        "note": "Gripper closed to 0.009 — empty, so the jaws missed the rim to its left. Reopening and shifting 2 cm toward the bowl centre to retry.",
        "targets": {
          "left_gripper": 1,
          "left_y": -0.08,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LmsrMwGBy5zVhjfhCAmrXJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4362, 1.5269, 0.4633, 0.1932, -0.3767, -0.3389, 0.9953, -0.02, 0.8108, 0.6048, -0.3927, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3289 left_y=-0.0777 left_z=0.0117 left_yaw=0.0529 left_pitch=-0.2286 left_roll=0.0699 left_gripper=0.9953 right_x=0.2942 right_y=0.0006 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0328 right_roll=0.0018 right_gripper=0.9983\nstate[joint_eff]: [-0.3761, -6.6667, 7.4325, 1.3016, -0.398, -0.0317, -0.1587, -0.1162, -1.2923, 7.0496, 1.7607, -0.0806, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47a3884050b4dc12195b4f63cf4d8b6038caf53bdc7135bd870bf9d0bef7e728",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99ce9b2d3c8697655ac4e4a34094ce0bb43036cde94afff9a76e623bd0aaba2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:208b096d33eb041c26c2a2689a2554ea883cc2067d648805a93ca591c9353ae0",
        "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 · 23.34 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]: [-0.3462, 1.5017, 0.4343, 0.2684, -0.3271, -0.2607, 0.9963, -0.02, 0.8104, 0.6048, -0.3935, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3385 left_y=-0.058 left_z=0.0197 left_yaw=0.0536 left_pitch=-0.1832 left_roll=0.062 left_gripper=0.9963 right_x=0.2941 right_y=0.0006 right_z=0.1731 right_yaw=0.0004 right_pitch=-0.0332 right_roll=0.0021 right_gripper=0.9983\nstate[joint_eff]: [-0.5128, -5.135, 7.0769, 1.6142, -0.2222, -0.0317, -0.0366, -0.0615, -1.6479, 7.2274, 1.6923, -0.0415, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3508, 1.5414, 0.424, 0.3054, -0.3332, -0.2699, 0.0089, -0.02, 0.8108, 0.6048, -0.3931, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3372 left_y=-0.058 left_z=0.0101 left_yaw=0.0599 left_pitch=-0.193 left_roll=0.0646 left_gripper=0.0089 right_x=0.2942 right_y=0.0006 right_z=0.173 right_yaw=0.0006 right_pitch=-0.0332 right_roll=0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.3214, -4.6017, 4.3966, 1.7998, -0.0855, 0.0562, 0.6422, -0.0752, -1.347, 7.0496, 1.6923, -0.0611, -0.0415, -0.0073]",
      "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]: [-0.4362, 1.5269, 0.4633, 0.1932, -0.3767, -0.3389, 0.9953, -0.02, 0.8108, 0.6048, -0.3927, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3289 left_y=-0.0777 left_z=0.0117 left_yaw=0.0529 left_pitch=-0.2286 left_roll=0.0699 left_gripper=0.9953 right_x=0.2942 right_y=0.0006 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0328 right_roll=0.0018 right_gripper=0.9983\nstate[joint_eff]: [-0.3761, -6.6667, 7.4325, 1.3016, -0.398, -0.0317, -0.1587, -0.1162, -1.2923, 7.0496, 1.7607, -0.0806, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47a3884050b4dc12195b4f63cf4d8b6038caf53bdc7135bd870bf9d0bef7e728",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99ce9b2d3c8697655ac4e4a34094ce0bb43036cde94afff9a76e623bd0aaba2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:208b096d33eb041c26c2a2689a2554ea883cc2067d648805a93ca591c9353ae0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2wUKjgEIEhgCKkBGGREhJeiAJP+U4zqwoECOYRTArD+p0Bf30SHIpDhOuDCvP76xuru45c4rzh3OmBbdZ3IdHV79Ff+tFYT1wmsFMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfPzy9UGEgy57e41ajRQVsdvWD4aDBfbmVuJQkbQCIvIZyIwMGO6dic6NkbwXXs3QHBqlwQp8qeAqlyVOGW3plNL7DnC1ABOFLI+l8joWC8GO/gaKvkDP7EChEU5/XQkTQwAGkzQCuyN2UXSNAyw+g9HjuYFzrN4Rw86A5FIoTKys/JmB2ictzM7N+EjHnffvjbpRAkoPZbLbnLDa4qYtSUAPBsptzRfFmAfgGe6iY8mkj6r2rmAil62nF0mju1AQYTilzlFkIXlOcgvnaHiZNxngq7KmBiRZAU/GeISiCtwwM/WOco5A6+i2RUKmNphaUB7NxdrEAedElMUfMLsX+OecIuVxsxsGI3MeHlDk9Tly0hQj4EgJGLnutlwhr3N88UfdLPh9eriqml1GUkirO3FrBdTcTbusH/RtnYH/GkhrxKHv29gqyMoafj4k7I7IK+wWaD3JJIy80G6hM7dYl910B6dqvQNwpejojKllYS7nHcD5IFdXxGLTHbchCQQJ5njAAArADoCCa1aVY5TFxTF7h+awfLbpdH4XSAkv2FQXbFUq5Mj1zxLWrQo38BHbdVjC1EK2H4qjgDgKfZppu9JQLxklmTUWDmEQpjUQ8Eb3ffeUkahywVdvEALAM/QYuOgamqWgUzPIHevh7i8LX2t2NeRXctWuX27Tu17CxU1spQ+Ga6QxXoeIwH9hTZ6pzSeEijdUHZWdYA4TZLM0cayjXzQ9RcyQYxemPO/tGEo7o7lhjBVomKbahtToRo7Ikvg9m3rmYV+BO0Jho48ChgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YKnixwmhkDFvbtSHcKzcpC",
      "input": {
        "note": "Jaws now straddle the bowl's left rim in the wrist view; closing to pinch the rim.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YKnixwmhkDFvbtSHcKzcpC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4377, 1.5242, 0.4656, 0.1871, -0.382, -0.3408, 0.0089, -0.02, 0.8108, 0.6048, -0.3931, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.329 left_y=-0.0773 left_z=0.0126 left_yaw=0.0568 left_pitch=-0.2276 left_roll=0.0728 left_gripper=0.0089 right_x=0.2942 right_y=0.0006 right_z=0.173 right_yaw=0.0004 right_pitch=-0.0332 right_roll=0.0021 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -4.9983, 4.9162, 1.4383, -0.1685, -0.0122, 0.5641, -0.212, -1.347, 7.0496, 1.7363, -0.0611, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f919b8b611da3054e6da14c91c9d94b197e057310df5e55432bb7ce75f20955",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:680105c0d9f73a989825c8b7b238b129a9a3d6b86a714df20b50c8a57b295762",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af2109ca0bdb6adead5ea1e2099d35280b353e06997c400c6e95933fd2e5dc00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 6.003 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]: [-0.3508, 1.5414, 0.424, 0.3054, -0.3332, -0.2699, 0.0089, -0.02, 0.8108, 0.6048, -0.3931, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3372 left_y=-0.058 left_z=0.0101 left_yaw=0.0599 left_pitch=-0.193 left_roll=0.0646 left_gripper=0.0089 right_x=0.2942 right_y=0.0006 right_z=0.173 right_yaw=0.0006 right_pitch=-0.0332 right_roll=0.0018 right_gripper=0.9983\nstate[joint_eff]: [0.3214, -4.6017, 4.3966, 1.7998, -0.0855, 0.0562, 0.6422, -0.0752, -1.347, 7.0496, 1.6923, -0.0611, -0.0415, -0.0073]",
      "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]: [-0.4362, 1.5269, 0.4633, 0.1932, -0.3767, -0.3389, 0.9953, -0.02, 0.8108, 0.6048, -0.3927, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3289 left_y=-0.0777 left_z=0.0117 left_yaw=0.0529 left_pitch=-0.2286 left_roll=0.0699 left_gripper=0.9953 right_x=0.2942 right_y=0.0006 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0328 right_roll=0.0018 right_gripper=0.9983\nstate[joint_eff]: [-0.3761, -6.6667, 7.4325, 1.3016, -0.398, -0.0317, -0.1587, -0.1162, -1.2923, 7.0496, 1.7607, -0.0806, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4377, 1.5242, 0.4656, 0.1871, -0.382, -0.3408, 0.0089, -0.02, 0.8108, 0.6048, -0.3931, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.329 left_y=-0.0773 left_z=0.0126 left_yaw=0.0568 left_pitch=-0.2276 left_roll=0.0728 left_gripper=0.0089 right_x=0.2942 right_y=0.0006 right_z=0.173 right_yaw=0.0004 right_pitch=-0.0332 right_roll=0.0021 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -4.9983, 4.9162, 1.4383, -0.1685, -0.0122, 0.5641, -0.212, -1.347, 7.0496, 1.7363, -0.0611, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f919b8b611da3054e6da14c91c9d94b197e057310df5e55432bb7ce75f20955",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:680105c0d9f73a989825c8b7b238b129a9a3d6b86a714df20b50c8a57b295762",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af2109ca0bdb6adead5ea1e2099d35280b353e06997c400c6e95933fd2e5dc00",
        "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_011oXbHMj8NjfYs5jqYLHsxj",
      "input": {
        "note": "Second empty close: the wrist view shows the bowl edge above the jaw tip, so the fingertips are ~6 cm short of the bowl. Lifting clear and repositioning over the bowl's left rim at x=0.385.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.385,
          "left_y": -0.033,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011oXbHMj8NjfYs5jqYLHsxj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2043, 1.4708, 0.733, -0.1055, -0.2413, -0.186, 0.9943, -0.02, 0.8146, 0.6048, -0.3935, -0.0162, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3775 left_y=-0.0314 left_z=0.074 left_yaw=0.0864 left_pitch=-0.2492 left_roll=0.0712 left_gripper=0.9943 right_x=0.2943 right_y=0.0006 right_z=0.1719 right_yaw=0.0002 right_pitch=-0.0374 right_roll=0.0017 right_gripper=0.9983\nstate[joint_eff]: [0.3487, -7.1453, 8.6085, 1.4286, -0.0659, 0.2466, 0.0269, 0.0479, -1.6752, 7.0496, 1.7411, -0.0269, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4cf92c549d0d859ac37d4a5449cf2f84bbbf9fe5f809051755f4541aefa78aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90c51d104b1c172927b2bc8fde42a78651ecc580e8e7db36565f0a6a47b34a83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d197c2fc5e37a784122987d98d8022aa142dbc38c048b011dc1b5efe8e9f7e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 7.754 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]: [-0.4362, 1.5269, 0.4633, 0.1932, -0.3767, -0.3389, 0.9953, -0.02, 0.8108, 0.6048, -0.3927, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3289 left_y=-0.0777 left_z=0.0117 left_yaw=0.0529 left_pitch=-0.2286 left_roll=0.0699 left_gripper=0.9953 right_x=0.2942 right_y=0.0006 right_z=0.1731 right_yaw=0.0006 right_pitch=-0.0328 right_roll=0.0018 right_gripper=0.9983\nstate[joint_eff]: [-0.3761, -6.6667, 7.4325, 1.3016, -0.398, -0.0317, -0.1587, -0.1162, -1.2923, 7.0496, 1.7607, -0.0806, -0.0317, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.4377, 1.5242, 0.4656, 0.1871, -0.382, -0.3408, 0.0089, -0.02, 0.8108, 0.6048, -0.3931, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.329 left_y=-0.0773 left_z=0.0126 left_yaw=0.0568 left_pitch=-0.2276 left_roll=0.0728 left_gripper=0.0089 right_x=0.2942 right_y=0.0006 right_z=0.173 right_yaw=0.0004 right_pitch=-0.0332 right_roll=0.0021 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -4.9983, 4.9162, 1.4383, -0.1685, -0.0122, 0.5641, -0.212, -1.347, 7.0496, 1.7363, -0.0611, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2043, 1.4708, 0.733, -0.1055, -0.2413, -0.186, 0.9943, -0.02, 0.8146, 0.6048, -0.3935, -0.0162, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3775 left_y=-0.0314 left_z=0.074 left_yaw=0.0864 left_pitch=-0.2492 left_roll=0.0712 left_gripper=0.9943 right_x=0.2943 right_y=0.0006 right_z=0.1719 right_yaw=0.0002 right_pitch=-0.0374 right_roll=0.0017 right_gripper=0.9983\nstate[joint_eff]: [0.3487, -7.1453, 8.6085, 1.4286, -0.0659, 0.2466, 0.0269, 0.0479, -1.6752, 7.0496, 1.7411, -0.0269, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4cf92c549d0d859ac37d4a5449cf2f84bbbf9fe5f809051755f4541aefa78aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90c51d104b1c172927b2bc8fde42a78651ecc580e8e7db36565f0a6a47b34a83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d197c2fc5e37a784122987d98d8022aa142dbc38c048b011dc1b5efe8e9f7e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnAUKjgEIEhgCKkDZkt3msoH/odGIxrdPFu1GymOgs8Pjsroa/L5nqMZ+a1rooPLb3So+AWlaVYDHH499PVlRG6XVazxQxiG1opZIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZH0y9UGEgydxnVq4XqlW1YdPUsaDGpSk74Nv9OfFspmsSIwB8PpQLmCE/WxEZlzQrfoEZqoKOZIyRGY56rmRUgBOahwHGbtrhrnC8nvqAi8pzfSKroD+JXcnVrnS7v8C6J2XBUB2CVtQ8+zLEWM3FxdQPPzI5KEnhmGzTDmDRsCQe+zc4Tyabhj0wir6/CoKrQf2HEIbtHqHmubywbLOeWpEteUTb9kZbBRDjwRpaEKXGI5e5BWQo5vH8WojaMj8On2TtgxX/tQJGT+2rrG9H/QhNqPxuNxOmD3MaX18EJJzp+A9K4qeGGDbKscb0Nub7hK6qWBPxA91/pwtQ7L59C/axzoJeGz5h7HrP+XfsmQ4Oh4Ra3VlN89C23PIQoK9EbxNWyxtqDXJhRLp9d5y19OP7Q7Z4zDLtibexLaO+lONQVu/6iY5Qev1W/A70MkjWHXRVepIB28oBOFnLmQ1xQ+KbWd6blKO7qZs6iOWgPCbhDybtHUPxiXYiG7rj47qGg15C3WsOS8lCnioFrYc7vPhLloso7vL1qbSreSg88IIYvk99JGgMkhzY23L750KzYObziTxLw4hKlAZgAbQ7N9mYl3EvjNcrejFXD4y1vV++BYu29RursFtzynNAY1hrw9FOVpXx79TBuuDA531ha9ZYTNkH7LGR7bpioC05zRhsV5soYsZy/SrCOlvJm4chgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QBxdGnZ9mDp3hkAjV2mb8d",
      "input": {
        "note": "Wrist view shows the bowl's left rim just right of the jaw column. Descending to rim height (3.5 cm) with a 1 cm shift toward the bowl so the jaws straddle the rim wall.",
        "targets": {
