adhoc - adhoc_2a28d514.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
max_speed_frac: 0.25
model: claude-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: 399.8 s
total steps: 398

operator

scenes

trials

errored

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

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

user

Goal: Stack the bowls on the table.

step 0

assistant

agent noteThree bowls sit in a row on the table; I'll stack the outer two into the middle one. First, hover the left arm above the left bowl to see it in the wrist camera.

move_to

left_x0.3500left_y-0.1900left_z0.2200left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7952, 0.6052, -0.379, -0.0227, -0.0296, 0.9996, -0.0219, 0.7937, 0.6029, -0.379, -0.0147, -0.0196, 0.9975] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1804 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.2948 right_y=-0.0003 right_z=0.1798 right_yaw=0.0001 right_pitch=0.0004 right_roll=0.0005 right_gripper=0.9975 state[joint_eff]: [-0.6496, -1.5385, 10.0034, 1.7558, -0.0269, 0.0952, -0.0513, -0.3761, -1.4838, 10.2632, 1.8926, -0.1197, 0.0415, -0.2711] 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": 0.35, "left_y": -0.19, "left_z": 0.22, "left_gripper": 1}, "note": "Three bowls sit in a row on the table; I'll stack the outer two into the middle one. First, hover the left arm above the left bowl to see it in the wrist camera."})

tool

executing move_to over 18 steps (1.8s)

step 18

assistant

agent noteLeft wrist view shows the white bowl well to the image-left of the jaws, so the bowl is further to the arm's left than I estimated; shifting +y by ~9 cm to center over it.

move_to

left_y-0.0950left_z0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7624, 1.3804, 1.0706, -0.4522, -0.6033, -0.4911, 0.9996, -0.0219, 0.8005, 0.6044, -0.3893, -0.0166, -0.02, 0.9974] state[eef_state]: left_x=0.3448 left_y=-0.1858 left_z=0.205 left_yaw=-0.0197 left_pitch=-0.0365 left_roll=0.0166 left_gripper=0.9996 right_x=0.294 right_y=0.0001 right_z=0.1765 right_yaw=0.0019 right_pitch=-0.0152 right_roll=0.0016 right_gripper=0.9974 state[joint_eff]: [-0.3487, -5.9829, 8.9231, 1.5116, -0.486, -0.0171, -0.0513, -0.1162, -1.7846, 6.9128, 1.7998, -0.0122, -0.0562, -0.0317] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.095, "left_z": 0.2}, "note": "Left wrist view shows the white bowl well to the image-left of the jaws, so the bowl is further to the arm's left than I estimated; shifting +y by ~9 cm to center over it."})

tool

executing move_to over 9 steps (0.9s)

step 27

assistant

agent noteWhite bowl is just left of the jaw column and sits beyond the fingertips; advancing 3 cm and shifting 3 cm left to center directly over it before planning a rim grasp.

move_to

left_x0.3750left_y-0.0650left_z0.1500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4767, 1.1801, 0.8799, -0.3962, -0.4088, -0.3099, 0.9996, -0.0219, 0.8043, 0.6037, -0.3927, -0.0162, -0.0204, 0.9974] state[eef_state]: left_x=0.3444 left_y=-0.0948 left_z=0.1922 left_yaw=0.0158 left_pitch=-0.0612 left_roll=0.0209 left_gripper=0.9996 right_x=0.2937 right_y=0.0 right_z=0.1744 right_yaw=0.0018 right_pitch=-0.0232 right_roll=0.0013 right_gripper=0.9974 state[joint_eff]: [0.2667, -5.3402, 7.1316, 1.8242, -0.0952, 0.1636, -0.0171, -0.0752, -1.6068, 7.0906, 1.7509, -0.022, -0.0611, -0.0171] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.375, "left_y": -0.065, "left_z": 0.15}, "note": "White bowl is just left of the jaw column and sits beyond the fingertips; advancing 3 cm and shifting 3 cm left to center directly over it before planning a rim grasp."})

tool

executing move_to over 3 steps (0.3s)

step 30

assistant

agent noteWhite bowl is now centered on the jaw column; the bowl is too wide to grasp across, so I'm moving down beside its right rim to pinch the rim wall between the fingers.

move_to

left_x0.3850left_y-0.1170left_z0.0300left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3302, 1.2644, 0.7826, -0.2409, -0.3218, -0.242, 0.9996, -0.0216, 0.8055, 0.6037, -0.3931, -0.0166, -0.02, 0.9974] state[eef_state]: left_x=0.3633 left_y=-0.0616 left_z=0.1463 left_yaw=0.0562 left_pitch=-0.1106 left_roll=0.0347 left_gripper=0.9996 right_x=0.2937 right_y=0.0002 right_z=0.174 right_yaw=0.0023 right_pitch=-0.0248 right_roll=0.0018 right_gripper=0.9974 state[joint_eff]: [-0.6222, -5.7778, 7.5692, 1.9121, -0.0122, 0.1392, -0.0122, -0.1573, -1.1556, 7.0085, 1.7607, -0.0562, -0.0708, -0.0122] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.385, "left_y": -0.117, "left_z": 0.03, "left_gripper": 1}, "note": "White bowl is now centered on the jaw column; the bowl is too wide to grasp across, so I'm moving down beside its right rim to pinch the rim wall between the fingers."})

tool

executing move_to over 8 steps (0.8s)

step 38

assistant

agent noteThe jaws straddle the bowl's rim wall (left finger inside the bowl, right finger outside); closing to pinch the rim.

move_to

left_gripper0.0800

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4858, 1.6821, 0.6548, 0.2005, -0.421, -0.342, 0.9996, -0.0216, 0.8097, 0.6037, -0.3935, -0.0166, -0.02, 0.9974] state[eef_state]: left_x=0.375 left_y=-0.1123 left_z=0.0256 left_yaw=0.0412 left_pitch=-0.1701 left_roll=0.0673 left_gripper=0.9996 right_x=0.2939 right_y=0.0002 right_z=0.1727 right_yaw=0.0023 right_pitch=-0.0293 right_roll=0.0019 right_gripper=0.9974 state[joint_eff]: [-0.5538, -7.0496, 5.0667, 1.6093, -0.2808, -0.2125, -0.0562, -0.0205, -1.6342, 7.0085, 1.6728, -0.0855, -0.0366, -0.0171] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.08}, "note": "The jaws straddle the bowl's rim wall (left finger inside the bowl, right finger outside); closing to pinch the rim."})

tool

executing move_to over 10 steps (1.0s)

step 48

assistant

agent noteGripper settled at 0.09 (~9 mm), consistent with holding the bowl rim; lifting to check the bowl comes with it.

move_to

left_z0.1800

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4892, 1.6894, 0.6506, 0.2035, -0.4427, -0.3378, 0.093, -0.0216, 0.8101, 0.6037, -0.3931, -0.0162, -0.02, 0.9974] state[eef_state]: left_x=0.3739 left_y=-0.1093 left_z=0.0233 left_yaw=0.0532 left_pitch=-0.1693 left_roll=0.0889 left_gripper=0.093 right_x=0.294 right_y=0.0001 right_z=0.1727 right_yaw=0.002 right_pitch=-0.0293 right_roll=0.0017 right_gripper=0.9974 state[joint_eff]: [0.0479, -6.653, 5.641, 1.409, 0.1294, -0.2125, 0.3394, -0.0479, -1.265, 7.241, 1.6874, -0.0513, -0.0269, -0.0122] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.18}, "note": "Gripper settled at 0.09 (~9 mm), consistent with holding the bowl rim; lifting to check the bowl comes with it."})

tool

executing move_to over 11 steps (1.1s)

step 59

assistant

agent noteThe white bowl is lifted and hanging from its rim; carrying it over to above the purple middle bowl (grasp point offset ~6 cm right of the bowl's center).

move_to

left_x0.3850left_y-0.2800left_z0.2500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4892, 1.4311, 1.0275, -0.4503, -0.4431, -0.3412, 0.0929, -0.0219, 0.8101, 0.6037, -0.3931, -0.0166, -0.02, 0.9974] state[eef_state]: left_x=0.3754 left_y=-0.11 left_z=0.1594 left_yaw=0.0571 left_pitch=-0.185 left_roll=0.0964 left_gripper=0.0929 right_x=0.294 right_y=0.0001 right_z=0.1727 right_yaw=0.0019 right_pitch=-0.0293 right_roll=0.0019 right_gripper=0.9974 state[joint_eff]: [-0.0342, -8.0889, 9.2513, 1.3895, -0.2173, 0.0122, -0.022, -0.0889, -1.306, 7.0359, 1.7118, -0.0513, -0.0415, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.385, "left_y": -0.28, "left_z": 0.25}, "note": "The white bowl is lifted and hanging from its rim; carrying it over to above the purple middle bowl (grasp point offset ~6 cm right of the bowl's center)."})

tool

executing move_to over 16 steps (1.6s)

step 75

assistant

agent noteWrist view shows the purple bowl near the jaw column, but the held bowl hangs ~6 cm to the left; shifting the grasp point further right so the held bowl lands centered over the purple bowl.

move_to

left_y-0.3550left_z0.2400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8577, 1.9278, 1.9358, -1.0527, -0.6304, -0.6949, 0.0928, -0.0216, 0.8154, 0.6003, -0.4011, -0.0166, -0.02, 0.9974] state[eef_state]: left_x=0.3847 left_y=-0.2802 left_z=0.2375 left_yaw=0.0405 left_pitch=-0.2081 left_roll=0.0813 left_gripper=0.0928 right_x=0.2927 right_y=0.0002 right_z=0.1681 right_yaw=0.0023 right_pitch=-0.0461 right_roll=0.0023 right_gripper=0.9974 state[joint_eff]: [-0.5812, -9.7709, 8.6359, 0.9353, -0.6178, 0.1001, -0.0171, -0.1026, -1.7436, 7.2957, 1.8291, -0.0806, -0.0171, -0.0171] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.355, "left_z": 0.24}, "note": "Wrist view shows the purple bowl near the jaw column, but the held bowl hangs ~6 cm to the left; shifting the grasp point further right so the held bowl lands centered over the purple bowl."})

tool

executing move_to over 7 steps (0.7s)

step 82

assistant

agent noteHeld white bowl is roughly centered over the purple bowl; lowering it toward the purple bowl before releasing.

move_to

left_y-0.3400left_z0.1100

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9577, 2.2826, 2.4966, -1.3029, -0.6563, -0.8101, 0.0928, -0.0216, 0.8173, 0.5999, -0.4145, -0.0166, -0.0204, 0.9974] state[eef_state]: left_x=0.3882 left_y=-0.3583 left_z=0.2366 left_yaw=0.0268 left_pitch=-0.2111 left_roll=0.0477 left_gripper=0.0928 right_x=0.2908 right_y=0.0003 right_z=0.1647 right_yaw=0.0026 right_pitch=-0.0618 right_roll=0.0024 right_gripper=0.9974 state[joint_eff]: [-0.4991, -12.2735, 6.7761, 0.5201, -0.6374, 0.0269, -0.0122, -0.0479, -1.5248, 6.9949, 1.8291, -0.0269, -0.0513, -0.0171] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.34, "left_z": 0.11}, "note": "Held white bowl is roughly centered over the purple bowl; lowering it toward the purple bowl before releasing."})

tool

executing move_to over 9 steps (0.9s)

step 91

assistant

agent noteLowering further until the white bowl seats into the purple bowl (watching for the descent to stall on contact).

move_to

left_z0.0550

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9421, 2.1464, 1.71, -0.7345, -0.6434, -0.8009, 0.0928, -0.0219, 0.8173, 0.5995, -0.4156, -0.0166, -0.02, 0.9974] state[eef_state]: left_x=0.3787 left_y=-0.3346 left_z=0.0897 left_yaw=0.0469 left_pitch=-0.2666 left_roll=0.1179 left_gripper=0.0928 right_x=0.2906 right_y=0.0001 right_z=0.1643 right_yaw=0.002 right_pitch=-0.0633 right_roll=0.0027 right_gripper=0.9974 state[joint_eff]: [0.8137, -15.1043, 7.0359, 1.1062, -0.315, 0.105, -0.0122, -0.1026, -1.3744, 7.0632, 1.663, -0.022, 0.0073, -0.0122] camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.055}, "note": "Lowering further until the white bowl seats into the purple bowl (watching for the descent to stall on contact)."})

tool

executing move_to over 3 steps (0.3s)

step 94

assistant

agent noteDescent stalled at z≈0.07, suggesting the white bowl is resting in/on the purple bowl; opening the gripper to release it.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.939, 2.1544, 1.6382, -0.6418, -0.6437, -0.8017, 0.0928, -0.0219, 0.8173, 0.598, -0.4156, -0.0166, -0.0204, 0.9974] state[eef_state]: left_x=0.3796 left_y=-0.333 left_z=0.0701 left_yaw=0.0477 left_pitch=-0.2591 left_roll=0.1064 left_gripper=0.0928 right_x=0.2904 right_y=0.0002 right_z=0.1636 right_yaw=0.0022 right_pitch=-0.0648 right_roll=0.0025 right_gripper=0.9974 state[joint_eff]: [-0.3214, -9.7573, 6.3932, 1.0232, -0.3053, -0.0464, -0.0122, -0.0752, -1.1556, 7.0906, 1.6532, -0.0415, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1}, "note": "Descent stalled at z\u22480.07, suggesting the white bowl is resting in/on the purple bowl; opening the gripper to release it."})

tool

executing move_to over 10 steps (1.0s)

step 104

assistant

agent noteReleased the bowl; retracting the left arm out of the way to see the table clearly in the overhead camera.

move_to

left_x0.2500left_y-0.0500left_z0.3000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.939, 2.175, 1.6238, -0.6205, -0.6373, -0.8089, 0.9951, -0.0219, 0.8227, 0.5953, -0.4225, -0.0166, -0.0204, 0.9974] state[eef_state]: left_x=0.3785 left_y=-0.3332 left_z=0.0568 left_yaw=0.0514 left_pitch=-0.2711 left_roll=0.1098 left_gripper=0.9951 right_x=0.2892 right_y=0.0002 right_z=0.1596 right_yaw=0.0022 right_pitch=-0.0797 right_roll=0.0028 right_gripper=0.9974 state[joint_eff]: [-0.2667, -11.3846, 6.1744, 0.9841, -0.398, 0.0659, -0.0562, -0.1709, -1.7983, 7.2274, 1.7705, -0.0513, -0.0659, -0.0171] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.25, "left_y": -0.05, "left_z": 0.3}, "note": "Released the bowl; retracting the left arm out of the way to see the table clearly in the overhead camera."})

tool

executing move_to over 26 steps (2.6s)

step 130

assistant

agent noteThe white bowl is now nested in the purple bowl. Now moving the right arm over the pink bowl, which appears to the left of its jaw column and further out.