          "left_y": -0.042,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01QBxdGnZ9mDp3hkAjV2mb8d",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2375, 1.5639, 0.6716, 0.0059, -0.2535, -0.2001, 0.9953, -0.02, 0.8173, 0.6048, -0.3939, -0.0162, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.372 left_y=-0.0408 left_z=0.0363 left_yaw=0.0749 left_pitch=-0.2869 left_roll=0.0839 left_gripper=0.9953 right_x=0.2945 right_y=0.0006 right_z=0.1711 right_yaw=0.0002 right_pitch=-0.0404 right_roll=0.0017 right_gripper=0.9983\nstate[joint_eff]: [-0.1162, -6.9402, 6.106, 1.7167, -0.1978, -0.1148, 0.1001, -0.3761, -1.6068, 7.0222, 1.7021, -0.0562, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfbe70ce824a76e0f574452a9c1804e2a3b1228999943888f67323a706b46fbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4ac11681bc84c50b40725c146376176527db6ebfde9c696aa44b0e313c13762",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2aadd38d5964e047e8553ffbdcb086179a277c3c77487e3d6e00a4366261a86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 4.913 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]: [-0.4377, 1.5242, 0.4656, 0.1871, -0.382, -0.3408, 0.0089, -0.02, 0.8108, 0.6048, -0.3931, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.329 left_y=-0.0773 left_z=0.0126 left_yaw=0.0568 left_pitch=-0.2276 left_roll=0.0728 left_gripper=0.0089 right_x=0.2942 right_y=0.0006 right_z=0.173 right_yaw=0.0004 right_pitch=-0.0332 right_roll=0.0021 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -4.9983, 4.9162, 1.4383, -0.1685, -0.0122, 0.5641, -0.212, -1.347, 7.0496, 1.7363, -0.0611, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.2043, 1.4708, 0.733, -0.1055, -0.2413, -0.186, 0.9943, -0.02, 0.8146, 0.6048, -0.3935, -0.0162, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3775 left_y=-0.0314 left_z=0.074 left_yaw=0.0864 left_pitch=-0.2492 left_roll=0.0712 left_gripper=0.9943 right_x=0.2943 right_y=0.0006 right_z=0.1719 right_yaw=0.0002 right_pitch=-0.0374 right_roll=0.0017 right_gripper=0.9983\nstate[joint_eff]: [0.3487, -7.1453, 8.6085, 1.4286, -0.0659, 0.2466, 0.0269, 0.0479, -1.6752, 7.0496, 1.7411, -0.0269, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2375, 1.5639, 0.6716, 0.0059, -0.2535, -0.2001, 0.9953, -0.02, 0.8173, 0.6048, -0.3939, -0.0162, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.372 left_y=-0.0408 left_z=0.0363 left_yaw=0.0749 left_pitch=-0.2869 left_roll=0.0839 left_gripper=0.9953 right_x=0.2945 right_y=0.0006 right_z=0.1711 right_yaw=0.0002 right_pitch=-0.0404 right_roll=0.0017 right_gripper=0.9983\nstate[joint_eff]: [-0.1162, -6.9402, 6.106, 1.7167, -0.1978, -0.1148, 0.1001, -0.3761, -1.6068, 7.0222, 1.7021, -0.0562, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfbe70ce824a76e0f574452a9c1804e2a3b1228999943888f67323a706b46fbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4ac11681bc84c50b40725c146376176527db6ebfde9c696aa44b0e313c13762",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2aadd38d5964e047e8553ffbdcb086179a277c3c77487e3d6e00a4366261a86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9AYKjgEIEhgCKkBidlb06opdLoj+MR83UaBjlWf6KDibvex86tMy9yybsSPqCjeRH5ALTtDTnrr4ic4zWyqA4a6ylF+psdo67YQnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZn0y9UGEgzOyeUYPDe3wAIYQhUaDH6+C+AI++il4gi9liIw1L5UVSrPAvW/FIuS4K4eez9fop19n1XcFYX2bozz5JicEawl56+AVNfSeqtqCIHBKpIFITPBlmXyiFfJFBaCQgT1XLrbZC/i38FLjCigQS98hs5IOIX3ge0knpmGVHyna7aWsz0OPWp1LrIToJqstZIS1Z9RcqIjTNGQpgIs3ax/PgahmmPmzSWYLpNMLPb5+nFNMG6lw2Lji7B7E0rg+tZa71l53lVf8+njuuZtB+8cC/TN8usE/mv8q75gMXK/imnkoc3NCEVcP0DFQqb6G2fDTF/4l1Mfj/qVqUxwkENOfSxHNVNNpQBpc8qivX95iLEgKcsUNLIlpiOvq13ctNAMFiRSHw1pLF/C/vGxwDKnASVIILo2/FXXncgHmXFtQhrIza515N5fbPuO8twK50yC4C6e9UwbnB1Jg3ro/jMByZ9KJ+EF0JFZB1rswlwqYrK+0KMDvQuKj0vioT0KX1TDE4pIR/VvFIDHetUv+JzCGVAc5HzVOuMHHuncgQ5lIE6dn9cImtUqRLAIuyKKn+/7nr+ODDrmYPv4khs35NT+/ng12qwepnsofpK7/WN1Q7iSRSNBM2agSlvJWAFrONunWfP/vu3vOFhE0aE6vtjNGBK5vWh8crL3LN89gW9ap03/NMudKEwTkc36+GScugiN60/JtlpQ7NmrfMVBgS868t7BIQBoZIcK0WdKRsP2lh1LIh23idd86LLMcYtvSNs6gvZubwy/KXMAvnsIqOBRiUJQxkVkip/Ccrgfh/JhhRV/qYIGKjoJwG/lLW9/l8beDaH3q3YbA8OE4eOWZwau2uB7qK8sNraf9Nwr+xiU5ri6hcx2r6+irY+kDbQ+HbNsaodYs4VjXc3XsjePQdJQOq4zjWPnx3duNX/muWxNzItQtSsEg9YhmbXQHZtfBoBx/KVaFPzuHRTpGY05yLFNqO++xRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014Mzv3DpPEg43JQ8HjLJER6",
      "input": {
        "note": "The rim edge sits ~2 cm right of the jaw centre line in the wrist view; shifting 2 cm right so the rim wall falls between the open jaws.",
        "targets": {
          "left_y": -0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_014Mzv3DpPEg43JQ8HjLJER6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2813, 1.594, 0.6621, 0.0261, -0.2821, -0.2394, 0.9955, -0.02, 0.8173, 0.6048, -0.3931, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3685 left_y=-0.0516 left_z=0.0265 left_yaw=0.079 left_pitch=-0.2959 left_roll=0.0857 left_gripper=0.9955 right_x=0.2946 right_y=0.0006 right_z=0.1712 right_yaw=0.0006 right_pitch=-0.0396 right_roll=0.0019 right_gripper=0.9983\nstate[joint_eff]: [-0.4034, -7.241, 8.1162, 1.3797, -0.1832, -0.105, 0.0024, -0.1846, -1.4017, 7.0222, 1.7118, -0.0806, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66637015e6879ce7014b8d02330c5bec56fe632b7429f71941d3d19bb4ab2a3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dbc6260ba14b4537d05ce1626f1988c8fa4e10f9c54dc7a3210903b39f8ff11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7934d3013ade939e09e209b9efc2b1b1d39ef9f146b35eeb103e6ce53c624747",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 4.888 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]: [-0.2043, 1.4708, 0.733, -0.1055, -0.2413, -0.186, 0.9943, -0.02, 0.8146, 0.6048, -0.3935, -0.0162, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3775 left_y=-0.0314 left_z=0.074 left_yaw=0.0864 left_pitch=-0.2492 left_roll=0.0712 left_gripper=0.9943 right_x=0.2943 right_y=0.0006 right_z=0.1719 right_yaw=0.0002 right_pitch=-0.0374 right_roll=0.0017 right_gripper=0.9983\nstate[joint_eff]: [0.3487, -7.1453, 8.6085, 1.4286, -0.0659, 0.2466, 0.0269, 0.0479, -1.6752, 7.0496, 1.7411, -0.0269, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.2375, 1.5639, 0.6716, 0.0059, -0.2535, -0.2001, 0.9953, -0.02, 0.8173, 0.6048, -0.3939, -0.0162, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.372 left_y=-0.0408 left_z=0.0363 left_yaw=0.0749 left_pitch=-0.2869 left_roll=0.0839 left_gripper=0.9953 right_x=0.2945 right_y=0.0006 right_z=0.1711 right_yaw=0.0002 right_pitch=-0.0404 right_roll=0.0017 right_gripper=0.9983\nstate[joint_eff]: [-0.1162, -6.9402, 6.106, 1.7167, -0.1978, -0.1148, 0.1001, -0.3761, -1.6068, 7.0222, 1.7021, -0.0562, -0.0562, -0.0073]",
      "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]: [-0.2813, 1.594, 0.6621, 0.0261, -0.2821, -0.2394, 0.9955, -0.02, 0.8173, 0.6048, -0.3931, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3685 left_y=-0.0516 left_z=0.0265 left_yaw=0.079 left_pitch=-0.2959 left_roll=0.0857 left_gripper=0.9955 right_x=0.2946 right_y=0.0006 right_z=0.1712 right_yaw=0.0006 right_pitch=-0.0396 right_roll=0.0019 right_gripper=0.9983\nstate[joint_eff]: [-0.4034, -7.241, 8.1162, 1.3797, -0.1832, -0.105, 0.0024, -0.1846, -1.4017, 7.0222, 1.7118, -0.0806, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66637015e6879ce7014b8d02330c5bec56fe632b7429f71941d3d19bb4ab2a3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dbc6260ba14b4537d05ce1626f1988c8fa4e10f9c54dc7a3210903b39f8ff11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7934d3013ade939e09e209b9efc2b1b1d39ef9f146b35eeb103e6ce53c624747",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzQQKjgEIEhgCKkDYa4Gph43zoEbDV2bhqZp8oaN8lWY98nDkZBr81csq7MUOc9R2yvxmunxboXa35liy485J18y8IYtSY/ErzYiGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ/0y9UGEgwd0/FiIzOESb+e2OsaDF8mnW1rLgVgfTCloyIw+ptEIFNAoRdTXxSRyAAWCyHb2feRf/TXWRoDaDj0lW7va+A0MIGrh/RuKeRzt0Q0KusCvMHJiOlC3m192/ZEiSOr/LQeaFPTpoEKqBtmYV/NZolCk/1d3Oz8ilX5NHkI0d1BkxxQJbdeBSgsCUsR7h0Slxy5CMWEyC9o9Psu6kpjLBWlHv0CCFWxCGSi3m6vGCVF6UFPOWyveGGDkGqXRVq5mlqna8qAVlPLVz+OKVzGBwE6YBR24ClUICqgLgb8LsUVc1rPlRgwrC2G63/ww5IICi96yfdwX8rRBoheubt3DKO6OIwSh9QbMUuKQ+nNmwxd/p/m04XzD45vyoaf5HNIEJAu1f6//4NSZBUmxaf43eMIGfepnN+B5FZrMb9WGZbiVGC1PQrRTRJnGqudzwqkLSSLN6m/e7yAF7LK3WtDhR5e6v2EMP8RQQcc6FDUB20RloFsLDwb3MyGQaKf8QFEu7koVN7iyThO5Erf9KUg7r89twLXbcy/dx1r5jgdHOu0f4D/w1tQw6TKfpW/n0Ex48Hc+Jt1EPs5yb8XGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F2xHXMHiJnc79pMFWjd1N3",
      "input": {
        "note": "Rim wall appears to lie between the open jaws now; closing to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01F2xHXMHiJnc79pMFWjd1N3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3115, 1.5818, 0.6861, 0.0139, -0.2768, -0.2813, 0.0224, -0.02, 0.8173, 0.6048, -0.3935, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3733 left_y=-0.0657 left_z=0.0371 left_yaw=0.0652 left_pitch=-0.2733 left_roll=0.0437 left_gripper=0.0224 right_x=0.2945 right_y=0.0006 right_z=0.1712 right_yaw=0.0006 right_pitch=-0.04 right_roll=0.0019 right_gripper=0.9983\nstate[joint_eff]: [0.253, -5.2718, 5.8872, 0.7204, -0.2857, 0.2125, 0.906, -0.0205, -1.3744, 7.2547, 1.7363, -0.0415, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d73fe73635159f00d2058fdbaede17521db52e65840239c75d2e74acf51d2e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f058fe91a962f1080c3ed792af50ba38d7e0660db33cb707a6b5b88368de3b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:10ca728b0b3ac3aa0b65413214fb97f88bfc99b5c338a938d2c0ed62192650d6",
        "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 · 25.22 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]: [-0.2375, 1.5639, 0.6716, 0.0059, -0.2535, -0.2001, 0.9953, -0.02, 0.8173, 0.6048, -0.3939, -0.0162, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.372 left_y=-0.0408 left_z=0.0363 left_yaw=0.0749 left_pitch=-0.2869 left_roll=0.0839 left_gripper=0.9953 right_x=0.2945 right_y=0.0006 right_z=0.1711 right_yaw=0.0002 right_pitch=-0.0404 right_roll=0.0017 right_gripper=0.9983\nstate[joint_eff]: [-0.1162, -6.9402, 6.106, 1.7167, -0.1978, -0.1148, 0.1001, -0.3761, -1.6068, 7.0222, 1.7021, -0.0562, -0.0562, -0.0073]",
      "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]: [-0.2813, 1.594, 0.6621, 0.0261, -0.2821, -0.2394, 0.9955, -0.02, 0.8173, 0.6048, -0.3931, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3685 left_y=-0.0516 left_z=0.0265 left_yaw=0.079 left_pitch=-0.2959 left_roll=0.0857 left_gripper=0.9955 right_x=0.2946 right_y=0.0006 right_z=0.1712 right_yaw=0.0006 right_pitch=-0.0396 right_roll=0.0019 right_gripper=0.9983\nstate[joint_eff]: [-0.4034, -7.241, 8.1162, 1.3797, -0.1832, -0.105, 0.0024, -0.1846, -1.4017, 7.0222, 1.7118, -0.0806, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3115, 1.5818, 0.6861, 0.0139, -0.2768, -0.2813, 0.0224, -0.02, 0.8173, 0.6048, -0.3935, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3733 left_y=-0.0657 left_z=0.0371 left_yaw=0.0652 left_pitch=-0.2733 left_roll=0.0437 left_gripper=0.0224 right_x=0.2945 right_y=0.0006 right_z=0.1712 right_yaw=0.0006 right_pitch=-0.04 right_roll=0.0019 right_gripper=0.9983\nstate[joint_eff]: [0.253, -5.2718, 5.8872, 0.7204, -0.2857, 0.2125, 0.906, -0.0205, -1.3744, 7.2547, 1.7363, -0.0415, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d73fe73635159f00d2058fdbaede17521db52e65840239c75d2e74acf51d2e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f058fe91a962f1080c3ed792af50ba38d7e0660db33cb707a6b5b88368de3b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10ca728b0b3ac3aa0b65413214fb97f88bfc99b5c338a938d2c0ed62192650d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrgQKjgEIEhgCKkDirRpL/QcZH8obIXipa1a2g3wo6HGg9XL3dVT9+byrlJlhyI4HYqkQkLfOjA+J3n6gHb462NT0N5YvePHp1oinMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaT0y9UGEgx27uMBfcPswbr1VukaDAQlvoBuACq4sp67uyIwV2x/d0bvy8JjoJM8xIsOES+BTCy6htFUH9hC7lou+42qoUh+fxwVNAtOXsOgSY5TKswCe3oGj9rh6o53Mv00AiJHxa34QVvfGFrbOpm0LTKK2objATv/am1VRKcDcuu3DaylsCYMvmhtI9t6Nd2baNn82GFZtHXLCFeL4zTKn/D1YZetvUak05E/t28jyDdvYx9FSQG547AhI8eB3qZOEvPgaBALGs/pub5R9PvLzZjp2XObQKH87evt6bPsv/cWEy7ifW3V2bwcJmaVQs5PGnGAjidygVlk5yZnppZuup3qAWCWt8qFE4EhG1Z2/8JiTMNJE5CXCxpLWeqX77E2RX8+I/xeJG28Xz5r7oIr++6qsmSdx/vzAJkRMf86GEzkyiYE5uXcCU/NPMcPHK56DDPysvIGfE79gGQ9jcgSrjrhikpJazWesHmSHdjj8Z6WjfU5WJBiO1x3kes8OeCKd4rX2gIc3drQTVBDTORh01Ia3GB7N9Q88E6k7NjsUjkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dm8x1kymc8GvdugpoHSbVC",
      "input": {
        "note": "Gripper settled at 0.022 (~2 mm), which could be the thin rim. Lifting 8 cm to see whether the white bowl comes with it.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Dm8x1kymc8GvdugpoHSbVC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3126, 1.4467, 0.8612, -0.3126, -0.2813, -0.2813, 0.0325, -0.02, 0.8204, 0.6048, -0.3939, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3722 left_y=-0.065 left_z=0.1012 left_yaw=0.0696 left_pitch=-0.2872 left_roll=0.0535 left_gripper=0.0325 right_x=0.2946 right_y=0.0006 right_z=0.1703 right_yaw=0.0004 right_pitch=-0.0435 right_roll=0.0023 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -7.4462, 8.8957, 1.409, -0.1245, -0.0464, 1.033, -0.1709, -1.306, 7.0359, 1.7558, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fb5260739be61def8f9f5eed89cc1d50175beea97b75b6df8464f6e0433eba0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f6156e39fda2f6848e1530fde8604dbce422571d38158795fc38588196dad9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bbe10d23242f3c3973e5127566ad365ef842a129571d9d7de11603f90a05d308",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 8.636 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]: [-0.2813, 1.594, 0.6621, 0.0261, -0.2821, -0.2394, 0.9955, -0.02, 0.8173, 0.6048, -0.3931, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3685 left_y=-0.0516 left_z=0.0265 left_yaw=0.079 left_pitch=-0.2959 left_roll=0.0857 left_gripper=0.9955 right_x=0.2946 right_y=0.0006 right_z=0.1712 right_yaw=0.0006 right_pitch=-0.0396 right_roll=0.0019 right_gripper=0.9983\nstate[joint_eff]: [-0.4034, -7.241, 8.1162, 1.3797, -0.1832, -0.105, 0.0024, -0.1846, -1.4017, 7.0222, 1.7118, -0.0806, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3115, 1.5818, 0.6861, 0.0139, -0.2768, -0.2813, 0.0224, -0.02, 0.8173, 0.6048, -0.3935, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3733 left_y=-0.0657 left_z=0.0371 left_yaw=0.0652 left_pitch=-0.2733 left_roll=0.0437 left_gripper=0.0224 right_x=0.2945 right_y=0.0006 right_z=0.1712 right_yaw=0.0006 right_pitch=-0.04 right_roll=0.0019 right_gripper=0.9983\nstate[joint_eff]: [0.253, -5.2718, 5.8872, 0.7204, -0.2857, 0.2125, 0.906, -0.0205, -1.3744, 7.2547, 1.7363, -0.0415, -0.0611, -0.0073]",
      "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]: [-0.3126, 1.4467, 0.8612, -0.3126, -0.2813, -0.2813, 0.0325, -0.02, 0.8204, 0.6048, -0.3939, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3722 left_y=-0.065 left_z=0.1012 left_yaw=0.0696 left_pitch=-0.2872 left_roll=0.0535 left_gripper=0.0325 right_x=0.2946 right_y=0.0006 right_z=0.1703 right_yaw=0.0004 right_pitch=-0.0435 right_roll=0.0023 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -7.4462, 8.8957, 1.409, -0.1245, -0.0464, 1.033, -0.1709, -1.306, 7.0359, 1.7558, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fb5260739be61def8f9f5eed89cc1d50175beea97b75b6df8464f6e0433eba0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f6156e39fda2f6848e1530fde8604dbce422571d38158795fc38588196dad9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbe10d23242f3c3973e5127566ad365ef842a129571d9d7de11603f90a05d308",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011ukzijQHLrzkdtcdNndW8v",
      "input": {
        "note": "The rim pinch failed (bowl stayed on the table). New plan: grip the bowl's narrow tapered base, which fits inside the jaws. Moving right to centre the arm over the white bowl first.",
        "targets": {