move_to

right_x0.3600right_y0.1000right_z0.1800right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5129, 1.1088, 1.4071, -1.2552, -0.4381, -0.4206, 0.9957, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.02, 0.9974] state[eef_state]: left_x=0.2576 left_y=-0.0549 left_z=0.2898 left_yaw=0.0862 left_pitch=-0.2692 left_roll=0.0932 left_gripper=0.9957 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=0.002 right_pitch=-0.0827 right_roll=0.0032 right_gripper=0.9974 state[joint_eff]: [0.2667, -2.8786, 8.1983, 1.1648, -0.1734, 0.1587, 0.0513, -0.1846, -1.5795, 7.0359, 1.6435, -0.0611, -0.0122, -0.0171] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.1, "right_z": 0.18, "right_gripper": 1}, "note": "The white bowl is now nested in the purple bowl. Now moving the right arm over the pink bowl, which appears to the left of its jaw column and further out."})

tool

executing move_to over 9 steps (0.9s)

step 139

assistant

agent notePink bowl is centered on the right jaw column; moving down beside its right rim to pinch the rim wall.

move_to

right_x0.3750right_y0.0440right_z0.0300

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.1145, 1.4048, -1.2682, -0.4198, -0.416, 0.9958, 0.4019, 1.2407, 0.8429, -0.3607, 0.2783, 0.2115, 0.9975] state[eef_state]: left_x=0.2555 left_y=-0.0565 left_z=0.2848 left_yaw=0.0753 left_pitch=-0.2952 left_roll=0.0956 left_gripper=0.9958 right_x=0.3469 right_y=0.0986 right_z=0.1572 right_yaw=0.0495 right_pitch=-0.153 right_roll=-0.0238 right_gripper=0.9975 state[joint_eff]: [-0.4308, -2.7692, 5.8598, 1.3602, -0.3932, -0.0757, -0.0024, 0.1983, -5.1487, 9.4701, 1.746, 0.2955, 0.1929, -0.2711] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.375, "right_y": 0.044, "right_z": 0.03}, "note": "Pink bowl is centered on the right jaw column; moving down beside its right rim to pinch the rim wall."})

tool

executing move_to over 9 steps (0.9s)

step 148

assistant

agent noteThe pink bowl's rim sits a bit right of the jaw center in the wrist view; nudging 1.2 cm to the arm's right so the rim is centered between the fingers before closing.

move_to

right_y0.0290

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.1149, 1.4048, -1.2701, -0.4187, -0.4156, 0.9959, 0.1604, 1.5478, 0.5266, 0.2108, 0.1173, 0.0616, 0.9974] state[eef_state]: left_x=0.2552 left_y=-0.0565 left_z=0.2844 left_yaw=0.0746 left_pitch=-0.2977 left_roll=0.0963 left_gripper=0.9959 right_x=0.3604 right_y=0.041 right_z=0.0206 right_yaw=0.0238 right_pitch=-0.2339 right_roll=-0.0345 right_gripper=0.9974 state[joint_eff]: [-0.0615, -2.3179, 5.7094, 1.243, -0.2759, -0.022, -0.0122, -0.2393, -6.065, 5.5316, 1.7411, -0.0611, -0.0659, -0.0269] approver: 1 step(s) modified (delta_clamped). 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": {"right_y": 0.029}, "note": "The pink bowl's rim sits a bit right of the jaw center in the wrist view; nudging 1.2 cm to the arm's right so the rim is centered between the fingers before closing."})

tool

executing move_to over 2 steps (0.2s)

step 150

assistant

agent noteRim now lies between the jaws in the right wrist view; closing to pinch the pink bowl's rim.

move_to

right_gripper0.0800

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.1187, 1.404, -1.2709, -0.416, -0.416, 0.9958, 0.1284, 1.5631, 0.5156, 0.2607, 0.0875, 0.0319, 0.9974] state[eef_state]: left_x=0.2555 left_y=-0.0572 left_z=0.283 left_yaw=0.0737 left_pitch=-0.3034 left_roll=0.0972 left_gripper=0.9958 right_x=0.3647 right_y=0.0351 right_z=0.0197 right_yaw=0.0345 right_pitch=-0.2135 right_roll=-0.0314 right_gripper=0.9974 state[joint_eff]: [-0.3077, -2.6325, 5.7504, 1.243, -0.2564, -0.0659, -0.0171, -0.294, -7.3231, 5.5316, 1.4725, -0.0611, 0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.08}, "note": "Rim now lies between the jaws in the right wrist view; closing to pinch the pink bowl's rim."})

tool

executing move_to over 10 steps (1.0s)

step 160

assistant

agent noteGripper settled at 0.089 (~9 mm), so the rim is held; lifting the pink bowl clear of the table.

move_to

right_z0.2200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.124, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.1268, 1.5555, 0.5163, 0.2665, 0.0746, 0.033, 0.0886] state[eef_state]: left_x=0.256 left_y=-0.0575 left_z=0.281 left_yaw=0.0751 left_pitch=-0.31 left_roll=0.1018 left_gripper=0.9958 right_x=0.3665 right_y=0.0371 right_z=0.0235 right_yaw=0.0437 right_pitch=-0.2002 right_roll=-0.02 right_gripper=0.0886 state[joint_eff]: [-0.1846, -2.8376, 5.9145, 1.2332, -0.2662, -0.0708, -0.0073, -0.1026, -5.1214, 5.6684, 1.0037, 0.3834, -0.0415, 0.6032] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.22}, "note": "Gripper settled at 0.089 (~9 mm), so the rim is held; lifting the pink bowl clear of the table."})

tool

executing move_to over 13 steps (1.3s)

step 173

assistant

agent notePink bowl is lifted by its rim; carrying it across above the white/purple stack (grasp point offset 5.5 cm to the right of the bowl's center).

move_to

right_x0.3800right_y0.2600right_z0.2500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.1248, 1.4021, -1.2716, -0.4156, -0.416, 0.9958, 0.1268, 1.277, 1.0851, -0.5972, 0.0658, 0.025, 0.0889] state[eef_state]: left_x=0.2561 left_y=-0.0576 left_z=0.2808 left_yaw=0.0749 left_pitch=-0.3109 left_roll=0.102 left_gripper=0.9958 right_x=0.3672 right_y=0.0387 right_z=0.2022 right_yaw=0.0554 right_pitch=-0.2171 right_roll=-0.0208 right_gripper=0.0889 state[joint_eff]: [-0.0752, -2.4821, 5.8598, 1.2039, -0.2466, -0.0659, -0.0073, -0.253, -5.4906, 9.2923, 1.6484, 0.0952, 0.0269, 0.022] 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": {"right_x": 0.38, "right_y": 0.26, "right_z": 0.25}, "note": "Pink bowl is lifted by its rim; carrying it across above the white/purple stack (grasp point offset 5.5 cm to the right of the bowl's center)."})

tool

executing move_to over 19 steps (1.9s)

step 192

assistant

agent noteThe white/purple stack appears at the bottom-left of the right wrist view, still a few cm to the arm's left of the hanging bowl; shifting left 3.5 cm and dropping slightly before lowering in.

move_to

right_y0.2950right_z0.2200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.1248, 1.4021, -1.272, -0.416, -0.4156, 0.9958, 0.7685, 1.7687, 1.737, -0.9363, 0.4637, 0.4934, 0.0889] state[eef_state]: left_x=0.2561 left_y=-0.0575 left_z=0.2808 left_yaw=0.0751 left_pitch=-0.311 left_roll=0.1028 left_gripper=0.9958 right_x=0.3745 right_y=0.2572 right_z=0.2353 right_yaw=0.091 right_pitch=-0.2595 right_roll=-0.049 right_gripper=0.0889 state[joint_eff]: [-0.253, -2.3316, 5.9556, 1.2332, -0.2173, -0.0513, -0.0122, 0.294, -8.5812, 9.0188, 1.3748, 0.3101, 0.1978, -0.0073] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.295, "right_z": 0.22}, "note": "The white/purple stack appears at the bottom-left of the right wrist view, still a few cm to the arm's left of the hanging bowl; shifting left 3.5 cm and dropping slightly before lowering in."})

tool

executing move_to over 4 steps (0.4s)

step 196

assistant

agent noteShifting 2.5 cm further left to line the hanging pink bowl up with the stack, and lowering toward it.

move_to

right_y0.3150right_z0.1300

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.1248, 1.4021, -1.2716, -0.4156, -0.416, 0.9958, 0.8318, 1.8668, 1.7752, -0.9489, 0.4808, 0.5331, 0.0889] state[eef_state]: left_x=0.2561 left_y=-0.0576 left_z=0.2808 left_yaw=0.0749 left_pitch=-0.3109 left_roll=0.102 left_gripper=0.9958 right_x=0.3683 right_y=0.2882 right_z=0.2064 right_yaw=0.1061 right_pitch=-0.3039 right_roll=-0.082 right_gripper=0.0889 state[joint_eff]: [-0.0205, -2.2906, 5.6957, 1.2234, -0.2271, -0.0562, -0.0073, 0.1573, -9.7026, 9.9214, 1.2479, 0.3053, 0.2271, -0.0171] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.315, "right_z": 0.13}, "note": "Shifting 2.5 cm further left to line the hanging pink bowl up with the stack, and lowering toward it."})

tool

executing move_to over 5 steps (0.5s)

step 201

assistant

agent noteThe arm stalled short of the last target (likely reach/IK limit at that stretch), so I'm pulling in 3 cm in x while continuing to shift left and down toward the target bowl.

move_to

right_x0.3400right_y0.3100right_z0.1500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.8425, 1.887, 1.7805, -0.9478, 0.4828, 0.543, 0.0889] state[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0753 left_pitch=-0.311 left_roll=0.1025 left_gripper=0.9958 right_x=0.3673 right_y=0.294 right_z=0.1997 right_yaw=0.1069 right_pitch=-0.3126 right_roll=-0.0863 right_gripper=0.0889 state[joint_eff]: [-0.0479, -2.441, 5.9419, 1.1941, -0.2369, -0.0269, -0.0073, -0.4308, -10.7282, 9.7162, 1.1844, 0.3932, 0.1099, -0.0122] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.34, "right_y": 0.31, "right_z": 0.15}, "note": "The arm stalled short of the last target (likely reach/IK limit at that stretch), so I'm pulling in 3 cm in x while continuing to shift left and down toward the target bowl."})

tool

executing move_to over 4 steps (0.4s)

step 205

assistant

agent noteThe right arm is frozen at its current pose; raising z first to unstick the IK before trying to reposition over the stack.

move_to

right_z0.2800right_y0.2900right_x0.3600

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.8425, 1.887, 1.7805, -0.9474, 0.4831, 0.543, 0.0889] state[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0753 left_pitch=-0.311 left_roll=0.1025 left_gripper=0.9958 right_x=0.3674 right_y=0.294 right_z=0.1998 right_yaw=0.1067 right_pitch=-0.312 right_roll=-0.0862 right_gripper=0.0889 state[joint_eff]: [-0.253, -2.441, 5.7094, 1.2332, -0.2418, -0.0659, -0.0122, -0.2803, -10.7419, 9.6615, 1.2674, 0.4274, 0.1294, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.28, "right_y": 0.29, "right_x": 0.36}, "note": "The right arm is frozen at its current pose; raising z first to unstick the IK before trying to reposition over the stack."})

tool

executing move_to over 6 steps (0.6s)

step 211

assistant

agent noteThe stacked white-in-purple bowl sits well left of the jaws in the right wrist view; moving 5.5 cm further left (and pulling x in a little) so the hanging pink bowl comes over it.

move_to

right_y0.3500right_x0.3400right_z0.2500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.4156, 0.9958, 0.8494, 1.9575, 2.1849, -1.2606, 0.4713, 0.5388, 0.0889] state[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0751 left_pitch=-0.311 left_roll=0.1028 left_gripper=0.9958 right_x=0.3621 right_y=0.2957 right_z=0.2749 right_yaw=0.1287 right_pitch=-0.3037 right_roll=-0.0667 right_gripper=0.0889 state[joint_eff]: [-0.0752, -2.1128, 5.7231, 1.2527, -0.2369, -0.0757, -0.0122, 0.1573, -8.8547, 7.3778, 1.16, 0.3346, 0.1099, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.35, "right_x": 0.34, "right_z": 0.25}, "note": "The stacked white-in-purple bowl sits well left of the jaws in the right wrist view; moving 5.5 cm further left (and pulling x in a little) so the hanging pink bowl comes over it."})

tool

executing move_to over 5 steps (0.5s)

step 216

assistant

agent noteLateral alignment looks right; the target bowl sits high in the wrist frame, so I'm advancing 4 cm and descending to bring the hanging pink bowl over it.

move_to

right_x0.3700right_z0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.9745, 2.0777, 2.2284, -1.2987, 0.4988, 0.6277, 0.0889] state[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0753 left_pitch=-0.311 left_roll=0.1025 left_gripper=0.9958 right_x=0.333 right_y=0.3465 right_z=0.2337 right_yaw=0.1566 right_pitch=-0.3647 right_roll=-0.1115 right_gripper=0.0889 state[joint_eff]: [-0.1026, -2.4, 5.7368, 1.199, -0.232, -0.0562, -0.0122, -0.3897, -11.2752, 9.7026, 1.116, 0.5397, 0.1148, -0.0073] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_z": 0.2}, "note": "Lateral alignment looks right; the target bowl sits high in the wrist frame, so I'm advancing 4 cm and descending to bring the hanging pink bowl over it."})

tool

executing move_to over 3 steps (0.3s)

step 219

assistant

agent noteThe right arm is at its reach limit and cannot get the pink bowl over the stack, so I'll set the pink bowl down at a spot the left arm can work with, then move the white/purple stack onto it with the left arm.

move_to

right_x0.3700right_y0.1500right_z0.1200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.4156, -0.4156, 0.9958, 0.9798, 2.0937, 2.2406, -1.3048, 0.5133, 0.6483, 0.0889] state[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0748 left_pitch=-0.3112 left_roll=0.1025 left_gripper=0.9958 right_x=0.3338 right_y=0.3483 right_z=0.2309 right_yaw=0.1381 right_pitch=-0.3602 right_roll=-0.1158 right_gripper=0.0889 state[joint_eff]: [-0.3214, -2.441, 5.9145, 1.2527, -0.2369, -0.0171, -0.0073, -0.253, -12.0821, 8.3487, 1.1844, 0.4176, 0.1245, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.15, "right_z": 0.12}, "note": "The right arm is at its reach limit and cannot get the pink bowl over the stack, so I'll set the pink bowl down at a spot the left arm can work with, then move the white/purple stack onto it with the left arm."})

tool

executing move_to over 17 steps (1.7s)

step 236

assistant

agent noteTop view confirms the white bowl is nested in the purple one. Lowering the pink bowl to the table before releasing it at this easier-to-reach spot.

move_to

right_z0.0350

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.1278, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.514, 1.5883, 1.1069, -0.5846, 0.297, 0.2249, 0.0889] state[eef_state]: left_x=0.2566 left_y=-0.0578 left_z=0.2802 left_yaw=0.0757 left_pitch=-0.3132 left_roll=0.1041 left_gripper=0.9958 right_x=0.359 right_y=0.1475 right_z=0.1066 right_yaw=0.1036 right_pitch=-0.4326 right_roll=-0.1482 right_gripper=0.0889 state[joint_eff]: [-0.0068, -2.6598, 5.7915, 1.2137, -0.2711, -0.0464, -0.0073, -0.335, -8.5128, 6.2701, 1.58, 0.0855, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.035}, "note": "Top view confirms the white bowl is nested in the purple one. Lowering the pink bowl to the table before releasing it at this easier-to-reach spot."})

tool

executing move_to over 5 steps (0.5s)

step 241

assistant

agent notePink bowl is down on the table; opening the gripper to release it.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.1278, 1.4021, -1.272, -0.416, -0.416, 0.9958, 0.5114, 1.6878, 0.9215, -0.3679, 0.2829, 0.21, 0.0889] state[eef_state]: left_x=0.2565 left_y=-0.0578 left_z=0.2801 left_yaw=0.0758 left_pitch=-0.3135 left_roll=0.1043 left_gripper=0.9958 right_x=0.3452 right_y=0.1413 right_z=0.0304 right_yaw=0.1084 right_pitch=-0.5016 right_roll=-0.174 right_gripper=0.0889 state[joint_eff]: [-0.1846, -2.2496, 5.7231, 1.2332, -0.2369, -0.0611, -0.0122, 0.335, -7.0769, 6.5026, 1.2381, 0.2369, 0.1148, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1}, "note": "Pink bowl is down on the table; opening the gripper to release it."})

tool

executing move_to over 10 steps (1.0s)

step 251

assistant

agent notePink bowl released on the table; parking the right arm at home so it does not block the view or collide while the left arm repositions the stack.

move_to

right_x0.2900right_y0.0000right_z0.1800right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.1278, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.5129, 1.7, 0.91, -0.3672, 0.2787, 0.205, 0.9965] state[eef_state]: left_x=0.2566 left_y=-0.0578 left_z=0.2802 left_yaw=0.0757 left_pitch=-0.3132 left_roll=0.1041 left_gripper=0.9958 right_x=0.3405 right_y=0.1401 right_z=0.0224 right_yaw=0.1116 right_pitch=-0.5247 right_roll=-0.183 right_gripper=0.9965 state[joint_eff]: [-0.1026, -2.4821, 5.7368, 1.2137, -0.2418, -0.0708, -0.0073, -0.335, -8.5402, 6.5436, 1.0085, 0.1636, 0.0024, -0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.29, "right_y": 0.0, "right_z": 0.18, "right_gripper": 1}, "note": "Pink bowl released on the table; parking the right arm at home so it does not block the view or collide while the left arm repositions the stack."})

tool

executing move_to over 12 steps (1.2s)

step 263

assistant

agent noteMoving the left arm over the white+purple stack to pick it up and reposition it toward the table centre, where the right arm can reach to place the pink bowl on top.

move_to

left_x0.3600left_y-0.2200left_z0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.129, 1.4021, -1.272, -0.4156, -0.416, 0.9958, 0.0433, 1.2213, 1.0721, -0.9417, 0.0956, -0.1894, 0.9975] state[eef_state]: left_x=0.2567 left_y=-0.0579 left_z=0.2798 left_yaw=0.0757 left_pitch=-0.3147 left_roll=0.1047 left_gripper=0.9958 right_x=0.2946 right_y=-0.0005 right_z=0.165 right_yaw=0.0664 right_pitch=-0.5317 right_roll=-0.19 right_gripper=0.9975 state[joint_eff]: [-0.1436, -2.1538, 5.7778, 1.2137, -0.232, -0.0757, -0.0073, -0.0889, -4.9162, 8.8684, 1.0916, -0.0806, -0.0269, -0.2711] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.22, "left_z": 0.2}, "note": "Moving the left arm over the white+purple stack to pick it up and reposition it toward the table centre, where the right arm can reach to place the pink bowl on top."})

tool

executing move_to over 15 steps (1.5s)

step 278

assistant

agent noteThe stack is centered under the left jaws; descending beside its right rim to pinch the rim of the outer (purple) bowl.

move_to

left_x0.3700left_y-0.2660left_z0.0300

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7708, 1.7214, 1.562, -1.0138, -0.5255, -0.6716, 0.9959, 0.0399, 1.2232, 1.0695, -0.9646, 0.0883, -0.202, 0.9974] state[eef_state]: left_x=0.3492 left_y=-0.2106 left_z=0.188 left_yaw=0.0789 left_pitch=-0.3641 left_roll=0.1371 left_gripper=0.9959 right_x=0.2891 right_y=-0.0005 right_z=0.1608 right_yaw=0.0785 right_pitch=-0.5603 right_roll=-0.188 right_gripper=0.9974 state[joint_eff]: [-0.5812, -8.5402, 8.8, 1.0525, -0.4567, 0.0317, -0.0073, 0.1436, -4.1094, 6.612, 1.3407, 0.0611, 0.1197, -0.0269] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.37, "left_y": -0.266, "left_z": 0.03}, "note": "The stack is centered under the left jaws; descending beside its right rim to pinch the rim of the outer (purple) bowl."})

tool

executing move_to over 11 steps (1.1s)

step 289

assistant

agent noteThe purple rim sits slightly left of the jaw centre in the wrist view; nudging 1.6 cm to the arm's left so the rim is centred between the fingers.

move_to

left_y-0.2430

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8291, 2.022, 1.3571, -0.5728, -0.5331, -0.7307, 0.9958, 0.0391, 1.2232, 1.0695, -0.9688, 0.0883, -0.2058, 0.9974] state[eef_state]: left_x=0.3644 left_y=-0.2595 left_z=0.0358 left_yaw=0.0787 left_pitch=-0.3947 left_roll=0.1581 left_gripper=0.9958 right_x=0.2882 right_y=-0.0007 right_z=0.1604 right_yaw=0.0802 right_pitch=-0.5649 right_roll=-0.1897 right_gripper=0.9974 state[joint_eff]: [-0.6769, -9.7983, 5.559, 0.9841, -0.4811, -0.149, -0.0171, -0.0342, -3.959, 6.4068, 1.0916, -0.0024, 0.0415, -0.0122] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.243}, "note": "The purple rim sits slightly left of the jaw centre in the wrist view; nudging 1.6 cm to the arm's left so the rim is centred between the fingers."})

tool

executing move_to over 2 steps (0.2s)

step 291

assistant

agent noteThe rim still appears left of the jaw column, so I'm shifting a further 3 cm to the arm's left to straddle the rim.

move_to

left_y-0.2130left_z0.0350

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8192, 2.0266, 1.3136, -0.5255, -0.5236, -0.7216, 0.9958, 0.0391, 1.2232, 1.0695, -0.9688, 0.0883, -0.2062, 0.9974] state[eef_state]: left_x=0.3631 left_y=-0.2539 left_z=0.0235 left_yaw=0.0782 left_pitch=-0.4031 left_roll=0.1584 left_gripper=0.9958 right_x=0.2882 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.565 right_roll=-0.1899 right_gripper=0.9974 state[joint_eff]: [1.2103, -13.0667, 5.9966, 0.9304, -0.3004, 0.1978, -0.0073, -0.1162, -3.8632, 6.5573, 1.0818, 0.022, -0.0269, -0.0171] camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.213, "left_z": 0.035}, "note": "The rim still appears left of the jaw column, so I'm shifting a further 3 cm to the arm's left to straddle the rim."})

tool

executing move_to over 4 steps (0.4s)

step 295

assistant

agent noteThe purple rim now passes between the fingers; closing to pinch the rim of the stacked bowls.

move_to

left_gripper0.0800

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7986, 2.0117, 1.2839, -0.5255, -0.5205, -0.704, 0.9958, 0.0391, 1.2232, 1.0695, -0.9691, 0.0883, -0.2062, 0.9973] state[eef_state]: left_x=0.3621 left_y=-0.2408 left_z=0.0205 left_yaw=0.0919 left_pitch=-0.4164 left_roll=0.1798 left_gripper=0.9958 right_x=0.2881 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.5653 right_roll=-0.1899 right_gripper=0.9973 state[joint_eff]: [-0.3761, -11.5897, 5.1624, 0.9646, -0.3053, 0.0024, -0.0073, -0.0752, -3.9316, 6.5983, 1.072, 0.0024, -0.0317, -0.0122] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.08}, "note": "The purple rim now passes between the fingers; closing to pinch the rim of the stacked bowls."})

tool

executing move_to over 10 steps (1.0s)

step 305

assistant

agent noteRim is gripped (0.095); lifting the white+purple stack and shifting it ~6 cm toward the table centre so the right arm can reach it.

move_to

left_z0.1600left_y-0.3050left_x0.3700

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7986, 2.0075, 1.2839, -0.5217, -0.5587, -0.6868, 0.0954, 0.0391, 1.2232, 1.0695, -0.9691, 0.0883, -0.2062, 0.9973] state[eef_state]: left_x=0.3663 left_y=-0.2368 left_z=0.0258 left_yaw=0.1011 left_pitch=-0.385 left_roll=0.2082 left_gripper=0.0954 right_x=0.2881 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.5653 right_roll=-0.1899 right_gripper=0.9973 state[joint_eff]: [-0.1436, -9.5521, 6.2154, 0.8181, 0.0415, -0.2271, 0.5299, -0.0479, -3.959, 6.3932, 1.0965, -0.0269, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.16, "left_y": -0.305, "left_x": 0.37}, "note": "Rim is gripped (0.095); lifting the white+purple stack and shifting it ~6 cm toward the table centre so the right arm can reach it."})

tool

executing move_to over 9 steps (0.9s)

step 314

assistant

agent noteLowering the carried stack back to the table at its new, more central position.

move_to

left_z0.0300

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8944, 2.1296, 1.9759, -1.1202, -0.5556, -0.8055, 0.0976, 0.0391, 1.2232, 1.0695, -0.9695, 0.0883, -0.2062, 0.9974] state[eef_state]: left_x=0.3732 left_y=-0.3103 left_z=0.1472 left_yaw=0.0808 left_pitch=-0.392 left_roll=0.1569 left_gripper=0.0976 right_x=0.288 right_y=-0.0007 right_z=0.1603 right_yaw=0.0805 right_pitch=-0.5657 right_roll=-0.1899 right_gripper=0.9974 state[joint_eff]: [-0.6496, -11.4803, 7.8154, 0.4127, -0.6667, 0.0904, 0.5397, -0.0752, -3.8359, 6.3932, 1.0818, -0.0317, -0.022, -0.0122] camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.03}, "note": "Lowering the carried stack back to the table at its new, more central position."})

tool

executing move_to over 8 steps (0.8s)

step 322

assistant

agent noteStack is down on the table at the new spot; releasing it and lifting the fingers slightly clear.

move_to

left_gripper1.0000left_z0.0600

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8986, 2.1704, 1.6188, -0.749, -0.54, -0.8097, 0.1001, 0.0391, 1.2232, 1.0695, -0.9691, 0.0883, -0.2062, 0.9973] state[eef_state]: left_x=0.3654 left_y=-0.3075 left_z=0.0392 left_yaw=0.0806 left_pitch=-0.419 left_roll=0.1693 left_gripper=0.1001 right_x=0.2881 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.5653 right_roll=-0.1899 right_gripper=0.9973 state[joint_eff]: [0.1573, -10.1949, 6.0513, 0.779, -0.4811, 0.0171, 0.2466, -0.1299, -3.959, 6.5299, 1.0232, 0.0073, -0.0464, -0.0171] camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1, "left_z": 0.06}, "note": "Stack is down on the table at the new spot; releasing it and lifting the fingers slightly clear."})

tool

executing move_to over 9 steps (0.9s)

step 331

assistant

agent noteStack released at its new central spot; parking the left arm out of the way.

move_to

left_x0.2500left_y-0.0500left_z0.3000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8986, 2.1883, 1.6413, -0.812, -0.5392, -0.8127, 0.9919, 0.0391, 1.2232, 1.0695, -0.9688, 0.0883, -0.2062, 0.9973] state[eef_state]: left_x=0.3601 left_y=-0.301 left_z=0.0345 left_yaw=0.1047 left_pitch=-0.4512 left_roll=0.2209 left_gripper=0.9919 right_x=0.2882 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.565 right_roll=-0.1899 right_gripper=0.9973 state[joint_eff]: [-0.0615, -15.1316, 8.212, 0.5641, -0.3101, 0.0024, -0.105, -0.0342, -3.9179, 6.5709, 1.0867, 0.0171, -0.0366, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.25, "left_y": -0.05, "left_z": 0.3, "left_gripper": 1}, "note": "Stack released at its new central spot; parking the left arm out of the way."})

tool

executing move_to over 23 steps (2.3s)

step 354

assistant

agent notePink bowl is centered ahead of the right jaws; descending beside its right rim to pinch it again for the final placement onto the stack.