          "left_gripper": 1,
          "left_y": -0.115,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011ukzijQHLrzkdtcdNndW8v",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4709, 1.5215, 0.9073, -0.3622, -0.3622, -0.4103, 0.9945, -0.02, 0.8211, 0.6044, -0.3973, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3629 left_y=-0.1105 left_z=0.0887 left_yaw=0.0608 left_pitch=-0.3239 left_roll=0.0638 left_gripper=0.9945 right_x=0.2941 right_y=0.0006 right_z=0.1692 right_yaw=0.0006 right_pitch=-0.048 right_roll=0.0021 right_gripper=0.9983\nstate[joint_eff]: [-0.4444, -5.6684, 9.0325, 1.3455, -0.3541, 0.0366, -0.0659, -0.2256, -1.4017, 7.0496, 1.746, -0.0611, -0.0757, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dca3170d72c30e526cb97d6eccb5795814718fdcf771ca272d83bf7df67dc51b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52ee39cd108526cb6087f3f7bdaf5e2eed106e6c776d82cacf37ca257d63d249",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0683ce1b960be5daf35374d2dff973280f9a5039995a9608bbb9e8d3d01eee32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 39.29 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]: [-0.3115, 1.5818, 0.6861, 0.0139, -0.2768, -0.2813, 0.0224, -0.02, 0.8173, 0.6048, -0.3935, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3733 left_y=-0.0657 left_z=0.0371 left_yaw=0.0652 left_pitch=-0.2733 left_roll=0.0437 left_gripper=0.0224 right_x=0.2945 right_y=0.0006 right_z=0.1712 right_yaw=0.0006 right_pitch=-0.04 right_roll=0.0019 right_gripper=0.9983\nstate[joint_eff]: [0.253, -5.2718, 5.8872, 0.7204, -0.2857, 0.2125, 0.906, -0.0205, -1.3744, 7.2547, 1.7363, -0.0415, -0.0611, -0.0073]",
      "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]: [-0.3126, 1.4467, 0.8612, -0.3126, -0.2813, -0.2813, 0.0325, -0.02, 0.8204, 0.6048, -0.3939, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3722 left_y=-0.065 left_z=0.1012 left_yaw=0.0696 left_pitch=-0.2872 left_roll=0.0535 left_gripper=0.0325 right_x=0.2946 right_y=0.0006 right_z=0.1703 right_yaw=0.0004 right_pitch=-0.0435 right_roll=0.0023 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -7.4462, 8.8957, 1.409, -0.1245, -0.0464, 1.033, -0.1709, -1.306, 7.0359, 1.7558, -0.0269, -0.0366, -0.0122]",
      "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]: [-0.4709, 1.5215, 0.9073, -0.3622, -0.3622, -0.4103, 0.9945, -0.02, 0.8211, 0.6044, -0.3973, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3629 left_y=-0.1105 left_z=0.0887 left_yaw=0.0608 left_pitch=-0.3239 left_roll=0.0638 left_gripper=0.9945 right_x=0.2941 right_y=0.0006 right_z=0.1692 right_yaw=0.0006 right_pitch=-0.048 right_roll=0.0021 right_gripper=0.9983\nstate[joint_eff]: [-0.4444, -5.6684, 9.0325, 1.3455, -0.3541, 0.0366, -0.0659, -0.2256, -1.4017, 7.0496, 1.746, -0.0611, -0.0757, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dca3170d72c30e526cb97d6eccb5795814718fdcf771ca272d83bf7df67dc51b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52ee39cd108526cb6087f3f7bdaf5e2eed106e6c776d82cacf37ca257d63d249",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0683ce1b960be5daf35374d2dff973280f9a5039995a9608bbb9e8d3d01eee32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5QkKjgEIEhgCKkB+pQIOKbIyC5SEOO5h9lwTJc5KAhgl8MwcVYK+e7FPpH6dXOs632vs1Tw8D/A2WmFfdDtJ1i4IJ977bu7Qfj75Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcj0y9UGEgw15zTJ8l1HcypC40EaDPYtFnKT9YT2Mf0MTyIwFXGtYMOLsundEQAVacamm6dNDfYqG6zk85DxQ/QrXX+CJBSJ2T8GVMy0oCg2r4hUKoMI9IxoHikxXtRPGHZm3QLULinZNBt4BgwvYGGbarZYgqIrq60XvdzIwzmRWx63UAyAI4cFiaZHQFiKuP6IRsBFw6M+RGqAkGEBWWj7cj2Ji5SX7eMd2UiURXZjIr2kZ+UVVRTNiOOiSJqhKzrUu8O3ZLwjySSnHLo5CctIsEkyTF6RxAly+W9KzG/p93dUr1kCc8ZzIBEs8OFsSZ44sf5nx4krCfS49ewprX6ATnO4Gm/gw16cPgD2Dknz5PabUKjaybE7QafnOvR4QSJQkp8XguuJDfX2DoxV2qGL7i3v7qDoscuzprswvLWSAC/RPO3izFNoNAVpCPow0WUmrBRB7duxTU4WDISh9A0KPHFGe0Zdj/NFBYQ6Wi4f44qof8kg5zcZm4mkeKDY2iA7ywQ7qGUHfnxMjnrJGSZjGh459JnQQoX3HqI0/K3AAOEsdKUT4LcYfplnLBG5dudcmDxXqf1qTai4BCGTWVOaobx8AIf53jC3/yzzR8zTiC48fgOCideLPAAxOtAuNt4CWgM3qFPLv1gadoIJm0rghYqM7uR1FN/lX5YWzxSG5jdFyB8gr+hu6A1O1C/+2PeGewC2PNPhgVhDBVxhdAN6XLDcGfZNJVcSfApryx1ZldI8DAvRNXqOuw+QrzXir9C081Q0k2cqtOJdJvY/JsbQK26sPes9ly3bltEbgPuI0voW1DB84h/n1uS6DAdY/7fWdmz2sPwoQKbl33V2LxxmJyJAx4Vfok5rqfedDTpG0ZFjxLGHxLEoKd9CHUgd16fR/kRpKlBPEdh9uLLGVVYaxbQyT/NUiF2Pc/ywgdqnvrAk9vE9AYsYOKC+R6q7r7Fm/qS4CXN5wQDZ458Fapq5a8brUEn/uDuMxSm4JPxY3G2mGz00ijYp4u7sqBK8pOczq3Pu01GZ6JjycPuEjhMRTxSnwIarwu2n0KSGZPhTH+8vgYMBcC89TarUi96kghlKQ1mxT9FXXJy6YRWvHYbEwisoDE1dqwcvie06pWCkLjA+/3fJSVPBs3kK5D3ZdkTX1gcN8/1KSExLGLJGyRq6g1A6ov0V6r3n/pjj9aTS1C4tHoWynP+Nn4D4N/plFh+WAIzdDVHVIKnfv8OjS+piJqaRrJtnJLBXlNWaaF099wSeVa0qCsJcQvAPHzoWzglCLryYew6rUgE30Ij3rRPoPoYLI2dePQxDfaNC4C8ixa6VkscctisEaF5f4Cnuxk4Vwu+O/GyGUVOhNdI6/T/nEtHRSEOjIlh0s2PzLMOVVLzQnpku9GnDWVODzpHXvbCgjujwOocQ7ZA4lKN+OXMH4KdyYw4zO2G5rSt18CnYsLJxEJiB5AXythssFlnZCDwmjKPzd18LEhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hznrb2X76KEi2dXgF16MQK",
      "input": {
        "note": "White bowl is now centred on the jaw column in the wrist view. Advancing 3 cm forward and descending to 3 cm so the open jaws come down around the bowl's tapered lower body.",
        "targets": {
          "left_x": 0.395,
          "left_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_01Hznrb2X76KEi2dXgF16MQK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4278, 1.7332, 0.8799, -0.1841, -0.3447, -0.3893, 0.9954, -0.02, 0.823, 0.6044, -0.4026, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3803 left_y=-0.1039 left_z=0.024 left_yaw=0.0892 left_pitch=-0.3851 left_roll=0.0963 left_gripper=0.9954 right_x=0.2935 right_y=0.0006 right_z=0.1676 right_yaw=0.0004 right_pitch=-0.0553 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [0.0615, -9.0598, 5.9692, 1.4335, -0.0952, 0.1392, 0.0806, -0.253, -1.5795, 6.9812, 1.7802, -0.0806, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3b4ed977d1ef770cb34f4ab1f6b52b0fccfb55701fc03911afcc75d4324974a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4b55dd39e99d0cc6406d097addaa29d345249f37a50fce54f73d293ed259c8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:82c4575955dfc87f57129a63bef9efc2dca888ddf48c8d20cfad87d19a1ada24",
        "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 · 13.86 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]: [-0.3126, 1.4467, 0.8612, -0.3126, -0.2813, -0.2813, 0.0325, -0.02, 0.8204, 0.6048, -0.3939, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3722 left_y=-0.065 left_z=0.1012 left_yaw=0.0696 left_pitch=-0.2872 left_roll=0.0535 left_gripper=0.0325 right_x=0.2946 right_y=0.0006 right_z=0.1703 right_yaw=0.0004 right_pitch=-0.0435 right_roll=0.0023 right_gripper=0.9983\nstate[joint_eff]: [-0.1026, -7.4462, 8.8957, 1.409, -0.1245, -0.0464, 1.033, -0.1709, -1.306, 7.0359, 1.7558, -0.0269, -0.0366, -0.0122]",
      "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]: [-0.4709, 1.5215, 0.9073, -0.3622, -0.3622, -0.4103, 0.9945, -0.02, 0.8211, 0.6044, -0.3973, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3629 left_y=-0.1105 left_z=0.0887 left_yaw=0.0608 left_pitch=-0.3239 left_roll=0.0638 left_gripper=0.9945 right_x=0.2941 right_y=0.0006 right_z=0.1692 right_yaw=0.0006 right_pitch=-0.048 right_roll=0.0021 right_gripper=0.9983\nstate[joint_eff]: [-0.4444, -5.6684, 9.0325, 1.3455, -0.3541, 0.0366, -0.0659, -0.2256, -1.4017, 7.0496, 1.746, -0.0611, -0.0757, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4278, 1.7332, 0.8799, -0.1841, -0.3447, -0.3893, 0.9954, -0.02, 0.823, 0.6044, -0.4026, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3803 left_y=-0.1039 left_z=0.024 left_yaw=0.0892 left_pitch=-0.3851 left_roll=0.0963 left_gripper=0.9954 right_x=0.2935 right_y=0.0006 right_z=0.1676 right_yaw=0.0004 right_pitch=-0.0553 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [0.0615, -9.0598, 5.9692, 1.4335, -0.0952, 0.1392, 0.0806, -0.253, -1.5795, 6.9812, 1.7802, -0.0806, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3b4ed977d1ef770cb34f4ab1f6b52b0fccfb55701fc03911afcc75d4324974a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4b55dd39e99d0cc6406d097addaa29d345249f37a50fce54f73d293ed259c8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82c4575955dfc87f57129a63bef9efc2dca888ddf48c8d20cfad87d19a1ada24",
        "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_01P7P2C5KjYYzN5XhRAMHPaH",
      "input": {
        "note": "Wrist view shows the white bowl filling the frame directly under the gripper. Descending with jaws fully open so the fingers straddle the whole bowl (rim ≈ 9 cm vs 9.5 cm jaw opening); a stalled descent will tell me the fingers hit the rim.",
        "targets": {
          "left_x": 0.372,
          "left_y": -0.104,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01P7P2C5KjYYzN5XhRAMHPaH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4305, 1.758, 0.8471, -0.0956, -0.3416, -0.3901, 0.9955, -0.02, 0.8242, 0.6041, -0.4126, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3835 left_y=-0.1071 left_z=0.0149 left_yaw=0.0786 left_pitch=-0.3595 left_roll=0.0771 left_gripper=0.9955 right_x=0.292 right_y=0.0007 right_z=0.1651 right_yaw=0.0006 right_pitch=-0.0667 right_roll=0.0025 right_gripper=0.9983\nstate[joint_eff]: [-0.5949, -7.665, 4.8342, 1.2234, -0.3297, -0.022, -0.0024, -0.3761, -1.2923, 7.2547, 1.7753, -0.0855, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c547f21071ff7f9e094decb2cf9f96dd6160b0c6d8f7dd0cb0ef9fee5d99450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:619d5e3eca85c67480a3489150fba527e1f56d80135dfdec14dd3699a2c4dbf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fc9cd30ccd6ce23ed124f2cc2f749985d3a7848f61aa45b12a03bf49d4afd226",
        "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 · 7.269 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]: [-0.4709, 1.5215, 0.9073, -0.3622, -0.3622, -0.4103, 0.9945, -0.02, 0.8211, 0.6044, -0.3973, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3629 left_y=-0.1105 left_z=0.0887 left_yaw=0.0608 left_pitch=-0.3239 left_roll=0.0638 left_gripper=0.9945 right_x=0.2941 right_y=0.0006 right_z=0.1692 right_yaw=0.0006 right_pitch=-0.048 right_roll=0.0021 right_gripper=0.9983\nstate[joint_eff]: [-0.4444, -5.6684, 9.0325, 1.3455, -0.3541, 0.0366, -0.0659, -0.2256, -1.4017, 7.0496, 1.746, -0.0611, -0.0757, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4278, 1.7332, 0.8799, -0.1841, -0.3447, -0.3893, 0.9954, -0.02, 0.823, 0.6044, -0.4026, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3803 left_y=-0.1039 left_z=0.024 left_yaw=0.0892 left_pitch=-0.3851 left_roll=0.0963 left_gripper=0.9954 right_x=0.2935 right_y=0.0006 right_z=0.1676 right_yaw=0.0004 right_pitch=-0.0553 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [0.0615, -9.0598, 5.9692, 1.4335, -0.0952, 0.1392, 0.0806, -0.253, -1.5795, 6.9812, 1.7802, -0.0806, -0.0317, -0.0073]",
      "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]: [-0.4305, 1.758, 0.8471, -0.0956, -0.3416, -0.3901, 0.9955, -0.02, 0.8242, 0.6041, -0.4126, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3835 left_y=-0.1071 left_z=0.0149 left_yaw=0.0786 left_pitch=-0.3595 left_roll=0.0771 left_gripper=0.9955 right_x=0.292 right_y=0.0007 right_z=0.1651 right_yaw=0.0006 right_pitch=-0.0667 right_roll=0.0025 right_gripper=0.9983\nstate[joint_eff]: [-0.5949, -7.665, 4.8342, 1.2234, -0.3297, -0.022, -0.0024, -0.3761, -1.2923, 7.2547, 1.7753, -0.0855, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c547f21071ff7f9e094decb2cf9f96dd6160b0c6d8f7dd0cb0ef9fee5d99450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:619d5e3eca85c67480a3489150fba527e1f56d80135dfdec14dd3699a2c4dbf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc9cd30ccd6ce23ed124f2cc2f749985d3a7848f61aa45b12a03bf49d4afd226",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KVWsUafpQmf8oAWL6kmXDG",
      "input": {
        "note": "At table level the wrist view shows the left finger over the bowl interior and the right finger on bare table, so the bowl is ~3 cm to my left. Shifting left to centre the jaws across the bowl.",
        "targets": {
          "left_y": -0.08,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KVWsUafpQmf8oAWL6kmXDG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3611, 1.7481, 0.8078, -0.0841, -0.3107, -0.3561, 0.9955, -0.02, 0.8242, 0.6041, -0.4149, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3789 left_y=-0.0815 left_z=0.0059 left_yaw=0.1064 left_pitch=-0.3893 left_roll=0.0828 left_gripper=0.9955 right_x=0.2917 right_y=0.0007 right_z=0.1647 right_yaw=0.0006 right_pitch=-0.069 right_roll=0.0025 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -9.4701, 5.053, 1.4872, -0.1099, 0.1001, -0.0122, -0.1983, -1.388, 6.9949, 1.707, -0.022, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c620d2c2514657a9e7486e4f72f7140fddf68fb27134f387d6159abff9a59d43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f978a646b6d355217ff9863dd7032dd3d7e363f25dd5301466ec2b9dd559ee1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea7eaa37cea700f4eb699cf9de731b50a44340b4f1da462c71a3690ea470434b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 6.08 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]: [-0.4278, 1.7332, 0.8799, -0.1841, -0.3447, -0.3893, 0.9954, -0.02, 0.823, 0.6044, -0.4026, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3803 left_y=-0.1039 left_z=0.024 left_yaw=0.0892 left_pitch=-0.3851 left_roll=0.0963 left_gripper=0.9954 right_x=0.2935 right_y=0.0006 right_z=0.1676 right_yaw=0.0004 right_pitch=-0.0553 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [0.0615, -9.0598, 5.9692, 1.4335, -0.0952, 0.1392, 0.0806, -0.253, -1.5795, 6.9812, 1.7802, -0.0806, -0.0317, -0.0073]",