move_to

right_x0.3500right_y0.1400right_z0.0300right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5087, 1.3041, 1.6283, -1.4857, -0.4194, -0.4332, 0.9988, 0.0391, 1.2232, 1.0695, -0.9691, 0.0883, -0.2062, 0.9974] state[eef_state]: left_x=0.26 left_y=-0.0585 left_z=0.2894 left_yaw=0.1277 left_pitch=-0.4444 left_roll=0.1972 left_gripper=0.9988 right_x=0.2881 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.5653 right_roll=-0.1899 right_gripper=0.9974 state[joint_eff]: [0.253, -4.4923, 7.241, 0.823, -0.4127, 0.1148, -0.1392, -0.0068, -3.7949, 6.4068, 1.0769, -0.022, -0.0659, -0.0122] camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.35, "right_y": 0.14, "right_z": 0.03, "right_gripper": 1}, "note": "Pink bowl is centered ahead of the right jaws; descending beside its right rim to pinch it again for the final placement onto the stack."})

tool

executing move_to over 12 steps (1.2s)

step 366

assistant

agent notePink bowl sits ~3 cm to the arm's right of the jaws; shifting right while closing to pinch its rim.

move_to

right_y0.1000right_gripper0.0800

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5079, 1.3109, 1.6283, -1.4998, -0.4156, -0.4347, 0.9988, 0.487, 1.7245, 0.981, -0.5289, 0.2485, 0.1776, 0.9975] state[eef_state]: left_x=0.2583 left_y=-0.058 left_z=0.2863 left_yaw=0.1326 left_pitch=-0.4632 left_roll=0.207 left_gripper=0.9988 right_x=0.3299 right_y=0.1296 right_z=0.0207 right_yaw=0.1016 right_pitch=-0.645 right_roll=-0.2181 right_gripper=0.9975 state[joint_eff]: [-0.2667, -3.8632, 5.4906, 1.0574, -0.2857, -0.0171, -0.0024, 0.2667, -8.1573, 8.253, 0.9841, 0.2271, 0.1343, -0.2711] camera 'top_cam' (step 366): [image omitted: streamed camera frame] camera 'left_cam' (step 366): [image omitted: streamed camera frame] camera 'right_cam' (step 366): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.1, "right_gripper": 0.08}, "note": "Pink bowl sits ~3 cm to the arm's right of the jaws; shifting right while closing to pinch its rim."})

tool

executing move_to over 10 steps (1.0s)

step 376

assistant

agent noteGripper reads 0.085, so the pink rim appears held; lifting and carrying it across toward the white/purple stack.

move_to

right_z0.2000right_y0.3400right_x0.3350

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5079, 1.3109, 1.6283, -1.5005, -0.4152, -0.4347, 0.9988, 0.4095, 1.676, 0.8799, -0.4599, 0.2424, 0.1001, 0.0851] state[eef_state]: left_x=0.2581 left_y=-0.058 left_z=0.2862 left_yaw=0.1325 left_pitch=-0.464 left_roll=0.2072 left_gripper=0.9988 right_x=0.3243 right_y=0.0984 right_z=0.0119 right_yaw=0.0852 right_pitch=-0.6414 right_roll=-0.2389 right_gripper=0.0851 state[joint_eff]: [-0.0342, -3.6855, 5.3128, 1.0037, -0.2418, -0.0269, -0.0122, -0.4991, -8.8957, 5.3128, 1.1209, 0.0464, -0.1001, -0.0122] camera 'top_cam' (step 376): [image omitted: streamed camera frame] camera 'left_cam' (step 376): [image omitted: streamed camera frame] camera 'right_cam' (step 376): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.2, "right_y": 0.34, "right_x": 0.335}, "note": "Gripper reads 0.085, so the pink rim appears held; lifting and carrying it across toward the white/purple stack."})

tool

executing move_to over 21 steps (2.1s)

step 397

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5079, 1.3113, 1.6283, -1.5005, -0.4152, -0.4347, 0.9988, 0.9211, 2.2707, 2.4283, -1.5166, 0.3702, 0.5838, 0.084] state[eef_state]: left_x=0.2582 left_y=-0.058 left_z=0.2861 left_yaw=0.1326 left_pitch=-0.4643 left_roll=0.2075 left_gripper=0.9988 right_x=0.3335 right_y=0.3392 right_z=0.1823 right_yaw=0.1351 right_pitch=-0.6031 right_roll=-0.2109 right_gripper=0.084 state[joint_eff]: [-0.0205, -3.6718, 5.3538, 0.989, -0.2857, -0.0562, -0.0122, -0.1162, -11.3162, 8.7043, 0.5299, 0.442, 0.1636, -0.1197] camera 'top_cam' (step 397): [image omitted: streamed camera frame] camera 'left_cam' (step 397): [image omitted: streamed camera frame] camera 'right_cam' (step 397): [image omitted: streamed camera frame]

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"
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"text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n (both face forward), each with its own base frame: +x forward, +y left,\n +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n With the tool pointing straight down the wrist reaches ~0.51 m from the\n base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n normalized fraction of that (0 closed, 1 open). After a full close the\n settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n and stays there for many seconds. Effort cannot tell an empty close\n from a grasp. Judge grasps by the settled reading, then by lifting\n 5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n at ~45°. It is not a plan view: you see the sides of objects, and image-y\n is compressed relative to image-x. Arm-forward is image-up, arm-right is\n image-right, the two bases sit just below the bottom edge, and an arm\n extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n px/cm in the far half of the frame where the arms work, rising to ≈ 8\n px/cm at the bottom edge, and x and y scales differ at the same spot.\n Derive the local scale from your first sizeable move and reuse it.\n Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n forward of the finger axis, so they look *past* the fingertips. Anything\n at or nearer than the grasp point is out of frame; the dark wedge at the\n bottom-centre is the jaws; a held object is never visible in its own\n wrist camera; the working arm hides from the top camera whatever it\n hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n at or below the bottom edge of the wrist image. An object that appears\n centred on the jaw column with clear space below it is still a few\n centimetres short of the fingertips, toward the base. The jaws converge\n on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n pitched forward, ≈ 200 with the tool vertical): a brief empty close\n shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n table and changes within a single frame (larger toward the bottom\n edge). To calibrate it, make a pure radial move of known size and read\n the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n 3 cm radial move and a 1.4 cm descent shift features about equally), so\n depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n toward the base. Rolling the wrist rotates the scene but the jaws still\n close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n description). The fence-side y bound is tight because a low fence runs\n along each outer table edge; the cross-over side reaches past the\n table's centre line, so any point on the table is reachable by at least\n one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n reach and with a load. Aim ~2 cm high when carrying and when clearing\n obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n unfold from there; if a move out of a folded pose stalls, first raise z\n and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n the shoulder stops tracking while its effort stays negative (still\n holding the arm up); effort flipping positive means the arm is pressing\n into the surface: back off. A grasped object touching down reads as a\n stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n more than ~1.5 cm means one of three things: the target was clipped to\n the workspace box (the tool description lists the bounds), the arm is\n at its reach or folded limit (the arm simply stops), or you are in\n contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n the tool about the grasp point; it does not move the grasp point\n sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n with the far-region scale from the facts, remembering the view is\n oblique: a target's image-y position over-states its distance from the\n base by the compression factor, and it sits in whichever arm's frame\n you convert to (the workspace box gives the base spacing for switching\n frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n look at the wrist camera. The object should sit on the jaw column\n (x ≈ 110). If it is fully visible with empty frame below it, advance\n 2–3 cm radially before descending, because the fingertips are further\n out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n retry once. If the second close is also empty, do not repeat it:\n re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n lift clear, then verify in the overhead frame after the arm has moved\n away. The working arm's occlusion of the top view is expected; do not\n retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n cross-over bound), so any object on the table is reachable by at least\n one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n moves, scale probes or table touches; the first task motion is the\n sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n off-centre. Align in the wrist view before closing, and close no further\n than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n and give up early; the operator can move it or widen the box for the\n next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"type": "text"
}
]

call 0 attempt 0 · /messages · status 200 · 18.95 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]: [-0.0196, 0.7952, 0.6052, -0.379, -0.0227, -0.0296, 0.9996, -0.0219, 0.7937, 0.6029, -0.379, -0.0147, -0.0196, 0.9975]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1804 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.2948 right_y=-0.0003 right_z=0.1798 right_yaw=0.0001 right_pitch=0.0004 right_roll=0.0005 right_gripper=0.9975\nstate[joint_eff]: [-0.6496, -1.5385, 10.0034, 1.7558, -0.0269, 0.0952, -0.0513, -0.3761, -1.4838, 10.2632, 1.8926, -0.1197, 0.0415, -0.2711]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aa87e2932f9887f14ef2a591b276e9a5821177f0ba38f09b7c0502e4bbfdeb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d7997e272c194f53dc0b74d5fe5b15d3bcd2c686127e454f127885f2e70c04b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:982c62a38d2df6409b36d4aea934c6b6f6b2d3264ed82bb51975b286d0837edc",
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        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 13.58 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6052, -0.379, -0.0227, -0.0296, 0.9996, -0.0219, 0.7937, 0.6029, -0.379, -0.0147, -0.0196, 0.9975]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1804 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.2948 right_y=-0.0003 right_z=0.1798 right_yaw=0.0001 right_pitch=0.0004 right_roll=0.0005 right_gripper=0.9975\nstate[joint_eff]: [-0.6496, -1.5385, 10.0034, 1.7558, -0.0269, 0.0952, -0.0513, -0.3761, -1.4838, 10.2632, 1.8926, -0.1197, 0.0415, -0.2711]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aa87e2932f9887f14ef2a591b276e9a5821177f0ba38f09b7c0502e4bbfdeb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d7997e272c194f53dc0b74d5fe5b15d3bcd2c686127e454f127885f2e70c04b",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:982c62a38d2df6409b36d4aea934c6b6f6b2d3264ed82bb51975b286d0837edc",
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  "role": "user"
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[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIShRkKjgEIEhgCKkBkb8fzl61/Ti9oJklosNgunVht/L6/2L5ISHF5cIkzMafAGmOWWdWpBKkAR8eRBOyCvcRHhnnO0IeSXoKjnxxRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcqYzNUGEgxykJVFnu+VeotyP2IaDPKuq6vkjD0I26aCKyIwRYD+462hC++Q4Mbro0Rqyqo6P0WpbUes6cTWBSX3yTgYmv0HrBi+EY9gTMXM3FWSKqMXxccwGuvYt+BzcDuj7DqBt3omvMfQObfhSGZQy4wld0vcbDmeAOFcFMjsods6bZvVo+a1kwVs32d33jSumIfNpSSTvGFoAKzMHnOpGn7lfqQH+kmdBYuJIAIxANUt95P67M8byIymv0xuNQ/W7J5hgU83KrmU9FJb2dKpj2T2FhGAJP+yjIsoSnpn+aavEyvFxq3WePVTxbQNkh/FlGn2AJijvXgnNbvHsLO2pKCB1ijQgsj10PpsKhUWDIF5ApBr0hvVPUDdyHuHwZbDJ7UMRT0h/LOgrnMsEOyU8mJMWygYX2kbSHTwwC/qTMeQcJnORrz3K32NDhOmwfeb2zb9r8bt+jmCOtZYeBjKqVJ5SeuQap0BSDyYzbgvkORCcauIRU2wiKB/SxfEPKGRpCYWypAk02oS4eG9IUB7KkdeqiS/ihYEKek0JuE9/A2NTRLesmEPH2xUDwaa/nwSZSDw8h+TTT8JiYvJyew9yZ8RifXrmMSGDTD6LkIZqQnOQHWhw5fSH1JoxU4fCKuV9ycjIRMUCFXmrN8lZqYR6s26KYq9eigcViAinhHCFnbco01UZgFsHkztpVox/613FmgjTyl+P4Vuh7aMGwwCif5UieTT3+Tt6X8WFTNjLSVd/jpNF1sLiRb6EEh2jfdTCMcfPowETsjQjDCumHph7NjJqpOAqK6VC3XLSKMWmiYXBg2qXIF4QM7qjy88UnZaomdE/Tvn9WSXb9cre7Tmz4Tt0ypQ/hQ3gfvRqT4zPi2ORMGcq/2i3mmBhLr2lsodOWb33pHHASH/wTFQun6AOeJQBLM96i8cUPe30Asmv6ue2r0k5okx4c5Vd37W4ZuuwBt6OIV80g11abp8xWGpbz2mHBR+ic4Ovdb+U+ZLoqs4oMIn+bPwzwRw6NNWuYi5HRqedfZ0cWpsyYWZ6lIcUaB7R/R1ZkH2HckIhJD1qL4YtgjQVdjzrDCEEdn0rwn59fRVZHgcTB9PkxC7Y3B3DjQYf3OzFYyBwb/mpDB0ic3byZV4DRY7hPYCRl7hub4kyFWI/dDlt7VlnklFJTCUHOiRHijh7ysKQFTsUJJiuhi3kTxr6svzu6hdL9FWAtTJ7cl84TL493uE7amWD7Kz9MC4BrehilfCo2dWLkTtVm9qRvEQ8O+s9QJRzcPVludHUBXzSGrJctAHYpqYiFNIYG0OPYGJbiX+j2gDdM1fW0W56PAVSwLCoRoDGYqIKN6OSV3YKB+4fngXiKwozt3Eb/QDaGLbj08pvh5k0qiTgF0AeOQy2YNwzVGhUPEUDpZcijjxupVetoRDgZ1JM8Pit4549usEvg0FSXx1MTK1v6h6URweCBoyefa3KPJczdljNPU5TgwmUh7WVMB6d89l7orezKb5e6i1MCRgZKX9sqG8SPrddmrR50U7daLJtOLZmfTO9uwa3Ko1o60CLN6st3uaQItOfnEOLCSEkg686Nlhq5O0638FqH93nGrEFzCkvmUTu8PaUdJy12KR01gWr3TV3WudYO/zO8ZbaNeKapX4zYpI80/KP3WqnxHUIjhimEXDWZzNQfTpJ6WmY2FQCSjZNEUoxCl8OAVvL++MFcqls3C2wyBJJbqpWySMqLg2Xmlg3rQZmffReRJgr65YaIDe4UwvzL1zORZIKfS8/uq4ASxo97pT4lQwadwTs6uGpnOaSlLmbvuhmvC0GLwI5xlf1aL/33MtRdglFJ4yOjoB2yYTBTq63V6/KpVrnPzhThqhT1wCbhLJlt+8lcn7CF0FwEMoHPIicxsfOXSjiYvrwT3NZxaaPhMbOYWSCoyGqHnO5o5twuzqDPc9amXWke7EA7QWhZ/PBRx/vRsQhA532L5C7md6kUElzTftoW9FtvxltfU92zl06k2iYK2Q/geABDE3Q9KrdtCjQt8+bzMwmDu7sdaCr0zLVGrdtWb1uLQ5PAW2rtVElM5ZoQyRq2+2SqCecrmCGnUzsR2T21q4hjwYxOkJoPWgmDKnfCLb5apMhuwZf5RzW4wh2593AK8BQjrW7PMH2MNDOXu9tTOv+Qufxgefa9O3EXdGyLc4ZXfmvROiLZSzVcnmvFLgiPivGCW1f/56KUwqgDuP7BBNadrKogNUspc4rXG8lm7MieFWyLbVVCaTswoceAaBxyu3llyd/GW0U2Pz4caVsIBiodFulAjzc1DEDx43U0mGd3qkhRWovpL3Vu2Bg9dGebZrz4Namoeif0rofigwLYqPc5VlodckyqcqK6DDvu7CJchbclB8zfgEbwj97Cdaan7cK/53g/eTl/vQXMEmjtyw99acX2GJpzCS6Daf+ozgdSDvLzzna8pv8V2GdTI0376uG9h/1aNKn/Std+4itsCkDHoUXHzg9vZNkJKTuD99fOFHESdZEUEi1fji38RkAYlt+42IBQfazKpNRHgG7PZZq9DTpVuCodNdUzOZ+QexjJGELnIGhKHF9pA2oR11GAhCQ6DnN1rRwrUErZYP+yWFY3sDy1V7kZK8L1Wfcsuw/mVKyrIWDaIlkX7oUT7bELdGqFyTvXbT/DOS+zo7xXE8458tmWcqY7HCLrvb79y4mSKxtNcybhJPCjIH7buL5MBWkdMOvM0sPUqK4KohYrMEiR+ArRySHFegBsEB0gpHFoGR+9ico6wnL1BjeFjPkTZxplLVjUroXx4fOyja/zDvguhnatiO43ijmqfZRYM0LXKO7vvQegmqc5ugckhp0w5uJ3CDUyIYpAypUl6T+yJ5DWSZAK0gL7LcQnbhDrOsNIvobQERzpTq/hfRgPO1SmnHT7RbkJUX9GAvrb0f41+SifbEUdh869zpUBHdrubzC+Ey+24tCjdRUqWbrNoyo2fS0FK2Pw2eZ0Pf4MIhp9ugdTWZjczH8U3D4cFg9/55fSa8oYWwnpSIFmuxc/vGxXRo3UWLj6UdXTTW/Y/1M+2kxMtoNrRzVDPUf5+ZDe+L8Xwr8LrcJn5/Lx55hGWsgA7j0BvYeeDA8yRFD43k8YxDZ5Hswvybx4Md3vW1qES/ZHuUPYdOHuunrHJIBJHjDL0BSxS3eBgsAtzKH2VdIlpOUhZZS70ieNoSt2poGMnP6mqzcmkiIb5OocuZIq5raaUOliXw5U+Dm4rOUfSpOAxfaQgteg5SfNcUittD4zC0lRfK428DjIAIQ8y/PdXBFBwPWXDU0q2ODUo+jAyY5rf/A4BuWq+QQmeQ+Ekx8P8Sg41niF7JS6koAMPM8lVyRlaORxmEGinWwyJvfhAudOCFLMMeW1/br+UJhFrcCI586zd2Pek76eOTcEOT+Dqtb/il20dQUQIXErezsj6eFbyI8xuk4KlWr9eeBhG2vki5SMHHtu5iOf5Yk3OFKgMsi/81RPd5G7P5q4LP/+bhRyyTIT9ttEmWLsXQJeUcgjytJVjLvpBgYoH+Mn15u7usNxGzygSrRCCr2QPwb0HvSxryCPvn5b+lYX082RvfjqXH+oPVc+ErXa0DsB+mQAJgDZk2/vdLkkl5qOCJ6Keb1Vk+6WsG22UhVo1FAUEZEchdTVOYlJCKfs0HKnaimD4JhjCz0ySKQxd7oQrQlj/f9RMYHTrXKIE8xuVPlAjDLvo/wtRHtbB6RjKaa5QSHBPkkyYyApf8FvkyxwyO3GQySOWpm43B2veGxi2TTHlNP24qu0teo5T+MJTWLgMOrFCCOG9x0N14D2MYocISseA1OmGeWwhxDqO4WfBG1NL+IFXvdy4Fl5LueaDvvR2hZLiBELjxRhQaGNlR31bLw9dYWjkrnniee4Rbj4OBMB9TMp6nNYFUnZHkUMca8/Pp9lxbcud0XM2RxzGQmO24vNz636Se3dOwFc50a9xFcIZN4ZWiE3GV4N8h7PCPuLL0ReIQEe2UltAxcyE25IbzjvGKJ0ekn1LC0NwyRZr1yO5od+Ichyq56DV168e2e/V0ylHgk9yyKgXtqoH/pNozsy97aaW6evbCUJOFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BATR9RtZ4JPAgoe6zEuxcy",
      "input": {
        "note": "Three bowls sit in a row on the table; I'll stack the outer two into the middle one. First, hover the left arm above the left bowl to see it in the wrist camera.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.35,
          "left_y": -0.19,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01BATR9RtZ4JPAgoe6zEuxcy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7624, 1.3804, 1.0706, -0.4522, -0.6033, -0.4911, 0.9996, -0.0219, 0.8005, 0.6044, -0.3893, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3448 left_y=-0.1858 left_z=0.205 left_yaw=-0.0197 left_pitch=-0.0365 left_roll=0.0166 left_gripper=0.9996 right_x=0.294 right_y=0.0001 right_z=0.1765 right_yaw=0.0019 right_pitch=-0.0152 right_roll=0.0016 right_gripper=0.9974\nstate[joint_eff]: [-0.3487, -5.9829, 8.9231, 1.5116, -0.486, -0.0171, -0.0513, -0.1162, -1.7846, 6.9128, 1.7998, -0.0122, -0.0562, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31b564fe596494daf704a7f1771908ab15bfa9095a92f4b60f30728d0449551e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d6d5a250398ef9a1fc9ba57c9632bf9cf563c25c2ff7e9ca47c58f713c78093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:defa2426919615a236d27c88fc75ae40387ec986bd03d2caca46feb012854be2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 10.72 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6052, -0.379, -0.0227, -0.0296, 0.9996, -0.0219, 0.7937, 0.6029, -0.379, -0.0147, -0.0196, 0.9975]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1804 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.2948 right_y=-0.0003 right_z=0.1798 right_yaw=0.0001 right_pitch=0.0004 right_roll=0.0005 right_gripper=0.9975\nstate[joint_eff]: [-0.6496, -1.5385, 10.0034, 1.7558, -0.0269, 0.0952, -0.0513, -0.3761, -1.4838, 10.2632, 1.8926, -0.1197, 0.0415, -0.2711]",
      "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]: [-0.7624, 1.3804, 1.0706, -0.4522, -0.6033, -0.4911, 0.9996, -0.0219, 0.8005, 0.6044, -0.3893, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3448 left_y=-0.1858 left_z=0.205 left_yaw=-0.0197 left_pitch=-0.0365 left_roll=0.0166 left_gripper=0.9996 right_x=0.294 right_y=0.0001 right_z=0.1765 right_yaw=0.0019 right_pitch=-0.0152 right_roll=0.0016 right_gripper=0.9974\nstate[joint_eff]: [-0.3487, -5.9829, 8.9231, 1.5116, -0.486, -0.0171, -0.0513, -0.1162, -1.7846, 6.9128, 1.7998, -0.0122, -0.0562, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31b564fe596494daf704a7f1771908ab15bfa9095a92f4b60f30728d0449551e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d6d5a250398ef9a1fc9ba57c9632bf9cf563c25c2ff7e9ca47c58f713c78093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:defa2426919615a236d27c88fc75ae40387ec986bd03d2caca46feb012854be2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0151eMQtQ6W1hmmsDoe7X6e6",
      "input": {
        "note": "Left wrist view shows the white bowl well to the image-left of the jaws, so the bowl is further to the arm's left than I estimated; shifting +y by ~9 cm to center over it.",
        "targets": {
          "left_y": -0.095,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0151eMQtQ6W1hmmsDoe7X6e6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4767, 1.1801, 0.8799, -0.3962, -0.4088, -0.3099, 0.9996, -0.0219, 0.8043, 0.6037, -0.3927, -0.0162, -0.0204, 0.9974]\nstate[eef_state]: left_x=0.3444 left_y=-0.0948 left_z=0.1922 left_yaw=0.0158 left_pitch=-0.0612 left_roll=0.0209 left_gripper=0.9996 right_x=0.2937 right_y=0.0 right_z=0.1744 right_yaw=0.0018 right_pitch=-0.0232 right_roll=0.0013 right_gripper=0.9974\nstate[joint_eff]: [0.2667, -5.3402, 7.1316, 1.8242, -0.0952, 0.1636, -0.0171, -0.0752, -1.6068, 7.0906, 1.7509, -0.022, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f5ee090242221b90e23e72a80aebbd2b7bafcd62e653316959ea5275f779aa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c0f05c63e197f3221c593966fc4832b68950051e5e12528594da65798026e94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0901171fc0d2f225330dfe0b8ddf2219d34199574d12d689689519bed1623e58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 8.175 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6052, -0.379, -0.0227, -0.0296, 0.9996, -0.0219, 0.7937, 0.6029, -0.379, -0.0147, -0.0196, 0.9975]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1804 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.2948 right_y=-0.0003 right_z=0.1798 right_yaw=0.0001 right_pitch=0.0004 right_roll=0.0005 right_gripper=0.9975\nstate[joint_eff]: [-0.6496, -1.5385, 10.0034, 1.7558, -0.0269, 0.0952, -0.0513, -0.3761, -1.4838, 10.2632, 1.8926, -0.1197, 0.0415, -0.2711]",
      "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]: [-0.7624, 1.3804, 1.0706, -0.4522, -0.6033, -0.4911, 0.9996, -0.0219, 0.8005, 0.6044, -0.3893, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3448 left_y=-0.1858 left_z=0.205 left_yaw=-0.0197 left_pitch=-0.0365 left_roll=0.0166 left_gripper=0.9996 right_x=0.294 right_y=0.0001 right_z=0.1765 right_yaw=0.0019 right_pitch=-0.0152 right_roll=0.0016 right_gripper=0.9974\nstate[joint_eff]: [-0.3487, -5.9829, 8.9231, 1.5116, -0.486, -0.0171, -0.0513, -0.1162, -1.7846, 6.9128, 1.7998, -0.0122, -0.0562, -0.0317]",