      "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]: [-0.4305, 1.758, 0.8471, -0.0956, -0.3416, -0.3901, 0.9955, -0.02, 0.8242, 0.6041, -0.4126, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3835 left_y=-0.1071 left_z=0.0149 left_yaw=0.0786 left_pitch=-0.3595 left_roll=0.0771 left_gripper=0.9955 right_x=0.292 right_y=0.0007 right_z=0.1651 right_yaw=0.0006 right_pitch=-0.0667 right_roll=0.0025 right_gripper=0.9983\nstate[joint_eff]: [-0.5949, -7.665, 4.8342, 1.2234, -0.3297, -0.022, -0.0024, -0.3761, -1.2923, 7.2547, 1.7753, -0.0855, -0.0317, -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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3611, 1.7481, 0.8078, -0.0841, -0.3107, -0.3561, 0.9955, -0.02, 0.8242, 0.6041, -0.4149, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3789 left_y=-0.0815 left_z=0.0059 left_yaw=0.1064 left_pitch=-0.3893 left_roll=0.0828 left_gripper=0.9955 right_x=0.2917 right_y=0.0007 right_z=0.1647 right_yaw=0.0006 right_pitch=-0.069 right_roll=0.0025 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -9.4701, 5.053, 1.4872, -0.1099, 0.1001, -0.0122, -0.1983, -1.388, 6.9949, 1.707, -0.022, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c620d2c2514657a9e7486e4f72f7140fddf68fb27134f387d6159abff9a59d43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f978a646b6d355217ff9863dd7032dd3d7e363f25dd5301466ec2b9dd559ee1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea7eaa37cea700f4eb699cf9de731b50a44340b4f1da462c71a3690ea470434b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwwYKjgEIEhgCKkDR5dpio8drmAqZY3Ezm8pDdVGMDakWwdLK9q+TJvgscMrK/4Wr6eUaq0KDAoitjCzRocsi+JKjFQccpbzkjiFIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYT1y9UGEgyGgRAUPAMSAZwmNXQaDLv0O4JGHrSefXDV+iIwAYmm2mPzcV8/yn3Cl8Au5i4EiVZTU00S29ayZXl9mECBPhL/cKvSrnl7lCaX1xTPKuEE3DTMjo/oKAPL27C6ja9p8KHLs8OttVDqapSHLGP0QAmSfW9KylyecSqPrnO+lWoWKpYyCOpNkFlFfyPBYQCM6cH484LWgFvCQ4S/UEAPTd6XsTDq5Fj+f5y5FAqAC8aSPlyEVV6gLYDKnD3gwLLzJtZ9KcQItr0mTjNNOUS57f5KyvJegDol7LWuPRaT1D7VzKfsVS3y6zcalgl8bbDLu/48yWqPE8WAw/nf9iLZfqlgd+C1UOjiA9cDBJxpERxkfGGhIGBACAY0z0rtWFBEwk5Qkj47gSmLWFutbx0gBq1ab0F98hOD9A9QtxofkTYHXcxVmcmgSDwCHKL1Sd4uSv4lrYcv7slAmMg/CHDTpdIHAOb3oLYVIDPmR7s824gVnMp0f1Gdgjtu+4WPU70U/96QVhGXQ2fzWYBZhCH+uiDGCRbqTpq29hUP+EvPfeGxGuK8egQU5cim4KsD/wqGKWovbYoJNI35R1Tik3U+zjioqZ3sd48mztmA6gj138CyJxg25ZzTfMRJrqEb4KwPEwrU4mIOZmEbG0YjjVZpuYwa+CY0H0Z6x3ecNdHAaNEVY7qQpvJyFToddXWh8Zh6vE+0lWrDMYWXOWUPFptbs4XTecXPoTFEkdaQMBKGEpvHp/AAQGsCAShsOCBs7MkKo2gpOUiAz0mISOBo4r5TvLhGZ1D6uH59P4v2ecopJ+edLAzxvqesLzUlJhBZUKbVJRXfESRYLRUDTYgSZ3HS+/I8ihjft6GATvHKN1hApcy1d8Dz0d0SbdnIASaYE9/djY3Mb5eQu1jP/aUBseGwfrKbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012UDVrLtn9QW64oLJw8HrYa",
      "input": {
        "note": "Too close to judge: the bowl's rim curves off the lower-left of the wrist frame, so the bowl centre is left of and nearer than the fingertips. Backing up and rising to 10 cm for a wider look.",
        "targets": {
          "left_x": 0.345,
          "left_y": -0.055,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_012UDVrLtn9QW64oLJw8HrYa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3462, 1.7428, 0.8036, -0.0811, -0.3069, -0.337, 0.9955, -0.02, 0.8242, 0.6041, -0.4152, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3796 left_y=-0.0764 left_z=0.0067 left_yaw=0.1064 left_pitch=-0.3879 left_roll=0.0895 left_gripper=0.9955 right_x=0.2917 right_y=0.0007 right_z=0.1646 right_yaw=0.0006 right_pitch=-0.0694 right_roll=0.0025 right_gripper=0.9983\nstate[joint_eff]: [-0.2393, -9.3607, 4.9983, 1.4628, -0.105, 0.1832, -0.0122, -0.1846, -1.4291, 7.1863, 1.6777, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:966f429b7784903db742b24d7a67b1a5491fd7f7bdc7c219934c9fc81e224bbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b9c5e91d4f699f8396e6d4fbb34f0d66d0566767f7b3df69ce1b8f00b453bd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69c77f4109bc379439c57b96083a9be72a6d9ec0a0db85b24543897c61c8eaeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 12.19 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]: [-0.4305, 1.758, 0.8471, -0.0956, -0.3416, -0.3901, 0.9955, -0.02, 0.8242, 0.6041, -0.4126, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3835 left_y=-0.1071 left_z=0.0149 left_yaw=0.0786 left_pitch=-0.3595 left_roll=0.0771 left_gripper=0.9955 right_x=0.292 right_y=0.0007 right_z=0.1651 right_yaw=0.0006 right_pitch=-0.0667 right_roll=0.0025 right_gripper=0.9983\nstate[joint_eff]: [-0.5949, -7.665, 4.8342, 1.2234, -0.3297, -0.022, -0.0024, -0.3761, -1.2923, 7.2547, 1.7753, -0.0855, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3611, 1.7481, 0.8078, -0.0841, -0.3107, -0.3561, 0.9955, -0.02, 0.8242, 0.6041, -0.4149, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3789 left_y=-0.0815 left_z=0.0059 left_yaw=0.1064 left_pitch=-0.3893 left_roll=0.0828 left_gripper=0.9955 right_x=0.2917 right_y=0.0007 right_z=0.1647 right_yaw=0.0006 right_pitch=-0.069 right_roll=0.0025 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -9.4701, 5.053, 1.4872, -0.1099, 0.1001, -0.0122, -0.1983, -1.388, 6.9949, 1.707, -0.022, -0.0562, -0.0073]",
      "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]: [-0.3462, 1.7428, 0.8036, -0.0811, -0.3069, -0.337, 0.9955, -0.02, 0.8242, 0.6041, -0.4152, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3796 left_y=-0.0764 left_z=0.0067 left_yaw=0.1064 left_pitch=-0.3879 left_roll=0.0895 left_gripper=0.9955 right_x=0.2917 right_y=0.0007 right_z=0.1646 right_yaw=0.0006 right_pitch=-0.0694 right_roll=0.0025 right_gripper=0.9983\nstate[joint_eff]: [-0.2393, -9.3607, 4.9983, 1.4628, -0.105, 0.1832, -0.0122, -0.1846, -1.4291, 7.1863, 1.6777, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:966f429b7784903db742b24d7a67b1a5491fd7f7bdc7c219934c9fc81e224bbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b9c5e91d4f699f8396e6d4fbb34f0d66d0566767f7b3df69ce1b8f00b453bd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69c77f4109bc379439c57b96083a9be72a6d9ec0a0db85b24543897c61c8eaeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkQUKjgEIEhgCKkCEjzciO6qab77I1JglzNq+z8f7fukxC504TUy772Y+ioUlRtXQpqZBcFsXNvd9dg3A/0XKaS5OHQEhIjfbaf19Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYv1y9UGEgydQJPb8MC3295mOngaDH5OHnVjpiRZn/acLSIwmPzrpsEcwvvfRhGEv3RTdQajVOOhqbNFZA8ZRJ/7E9YXcgNR4d7MyQFoUKMXeqgtKq8DF0qiEiZKaSlmEqzVgYKEzfTO9qd6tn2Ayy9S7ZKCjdfacAna87wjXfhKKwMJj5Hs4gFNsJLzaigzt1K8FKSGJOa2P5DTZqeWtgYbbO4+uk+rMZnAZbg3ni8NY8TEEp0gNswW89jGZmwB/nA5ASfJpqIZ6s34+1AKeY7aVP30GAmbcysLJVL4FzwqLlxjPjHmopxEGME9CwrpuVrlfBl17GyOgYkkThuTu95oXE4RNWpz5syBIMsKqEkg7O2rb/teebnmLfLo2rERCiEMN6fOWcPgV/PfAgb5QF7WkaRAfZ7lfrEIOoiy3W9LK5wpT7+nxNnnPD2PHvRd8VoZauDK4RKvE9FmQuP6L66Zt+jpMgDCzyYUkcDwG+wFg3vgVpIWAHX8xoQE1e/2X9+/pfy9DCfH/dfUsq3rCmu7APyF8ZhDjymi0/7OAA+EoZLT9m+L9P5Dzh6qavyJldUQb4YbF/madu2loD7iPh0vv18WKfQ7oSpWt4ENNGrf9xb6VvaH5zOFqMu8DGa/9rt+oe9igO3MFOj+SJGtFdsj8QSgqSXZxcgQJwI+rf3mp44LtBgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QYUEQDEk22g46GkZBbS1BR",
      "input": {
        "note": "The previous command produced no motion (readback unchanged), so I'm commanding a simple straight lift to 16 cm to free the arm before re-approaching.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.076,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QYUEQDEk22g46GkZBbS1BR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3649, 1.4742, 1.1179, -0.6628, -0.3111, -0.3527, 0.9955, -0.02, 0.8249, 0.6041, -0.4152, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3662 left_y=-0.0781 left_z=0.1428 left_yaw=0.1 left_pitch=-0.3845 left_roll=0.0826 left_gripper=0.9955 right_x=0.2917 right_y=0.0007 right_z=0.1644 right_yaw=0.0006 right_pitch=-0.0701 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [-0.5128, -7.9932, 9.0872, 1.3748, -0.2906, 0.0269, -0.0122, -0.0889, -1.2103, 7.1179, 1.6874, -0.0562, -0.0806, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df34381f7c073bd5f3f01a20e692dd9d3fd804541a24260551f08520622630c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a519f66a4c7ae05037c94be619c09593bdb8d478f4120a0c8ff092a81da9dc7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5450eea91e37ef2cad9b4668f04cd51edea14ddd9826b1874f1808f385d5fb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 5.297 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]: [-0.3611, 1.7481, 0.8078, -0.0841, -0.3107, -0.3561, 0.9955, -0.02, 0.8242, 0.6041, -0.4149, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3789 left_y=-0.0815 left_z=0.0059 left_yaw=0.1064 left_pitch=-0.3893 left_roll=0.0828 left_gripper=0.9955 right_x=0.2917 right_y=0.0007 right_z=0.1647 right_yaw=0.0006 right_pitch=-0.069 right_roll=0.0025 right_gripper=0.9983\nstate[joint_eff]: [-0.3487, -9.4701, 5.053, 1.4872, -0.1099, 0.1001, -0.0122, -0.1983, -1.388, 6.9949, 1.707, -0.022, -0.0562, -0.0073]",
      "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]: [-0.3462, 1.7428, 0.8036, -0.0811, -0.3069, -0.337, 0.9955, -0.02, 0.8242, 0.6041, -0.4152, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3796 left_y=-0.0764 left_z=0.0067 left_yaw=0.1064 left_pitch=-0.3879 left_roll=0.0895 left_gripper=0.9955 right_x=0.2917 right_y=0.0007 right_z=0.1646 right_yaw=0.0006 right_pitch=-0.0694 right_roll=0.0025 right_gripper=0.9983\nstate[joint_eff]: [-0.2393, -9.3607, 4.9983, 1.4628, -0.105, 0.1832, -0.0122, -0.1846, -1.4291, 7.1863, 1.6777, -0.0464, -0.0708, -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]: [-0.3649, 1.4742, 1.1179, -0.6628, -0.3111, -0.3527, 0.9955, -0.02, 0.8249, 0.6041, -0.4152, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3662 left_y=-0.0781 left_z=0.1428 left_yaw=0.1 left_pitch=-0.3845 left_roll=0.0826 left_gripper=0.9955 right_x=0.2917 right_y=0.0007 right_z=0.1644 right_yaw=0.0006 right_pitch=-0.0701 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [-0.5128, -7.9932, 9.0872, 1.3748, -0.2906, 0.0269, -0.0122, -0.0889, -1.2103, 7.1179, 1.6874, -0.0562, -0.0806, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df34381f7c073bd5f3f01a20e692dd9d3fd804541a24260551f08520622630c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a519f66a4c7ae05037c94be619c09593bdb8d478f4120a0c8ff092a81da9dc7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5450eea91e37ef2cad9b4668f04cd51edea14ddd9826b1874f1808f385d5fb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DMevzsACG3pwnTCppgc3uE",
      "input": {
        "note": "New plan: insert the closed jaws into the bowl and then open them so they press outward on the inner wall. Closing the gripper and lowering into the bowl's interior.",
        "targets": {
          "left_gripper": 0,
          "left_x": 0.365,
          "left_y": -0.078,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DMevzsACG3pwnTCppgc3uE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.6436, 0.7792, -0.2123, -0.3111, -0.3595, 0.0086, -0.02, 0.8249, 0.6041, -0.4156, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3538 left_y=-0.074 left_z=0.0183 left_yaw=0.1138 left_pitch=-0.4354 left_roll=0.107 left_gripper=0.0086 right_x=0.2916 right_y=0.0007 right_z=0.1643 right_yaw=0.0004 right_pitch=-0.0705 right_roll=0.0029 right_gripper=0.9983\nstate[joint_eff]: [-0.1573, -6.4479, 5.559, 1.5067, -0.1001, 0.0659, 0.6325, -0.212, -1.4154, 7.2547, 1.6581, -0.0708, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1aa49da001c92da0916510960a48a02b3b08df71304cb9d00b0e80af6496e8a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33f95cb829596e0ff61d9af76aed3dc1bc6ccc6583950f041d15b338d7f89db7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8bfc3516d7269eedbcbd7ed6444e1387774b295c8fe9dfe5a2485a72479ecbf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 13.36 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]: [-0.3462, 1.7428, 0.8036, -0.0811, -0.3069, -0.337, 0.9955, -0.02, 0.8242, 0.6041, -0.4152, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3796 left_y=-0.0764 left_z=0.0067 left_yaw=0.1064 left_pitch=-0.3879 left_roll=0.0895 left_gripper=0.9955 right_x=0.2917 right_y=0.0007 right_z=0.1646 right_yaw=0.0006 right_pitch=-0.0694 right_roll=0.0025 right_gripper=0.9983\nstate[joint_eff]: [-0.2393, -9.3607, 4.9983, 1.4628, -0.105, 0.1832, -0.0122, -0.1846, -1.4291, 7.1863, 1.6777, -0.0464, -0.0708, -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]: [-0.3649, 1.4742, 1.1179, -0.6628, -0.3111, -0.3527, 0.9955, -0.02, 0.8249, 0.6041, -0.4152, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3662 left_y=-0.0781 left_z=0.1428 left_yaw=0.1 left_pitch=-0.3845 left_roll=0.0826 left_gripper=0.9955 right_x=0.2917 right_y=0.0007 right_z=0.1644 right_yaw=0.0006 right_pitch=-0.0701 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [-0.5128, -7.9932, 9.0872, 1.3748, -0.2906, 0.0269, -0.0122, -0.0889, -1.2103, 7.1179, 1.6874, -0.0562, -0.0806, -0.0073]\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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.6436, 0.7792, -0.2123, -0.3111, -0.3595, 0.0086, -0.02, 0.8249, 0.6041, -0.4156, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3538 left_y=-0.074 left_z=0.0183 left_yaw=0.1138 left_pitch=-0.4354 left_roll=0.107 left_gripper=0.0086 right_x=0.2916 right_y=0.0007 right_z=0.1643 right_yaw=0.0004 right_pitch=-0.0705 right_roll=0.0029 right_gripper=0.9983\nstate[joint_eff]: [-0.1573, -6.4479, 5.559, 1.5067, -0.1001, 0.0659, 0.6325, -0.212, -1.4154, 7.2547, 1.6581, -0.0708, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1aa49da001c92da0916510960a48a02b3b08df71304cb9d00b0e80af6496e8a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33f95cb829596e0ff61d9af76aed3dc1bc6ccc6583950f041d15b338d7f89db7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bfc3516d7269eedbcbd7ed6444e1387774b295c8fe9dfe5a2485a72479ecbf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiwUKjgEIEhgCKkDCpaEjkt/pcqbs1FDSPtFUugMxwQK6Rh1W7qzrOTyCzpJ0pG1MySY7Xi4sirnvnA4YL0yXgNFASz76PuXdmHTlMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ/1y9UGEgx97MsouxzoqwN3880aDK7XMcqF64wVw35fzyIwZOLolxX9gMNvEfuzmcZ4Qw1HGmeRVHCqFZiZhTmimB46au2gDOwpT6QHFLq4IBK5KqkDj2JlE2hpfuevLqTu5d4/2GQMebkgJ/h8hlhszy81lCbp+Ip7+6C4ngXPxqcGuQ6GnEcKsKImF/tBkeiE5j+C81cXiIvhjiH4YWmeNYX0H3E9fg25/x305IJYnhw0J0apZr2FoiHjUEPPzUYvU1pQnzzW91pSg0L3Zp4vMp2Cjw9l7ZFww6yuJwm4DtyqzPY6ZadUTlkj1nLaWx5oP0PiaogYNqeAqIuVdWnboqS3CGS0i9JS2VTR3SKSlxDxrLiten20VkwQ43IS5co6ShboWURH6HO6Dy10ErrPqQ2BzgJq0qE/V7V+C4KvdpPMsz+dRAx70pz4/aPjLmcfW62oTnL26md1aZ7sH6LLRBee34DAqC7+1axrF77W6hEaWSpDxVlxh4uY3mNka67i/4D7ZC9s84vqrbUWKaWOjjYmwMnq2RsZsDB8d7dynUGlzRq9IiuSKLvTZvqH6ShGyaDJB5KsP0tn60jOdkNCDnXXJNdUz04+idtQd0+qukkwSpGy4pDQhkgbnBUZoQCMWu9/X+19k7IrsEjWsl/XlCA8yV+HjxKyJVEjPp4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DR3anaYHhZi2teR37tb1Ap",
      "input": {
        "note": "The jaws are inside the bowl. Opening them fully so they wedge against the inner wall.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DR3anaYHhZi2teR37tb1Ap",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.6341, 0.7788, -0.1867, -0.3077, -0.3706, 0.9937, -0.02, 0.8249, 0.6041, -0.4156, -0.0162, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3593 left_y=-0.0767 left_z=0.0242 left_yaw=0.1103 left_pitch=-0.4054 left_roll=0.0799 left_gripper=0.9937 right_x=0.2916 right_y=0.0006 right_z=0.1643 right_yaw=0.0003 right_pitch=-0.0705 right_roll=0.0023 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -5.7504, 5.9282, 0.8181, -0.232, 0.0904, -0.2662, -0.0752, -1.4291, 6.9949, 1.6532, -0.0611, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1716e1c8f6b5ff92b393bc8f72f702f8080ed1c88543c84ce5b791a193847036",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d955479f973c91a2cd8d5c09f9d720538966809afa57724b73dab7a3914779b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4cb686ad84019971dd06aefb07b091c7cea5e277b57de096a2552defc8665dff",
        "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 · 7.611 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]: [-0.3649, 1.4742, 1.1179, -0.6628, -0.3111, -0.3527, 0.9955, -0.02, 0.8249, 0.6041, -0.4152, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3662 left_y=-0.0781 left_z=0.1428 left_yaw=0.1 left_pitch=-0.3845 left_roll=0.0826 left_gripper=0.9955 right_x=0.2917 right_y=0.0007 right_z=0.1644 right_yaw=0.0006 right_pitch=-0.0701 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [-0.5128, -7.9932, 9.0872, 1.3748, -0.2906, 0.0269, -0.0122, -0.0889, -1.2103, 7.1179, 1.6874, -0.0562, -0.0806, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.3664, 1.6436, 0.7792, -0.2123, -0.3111, -0.3595, 0.0086, -0.02, 0.8249, 0.6041, -0.4156, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3538 left_y=-0.074 left_z=0.0183 left_yaw=0.1138 left_pitch=-0.4354 left_roll=0.107 left_gripper=0.0086 right_x=0.2916 right_y=0.0007 right_z=0.1643 right_yaw=0.0004 right_pitch=-0.0705 right_roll=0.0029 right_gripper=0.9983\nstate[joint_eff]: [-0.1573, -6.4479, 5.559, 1.5067, -0.1001, 0.0659, 0.6325, -0.212, -1.4154, 7.2547, 1.6581, -0.0708, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.6341, 0.7788, -0.1867, -0.3077, -0.3706, 0.9937, -0.02, 0.8249, 0.6041, -0.4156, -0.0162, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3593 left_y=-0.0767 left_z=0.0242 left_yaw=0.1103 left_pitch=-0.4054 left_roll=0.0799 left_gripper=0.9937 right_x=0.2916 right_y=0.0006 right_z=0.1643 right_yaw=0.0003 right_pitch=-0.0705 right_roll=0.0023 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -5.7504, 5.9282, 0.8181, -0.232, 0.0904, -0.2662, -0.0752, -1.4291, 6.9949, 1.6532, -0.0611, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1716e1c8f6b5ff92b393bc8f72f702f8080ed1c88543c84ce5b791a193847036",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d955479f973c91a2cd8d5c09f9d720538966809afa57724b73dab7a3914779b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cb686ad84019971dd06aefb07b091c7cea5e277b57de096a2552defc8665dff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0184YjGFxGe9xkPukAHvrNg3",
      "input": {
        "note": "Jaws opened fully with no contact, so the bowl is wider (~13 cm) than the jaw stroke. Going back to a rim pinch: moving over the bowl's left rim (y=-0.012) at 7 cm with the jaws half open.",
        "targets": {
          "left_gripper": 0.6,
          "left_x": 0.36,
          "left_y": -0.012,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0184YjGFxGe9xkPukAHvrNg3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1513, 1.4986, 0.7849, -0.3141, -0.2111, -0.2188, 0.6034, -0.02, 0.8249, 0.6041, -0.416, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.353 left_y=-0.0127 left_z=0.0525 left_yaw=0.151 left_pitch=-0.4313 left_roll=0.0822 left_gripper=0.6034 right_x=0.2916 right_y=0.0007 right_z=0.1642 right_yaw=0.0006 right_pitch=-0.0709 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [0.253, -7.6376, 9.1009, 1.2918, -0.022, 0.1832, 0.0806, -0.0889, -1.4017, 7.0496, 1.6532, -0.0659, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84cd75cb64a7f40ce40bab56f335516c92d104d4752357956a5926cca45e8085",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc1203ede6270ef45a7f306b66bb4e6407f8443afd540cb39657194fbf2a3e89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ca3d601f43f902976725e39bd859772fb2998f21bd43877fd5eeab8553def38e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 4.222 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]: [-0.3664, 1.6436, 0.7792, -0.2123, -0.3111, -0.3595, 0.0086, -0.02, 0.8249, 0.6041, -0.4156, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.3538 left_y=-0.074 left_z=0.0183 left_yaw=0.1138 left_pitch=-0.4354 left_roll=0.107 left_gripper=0.0086 right_x=0.2916 right_y=0.0007 right_z=0.1643 right_yaw=0.0004 right_pitch=-0.0705 right_roll=0.0029 right_gripper=0.9983\nstate[joint_eff]: [-0.1573, -6.4479, 5.559, 1.5067, -0.1001, 0.0659, 0.6325, -0.212, -1.4154, 7.2547, 1.6581, -0.0708, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.6341, 0.7788, -0.1867, -0.3077, -0.3706, 0.9937, -0.02, 0.8249, 0.6041, -0.4156, -0.0162, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3593 left_y=-0.0767 left_z=0.0242 left_yaw=0.1103 left_pitch=-0.4054 left_roll=0.0799 left_gripper=0.9937 right_x=0.2916 right_y=0.0006 right_z=0.1643 right_yaw=0.0003 right_pitch=-0.0705 right_roll=0.0023 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -5.7504, 5.9282, 0.8181, -0.232, 0.0904, -0.2662, -0.0752, -1.4291, 6.9949, 1.6532, -0.0611, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1513, 1.4986, 0.7849, -0.3141, -0.2111, -0.2188, 0.6034, -0.02, 0.8249, 0.6041, -0.416, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.353 left_y=-0.0127 left_z=0.0525 left_yaw=0.151 left_pitch=-0.4313 left_roll=0.0822 left_gripper=0.6034 right_x=0.2916 right_y=0.0007 right_z=0.1642 right_yaw=0.0006 right_pitch=-0.0709 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [0.253, -7.6376, 9.1009, 1.2918, -0.022, 0.1832, 0.0806, -0.0889, -1.4017, 7.0496, 1.6532, -0.0659, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84cd75cb64a7f40ce40bab56f335516c92d104d4752357956a5926cca45e8085",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc1203ede6270ef45a7f306b66bb4e6407f8443afd540cb39657194fbf2a3e89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca3d601f43f902976725e39bd859772fb2998f21bd43877fd5eeab8553def38e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/QYKjgEIEhgCKkAbWD2otGAe4oAi9I7XABViuadJN/ehGh8kFgURsILmwId+1j8xtqa8t/U4yKz1Q0CVGC8Uiuj0+pGQl/OmJBV4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbX1y9UGEgxC3CI4ElItNjGBPhsaDGS8qKH+S0vyzUvPBiIwzRb6S3TX0rYN5LEsTDqB0c3Q37x+eLj7EzUef2AtqMLEHnve/7yDSb4q2Tp9/MM+KpsFHvaCkFHYgxSrCNnLJGXBhI/dGpAX6B0+vxV6GFu86GVeJ4y2ZXi7XIfUGEelDqKfEI0ygkVwU7fDL1+PF9vdXBG5ub9lweQUJSrZyWF/nLokgd4FOKzOD2cISDrJhgu8UGcXlOMK8cPYLczlCPL0k+CeDK3YjxQYZfe0k8llBx71QqmWx0I7L2vS+Ni30RTnAuHl5ACEDaEnD83YTyHg8gm6cfP41zELiHLpfY/yAyqOzAq8czRqwCL3MFStIN/jSlHCir4N3d2pg58qHo0M9+ZYUzVqeL+fbiCf7Z27COdX0Yy8Oz62bA7MUtDzzX2EUaU0jaQCbyNFdsa6mXe8p7Qpqp1u9Bzh3tf8nSBpAkzgAN2Z0YLOsES3hdx7F+TDbeUdRe3i/Bq62Rj2pOdsS/SA/Ors1Fg62rAcZyfWSdNVtypYI5pgfUFLctrhX/sz1vsO5k4d8ztp2VwtfTmg/HSHP/7t4UcEPOFy+WKundvU8KKZa9tGTOFyHXzpgEJnzq+snUZUMqr1bB+yODKso9bDS/mh3hw2XypY+fpOa+15ULSPkzKLyRO47ryXIIZWhs1XXp8ISCijyrUSPIzRwCxkBBr+iS+scq74EHk//gGJ8ItMqr0cZLVl0Y7D3msVaxKUk/LvT1NoEY7gwiC8HOlqIUnucJK4eTnVkAP4JBYzS5joKYxrDLMkk0TUiEUK4yGIM9DwFFCxgc8dvqd5yY/SkDgfQoxNVpawBgFWYJYVWUUtnOnd2k4Zj6EgLtpH+ctJuJ9crdgzbrf5WsgvP0/ymrcyuHi6oGJwtxuSi7Beruakw5dHZxqtAJi4SranzPhttkzeHnSgF/YEjS/m0m8KcivJ6R3jlnWbkQlLWRSxbrRGk01l5EitZhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XV4CaMEHNpPNvxU84bSD2n",
      "input": {
        "note": "Wrist view shows the bowl's left rim about 1 cm right of the jaw centre. Shifting 1 cm right and dropping to rim height so the rim wall sits between the half-open jaws.",
        "targets": {
          "left_y": -0.023,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01XV4CaMEHNpPNvxU84bSD2n",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.165, 1.5154, 0.7738, -0.2913, -0.2142, -0.2119, 0.6031, -0.02, 0.8249, 0.6041, -0.416, -0.0162, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3529 left_y=-0.0171 left_z=0.0461 left_yaw=0.1366 left_pitch=-0.4357 left_roll=0.0907 left_gripper=0.6031 right_x=0.2916 right_y=0.0006 right_z=0.1642 right_yaw=0.0003 right_pitch=-0.0709 right_roll=0.0023 right_gripper=0.9983\nstate[joint_eff]: [-0.5402, -4.9709, 4.9846, 1.1893, -0.0855, -0.2076, -0.0415, -0.1162, -1.4017, 6.9949, 1.6532, -0.022, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28ec0f16925e35db4f7e31265dc058ac6c917bd7cf300c6d9319c28d8c12d512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a11d189459b187e94e4c6390083ad0df7913f22ea1cf2c71cc15b37963ca3f06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:65e06046cece0b0b483b97036cee3fb6e614c6771e298d8686abfe0f77eb7cbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 3.756 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]: [-0.3664, 1.6341, 0.7788, -0.1867, -0.3077, -0.3706, 0.9937, -0.02, 0.8249, 0.6041, -0.4156, -0.0162, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3593 left_y=-0.0767 left_z=0.0242 left_yaw=0.1103 left_pitch=-0.4054 left_roll=0.0799 left_gripper=0.9937 right_x=0.2916 right_y=0.0006 right_z=0.1643 right_yaw=0.0003 right_pitch=-0.0705 right_roll=0.0023 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -5.7504, 5.9282, 0.8181, -0.232, 0.0904, -0.2662, -0.0752, -1.4291, 6.9949, 1.6532, -0.0611, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1513, 1.4986, 0.7849, -0.3141, -0.2111, -0.2188, 0.6034, -0.02, 0.8249, 0.6041, -0.416, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.353 left_y=-0.0127 left_z=0.0525 left_yaw=0.151 left_pitch=-0.4313 left_roll=0.0822 left_gripper=0.6034 right_x=0.2916 right_y=0.0007 right_z=0.1642 right_yaw=0.0006 right_pitch=-0.0709 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [0.253, -7.6376, 9.1009, 1.2918, -0.022, 0.1832, 0.0806, -0.0889, -1.4017, 7.0496, 1.6532, -0.0659, -0.0269, -0.0073]",
      "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]: [-0.165, 1.5154, 0.7738, -0.2913, -0.2142, -0.2119, 0.6031, -0.02, 0.8249, 0.6041, -0.416, -0.0162, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3529 left_y=-0.0171 left_z=0.0461 left_yaw=0.1366 left_pitch=-0.4357 left_roll=0.0907 left_gripper=0.6031 right_x=0.2916 right_y=0.0006 right_z=0.1642 right_yaw=0.0003 right_pitch=-0.0709 right_roll=0.0023 right_gripper=0.9983\nstate[joint_eff]: [-0.5402, -4.9709, 4.9846, 1.1893, -0.0855, -0.2076, -0.0415, -0.1162, -1.4017, 6.9949, 1.6532, -0.022, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28ec0f16925e35db4f7e31265dc058ac6c917bd7cf300c6d9319c28d8c12d512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a11d189459b187e94e4c6390083ad0df7913f22ea1cf2c71cc15b37963ca3f06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65e06046cece0b0b483b97036cee3fb6e614c6771e298d8686abfe0f77eb7cbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2gMKjgEIEhgCKkBo2zII3zscXWR64GuXKtJvHdU5+gswYmvFphZhYG8elzoGzfJ7qwq7d3vgialf5JK0CRcix4R0OzEQfQwSMzDfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbr1y9UGEgzFOwLbeAiGti3QbMoaDLsBezbal1aCeGyFZCIwTViO05UnL1XacAaMWOMnLS/TKReTmxfRveyUrvurNPIyeMCoScxauYEoHC0Y4kExKvgBPylqSsHTs6p85be/2WiYk1f5wsmGkUR+aQL9YNWjiruet3gtuYEfqEyCFazC4gb2/ihqufzZIwvVC+Qxhegvgrkct47OTQZcntg25y6RhE+eH1muu9xrQhT+6NwwYyXr5ZvLnASQq3cYLFDSUXIBCdYovhMMMri59sO5TSgyu1qzGQrD77JSsfKuUAJo6XUp1oMQozhhGVBYg3+uR9UjzIXYUxKXfm0LE8+Q9/PL4WiOnclX+vMmoNU+XmZjcn2rYiavTCCJzOpE4EJKcmuGwWoWC9QCLtNbTmniuqF5pF9LGJUNt3dPIoEdobah9rMErvG2ACBKO0UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xtheg5Aso84w9qjbrQYKJV",
      "input": {
        "note": "Closing the jaws at rim height to pinch the bowl's left rim wall.",
        "targets": {
          "left_gripper": 0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Xtheg5Aso84w9qjbrQYKJV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1638, 1.5272, 0.7528, -0.2554, -0.2016, -0.2325, 0.0362, -0.02, 0.8249, 0.6041, -0.416, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3525 left_y=-0.0188 left_z=0.039 left_yaw=0.1382 left_pitch=-0.435 left_roll=0.0661 left_gripper=0.0362 right_x=0.2916 right_y=0.0007 right_z=0.1642 right_yaw=0.0006 right_pitch=-0.0709 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [-0.1983, -5.1214, 6.3521, 0.8327, -0.2662, 0.1636, 0.9695, -0.212, -1.1282, 7.0222, 1.6435, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7dd5c723e10308da0ba0a7c2827e022909c243b2a89b1bd76aedded56e126ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ddccdf390d0b418dc74ce7708926cbc95add9d2d75499bb51f02a2943dcdae3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:56c7e9d7f22605df07049097a36666e41cdf25a63a5d9f0adf5ca0c60951866a",
        "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 · 33.4 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]: [-0.1513, 1.4986, 0.7849, -0.3141, -0.2111, -0.2188, 0.6034, -0.02, 0.8249, 0.6041, -0.416, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.353 left_y=-0.0127 left_z=0.0525 left_yaw=0.151 left_pitch=-0.4313 left_roll=0.0822 left_gripper=0.6034 right_x=0.2916 right_y=0.0007 right_z=0.1642 right_yaw=0.0006 right_pitch=-0.0709 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [0.253, -7.6376, 9.1009, 1.2918, -0.022, 0.1832, 0.0806, -0.0889, -1.4017, 7.0496, 1.6532, -0.0659, -0.0269, -0.0073]",