      "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]: [-0.4767, 1.1801, 0.8799, -0.3962, -0.4088, -0.3099, 0.9996, -0.0219, 0.8043, 0.6037, -0.3927, -0.0162, -0.0204, 0.9974]\nstate[eef_state]: left_x=0.3444 left_y=-0.0948 left_z=0.1922 left_yaw=0.0158 left_pitch=-0.0612 left_roll=0.0209 left_gripper=0.9996 right_x=0.2937 right_y=0.0 right_z=0.1744 right_yaw=0.0018 right_pitch=-0.0232 right_roll=0.0013 right_gripper=0.9974\nstate[joint_eff]: [0.2667, -5.3402, 7.1316, 1.8242, -0.0952, 0.1636, -0.0171, -0.0752, -1.6068, 7.0906, 1.7509, -0.022, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f5ee090242221b90e23e72a80aebbd2b7bafcd62e653316959ea5275f779aa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c0f05c63e197f3221c593966fc4832b68950051e5e12528594da65798026e94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0901171fc0d2f225330dfe0b8ddf2219d34199574d12d689689519bed1623e58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AXa55WD5A9Hs7mzxgedd9s",
      "input": {
        "note": "White bowl is just left of the jaw column and sits beyond the fingertips; advancing 3 cm and shifting 3 cm left to center directly over it before planning a rim grasp.",
        "targets": {
          "left_x": 0.375,
          "left_y": -0.065,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01AXa55WD5A9Hs7mzxgedd9s",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3302, 1.2644, 0.7826, -0.2409, -0.3218, -0.242, 0.9996, -0.0216, 0.8055, 0.6037, -0.3931, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3633 left_y=-0.0616 left_z=0.1463 left_yaw=0.0562 left_pitch=-0.1106 left_roll=0.0347 left_gripper=0.9996 right_x=0.2937 right_y=0.0002 right_z=0.174 right_yaw=0.0023 right_pitch=-0.0248 right_roll=0.0018 right_gripper=0.9974\nstate[joint_eff]: [-0.6222, -5.7778, 7.5692, 1.9121, -0.0122, 0.1392, -0.0122, -0.1573, -1.1556, 7.0085, 1.7607, -0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c55b14b87126c27d36579ac8adc2cbf233c12eed1937d78c47ce5561e6e9452a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bca3620765be99c23d664a08b48460e722ff84fe3a96512c320de8e6dbcd1544",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b5beda5e934eb81b13e15680688d558fc636dd9a6ab3d3899f60304015b06179",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 9.496 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]: [-0.7624, 1.3804, 1.0706, -0.4522, -0.6033, -0.4911, 0.9996, -0.0219, 0.8005, 0.6044, -0.3893, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3448 left_y=-0.1858 left_z=0.205 left_yaw=-0.0197 left_pitch=-0.0365 left_roll=0.0166 left_gripper=0.9996 right_x=0.294 right_y=0.0001 right_z=0.1765 right_yaw=0.0019 right_pitch=-0.0152 right_roll=0.0016 right_gripper=0.9974\nstate[joint_eff]: [-0.3487, -5.9829, 8.9231, 1.5116, -0.486, -0.0171, -0.0513, -0.1162, -1.7846, 6.9128, 1.7998, -0.0122, -0.0562, -0.0317]",
      "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]: [-0.4767, 1.1801, 0.8799, -0.3962, -0.4088, -0.3099, 0.9996, -0.0219, 0.8043, 0.6037, -0.3927, -0.0162, -0.0204, 0.9974]\nstate[eef_state]: left_x=0.3444 left_y=-0.0948 left_z=0.1922 left_yaw=0.0158 left_pitch=-0.0612 left_roll=0.0209 left_gripper=0.9996 right_x=0.2937 right_y=0.0 right_z=0.1744 right_yaw=0.0018 right_pitch=-0.0232 right_roll=0.0013 right_gripper=0.9974\nstate[joint_eff]: [0.2667, -5.3402, 7.1316, 1.8242, -0.0952, 0.1636, -0.0171, -0.0752, -1.6068, 7.0906, 1.7509, -0.022, -0.0611, -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]: [-0.3302, 1.2644, 0.7826, -0.2409, -0.3218, -0.242, 0.9996, -0.0216, 0.8055, 0.6037, -0.3931, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3633 left_y=-0.0616 left_z=0.1463 left_yaw=0.0562 left_pitch=-0.1106 left_roll=0.0347 left_gripper=0.9996 right_x=0.2937 right_y=0.0002 right_z=0.174 right_yaw=0.0023 right_pitch=-0.0248 right_roll=0.0018 right_gripper=0.9974\nstate[joint_eff]: [-0.6222, -5.7778, 7.5692, 1.9121, -0.0122, 0.1392, -0.0122, -0.1573, -1.1556, 7.0085, 1.7607, -0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c55b14b87126c27d36579ac8adc2cbf233c12eed1937d78c47ce5561e6e9452a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bca3620765be99c23d664a08b48460e722ff84fe3a96512c320de8e6dbcd1544",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5beda5e934eb81b13e15680688d558fc636dd9a6ab3d3899f60304015b06179",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISvAkKjgEIEhgCKkB6si4k8kp2e93VyOyN0z5WcwaC16AoQ4e6rv0jZpGpEYy9J2+mprSPh7jlsBVcEmmKMyUhTCw7IDtua5M35SQVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe2YzNUGEgyI8qG+cwUavD0Ood4aDFhyWCyS5mpbSSn+3CIwUsDSVmKGUNjVgCkqq25DxKnpJRJ2hUrlS01vbykm0la8etmIosEXYRV1R564KmN0KtoHTWR9EajAx4pXLnuosH8PLkNNNOBqGEkSc01EeNQgkUqKXLJtRrbGX8ZTwZl7WUwANgSXQVfTU7FNVsO/J4DOvr1DtK2J2xceykHNYi7YeN31uI6eNe7YCMFLdpBXEeg82ynxPms1BKMkFk/j7iSzmL87JYoji5bBwlTS5cuqoYpI400Ng78oA1GhtJrikIawAyVPOupKBz87VV+NSWq8GDiVZvdAXExvLUbqtFQdshdN4DI5Vc6/W9qjDCnIj5jbORFhbgLfrhy4PqHehaiYjk0mMx5MvOG31kqBTmusnqDQQieukIqwd2x+BrfaG4uL59HgNVKlnD4S0hSK6/JUMFEftTZ2xWywMoNZCFHs0sOboVOju1VLxiIrd4Yx3ErRltccsdhwJkWIvXc3hvj29tnY9tA4BLyW+g1Pm8DZL2ouPNEPOG+Z39sfbhzr/h+vNpOrVgZW4R9Y01v6Op/EXCFcU5yHBH6NoxVfc7klnmTD+McTZ8H5SFIW90U7kQNUWFEpeTL7JO6RhKyR9t6HCxVHHintH4TNFPK5gvnRxfLw/yWq+o+R7JvVotj86VahkDZrGOeowrHazzi6QnMqMVOn/VHIFLTKOePBF1qG1+rEMT0Vo6qeIpGTIVVLhfufOX3TMKdls6iLaNG92LdTjCFY3ByvWdOcG3aWFzeIwSwjMjvss0MbrupmhSOGluCognfBi71mBLxzYyaQC6qXmQKV3YXbdP8rOETdvxEjkehjV1JJCzF6XVgZFkQX8CBBfpTC7cStY2tvuRqZFloKMRwbv+bt2rHVu1QQ3LCCC7UdgWyHIZycW88Na0ygkxD8X8/JHfkJ/XxcX0cQAo6b7MHQ0ORzC6GVTy8WAEyktVV2cTwGty5RYXn+DgigR4RpGKnQLTettnoNRPVyg3TvfjSchquo+X3o7dlDFsjecQHd41QoTgkJiGAMCD63vHF5l9n4ZY6kBw/uFbXwbt4m0RwUWM1dSM3qJeiZOvfFRN3vRn7qpWLij90UzunQhydXVYc4HNrUMTSXfxoQB6vkZmawJWS/rU981mHRzDl+0w1M7r7Rr1MUY5GTSrHxKeIvHBgltni4Eheiz+V2JPEdtwbHBf5oxnL6Rx/rQH+3+EqPKn78z3TiI0rqplAZus3AX7GU7aft9KYcW3UYEnjA+wUQbozWKM3rBJ8XLCB9bUbn5ZNsdAyddMx62oero4MpCWng3SrqHuFO00SpxJdWzVVJ/xkmlQX10D9sb+W9L/KWYRfn9SA/qenaMu2fQUZO1ksKtKDl8IOvTzFb9foiALoJRfmr21JKFk0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TipNV3WzxqWsuQEwcLeFR7",
      "input": {
        "note": "White bowl is now centered on the jaw column; the bowl is too wide to grasp across, so I'm moving down beside its right rim to pinch the rim wall between the fingers.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.385,
          "left_y": -0.117,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01TipNV3WzxqWsuQEwcLeFR7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4858, 1.6821, 0.6548, 0.2005, -0.421, -0.342, 0.9996, -0.0216, 0.8097, 0.6037, -0.3935, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.375 left_y=-0.1123 left_z=0.0256 left_yaw=0.0412 left_pitch=-0.1701 left_roll=0.0673 left_gripper=0.9996 right_x=0.2939 right_y=0.0002 right_z=0.1727 right_yaw=0.0023 right_pitch=-0.0293 right_roll=0.0019 right_gripper=0.9974\nstate[joint_eff]: [-0.5538, -7.0496, 5.0667, 1.6093, -0.2808, -0.2125, -0.0562, -0.0205, -1.6342, 7.0085, 1.6728, -0.0855, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2779e6cad82d11641d130c43260d5248fbfeb685969751c37138324ec91d4b66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bcaad1451bcfd0a79a8dabbe94a1cc3aacb196722bf58b9327bf5a3c0f51387",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad06badc66ef20f1752f407c01b2443b3dd62adc0db436fbf56cd7a1da26e1e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 2.532 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]: [-0.4767, 1.1801, 0.8799, -0.3962, -0.4088, -0.3099, 0.9996, -0.0219, 0.8043, 0.6037, -0.3927, -0.0162, -0.0204, 0.9974]\nstate[eef_state]: left_x=0.3444 left_y=-0.0948 left_z=0.1922 left_yaw=0.0158 left_pitch=-0.0612 left_roll=0.0209 left_gripper=0.9996 right_x=0.2937 right_y=0.0 right_z=0.1744 right_yaw=0.0018 right_pitch=-0.0232 right_roll=0.0013 right_gripper=0.9974\nstate[joint_eff]: [0.2667, -5.3402, 7.1316, 1.8242, -0.0952, 0.1636, -0.0171, -0.0752, -1.6068, 7.0906, 1.7509, -0.022, -0.0611, -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]: [-0.3302, 1.2644, 0.7826, -0.2409, -0.3218, -0.242, 0.9996, -0.0216, 0.8055, 0.6037, -0.3931, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3633 left_y=-0.0616 left_z=0.1463 left_yaw=0.0562 left_pitch=-0.1106 left_roll=0.0347 left_gripper=0.9996 right_x=0.2937 right_y=0.0002 right_z=0.174 right_yaw=0.0023 right_pitch=-0.0248 right_roll=0.0018 right_gripper=0.9974\nstate[joint_eff]: [-0.6222, -5.7778, 7.5692, 1.9121, -0.0122, 0.1392, -0.0122, -0.1573, -1.1556, 7.0085, 1.7607, -0.0562, -0.0708, -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]: [-0.4858, 1.6821, 0.6548, 0.2005, -0.421, -0.342, 0.9996, -0.0216, 0.8097, 0.6037, -0.3935, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.375 left_y=-0.1123 left_z=0.0256 left_yaw=0.0412 left_pitch=-0.1701 left_roll=0.0673 left_gripper=0.9996 right_x=0.2939 right_y=0.0002 right_z=0.1727 right_yaw=0.0023 right_pitch=-0.0293 right_roll=0.0019 right_gripper=0.9974\nstate[joint_eff]: [-0.5538, -7.0496, 5.0667, 1.6093, -0.2808, -0.2125, -0.0562, -0.0205, -1.6342, 7.0085, 1.6728, -0.0855, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2779e6cad82d11641d130c43260d5248fbfeb685969751c37138324ec91d4b66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bcaad1451bcfd0a79a8dabbe94a1cc3aacb196722bf58b9327bf5a3c0f51387",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad06badc66ef20f1752f407c01b2443b3dd62adc0db436fbf56cd7a1da26e1e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISwgYKjgEIEhgCKkB/L/ZhlfpAtajj80Y8ixhDqe8/GC+v7XtbuwPG2gStrPXZb0+G1By5NwxAwJfpXLtKB+qpTQoTFdBsryX14K3PMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfiYzNUGEgzkIGJOX7C4iJqgDqgaDAc3rZhu4jDBWoMtpyIw3U2PNK6MhHjKPr5SoTOuhxCIW+VaZAEIPeJn61w1/4/gpLfC04a5JVlrnuXg60Q8KuAEdcwp5H/u5WffB5jSpQHQtkg+mtXJuckVxQSKdJHAg7Ajs536+M87xxalGa5eNegezzcLqpeeKhxGSMk7D8Arv3Yl6++LXpehlv+mY8uCbrmwTsPxsKXia9gGNEsNcHZsfpLSZXK/pSLcyT0hTUUGOFdkBogSa4zbdSui4BxQhdTnoYErW7IJq109gMdjZQyLfNt132I5dDJmUz11fD2v9IQqJvw864u97llwrpqMQH0wVdivnWkRfjb+ilmg7QvxD6vxxIHTtwwIDJl6zr7R54BzhDIWcCNWvH4Z+fKOUIHn3GkX79aTn7AfstnSbLH5zHKTxmlmfpj15tgdsZOHgxs6plCj9GFAR+XS9X9vFJihcH5e+IOj5pYlsD0gyt02A8GO4AdZPN6jsQH2j7CWuU3DhJRyDNRCgPWUL9+fAgJ9vnp6RJWwd9Iuix0JSuUqQ3CmqAdkt0z0Vby2fnBVJY+r+jqnRUpZrgYPo6UEIyVHkzwPH5yPqf7Pu/X5DEjbQd7n3fLylceo1we/4s81JesCtqVFLCyTl9O0zlBiP+Spr08UYUGFRoBquns7v3QVjtcMtidSVQwF8ocIXc/zSkREYgkjZN8OrQIER33oE4mOW9XilL+4QQcYKUiyyeUpIB0DI6/jlb/rTmj1rde/NYdDA0Cp/lCNzIgySMaperd8iYjAOasiigLTQtUmFk15dW4oO/S5+z+AE/UvqpO3rdHd6JV9ll0cSx5dWZIToxlq9rfD0U6OL+oWchGupNcHwqSHkVZMEHX2JT/05ifJdbvwD5QMMoGGM17jy8DNHn8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EcUjZQQazpNe8NkYd69rnz",
      "input": {
        "note": "The jaws straddle the bowl's rim wall (left finger inside the bowl, right finger outside); closing to pinch the rim.",
        "targets": {