      "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]: [-0.165, 1.5154, 0.7738, -0.2913, -0.2142, -0.2119, 0.6031, -0.02, 0.8249, 0.6041, -0.416, -0.0162, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3529 left_y=-0.0171 left_z=0.0461 left_yaw=0.1366 left_pitch=-0.4357 left_roll=0.0907 left_gripper=0.6031 right_x=0.2916 right_y=0.0006 right_z=0.1642 right_yaw=0.0003 right_pitch=-0.0709 right_roll=0.0023 right_gripper=0.9983\nstate[joint_eff]: [-0.5402, -4.9709, 4.9846, 1.1893, -0.0855, -0.2076, -0.0415, -0.1162, -1.4017, 6.9949, 1.6532, -0.022, -0.0562, -0.0073]",
      "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]: [-0.1638, 1.5272, 0.7528, -0.2554, -0.2016, -0.2325, 0.0362, -0.02, 0.8249, 0.6041, -0.416, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3525 left_y=-0.0188 left_z=0.039 left_yaw=0.1382 left_pitch=-0.435 left_roll=0.0661 left_gripper=0.0362 right_x=0.2916 right_y=0.0007 right_z=0.1642 right_yaw=0.0006 right_pitch=-0.0709 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [-0.1983, -5.1214, 6.3521, 0.8327, -0.2662, 0.1636, 0.9695, -0.212, -1.1282, 7.0222, 1.6435, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7dd5c723e10308da0ba0a7c2827e022909c243b2a89b1bd76aedded56e126ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ddccdf390d0b418dc74ce7708926cbc95add9d2d75499bb51f02a2943dcdae3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56c7e9d7f22605df07049097a36666e41cdf25a63a5d9f0adf5ca0c60951866a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlAMKjgEIEhgCKkA6R4wqT1+MAaOu2s9IJYDLm48Gxb/QT15ImS1XYflvt1xnm746Q34MqzL/F81q7HDnDpb/PbJ2QFsz9XYVUMYQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb71y9UGEgznQgVQVgYnO8t6WKoaDCj71cv6OFrGiuH5/yIwHo5lB+tNctvmRy8NFUDXoTKhgPBN9WEn4HsaRilXV4k7eKSo4oq6NK6NRjgWk+T3KrIBwFApvKV8wifu3kNi44mPVlWh2rqaRFiBcn3Z7zKqNETNiB2IsEqQ8p1CU1/QQDhp7vYi8+tn8o2qKrdqbmDTwylEJxAMrmfrB/7g8v7H8YbGZ+FngsLgLxMfrUy+fpxKt20ibQFJX7p9FWjfdrJ8Ar6LRHCIWIMCAk5FGoh8O6FaRfUlx6p+xJvU/bFdkx6SHl1GTua7+TqwohfFlt8uJsb8fjnSsq4wTHt13T1sxkbvJxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019pKM3bCwMQP4gNdzcGE8fX",
      "input": {
        "note": "Gripper settled at 0.036 (~3.4 mm), consistent with the rim thickness. Lifting to see whether the bowl comes up with it.",
        "targets": {
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_019pKM3bCwMQP4gNdzcGE8fX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1638, 1.4292, 0.9806, -0.5926, -0.2024, -0.2356, 0.0394, -0.02, 0.8249, 0.6041, -0.416, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.354 left_y=-0.0189 left_z=0.1115 left_yaw=0.1423 left_pitch=-0.4456 left_roll=0.0687 left_gripper=0.0394 right_x=0.2916 right_y=0.0007 right_z=0.1642 right_yaw=0.0004 right_pitch=-0.0709 right_roll=0.0029 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -7.665, 8.6906, 1.243, -0.1636, -0.0122, 0.6862, 0.0068, -1.388, 7.2, 1.6484, -0.0269, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62a050d22c8af24f81322588baa7a3aaabc29816c2fccba58fcfdacd3fb717df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eef2b9dbb91f4d2b4de1f8bc8be29b6a26353ca6eb4ddb4bb5010c57013dc54a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63da43595215a9e5caddc04db35a60c98849bff619d41b26865a955e0eed9505",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 17.59 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]: [-0.165, 1.5154, 0.7738, -0.2913, -0.2142, -0.2119, 0.6031, -0.02, 0.8249, 0.6041, -0.416, -0.0162, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3529 left_y=-0.0171 left_z=0.0461 left_yaw=0.1366 left_pitch=-0.4357 left_roll=0.0907 left_gripper=0.6031 right_x=0.2916 right_y=0.0006 right_z=0.1642 right_yaw=0.0003 right_pitch=-0.0709 right_roll=0.0023 right_gripper=0.9983\nstate[joint_eff]: [-0.5402, -4.9709, 4.9846, 1.1893, -0.0855, -0.2076, -0.0415, -0.1162, -1.4017, 6.9949, 1.6532, -0.022, -0.0562, -0.0073]",
      "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]: [-0.1638, 1.5272, 0.7528, -0.2554, -0.2016, -0.2325, 0.0362, -0.02, 0.8249, 0.6041, -0.416, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3525 left_y=-0.0188 left_z=0.039 left_yaw=0.1382 left_pitch=-0.435 left_roll=0.0661 left_gripper=0.0362 right_x=0.2916 right_y=0.0007 right_z=0.1642 right_yaw=0.0006 right_pitch=-0.0709 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [-0.1983, -5.1214, 6.3521, 0.8327, -0.2662, 0.1636, 0.9695, -0.212, -1.1282, 7.0222, 1.6435, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1638, 1.4292, 0.9806, -0.5926, -0.2024, -0.2356, 0.0394, -0.02, 0.8249, 0.6041, -0.416, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.354 left_y=-0.0189 left_z=0.1115 left_yaw=0.1423 left_pitch=-0.4456 left_roll=0.0687 left_gripper=0.0394 right_x=0.2916 right_y=0.0007 right_z=0.1642 right_yaw=0.0004 right_pitch=-0.0709 right_roll=0.0029 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -7.665, 8.6906, 1.243, -0.1636, -0.0122, 0.6862, 0.0068, -1.388, 7.2, 1.6484, -0.0269, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62a050d22c8af24f81322588baa7a3aaabc29816c2fccba58fcfdacd3fb717df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eef2b9dbb91f4d2b4de1f8bc8be29b6a26353ca6eb4ddb4bb5010c57013dc54a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63da43595215a9e5caddc04db35a60c98849bff619d41b26865a955e0eed9505",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013UnVAqyvPF821CJvSFimQb",
      "input": {
        "note": "The bowl stayed put again — the jaws likely closed just outside the wall. Reopening and shifting 1.3 cm further toward the bowl centre so the inner jaw definitely drops inside the bowl before closing.",
        "targets": {
          "left_gripper": 0.7,
          "left_y": -0.032,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013UnVAqyvPF821CJvSFimQb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2081, 1.5349, 0.7956, -0.3527, -0.2115, -0.2768, 0.6948, -0.02, 0.8249, 0.6041, -0.4191, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3448 left_y=-0.0312 left_z=0.0397 left_yaw=0.1391 left_pitch=-0.4893 left_roll=0.0718 left_gripper=0.6948 right_x=0.2911 right_y=0.0007 right_z=0.1636 right_yaw=0.0006 right_pitch=-0.074 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [-0.5812, -5.7094, 5.8872, 1.3114, -0.3053, 0.0659, -0.0464, -0.1026, -1.4017, 7.0359, 1.6777, -0.0562, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b3d379410690bfa7c89a96277b4323cfbcd15a0eb50bb7cb7602371423645db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6614dd8c9bcedc9e7dc13db0db5fd0b1a824ef961b130ce1f60de6dce769846d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b215d5ddf1953438e930a5a4118feb8b0d0c981e4ca1af3ee4316519e934131a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 27.76 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]: [-0.1638, 1.5272, 0.7528, -0.2554, -0.2016, -0.2325, 0.0362, -0.02, 0.8249, 0.6041, -0.416, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3525 left_y=-0.0188 left_z=0.039 left_yaw=0.1382 left_pitch=-0.435 left_roll=0.0661 left_gripper=0.0362 right_x=0.2916 right_y=0.0007 right_z=0.1642 right_yaw=0.0006 right_pitch=-0.0709 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [-0.1983, -5.1214, 6.3521, 0.8327, -0.2662, 0.1636, 0.9695, -0.212, -1.1282, 7.0222, 1.6435, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1638, 1.4292, 0.9806, -0.5926, -0.2024, -0.2356, 0.0394, -0.02, 0.8249, 0.6041, -0.416, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.354 left_y=-0.0189 left_z=0.1115 left_yaw=0.1423 left_pitch=-0.4456 left_roll=0.0687 left_gripper=0.0394 right_x=0.2916 right_y=0.0007 right_z=0.1642 right_yaw=0.0004 right_pitch=-0.0709 right_roll=0.0029 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -7.665, 8.6906, 1.243, -0.1636, -0.0122, 0.6862, 0.0068, -1.388, 7.2, 1.6484, -0.0269, -0.0317, -0.0073]",
      "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]: [-0.2081, 1.5349, 0.7956, -0.3527, -0.2115, -0.2768, 0.6948, -0.02, 0.8249, 0.6041, -0.4191, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3448 left_y=-0.0312 left_z=0.0397 left_yaw=0.1391 left_pitch=-0.4893 left_roll=0.0718 left_gripper=0.6948 right_x=0.2911 right_y=0.0007 right_z=0.1636 right_yaw=0.0006 right_pitch=-0.074 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [-0.5812, -5.7094, 5.8872, 1.3114, -0.3053, 0.0659, -0.0464, -0.1026, -1.4017, 7.0359, 1.6777, -0.0562, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b3d379410690bfa7c89a96277b4323cfbcd15a0eb50bb7cb7602371423645db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6614dd8c9bcedc9e7dc13db0db5fd0b1a824ef961b130ce1f60de6dce769846d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b215d5ddf1953438e930a5a4118feb8b0d0c981e4ca1af3ee4316519e934131a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K4KdrGZKFzzge1LJso3txw",
      "input": {
        "note": "Both jaws are currently inside the bowl's mouth; shifting 1.3 cm back left so the outer jaw clears the rim, dropping 1 cm lower for a deeper bite on the wall, and closing.",
        "targets": {
          "left_gripper": 0,
          "left_y": -0.019,
          "left_z": 0.028
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01K4KdrGZKFzzge1LJso3txw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1688, 1.5497, 0.7635, -0.3157, -0.2005, -0.2497, 0.0086, -0.02, 0.8268, 0.6041, -0.4191, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3415 left_y=-0.0189 left_z=0.0281 left_yaw=0.1537 left_pitch=-0.5031 left_roll=0.08 left_gripper=0.0086 right_x=0.2912 right_y=0.0007 right_z=0.1631 right_yaw=0.0006 right_pitch=-0.0759 right_roll=0.0027 right_gripper=0.9983\nstate[joint_eff]: [0.6632, -6.0786, 5.3538, 1.3407, -0.0024, 0.1343, 0.6178, -0.1846, -1.5932, 6.9949, 1.6728, -0.0562, -0.0513, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e074775b3bb517a3761a473b6c595b8868585710cff9343aa792bab71f324a7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52ee629d6b8f1e270abfcbe3576a34a9d750eab6833cdbf76ca553d28d1d12b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:378f483fdccbab5b36669862c77f07071b3bc0ea42c6c646c73bfb09f1cb8863",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 49.06 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]: [-0.1638, 1.4292, 0.9806, -0.5926, -0.2024, -0.2356, 0.0394, -0.02, 0.8249, 0.6041, -0.416, -0.0166, -0.02, 0.9983]\nstate[eef_state]: left_x=0.354 left_y=-0.0189 left_z=0.1115 left_yaw=0.1423 left_pitch=-0.4456 left_roll=0.0687 left_gripper=0.0394 right_x=0.2916 right_y=0.0007 right_z=0.1642 right_yaw=0.0004 right_pitch=-0.0709 right_roll=0.0029 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -7.665, 8.6906, 1.243, -0.1636, -0.0122, 0.6862, 0.0068, -1.388, 7.2, 1.6484, -0.0269, -0.0317, -0.0073]",
      "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]: [-0.2081, 1.5349, 0.7956, -0.3527, -0.2115, -0.2768, 0.6948, -0.02, 0.8249, 0.6041, -0.4191, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3448 left_y=-0.0312 left_z=0.0397 left_yaw=0.1391 left_pitch=-0.4893 left_roll=0.0718 left_gripper=0.6948 right_x=0.2911 right_y=0.0007 right_z=0.1636 right_yaw=0.0006 right_pitch=-0.074 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [-0.5812, -5.7094, 5.8872, 1.3114, -0.3053, 0.0659, -0.0464, -0.1026, -1.4017, 7.0359, 1.6777, -0.0562, -0.0757, -0.0073]",
      "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]: [-0.1688, 1.5497, 0.7635, -0.3157, -0.2005, -0.2497, 0.0086, -0.02, 0.8268, 0.6041, -0.4191, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3415 left_y=-0.0189 left_z=0.0281 left_yaw=0.1537 left_pitch=-0.5031 left_roll=0.08 left_gripper=0.0086 right_x=0.2912 right_y=0.0007 right_z=0.1631 right_yaw=0.0006 right_pitch=-0.0759 right_roll=0.0027 right_gripper=0.9983\nstate[joint_eff]: [0.6632, -6.0786, 5.3538, 1.3407, -0.0024, 0.1343, 0.6178, -0.1846, -1.5932, 6.9949, 1.6728, -0.0562, -0.0513, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e074775b3bb517a3761a473b6c595b8868585710cff9343aa792bab71f324a7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52ee629d6b8f1e270abfcbe3576a34a9d750eab6833cdbf76ca553d28d1d12b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:378f483fdccbab5b36669862c77f07071b3bc0ea42c6c646c73bfb09f1cb8863",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012jMp3cSX5aQ5oax4uXRxW4",
      "input": {
        "note": "The close was empty again — both jaws were inside the bowl. Backing the arm up and high so the overhead camera shows all three bowls unobstructed and I can re-measure the white bowl's position.",
        "targets": {
          "left_x": 0.25,
          "left_y": 0.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_012jMp3cSX5aQ5oax4uXRxW4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1562, 1.1553, 1.33, -1.2518, -0.1955, -0.2508, 0.0103, -0.02, 0.8307, 0.6037, -0.4225, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.2623 left_y=-0.0029 left_z=0.241 left_yaw=0.1583 left_pitch=-0.4809 left_roll=0.0658 left_gripper=0.0103 right_x=0.2909 right_y=0.0007 right_z=0.1612 right_yaw=0.0006 right_pitch=-0.0835 right_roll=0.0028 right_gripper=0.9983\nstate[joint_eff]: [0.335, -3.2342, 7.5829, 1.033, -0.1343, 0.1294, 0.1734, -0.212, -1.7436, 7.0085, 1.6825, -0.0464, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:110cfdc4694cd3d7e2a1ed1894db2b6b30ab9fea46d07702f3bb535967376748",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc640e114ae97cb5bd04e4190d47db74d7a1bc191d426c9ccedcc1e77bc2d616",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0cbe82cdb3a350be04e52e339ebedb7d7d957e4077d52b6a0e3797bdcd2c0fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 4.589 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]: [-0.2081, 1.5349, 0.7956, -0.3527, -0.2115, -0.2768, 0.6948, -0.02, 0.8249, 0.6041, -0.4191, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3448 left_y=-0.0312 left_z=0.0397 left_yaw=0.1391 left_pitch=-0.4893 left_roll=0.0718 left_gripper=0.6948 right_x=0.2911 right_y=0.0007 right_z=0.1636 right_yaw=0.0006 right_pitch=-0.074 right_roll=0.0026 right_gripper=0.9983\nstate[joint_eff]: [-0.5812, -5.7094, 5.8872, 1.3114, -0.3053, 0.0659, -0.0464, -0.1026, -1.4017, 7.0359, 1.6777, -0.0562, -0.0757, -0.0073]",
      "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]: [-0.1688, 1.5497, 0.7635, -0.3157, -0.2005, -0.2497, 0.0086, -0.02, 0.8268, 0.6041, -0.4191, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3415 left_y=-0.0189 left_z=0.0281 left_yaw=0.1537 left_pitch=-0.5031 left_roll=0.08 left_gripper=0.0086 right_x=0.2912 right_y=0.0007 right_z=0.1631 right_yaw=0.0006 right_pitch=-0.0759 right_roll=0.0027 right_gripper=0.9983\nstate[joint_eff]: [0.6632, -6.0786, 5.3538, 1.3407, -0.0024, 0.1343, 0.6178, -0.1846, -1.5932, 6.9949, 1.6728, -0.0562, -0.0513, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1562, 1.1553, 1.33, -1.2518, -0.1955, -0.2508, 0.0103, -0.02, 0.8307, 0.6037, -0.4225, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.2623 left_y=-0.0029 left_z=0.241 left_yaw=0.1583 left_pitch=-0.4809 left_roll=0.0658 left_gripper=0.0103 right_x=0.2909 right_y=0.0007 right_z=0.1612 right_yaw=0.0006 right_pitch=-0.0835 right_roll=0.0028 right_gripper=0.9983\nstate[joint_eff]: [0.335, -3.2342, 7.5829, 1.033, -0.1343, 0.1294, 0.1734, -0.212, -1.7436, 7.0085, 1.6825, -0.0464, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:110cfdc4694cd3d7e2a1ed1894db2b6b30ab9fea46d07702f3bb535967376748",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc640e114ae97cb5bd04e4190d47db74d7a1bc191d426c9ccedcc1e77bc2d616",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0cbe82cdb3a350be04e52e339ebedb7d7d957e4077d52b6a0e3797bdcd2c0fc",
        "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_014gMAxEqEUNP3dfKmXP49Rs",
      "input": {
        "note": "Side pinches keep sliding off the smooth rim. New plan: roll the wrist 90° so the jaws close vertically, then clamp the bowl's rim between a finger inside the bowl and one above it. Moving above the white bowl's left rim with the wrist rolled.",
        "targets": {
          "left_gripper": 0.7,
          "left_roll": 1.5,
          "left_x": 0.36,
          "left_y": -0.05,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_014gMAxEqEUNP3dfKmXP49Rs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5919, 1.6119, 1.0397, -0.7013, -1.0348, 0.4953, 0.6981, -0.02, 0.8307, 0.5983, -0.4229, -0.0166, -0.0227, 0.9983]\nstate[eef_state]: left_x=0.3491 left_y=-0.0474 left_z=0.1404 left_yaw=0.1541 left_pitch=-0.5258 left_roll=1.4205 left_gripper=0.6981 right_x=0.29 right_y=0.0007 right_z=0.1588 right_yaw=0.0019 right_pitch=-0.0892 right_roll=0.0011 right_gripper=0.9983\nstate[joint_eff]: [-0.4581, -6.5983, 6.0923, 0.9255, -0.7937, 0.1441, -0.0073, -0.0889, -1.3607, 7.5692, 1.6337, -0.0415, 0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1fdce84873a1a98c55bd52c9b326c65501859cd08a7851e3c95e761844bb429",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13229ff052e34d0415421b711f8d28c0932c84811eb0cc2ef8a6624ee42d569a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4239b7a72c75d2ab4eb9c057370f5b0fc73b74f0aef732bf0bcbb1a5720c8273",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 4.26 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]: [-0.1688, 1.5497, 0.7635, -0.3157, -0.2005, -0.2497, 0.0086, -0.02, 0.8268, 0.6041, -0.4191, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.3415 left_y=-0.0189 left_z=0.0281 left_yaw=0.1537 left_pitch=-0.5031 left_roll=0.08 left_gripper=0.0086 right_x=0.2912 right_y=0.0007 right_z=0.1631 right_yaw=0.0006 right_pitch=-0.0759 right_roll=0.0027 right_gripper=0.9983\nstate[joint_eff]: [0.6632, -6.0786, 5.3538, 1.3407, -0.0024, 0.1343, 0.6178, -0.1846, -1.5932, 6.9949, 1.6728, -0.0562, -0.0513, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.1562, 1.1553, 1.33, -1.2518, -0.1955, -0.2508, 0.0103, -0.02, 0.8307, 0.6037, -0.4225, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.2623 left_y=-0.0029 left_z=0.241 left_yaw=0.1583 left_pitch=-0.4809 left_roll=0.0658 left_gripper=0.0103 right_x=0.2909 right_y=0.0007 right_z=0.1612 right_yaw=0.0006 right_pitch=-0.0835 right_roll=0.0028 right_gripper=0.9983\nstate[joint_eff]: [0.335, -3.2342, 7.5829, 1.033, -0.1343, 0.1294, 0.1734, -0.212, -1.7436, 7.0085, 1.6825, -0.0464, -0.0269, -0.0073]",
      "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]: [-0.5919, 1.6119, 1.0397, -0.7013, -1.0348, 0.4953, 0.6981, -0.02, 0.8307, 0.5983, -0.4229, -0.0166, -0.0227, 0.9983]\nstate[eef_state]: left_x=0.3491 left_y=-0.0474 left_z=0.1404 left_yaw=0.1541 left_pitch=-0.5258 left_roll=1.4205 left_gripper=0.6981 right_x=0.29 right_y=0.0007 right_z=0.1588 right_yaw=0.0019 right_pitch=-0.0892 right_roll=0.0011 right_gripper=0.9983\nstate[joint_eff]: [-0.4581, -6.5983, 6.0923, 0.9255, -0.7937, 0.1441, -0.0073, -0.0889, -1.3607, 7.5692, 1.6337, -0.0415, 0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1fdce84873a1a98c55bd52c9b326c65501859cd08a7851e3c95e761844bb429",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13229ff052e34d0415421b711f8d28c0932c84811eb0cc2ef8a6624ee42d569a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4239b7a72c75d2ab4eb9c057370f5b0fc73b74f0aef732bf0bcbb1a5720c8273",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlQQKjgEIEhgCKkCnqEeDIFa2/cJ6SyH3naW5F4oV9AKjgGLcN3XjQLLkxitZuZqHED/iRMIpGLcIh2uTR4tXXgYKOYc0GOw1uQvOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcf2y9UGEgwRWKrQQBAIxfcxyfAaDEEYEo6Mgm0uzHanViIwIihn4e+il8E7PwMA3wPC7NTTXDmLXByUQFh+PqDoGH3Qh4NXATCPVksKbHtKxR5iKrMCshMJ6Wo+GSBfCEqEF4OL1EJzygodyFW70JLvVrx44snKsm/4nZq9Jhqyl18+HLkqI/nUBv/oV1IEKuYxdfs75ArKiFNCc3To5+HFcdi1fNSuHitWrKwVmqnABq8BgicORPPY8O4MGzcMyQ8FogWUCtGVr/nIAz0nMzkGX1LbwH+N+qJSGOnfVDIxviUrAgK6TP5GDFM+aR9/YCvXVf7RHoIBsNyzS4/H01QTRxR8rgPv2j0SeATFS+xfXlNm/E1lr14l2ZWrN02mL7dKDxOA4GA/nFyfiVn7RY7g9s2VaHClpeosE+ruIgrlFgNz/anawbOrSsRgQ+xU3CFBjxyFfLwtIJeE6qiaDGllfLaq//jDmTlpTsUIqt+0n7rZ5Ux3vh15HDV12K90r/gUzn6NRUDulxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TDTkWgG4XZuNfxAbcM4KGh",
      "input": {
        "note": "Wrist is rolled 90° so the jaws now close vertically. Lowering to rim height so the lower finger sits inside the bowl just under the rim and the upper finger is above it.",
        "targets": {
          "left_x": 0.355,
          "left_y": -0.05,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TDTkWgG4XZuNfxAbcM4KGh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5949, 1.7756, 0.8898, -0.4313, -1.0302, 0.5083, 0.6987, -0.02, 0.8333, 0.598, -0.4229, -0.0166, -0.0235, 0.9983]\nstate[eef_state]: left_x=0.3482 left_y=-0.0484 left_z=0.063 left_yaw=0.165 left_pitch=-0.5674 left_roll=1.462 left_gripper=0.6987 right_x=0.2901 right_y=0.0007 right_z=0.1579 right_yaw=0.0023 right_pitch=-0.0923 right_roll=0.0006 right_gripper=0.9983\nstate[joint_eff]: [0.4034, -7.2274, 4.9299, 0.7888, -0.5397, -0.0708, 0.0464, -0.1709, -1.6342, 7.1453, 1.6337, -0.0806, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:081cc7748b5a064eec2f98e05732adaee05a91f4dda8265f5b47a0562d90c007",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cad606b05913a3f25e6f5a1d0eec8deacd2d391a6f3fa96f6c66bde0097d1513",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:189ff65f7ba7eb0cd921895efc07674cffafff4a730f0e99bfc646b1eecd832b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 18.29 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]: [-0.1562, 1.1553, 1.33, -1.2518, -0.1955, -0.2508, 0.0103, -0.02, 0.8307, 0.6037, -0.4225, -0.0166, -0.0204, 0.9983]\nstate[eef_state]: left_x=0.2623 left_y=-0.0029 left_z=0.241 left_yaw=0.1583 left_pitch=-0.4809 left_roll=0.0658 left_gripper=0.0103 right_x=0.2909 right_y=0.0007 right_z=0.1612 right_yaw=0.0006 right_pitch=-0.0835 right_roll=0.0028 right_gripper=0.9983\nstate[joint_eff]: [0.335, -3.2342, 7.5829, 1.033, -0.1343, 0.1294, 0.1734, -0.212, -1.7436, 7.0085, 1.6825, -0.0464, -0.0269, -0.0073]",
      "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]: [-0.5919, 1.6119, 1.0397, -0.7013, -1.0348, 0.4953, 0.6981, -0.02, 0.8307, 0.5983, -0.4229, -0.0166, -0.0227, 0.9983]\nstate[eef_state]: left_x=0.3491 left_y=-0.0474 left_z=0.1404 left_yaw=0.1541 left_pitch=-0.5258 left_roll=1.4205 left_gripper=0.6981 right_x=0.29 right_y=0.0007 right_z=0.1588 right_yaw=0.0019 right_pitch=-0.0892 right_roll=0.0011 right_gripper=0.9983\nstate[joint_eff]: [-0.4581, -6.5983, 6.0923, 0.9255, -0.7937, 0.1441, -0.0073, -0.0889, -1.3607, 7.5692, 1.6337, -0.0415, 0.0317, -0.0073]",
      "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]: [-0.5949, 1.7756, 0.8898, -0.4313, -1.0302, 0.5083, 0.6987, -0.02, 0.8333, 0.598, -0.4229, -0.0166, -0.0235, 0.9983]\nstate[eef_state]: left_x=0.3482 left_y=-0.0484 left_z=0.063 left_yaw=0.165 left_pitch=-0.5674 left_roll=1.462 left_gripper=0.6987 right_x=0.2901 right_y=0.0007 right_z=0.1579 right_yaw=0.0023 right_pitch=-0.0923 right_roll=0.0006 right_gripper=0.9983\nstate[joint_eff]: [0.4034, -7.2274, 4.9299, 0.7888, -0.5397, -0.0708, 0.0464, -0.1709, -1.6342, 7.1453, 1.6337, -0.0806, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:081cc7748b5a064eec2f98e05732adaee05a91f4dda8265f5b47a0562d90c007",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cad606b05913a3f25e6f5a1d0eec8deacd2d391a6f3fa96f6c66bde0097d1513",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:189ff65f7ba7eb0cd921895efc07674cffafff4a730f0e99bfc646b1eecd832b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnAQKjgEIEhgCKkABn0yJ3tpzpz09uBAnvJ0P4CnxXdSYw+k0VHBjeBZ82hV05j7Sa8Qo/jmQi/PougVt1ggTGE9NCbW2mi1nFD4IMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcz2y9UGEgxXd+bOvOX01nEra3QaDGv4Wh6E3CfrsaEYvSIwtOAZ2uAMZIXO+6TYU9jLMbGY9GjQqSCnFv4BjKCme1JqbpK0ro9wRBpAXYsIIGx0KroCEhjDMWncHSV9aynQhQixkL73jaPJ17HXk6rjOMQ3x7jUFmYFDFg1/QQQWyZvLVSdKg7Ea+S5thtHUM3PW5CimuPwdpNDBH7oL7tbqd3RHcD0PYOd7o5UXPmW9s2mJsiKyGo4wo+VulZVyGCdAF1JVRXr99L4CwBL/w8hXOCttzo9khGpO6giDfqn0vk97JPKwVWFZsKNhS6a0MFhn14hgoXYY80EQpV8Exq42LISd+YFkjBpBTXHKYXSjBTBJiHXNoxDhMPPeXvLkUeCOdTSxgbXRFLmL9a03Kxu2v808pHhhPuYRlI86MS0v5MFxsZr9ZN2jnJfKVZffFim+ohytfmABP13/OfqvPMHZ2+oEnGvzjf868ovmyXOhHAmv8Pjnq+ZDAv8f3DzwTOo/Y3zd8eojqQK9hzhODAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015WfVxq8JWdUMcT5yEnUHSh",
      "input": {
        "note": "Closing the vertically-oriented jaws to clamp the bowl's rim from above and inside.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015WfVxq8JWdUMcT5yEnUHSh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5949, 1.7897, 0.8787, -0.4328, -1.0252, 0.5083, 0.0086, -0.02, 0.8337, 0.5957, -0.4229, -0.0162, -0.0235, 0.9983]\nstate[eef_state]: left_x=0.3444 left_y=-0.0464 left_z=0.0555 left_yaw=0.1736 left_pitch=-0.59 left_roll=1.4799 left_gripper=0.0086 right_x=0.2897 right_y=0.0006 right_z=0.1567 right_yaw=0.002 right_pitch=-0.0949 right_roll=0.0004 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -8.8, 5.7778, 0.6178, -0.5934, -0.0024, 0.5495, -0.0615, -1.3197, 7.2547, 1.6581, -0.0562, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4266228c72519c3bac63c4c581b5c949b751132d06446581603d31b6e466f2da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:619076612559ec70ac64a6c769c4a53426cda2e6ad34f6666d1d3ce6c4adb111",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fc52995d00014a3c35252ad85e2d5469f3202ada03a58d31691528d0e1eb509e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 6.793 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]: [-0.5919, 1.6119, 1.0397, -0.7013, -1.0348, 0.4953, 0.6981, -0.02, 0.8307, 0.5983, -0.4229, -0.0166, -0.0227, 0.9983]\nstate[eef_state]: left_x=0.3491 left_y=-0.0474 left_z=0.1404 left_yaw=0.1541 left_pitch=-0.5258 left_roll=1.4205 left_gripper=0.6981 right_x=0.29 right_y=0.0007 right_z=0.1588 right_yaw=0.0019 right_pitch=-0.0892 right_roll=0.0011 right_gripper=0.9983\nstate[joint_eff]: [-0.4581, -6.5983, 6.0923, 0.9255, -0.7937, 0.1441, -0.0073, -0.0889, -1.3607, 7.5692, 1.6337, -0.0415, 0.0317, -0.0073]",
      "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]: [-0.5949, 1.7756, 0.8898, -0.4313, -1.0302, 0.5083, 0.6987, -0.02, 0.8333, 0.598, -0.4229, -0.0166, -0.0235, 0.9983]\nstate[eef_state]: left_x=0.3482 left_y=-0.0484 left_z=0.063 left_yaw=0.165 left_pitch=-0.5674 left_roll=1.462 left_gripper=0.6987 right_x=0.2901 right_y=0.0007 right_z=0.1579 right_yaw=0.0023 right_pitch=-0.0923 right_roll=0.0006 right_gripper=0.9983\nstate[joint_eff]: [0.4034, -7.2274, 4.9299, 0.7888, -0.5397, -0.0708, 0.0464, -0.1709, -1.6342, 7.1453, 1.6337, -0.0806, -0.0611, -0.0073]",
      "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]: [-0.5949, 1.7897, 0.8787, -0.4328, -1.0252, 0.5083, 0.0086, -0.02, 0.8337, 0.5957, -0.4229, -0.0162, -0.0235, 0.9983]\nstate[eef_state]: left_x=0.3444 left_y=-0.0464 left_z=0.0555 left_yaw=0.1736 left_pitch=-0.59 left_roll=1.4799 left_gripper=0.0086 right_x=0.2897 right_y=0.0006 right_z=0.1567 right_yaw=0.002 right_pitch=-0.0949 right_roll=0.0004 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -8.8, 5.7778, 0.6178, -0.5934, -0.0024, 0.5495, -0.0615, -1.3197, 7.2547, 1.6581, -0.0562, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4266228c72519c3bac63c4c581b5c949b751132d06446581603d31b6e466f2da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:619076612559ec70ac64a6c769c4a53426cda2e6ad34f6666d1d3ce6c4adb111",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc52995d00014a3c35252ad85e2d5469f3202ada03a58d31691528d0e1eb509e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ScYDdtozZmTTexanJmxpwA",
      "input": {
        "note": "Empty again; with the wrist rolled I now read the bowl as sitting forward of the fingertips rather than to the side. Advancing 4.5 cm so the rolled jaws span the bowl's near rim.",
        "targets": {
          "left_gripper": 0.7,