          "left_gripper": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EcUjZQQazpNe8NkYd69rnz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4892, 1.6894, 0.6506, 0.2035, -0.4427, -0.3378, 0.093, -0.0216, 0.8101, 0.6037, -0.3931, -0.0162, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3739 left_y=-0.1093 left_z=0.0233 left_yaw=0.0532 left_pitch=-0.1693 left_roll=0.0889 left_gripper=0.093 right_x=0.294 right_y=0.0001 right_z=0.1727 right_yaw=0.002 right_pitch=-0.0293 right_roll=0.0017 right_gripper=0.9974\nstate[joint_eff]: [0.0479, -6.653, 5.641, 1.409, 0.1294, -0.2125, 0.3394, -0.0479, -1.265, 7.241, 1.6874, -0.0513, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f487a12606278c34150e0901cb3626b18771332b25d4ed82eb881a762386951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8774d3aad9531efdc1bfff0e01a053816bdab9e1e7a22ff72884c7e1c92b4e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e56121ff135a60c0a37061452b399ec92ae63e456169e568c3ed6a6493593770",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 10.34 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]: [-0.3302, 1.2644, 0.7826, -0.2409, -0.3218, -0.242, 0.9996, -0.0216, 0.8055, 0.6037, -0.3931, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3633 left_y=-0.0616 left_z=0.1463 left_yaw=0.0562 left_pitch=-0.1106 left_roll=0.0347 left_gripper=0.9996 right_x=0.2937 right_y=0.0002 right_z=0.174 right_yaw=0.0023 right_pitch=-0.0248 right_roll=0.0018 right_gripper=0.9974\nstate[joint_eff]: [-0.6222, -5.7778, 7.5692, 1.9121, -0.0122, 0.1392, -0.0122, -0.1573, -1.1556, 7.0085, 1.7607, -0.0562, -0.0708, -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]: [-0.4858, 1.6821, 0.6548, 0.2005, -0.421, -0.342, 0.9996, -0.0216, 0.8097, 0.6037, -0.3935, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.375 left_y=-0.1123 left_z=0.0256 left_yaw=0.0412 left_pitch=-0.1701 left_roll=0.0673 left_gripper=0.9996 right_x=0.2939 right_y=0.0002 right_z=0.1727 right_yaw=0.0023 right_pitch=-0.0293 right_roll=0.0019 right_gripper=0.9974\nstate[joint_eff]: [-0.5538, -7.0496, 5.0667, 1.6093, -0.2808, -0.2125, -0.0562, -0.0205, -1.6342, 7.0085, 1.6728, -0.0855, -0.0366, -0.0171]",
      "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]: [-0.4892, 1.6894, 0.6506, 0.2035, -0.4427, -0.3378, 0.093, -0.0216, 0.8101, 0.6037, -0.3931, -0.0162, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3739 left_y=-0.1093 left_z=0.0233 left_yaw=0.0532 left_pitch=-0.1693 left_roll=0.0889 left_gripper=0.093 right_x=0.294 right_y=0.0001 right_z=0.1727 right_yaw=0.002 right_pitch=-0.0293 right_roll=0.0017 right_gripper=0.9974\nstate[joint_eff]: [0.0479, -6.653, 5.641, 1.409, 0.1294, -0.2125, 0.3394, -0.0479, -1.265, 7.241, 1.6874, -0.0513, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f487a12606278c34150e0901cb3626b18771332b25d4ed82eb881a762386951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8774d3aad9531efdc1bfff0e01a053816bdab9e1e7a22ff72884c7e1c92b4e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e56121ff135a60c0a37061452b399ec92ae63e456169e568c3ed6a6493593770",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISyQIKjgEIEhgCKkD3CuEZmSnAjRXJ/2ddOw5WyKiRPj0dQ6dZfMUHPgKz2GXh7+3ZTi1Lj5yZJpBemn5uzcPJu5HlE9nMYlL0IuyuMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfyYzNUGEgzpOHwHVpAW95f3iWoaDIkFT+FGxWMtu62XRSIwbDNBV30R2wwGN7N9acn8jDM5n+SME3IAyLUG+qXdiIaM2oshFzuNkNPqadpfPvSqKmgXS6uzrsI+f8nV747xfrSbdYX0zvLaV7T1u9plD01tAq+tltFin2dt90qwy0tXMuK8vzPGjCH8/QXMdtrZvZ3/NH6ZHabJZG9Qbe1suijFBVVSs0B0ufJy9fvYA9TSAYnycyrofAOy+xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PP7ErFojUaH3sTaMeBEDcM",
      "input": {
        "note": "Gripper settled at 0.09 (~9 mm), consistent with holding the bowl rim; lifting to check the bowl comes with it.",
        "targets": {
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01PP7ErFojUaH3sTaMeBEDcM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4892, 1.4311, 1.0275, -0.4503, -0.4431, -0.3412, 0.0929, -0.0219, 0.8101, 0.6037, -0.3931, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3754 left_y=-0.11 left_z=0.1594 left_yaw=0.0571 left_pitch=-0.185 left_roll=0.0964 left_gripper=0.0929 right_x=0.294 right_y=0.0001 right_z=0.1727 right_yaw=0.0019 right_pitch=-0.0293 right_roll=0.0019 right_gripper=0.9974\nstate[joint_eff]: [-0.0342, -8.0889, 9.2513, 1.3895, -0.2173, 0.0122, -0.022, -0.0889, -1.306, 7.0359, 1.7118, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d859aa413da5022193d4e52af4b0f4df7b3fb5f1be583cba41e209f61d3e8dc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4b24991be533314c9ea8fcc81d675455b70287e7d6329de9456161dff7ea6ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b527e1fa1e29b4315cf706dc60ce321dc4603b09a2ea5a6d805c48bac6d4cd88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 8.471 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]: [-0.4858, 1.6821, 0.6548, 0.2005, -0.421, -0.342, 0.9996, -0.0216, 0.8097, 0.6037, -0.3935, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.375 left_y=-0.1123 left_z=0.0256 left_yaw=0.0412 left_pitch=-0.1701 left_roll=0.0673 left_gripper=0.9996 right_x=0.2939 right_y=0.0002 right_z=0.1727 right_yaw=0.0023 right_pitch=-0.0293 right_roll=0.0019 right_gripper=0.9974\nstate[joint_eff]: [-0.5538, -7.0496, 5.0667, 1.6093, -0.2808, -0.2125, -0.0562, -0.0205, -1.6342, 7.0085, 1.6728, -0.0855, -0.0366, -0.0171]",
      "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]: [-0.4892, 1.6894, 0.6506, 0.2035, -0.4427, -0.3378, 0.093, -0.0216, 0.8101, 0.6037, -0.3931, -0.0162, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3739 left_y=-0.1093 left_z=0.0233 left_yaw=0.0532 left_pitch=-0.1693 left_roll=0.0889 left_gripper=0.093 right_x=0.294 right_y=0.0001 right_z=0.1727 right_yaw=0.002 right_pitch=-0.0293 right_roll=0.0017 right_gripper=0.9974\nstate[joint_eff]: [0.0479, -6.653, 5.641, 1.409, 0.1294, -0.2125, 0.3394, -0.0479, -1.265, 7.241, 1.6874, -0.0513, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4892, 1.4311, 1.0275, -0.4503, -0.4431, -0.3412, 0.0929, -0.0219, 0.8101, 0.6037, -0.3931, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3754 left_y=-0.11 left_z=0.1594 left_yaw=0.0571 left_pitch=-0.185 left_roll=0.0964 left_gripper=0.0929 right_x=0.294 right_y=0.0001 right_z=0.1727 right_yaw=0.0019 right_pitch=-0.0293 right_roll=0.0019 right_gripper=0.9974\nstate[joint_eff]: [-0.0342, -8.0889, 9.2513, 1.3895, -0.2173, 0.0122, -0.022, -0.0889, -1.306, 7.0359, 1.7118, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d859aa413da5022193d4e52af4b0f4df7b3fb5f1be583cba41e209f61d3e8dc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4b24991be533314c9ea8fcc81d675455b70287e7d6329de9456161dff7ea6ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b527e1fa1e29b4315cf706dc60ce321dc4603b09a2ea5a6d805c48bac6d4cd88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XqqQ7ZLvtBMeem98NgVLvn",
      "input": {
        "note": "The white bowl is lifted and hanging from its rim; carrying it over to above the purple middle bowl (grasp point offset ~6 cm right of the bowl's center).",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.28,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01XqqQ7ZLvtBMeem98NgVLvn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8577, 1.9278, 1.9358, -1.0527, -0.6304, -0.6949, 0.0928, -0.0216, 0.8154, 0.6003, -0.4011, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3847 left_y=-0.2802 left_z=0.2375 left_yaw=0.0405 left_pitch=-0.2081 left_roll=0.0813 left_gripper=0.0928 right_x=0.2927 right_y=0.0002 right_z=0.1681 right_yaw=0.0023 right_pitch=-0.0461 right_roll=0.0023 right_gripper=0.9974\nstate[joint_eff]: [-0.5812, -9.7709, 8.6359, 0.9353, -0.6178, 0.1001, -0.0171, -0.1026, -1.7436, 7.2957, 1.8291, -0.0806, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b10c345bb718ac57a9a8ea3fbbfd830ba906b473cddcc502dbbee344fc10a04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8213f0c2eb567abfc0ac66b7cb97b09ed25c49f0ec6a66474109a3994a1c0703",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:274f4a23e8c04788354f620d69f57e669f3bcbd5d7978008d0093bf5d88f577c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 8.362 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]: [-0.4892, 1.6894, 0.6506, 0.2035, -0.4427, -0.3378, 0.093, -0.0216, 0.8101, 0.6037, -0.3931, -0.0162, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3739 left_y=-0.1093 left_z=0.0233 left_yaw=0.0532 left_pitch=-0.1693 left_roll=0.0889 left_gripper=0.093 right_x=0.294 right_y=0.0001 right_z=0.1727 right_yaw=0.002 right_pitch=-0.0293 right_roll=0.0017 right_gripper=0.9974\nstate[joint_eff]: [0.0479, -6.653, 5.641, 1.409, 0.1294, -0.2125, 0.3394, -0.0479, -1.265, 7.241, 1.6874, -0.0513, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4892, 1.4311, 1.0275, -0.4503, -0.4431, -0.3412, 0.0929, -0.0219, 0.8101, 0.6037, -0.3931, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3754 left_y=-0.11 left_z=0.1594 left_yaw=0.0571 left_pitch=-0.185 left_roll=0.0964 left_gripper=0.0929 right_x=0.294 right_y=0.0001 right_z=0.1727 right_yaw=0.0019 right_pitch=-0.0293 right_roll=0.0019 right_gripper=0.9974\nstate[joint_eff]: [-0.0342, -8.0889, 9.2513, 1.3895, -0.2173, 0.0122, -0.022, -0.0889, -1.306, 7.0359, 1.7118, -0.0513, -0.0415, -0.0122]",
      "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]: [-0.8577, 1.9278, 1.9358, -1.0527, -0.6304, -0.6949, 0.0928, -0.0216, 0.8154, 0.6003, -0.4011, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3847 left_y=-0.2802 left_z=0.2375 left_yaw=0.0405 left_pitch=-0.2081 left_roll=0.0813 left_gripper=0.0928 right_x=0.2927 right_y=0.0002 right_z=0.1681 right_yaw=0.0023 right_pitch=-0.0461 right_roll=0.0023 right_gripper=0.9974\nstate[joint_eff]: [-0.5812, -9.7709, 8.6359, 0.9353, -0.6178, 0.1001, -0.0171, -0.1026, -1.7436, 7.2957, 1.8291, -0.0806, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b10c345bb718ac57a9a8ea3fbbfd830ba906b473cddcc502dbbee344fc10a04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8213f0c2eb567abfc0ac66b7cb97b09ed25c49f0ec6a66474109a3994a1c0703",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:274f4a23e8c04788354f620d69f57e669f3bcbd5d7978008d0093bf5d88f577c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIStQkKjgEIEhgCKkBTgrWKkKX8a4/2AtsqSZx8/c4aIs7kYF/BwtTZoU5+fTgx36MqZd9WkpptiD6tQg9DGse2Qd1A+JDLJQfvyctaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZGZzNUGEgzXf37aJphrAIw+dHQaDHVyqNxijltBrRq9OiIwiDiyX2hNrA1s5/4X/qY2+fCROfb5TvVdQPzlGQXL6Qv9/vh0YVt9fXyXKuYoXQ7XKtMH2+sgevPaN6bqXxHruVBDGxtaDOhdw7i+q5Dvu18c/SSagnOQ09NxmKHVH/rp2k5eDyUyiHy4HDLeslPAb4ER9JMnWBsSDAD1P86zxG8jZ4zUJBxMMjyTXwCK2p686tvr1azgh9cb5gzILkpIkraKAhxvTa1Gc99o27iGKxR3H+aWldPUOq9BjxE7zrW+HXlfQOQfxUdw09Inx7CdbEnH3H2mLuuRlFHEnIqBhHNBxXYs6y+mv/4XTwnTN2jdgExAf3JhmOeqSefWhFYxiy57dvqDdiiqw32s8MBbFhdazPp67jDEJRG8STVbuZpfZm5wAxM9WQSpF128HW8L+F2ULdg1aNRC6D6LVuWNsXlnnLGUR+QEZ8vqDaWlG5Ay2ObOqOWyqe6e4bpklyOhLz24rZi9GeQhlUUUgLlUjfJKmSTcFPZFomkbrmU9/WGvihZFs284bYpj6Pb9zwUWMEwP0YOjGdg/7sah/GrN0JG6mFHaxz13s1WADK6yctg77V2zAJFWbVxOTtxc2CQ/ayZZZbCEhdYcDcwiZjzBI7RiNwUt+5wUmqOlGt5Mod42haPv0B96fVBugH3p/J27ZXhwNTSBL/iw3OG6MKANaVNWcEiaS62flPqCqb0Rvmq8wclOBBXiD3NkhTONutvA8ALLByWyfDiBQ3wax0Lhq9i1yHmdZTKcp9AGnAp8WXXqIsF+VkGJXv97KsZl9AVnNwHENR58qa/G6RLp+iiTFS5+70cezJmCYjX7k9P103bzf1R66TR6uRzcKxf89/yaeLk8gGbSJIDubLBlA4iUYDXDffxs6pPHXMcH4orxbH498YNn/gZoAmP2Apuvjpm5RJbDdXkAaB0V/zDhFrDaa5fytyXfibVptVkcjOqKUXp1aqF2QOvmqBzYAMA6jJmyDZ1LKmTUi9FBAlObHbOwG55ylnypTBxNCpuwzfP//3BK8nVTlFtYg0naYkp7x4MOi76i+Cz1+TnvvkB6/e5NSP6x+4WooE15fxaIMUkSS24ndv+PcO0yXKxe4r8L1Xcb/lbCZsziq8bP+a3XEuWKT86uyPAk4a4PePYIKNbL5Bn2Fi+68gRRfBC4ZnIzghINYV3yXeitHsXuC8sT9+N5W6KLytEo7xejhzEDAbGuQxpeh9DiecAts1fHnMT42dZHnLv9I4xWvnLyJZgaF2ASgy0Kh/GuSoXgcWEmu4Lz8WTtOtsd3l3VwcdJdlUSYxuOlQWdivT3YioX3cyrxwFaN9CQDxeaZShwq1+J8bXb7lP1HAtCz7qRlc9qCSqm/SeIOajHlkYm1BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J9F52y4T2pcE5xS91CEN9f",
      "input": {
        "note": "Wrist view shows the purple bowl near the jaw column, but the held bowl hangs ~6 cm to the left; shifting the grasp point further right so the held bowl lands centered over the purple bowl.",