          "left_x": 0.39,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01ScYDdtozZmTTexanJmxpwA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5236, 1.898, 0.9756, -0.3466, -1.013, 0.6201, 0.6949, -0.02, 0.8364, 0.5957, -0.4229, -0.0166, -0.0231, 0.9983]\nstate[eef_state]: left_x=0.3791 left_y=-0.0417 left_z=0.0469 left_yaw=0.1964 left_pitch=-0.6027 left_roll=1.4998 left_gripper=0.6949 right_x=0.2899 right_y=0.0007 right_z=0.156 right_yaw=0.0021 right_pitch=-0.0976 right_roll=0.001 right_gripper=0.9983\nstate[joint_eff]: [0.3624, -8.0205, 6.9265, 0.8181, -0.4225, 0.1294, -0.1538, -0.2393, -1.6615, 7.0222, 1.6239, -0.0806, -0.0122, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23ee490589573937b7696b552dd6efe50e11a9c21112c32f01bc3de089ef7481",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e1e46fc626bbf959a9dc1e0a1e7c210f749c583f13f536d255f38594b7deeb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ec14329e68800e688d243e3d59ce70b0aeaa699905bf563e26e2d4103ba4cee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 9.38 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]: [-0.5949, 1.7756, 0.8898, -0.4313, -1.0302, 0.5083, 0.6987, -0.02, 0.8333, 0.598, -0.4229, -0.0166, -0.0235, 0.9983]\nstate[eef_state]: left_x=0.3482 left_y=-0.0484 left_z=0.063 left_yaw=0.165 left_pitch=-0.5674 left_roll=1.462 left_gripper=0.6987 right_x=0.2901 right_y=0.0007 right_z=0.1579 right_yaw=0.0023 right_pitch=-0.0923 right_roll=0.0006 right_gripper=0.9983\nstate[joint_eff]: [0.4034, -7.2274, 4.9299, 0.7888, -0.5397, -0.0708, 0.0464, -0.1709, -1.6342, 7.1453, 1.6337, -0.0806, -0.0611, -0.0073]",
      "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]: [-0.5949, 1.7897, 0.8787, -0.4328, -1.0252, 0.5083, 0.0086, -0.02, 0.8337, 0.5957, -0.4229, -0.0162, -0.0235, 0.9983]\nstate[eef_state]: left_x=0.3444 left_y=-0.0464 left_z=0.0555 left_yaw=0.1736 left_pitch=-0.59 left_roll=1.4799 left_gripper=0.0086 right_x=0.2897 right_y=0.0006 right_z=0.1567 right_yaw=0.002 right_pitch=-0.0949 right_roll=0.0004 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -8.8, 5.7778, 0.6178, -0.5934, -0.0024, 0.5495, -0.0615, -1.3197, 7.2547, 1.6581, -0.0562, -0.0611, -0.0073]",
      "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]: [-0.5236, 1.898, 0.9756, -0.3466, -1.013, 0.6201, 0.6949, -0.02, 0.8364, 0.5957, -0.4229, -0.0166, -0.0231, 0.9983]\nstate[eef_state]: left_x=0.3791 left_y=-0.0417 left_z=0.0469 left_yaw=0.1964 left_pitch=-0.6027 left_roll=1.4998 left_gripper=0.6949 right_x=0.2899 right_y=0.0007 right_z=0.156 right_yaw=0.0021 right_pitch=-0.0976 right_roll=0.001 right_gripper=0.9983\nstate[joint_eff]: [0.3624, -8.0205, 6.9265, 0.8181, -0.4225, 0.1294, -0.1538, -0.2393, -1.6615, 7.0222, 1.6239, -0.0806, -0.0122, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23ee490589573937b7696b552dd6efe50e11a9c21112c32f01bc3de089ef7481",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e1e46fc626bbf959a9dc1e0a1e7c210f749c583f13f536d255f38594b7deeb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ec14329e68800e688d243e3d59ce70b0aeaa699905bf563e26e2d4103ba4cee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISywcKjgEIEhgCKkDIH7CkrQ+69hF86c/DH0wx9y1uC2Xi+Bbxdx4DADRW3b7gnbZSfZIvocUuv7E2YCaFNr4N0wmbu3joilAYk62iMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAef2y9UGEgxOv6qQuqH0ymgZOqEaDO3bI1GLTLB35kV8rSIwOCWpE+izU9iJGl6cgRlQWb9tUdjm1QZ3aDt46Lr2eZ3mBNn2q3kKimSQOrAtebPdKukFCnUSRunaORXn7Sj7hNUp/VofMtxeHLKMbdjmq2UzTydbkeTF8mmf9xSMHdGd9Iv6BFvG/Zb7rYhzEpYQ3y8l6Khf4q7dKcIwtJk9W1QjUg45//B5zI88qXay7YSnEZaLq5i4qfdMsNV8GRgTd0q2Q4ytZXehNYIwZqpgf49/5oqVjciVUXHRfV4E4mQQmr5u0uqFKjApUulr8ym8ilhsLHED/WfDCrPRrcctZy6wYDOsPaaMzhW+ynZQlTBQmEnOMB+c2H97dPqDA/vQ7htMt7D8O+meHoQRKUKJBmv/GPna1E/xb0Ycprv2haN9l1EdCmVLEW7VEl5GOR9g51mzkA8kBNCE+BQvqObqfzDAy4n0Cul44TiQLzVr+X828nHLNVgGN/uqKjV1Nu6x2lTMc61+aRcJ1wEZMXMQk1P3Kgye6HBVp6m7ATmOvI20ZBxQlQE1pjSsmDwAFaJ9fZ3qqeSFs+KerbyjWe4x+JQNlUkxhdyxlPGQ/S5/REgF0FE2oQuAbzSETC/u3Ze/iIO81rpHRFHEzOex8y9lfGqLWaPeNgKuhyOGk7RK/QX3jiPI/n8/CPEk7i3FexMo8MvPmK5g+eA0Jbw1K0fwBY2ebEa991tvzMfqkB+9TSKi0aHW2z1ehcmk135paqXCEg5d042TaBYt2gX3mAbP4z0XJDZ3nqXlUK4+hM+WQRCJr1pyAqViroo9GBSZ6wtflC04ub/L5chqXf/UvEeGej0dkILcKt6DNOa6VRS3PShgv92MJTUtU5oc75JrzWCGWWnQwO4vRcL9dLgXwTnBJ1KteUkZDZb+TnpNJj5DlWBvHFq0L0/2xO+Rs7LtHugYxEsYGWqzgeKvNnlyNYE0r5Yq+HgK8z5tVSOFhGuP8U/+HUHs68cU4nyEoGLQhWPuDEXpnZo2OsVH48cTH9KK/Zwc7WhzafcwhH7+tUgjBGm7QCsslZzzR9fwukeYkKqwRl+GCJIZ7a7MEB5QOxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pji4pTgYuLgFhHvRAJGCgi",
      "input": {
        "note": "The bowl rim is now right at the jaw wedges in the wrist view; closing the vertical jaws to clamp the rim.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Pji4pTgYuLgFhHvRAJGCgi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5236, 1.9038, 0.9768, -0.3374, -1.0103, 0.6209, 0.0085, -0.02, 0.8364, 0.5953, -0.4229, -0.0162, -0.0235, 0.9983]\nstate[eef_state]: left_x=0.3803 left_y=-0.0427 left_z=0.0454 left_yaw=0.1921 left_pitch=-0.6013 left_roll=1.4944 left_gripper=0.0085 right_x=0.2898 right_y=0.0006 right_z=0.1558 right_yaw=0.002 right_pitch=-0.098 right_roll=0.0005 right_gripper=0.9983\nstate[joint_eff]: [-0.2256, -9.1009, 4.7248, 0.7106, -0.5592, -0.022, 0.5299, -0.0752, -1.265, 7.2137, 1.6239, -0.0415, -0.0708, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f17f6041cb49959236d061fcaff3caee1a23127bf5ce88068afe179c95067104",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3fc4d3b4155144ecfcb1de8830731663d23fb69807cc0381710b0a23cabb2a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe5ab2fe2f25a9aafab9720ba4ae36ce0a0b7d1d19e09d7638bf1a868fe0a52c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 3.872 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]: [-0.5949, 1.7897, 0.8787, -0.4328, -1.0252, 0.5083, 0.0086, -0.02, 0.8337, 0.5957, -0.4229, -0.0162, -0.0235, 0.9983]\nstate[eef_state]: left_x=0.3444 left_y=-0.0464 left_z=0.0555 left_yaw=0.1736 left_pitch=-0.59 left_roll=1.4799 left_gripper=0.0086 right_x=0.2897 right_y=0.0006 right_z=0.1567 right_yaw=0.002 right_pitch=-0.0949 right_roll=0.0004 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -8.8, 5.7778, 0.6178, -0.5934, -0.0024, 0.5495, -0.0615, -1.3197, 7.2547, 1.6581, -0.0562, -0.0611, -0.0073]",
      "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]: [-0.5236, 1.898, 0.9756, -0.3466, -1.013, 0.6201, 0.6949, -0.02, 0.8364, 0.5957, -0.4229, -0.0166, -0.0231, 0.9983]\nstate[eef_state]: left_x=0.3791 left_y=-0.0417 left_z=0.0469 left_yaw=0.1964 left_pitch=-0.6027 left_roll=1.4998 left_gripper=0.6949 right_x=0.2899 right_y=0.0007 right_z=0.156 right_yaw=0.0021 right_pitch=-0.0976 right_roll=0.001 right_gripper=0.9983\nstate[joint_eff]: [0.3624, -8.0205, 6.9265, 0.8181, -0.4225, 0.1294, -0.1538, -0.2393, -1.6615, 7.0222, 1.6239, -0.0806, -0.0122, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.5236, 1.9038, 0.9768, -0.3374, -1.0103, 0.6209, 0.0085, -0.02, 0.8364, 0.5953, -0.4229, -0.0162, -0.0235, 0.9983]\nstate[eef_state]: left_x=0.3803 left_y=-0.0427 left_z=0.0454 left_yaw=0.1921 left_pitch=-0.6013 left_roll=1.4944 left_gripper=0.0085 right_x=0.2898 right_y=0.0006 right_z=0.1558 right_yaw=0.002 right_pitch=-0.098 right_roll=0.0005 right_gripper=0.9983\nstate[joint_eff]: [-0.2256, -9.1009, 4.7248, 0.7106, -0.5592, -0.022, 0.5299, -0.0752, -1.265, 7.2137, 1.6239, -0.0415, -0.0708, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f17f6041cb49959236d061fcaff3caee1a23127bf5ce88068afe179c95067104",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3fc4d3b4155144ecfcb1de8830731663d23fb69807cc0381710b0a23cabb2a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe5ab2fe2f25a9aafab9720ba4ae36ce0a0b7d1d19e09d7638bf1a868fe0a52c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISigkKjgEIEhgCKkDEVcLy3hetQj2ZJTYdamV3UVhl9zwE5FTyrn/lBmhsnttStf5ICz4dXwnPEoHf1yvZitp2SNr38U/6Mv3UeQ5aMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfD2y9UGEgyF5A/pNI2iRBU+EywaDBs+ok3Wq6fYbZs7qiIwX3YJ7zQpF9UnXgwqL/6Bh6TXXqRHrE3oq6GMCR0F1xVXj8ZXh3QraXQPR8hZOpU6KqgHZxFWt5BQhRXS/Qx5woH522iNXxDoXPP3C69R3Cug8z5IE4CdLmtfjEqEKMgBVluSLGHFdEpmzsEQN3ZE49aKQHIdIgQrV2uOfGDWM6/PCCRUlpkFjkBC05A0OnepjHuhebfuLZQqLAHcpPayagxNCPiQ1EU8be1i12OPzLJNxAouzkUEU24a5U+0emlyTqGp3ch5Kkf5KGYcku19+TxF99c8tzhJh+lGHKBG3FqOax5poLDFAuyBaKqRX3XqY1chXZ2kzgPQAAUukj8tZPp3DG6e4Evpzci7ORBjOqug+g0xFcfmZeG3Em5+2S6Q2hhGgwNUz9pGrrD3DLUhwhR0puUv1fdcQR7e6BDTRRLXACSwZiKNj0UyqiborOy29AHE7kAl+7EFyNyJPR4oQbFpspu86+Wn1+u2lfi/E7mj5saopXGULzMjx8TkaH0k1phljaVQfGooXLuhrzha/quaclGEG/jwpQpldobzoUVhWQj4mRilpbHFOJKbj2fPYrwsLWciJs1YUUYMk9MH10d6u8qtGTrmIBoshp/U140QDEbuqCgeZCe4pJr5AArju+w5myj04Jmmtww4VHv7wbwIXBAtMsj2RTLq5Q5DPZiP6sDLd8rgizlAotFapKnpSsuCCCgqVToV1av2UaeVCOepUgc5mGE80lMFkbkOaqI7imIFn/03IE/xFH5d1pYcymcuEsPTZVLu1Xzx9ueN0B/3cK2auy5GnfBbAHsLs1TD93+XhlLOcvsFEsiWuE9UmNq4qW2CtOUd2wFug+JbsLhY0XyxZV+DtTBAlQpPK+s4Ss+3pwEwZabJsEDNmpkrsFFBYZyXJa4cABl5YiOb1mXTiFTC06QVY5ufBXJMXAIkBt/IU/sq8MbhFB9Hnz6/4NpSyxUfXNPZnWJOdbzAiqk7g/U8XgC37+gvrzem/fWGL5dCWJ89AOmyziAWhgKblYhi1ctDAoYCLjFGFiMSqzaDqcwVT17ENDoR0aBJW4h0IVsP+LrkOKuUsGbRcLjLH/sK0TJ44EvLj2hHuzEdGv+mPTq1I4TofygPCaiq6DLEyiIW8uxSyjPgiEiCBvNlxmqxvpK4ZA5+wUPB+P6jaWsNyNhgtMFtr5k7rChQ90++U+JPucRviR8Nq/AtS6k8qwcb56Pn6Qc+f4yDGFIHyfvuLchTK2jqV8onmZUjNCp3FXesm3nPCsA24nw4L2NaP5GsqQGSLSk52yvebw85IGUaNo2AyGIpLg7fGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014PCh7y1ZhtNcznVTvGYDke",
      "input": {
        "note": "Still empty. Last attempt: shifting 3 cm toward the side where the bowl bulk appears in the wrist view, keeping the vertical-jaw clamp at rim height.",
        "targets": {
          "left_gripper": 0.7,
          "left_x": 0.375,
          "left_y": -0.075,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_014PCh7y1ZhtNcznVTvGYDke",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6071, 1.9408, 1.0657, -0.5056, -1.0187, 0.4797, 0.6946, -0.02, 0.8379, 0.5945, -0.4229, -0.0166, -0.0235, 0.9983]\nstate[eef_state]: left_x=0.3746 left_y=-0.0727 left_z=0.0489 left_yaw=0.176 left_pitch=-0.6056 left_roll=1.4824 left_gripper=0.6946 right_x=0.2898 right_y=0.0007 right_z=0.1551 right_yaw=0.0023 right_pitch=-0.1003 right_roll=0.0008 right_gripper=0.9983\nstate[joint_eff]: [-0.5265, -7.6786, 6.8581, 0.4078, -0.6618, -0.0611, -0.1538, -0.0205, -1.4838, 7.2547, 1.6239, -0.0757, -0.0659, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6d70f8f68fa8495ac8c8b9e67a2b7879782af374f450a29128c77b3d7f0429d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbfb8bb75172e64116a460153a0ef2f648852ab81fd4639bacbe96a073d18ac7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5604b6c043390088ff276af604090855d21d77873b4149f9fe9b6f98261b114f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 34 attempt 0 · /messages · status 200 · 14.83 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]: [-0.5236, 1.898, 0.9756, -0.3466, -1.013, 0.6201, 0.6949, -0.02, 0.8364, 0.5957, -0.4229, -0.0166, -0.0231, 0.9983]\nstate[eef_state]: left_x=0.3791 left_y=-0.0417 left_z=0.0469 left_yaw=0.1964 left_pitch=-0.6027 left_roll=1.4998 left_gripper=0.6949 right_x=0.2899 right_y=0.0007 right_z=0.156 right_yaw=0.0021 right_pitch=-0.0976 right_roll=0.001 right_gripper=0.9983\nstate[joint_eff]: [0.3624, -8.0205, 6.9265, 0.8181, -0.4225, 0.1294, -0.1538, -0.2393, -1.6615, 7.0222, 1.6239, -0.0806, -0.0122, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.5236, 1.9038, 0.9768, -0.3374, -1.0103, 0.6209, 0.0085, -0.02, 0.8364, 0.5953, -0.4229, -0.0162, -0.0235, 0.9983]\nstate[eef_state]: left_x=0.3803 left_y=-0.0427 left_z=0.0454 left_yaw=0.1921 left_pitch=-0.6013 left_roll=1.4944 left_gripper=0.0085 right_x=0.2898 right_y=0.0006 right_z=0.1558 right_yaw=0.002 right_pitch=-0.098 right_roll=0.0005 right_gripper=0.9983\nstate[joint_eff]: [-0.2256, -9.1009, 4.7248, 0.7106, -0.5592, -0.022, 0.5299, -0.0752, -1.265, 7.2137, 1.6239, -0.0415, -0.0708, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6071, 1.9408, 1.0657, -0.5056, -1.0187, 0.4797, 0.6946, -0.02, 0.8379, 0.5945, -0.4229, -0.0166, -0.0235, 0.9983]\nstate[eef_state]: left_x=0.3746 left_y=-0.0727 left_z=0.0489 left_yaw=0.176 left_pitch=-0.6056 left_roll=1.4824 left_gripper=0.6946 right_x=0.2898 right_y=0.0007 right_z=0.1551 right_yaw=0.0023 right_pitch=-0.1003 right_roll=0.0008 right_gripper=0.9983\nstate[joint_eff]: [-0.5265, -7.6786, 6.8581, 0.4078, -0.6618, -0.0611, -0.1538, -0.0205, -1.4838, 7.2547, 1.6239, -0.0757, -0.0659, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6d70f8f68fa8495ac8c8b9e67a2b7879782af374f450a29128c77b3d7f0429d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbfb8bb75172e64116a460153a0ef2f648852ab81fd4639bacbe96a073d18ac7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5604b6c043390088ff276af604090855d21d77873b4149f9fe9b6f98261b114f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISgQMKjgEIEhgCKkA3I/pjm8fRVeh29AH4lUQvX8yChWjKDu+6FiesGZMb4nCt8IFSPUi0pKgvyB+kHnAOC2RUm+Vu9x/0Zw17OA3HMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfX2y9UGEgyPoqYR6ef4OqO7KjcaDCKgc2khnLhM2lUkryIwxaW9sBvYyoksF3u3nCM5aSGwbvmOs70tfLPPjmJMbkwsiczzx3rrgVXsKz6nTuW6Kp8BIhFMAMcAjkr8+SSUWxqWoYKTcbJIGjkOc2vdMBTyQdfqcD3YTCenWLZW8ieqs0ZzuYWSfWOptZKd6rKMjrunaLlmVULDetca8MwZ2fO6tprNpQXunEkh56HGcydWbUa6FohVSMI+Z28xYTKMNK+Ro/KudQqgvuqx93n4/qVdSe7NVMr1p5oBwXk14akwAGplvHHd3UzxppKkKXC/xXkdGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FTFSGptSxb3ibQw6czVcDu",
      "input": {
        "note": "Nudging another 1.5 cm toward the bowl and closing the vertical jaws on its rim — final grasp attempt within my remaining budget.",
        "targets": {
          "left_gripper": 0,
          "left_y": -0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01FTFSGptSxb3ibQw6czVcDu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6426, 1.9736, 1.1046, -0.5793, -1.0187, 0.4164, 0.0085, -0.02, 0.8379, 0.5945, -0.4229, -0.0166, -0.0238, 0.9983]\nstate[eef_state]: left_x=0.3702 left_y=-0.0848 left_z=0.0452 left_yaw=0.1777 left_pitch=-0.6188 left_roll=1.49 left_gripper=0.0085 right_x=0.2898 right_y=0.0007 right_z=0.1551 right_yaw=0.0025 right_pitch=-0.1003 right_roll=0.0005 right_gripper=0.9983\nstate[joint_eff]: [-0.7043, -7.9932, 7.2821, 0.4567, -0.652, -0.1441, 0.5739, -0.1162, -1.4701, 6.9949, 1.6581, -0.0611, -0.0757, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed906d78ac4be195a416f3468692060a2d99b834916659bfc94fcb3c51555af0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74f0ce390c3464ffb0f82d821fffea4f052231291310a59d7348c5b351eb7e29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba33bed0df35d11b5a5565bf39ad8b9fdd51582720015c1094fa1abfde9c4e25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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