        "targets": {
          "left_y": -0.355,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01J9F52y4T2pcE5xS91CEN9f",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9577, 2.2826, 2.4966, -1.3029, -0.6563, -0.8101, 0.0928, -0.0216, 0.8173, 0.5999, -0.4145, -0.0166, -0.0204, 0.9974]\nstate[eef_state]: left_x=0.3882 left_y=-0.3583 left_z=0.2366 left_yaw=0.0268 left_pitch=-0.2111 left_roll=0.0477 left_gripper=0.0928 right_x=0.2908 right_y=0.0003 right_z=0.1647 right_yaw=0.0026 right_pitch=-0.0618 right_roll=0.0024 right_gripper=0.9974\nstate[joint_eff]: [-0.4991, -12.2735, 6.7761, 0.5201, -0.6374, 0.0269, -0.0122, -0.0479, -1.5248, 6.9949, 1.8291, -0.0269, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:374b0a5f9106e33c8251780008e7724ae4ac7618608b9a771a94eedadb70914c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0eca17940c740d2167f2d4c86c14715de5786151bcf3b2ae6f07ad1f9ab6488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19a8f4fcfc745acf609b2d79b73f0214be60cd150555f3984af701623b3d3426",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 5.642 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]: [-0.4892, 1.4311, 1.0275, -0.4503, -0.4431, -0.3412, 0.0929, -0.0219, 0.8101, 0.6037, -0.3931, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3754 left_y=-0.11 left_z=0.1594 left_yaw=0.0571 left_pitch=-0.185 left_roll=0.0964 left_gripper=0.0929 right_x=0.294 right_y=0.0001 right_z=0.1727 right_yaw=0.0019 right_pitch=-0.0293 right_roll=0.0019 right_gripper=0.9974\nstate[joint_eff]: [-0.0342, -8.0889, 9.2513, 1.3895, -0.2173, 0.0122, -0.022, -0.0889, -1.306, 7.0359, 1.7118, -0.0513, -0.0415, -0.0122]",
      "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]: [-0.8577, 1.9278, 1.9358, -1.0527, -0.6304, -0.6949, 0.0928, -0.0216, 0.8154, 0.6003, -0.4011, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3847 left_y=-0.2802 left_z=0.2375 left_yaw=0.0405 left_pitch=-0.2081 left_roll=0.0813 left_gripper=0.0928 right_x=0.2927 right_y=0.0002 right_z=0.1681 right_yaw=0.0023 right_pitch=-0.0461 right_roll=0.0023 right_gripper=0.9974\nstate[joint_eff]: [-0.5812, -9.7709, 8.6359, 0.9353, -0.6178, 0.1001, -0.0171, -0.1026, -1.7436, 7.2957, 1.8291, -0.0806, -0.0171, -0.0171]",
      "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]: [-0.9577, 2.2826, 2.4966, -1.3029, -0.6563, -0.8101, 0.0928, -0.0216, 0.8173, 0.5999, -0.4145, -0.0166, -0.0204, 0.9974]\nstate[eef_state]: left_x=0.3882 left_y=-0.3583 left_z=0.2366 left_yaw=0.0268 left_pitch=-0.2111 left_roll=0.0477 left_gripper=0.0928 right_x=0.2908 right_y=0.0003 right_z=0.1647 right_yaw=0.0026 right_pitch=-0.0618 right_roll=0.0024 right_gripper=0.9974\nstate[joint_eff]: [-0.4991, -12.2735, 6.7761, 0.5201, -0.6374, 0.0269, -0.0122, -0.0479, -1.5248, 6.9949, 1.8291, -0.0269, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:374b0a5f9106e33c8251780008e7724ae4ac7618608b9a771a94eedadb70914c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0eca17940c740d2167f2d4c86c14715de5786151bcf3b2ae6f07ad1f9ab6488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19a8f4fcfc745acf609b2d79b73f0214be60cd150555f3984af701623b3d3426",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS/QoKjgEIEhgCKkCoT+nozqAMuUWCoU9fAVGeNjfgdAhtMUVqa81YsU4BebZ8nng3e3iGXCCegWz6vBxFUe9Vhf2Z0UtLiPagwO3tMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZqZzNUGEgyQNUiPy1LSUSy3fO8aDPLcTf29PhBT8sIu+SIwmjiyH3FFElD/k+GRwbFGQtf5TQb8GWbDDOfIRJRKvagHWspukl7SLfeNRP+e9aXhKpsJ8QoqPiZyVn9wb/fIXMk+kppFSrXl2iyp9nsz1+FnumzcCnBDbvh/VcOIxaQVz9JhcAsgLKGbZ4DqudAzQ22TkDXNN6oteD7mhtcgxGzs2PlkmyCMDroiICobcvFv/rMOd97UYi5/HpsXdXAZskx1haWgqM4BNR4kPDn3yD2Yj9WrncLh5DrZgb+5LxvrnpP5W+mqCLIoS53N8hUj4hn2Nw1PuWHWdBl9yulkudTXYqLTcyk4QUA/LQrobauY/f+2G33aZ8o9ORImRCj9qgsryj8I467MW3iPINhslQmvkE5353tQ+kyQpHY7NqUf500TxfZtlHggDedyVjMVRRi6JM8LjRhiEzMFI4G1d6SM6hHtwP8VNV5lA7MY2MVkK6C9uTZku3a7iDXCKP0aJvOlU3XrV1145lE//im8N6BJGxJQP2Z73eMWCDYy9wr3t/P4zbwmOER4dRsKgc4D1/6fSys6dsYivX6QMVMKL+RJBZfp2NDa5JltCZPa+OXc68+i7G3f6lNNq3RE//yL2McDW7goTpkCxp/VGhu8Rk32jobnlAyrFxBej0mGnJB/C7hx+5yP1S+V6mJoXKjT9LctPA2jhxdm7ITLtR5UoVNKr70B5Rb5D/31BRftiPxGfSDEiQHB8ZLr7tWxBQToUp4jJnVjUW3x2FnWcM7DrpNfE18k9ZL9l0qMRnOpYVJdOUHCDD8tscOml1dlGRDnimEmCFVhlnH0YUaZPxvmyvqWT8b90HUQ5a39Hr9TaS7xWneF8oTf7Pw6wSftgqQ/YoSmJOd4rQq04Owksqe1zeqZSUxKH8fzkmz2iByeQCbw9Uds9Q79BURCM1Wzcudq30BfjB8Nc3Le2yCl9cVBZJ74DItR+eAZ06tj+lemPHuq8zHE1pE2LbT1ky43jtJpQMtwW9BThK5NWMVqluSitCxtRDAl1A4zyLEN9iTw8lk2N63P3c1FFJ3AvWj3Jatp3nFpi33omiN0uppDSt73td0CineTJbNphXvpnkCBfo4VxXhzuU5DWq3TcKxsDaNo/olBNciKbb+0Ya1gvD7fxbYO4eBJkmiUYv9OmA6jjiv7FARJh+7yJCRrcLZSfHxgk4GtaxVxjWwSPwaOze03EVWvVpk258ArjRcEtVKV3eoN4LDZ74dEw2QUsPXxxQo+Vo8y75brNboe1xQl+dWKT0ZdiAEKbx8lrafdQ9WH3WbPsrsf03OgQvQV5zGDzFEv+bi86G/+sF6+bB1qNVhYTPA5MsAqo7ldbdZfoenOInjbZtih3w2KaCEkLI1uVxd2L9E1txmVgRpBzV3Te7r04Ssvz6d7vQvuXPvXdL+U7DiXHwI9RwG2GUJ2l5HsChDJ8hSCLp5F0wuhvl7LxdV76HPRQCw941j4IhTun93Vix/M/R4+4dyjpU+2OamO9HOifkh0cZbsE/2djDjnPzvdoyV9okUGBvknhD9u8Zn1QOJAf5jVb3G8OOYKFSXx72/CavVrjLsBjI/yfS6VujE2HQu5yq3rVKWxaXreGcu4j+2PxxjrzLYsgXCH3Xw9yfJNAevYmAxHQ5hp7M1T2mghGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JuWYTqruwtwuGndS3gYGdr",
      "input": {
        "note": "Held white bowl is roughly centered over the purple bowl; lowering it toward the purple bowl before releasing.",
        "targets": {
          "left_y": -0.34,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01JuWYTqruwtwuGndS3gYGdr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9421, 2.1464, 1.71, -0.7345, -0.6434, -0.8009, 0.0928, -0.0219, 0.8173, 0.5995, -0.4156, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3787 left_y=-0.3346 left_z=0.0897 left_yaw=0.0469 left_pitch=-0.2666 left_roll=0.1179 left_gripper=0.0928 right_x=0.2906 right_y=0.0001 right_z=0.1643 right_yaw=0.002 right_pitch=-0.0633 right_roll=0.0027 right_gripper=0.9974\nstate[joint_eff]: [0.8137, -15.1043, 7.0359, 1.1062, -0.315, 0.105, -0.0122, -0.1026, -1.3744, 7.0632, 1.663, -0.022, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b13a9e4c487f5659e8ff8c3f2f8417e5c3c564d36e98b50ede5735ba1f0966a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:617846d072a0427666f1a95cf73ea2667ef2dc3a24872afac7add5e85e519a28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:11a34039ade2dd68033d996164f1e2344e6fdd1357a31210894c242f1d6fffd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 2.613 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]: [-0.8577, 1.9278, 1.9358, -1.0527, -0.6304, -0.6949, 0.0928, -0.0216, 0.8154, 0.6003, -0.4011, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3847 left_y=-0.2802 left_z=0.2375 left_yaw=0.0405 left_pitch=-0.2081 left_roll=0.0813 left_gripper=0.0928 right_x=0.2927 right_y=0.0002 right_z=0.1681 right_yaw=0.0023 right_pitch=-0.0461 right_roll=0.0023 right_gripper=0.9974\nstate[joint_eff]: [-0.5812, -9.7709, 8.6359, 0.9353, -0.6178, 0.1001, -0.0171, -0.1026, -1.7436, 7.2957, 1.8291, -0.0806, -0.0171, -0.0171]",
      "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]: [-0.9577, 2.2826, 2.4966, -1.3029, -0.6563, -0.8101, 0.0928, -0.0216, 0.8173, 0.5999, -0.4145, -0.0166, -0.0204, 0.9974]\nstate[eef_state]: left_x=0.3882 left_y=-0.3583 left_z=0.2366 left_yaw=0.0268 left_pitch=-0.2111 left_roll=0.0477 left_gripper=0.0928 right_x=0.2908 right_y=0.0003 right_z=0.1647 right_yaw=0.0026 right_pitch=-0.0618 right_roll=0.0024 right_gripper=0.9974\nstate[joint_eff]: [-0.4991, -12.2735, 6.7761, 0.5201, -0.6374, 0.0269, -0.0122, -0.0479, -1.5248, 6.9949, 1.8291, -0.0269, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9421, 2.1464, 1.71, -0.7345, -0.6434, -0.8009, 0.0928, -0.0219, 0.8173, 0.5995, -0.4156, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3787 left_y=-0.3346 left_z=0.0897 left_yaw=0.0469 left_pitch=-0.2666 left_roll=0.1179 left_gripper=0.0928 right_x=0.2906 right_y=0.0001 right_z=0.1643 right_yaw=0.002 right_pitch=-0.0633 right_roll=0.0027 right_gripper=0.9974\nstate[joint_eff]: [0.8137, -15.1043, 7.0359, 1.1062, -0.315, 0.105, -0.0122, -0.1026, -1.3744, 7.0632, 1.663, -0.022, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b13a9e4c487f5659e8ff8c3f2f8417e5c3c564d36e98b50ede5735ba1f0966a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:617846d072a0427666f1a95cf73ea2667ef2dc3a24872afac7add5e85e519a28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11a34039ade2dd68033d996164f1e2344e6fdd1357a31210894c242f1d6fffd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISkQUKjgEIEhgCKkD33+8Zr01PTyr2hNIFWrmmsImtFJkzggF6guyt4zJWCAxen2aP/9lB1fEkH2/j88Y9PHI+9yejxGc3N3mz2z74Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaCZzNUGEgw1jVCN9g9iuLo6yIgaDDJsXsDZrBzj6a6qGCIwK9RGLxEwew19FlB17UMotytMTJYoRwrygu+kqvVlwVQvK2gMFg7USF1wuXkZj1HTKq8DvFH+SibyLwjQEnYucrWz34drPgDj4JEhiHIDf/PhmwwOcWNOQILOY1zkUhSecDFd1ZArtKMB8DXBg0pu8G9Oe6GLmNouk++MknsjN0NspldMedHibE1j0aBoIUWaIc0cF5XrJJNfRRSGtf6s4GEsar3X03hQxhMEloZesL39a2i6gXqW53cML5LbZcTxuWtez/AUwqi6gWKQlBDYZtl0KyRdXH2M6g22Rb387BEqStKiHvj8uGNx/HNppbCI6B+p++GimgBZ2LNiL74zRWtgG5eT5l1XF+kNYXO2XCg9J+qOZHBqsOWXiZmcvll4/Qmf68J4JoiXAFCaTSEI+vX5URDE2adDkBgOnLDVHYk4TYGaeYMQ3O+Gw+AON3xCVfCUM0lf3lXBqRfCzkHqOOJyNF3pK9aQDo0FfYyDRzjOkEMpc1RHTBSH9eY7HuH4HOW72rM4YUVghRnxw8Ld6DrERRg0eDO/4h4/4e8ljHK0aQpam6m5zUUZbEwB18/1PrkwVODIAsdpATLhArifm9mL223gS3H4y+RtUQob1CcmAI8CdMmAO07TWSKrRDeWs58YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ECWjjnXwATojgsofXYDFz4",
      "input": {
        "note": "Lowering further until the white bowl seats into the purple bowl (watching for the descent to stall on contact).",
        "targets": {
          "left_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01ECWjjnXwATojgsofXYDFz4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.939, 2.1544, 1.6382, -0.6418, -0.6437, -0.8017, 0.0928, -0.0219, 0.8173, 0.598, -0.4156, -0.0166, -0.0204, 0.9974]\nstate[eef_state]: left_x=0.3796 left_y=-0.333 left_z=0.0701 left_yaw=0.0477 left_pitch=-0.2591 left_roll=0.1064 left_gripper=0.0928 right_x=0.2904 right_y=0.0002 right_z=0.1636 right_yaw=0.0022 right_pitch=-0.0648 right_roll=0.0025 right_gripper=0.9974\nstate[joint_eff]: [-0.3214, -9.7573, 6.3932, 1.0232, -0.3053, -0.0464, -0.0122, -0.0752, -1.1556, 7.0906, 1.6532, -0.0415, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b8f757a55c607ed868e641c64788648d1ef6eba22afe0d6d9a7b33f524ee7d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05379a09f1397104080d39861182646c5dd0fd0dccebf48be2c8a44d2a36f7d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6450049eb0c98f079ee76cbd91ba877ceaf5208aee2df9564e7d03b2b2e2b72e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 3.066 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]: [-0.9577, 2.2826, 2.4966, -1.3029, -0.6563, -0.8101, 0.0928, -0.0216, 0.8173, 0.5999, -0.4145, -0.0166, -0.0204, 0.9974]\nstate[eef_state]: left_x=0.3882 left_y=-0.3583 left_z=0.2366 left_yaw=0.0268 left_pitch=-0.2111 left_roll=0.0477 left_gripper=0.0928 right_x=0.2908 right_y=0.0003 right_z=0.1647 right_yaw=0.0026 right_pitch=-0.0618 right_roll=0.0024 right_gripper=0.9974\nstate[joint_eff]: [-0.4991, -12.2735, 6.7761, 0.5201, -0.6374, 0.0269, -0.0122, -0.0479, -1.5248, 6.9949, 1.8291, -0.0269, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9421, 2.1464, 1.71, -0.7345, -0.6434, -0.8009, 0.0928, -0.0219, 0.8173, 0.5995, -0.4156, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3787 left_y=-0.3346 left_z=0.0897 left_yaw=0.0469 left_pitch=-0.2666 left_roll=0.1179 left_gripper=0.0928 right_x=0.2906 right_y=0.0001 right_z=0.1643 right_yaw=0.002 right_pitch=-0.0633 right_roll=0.0027 right_gripper=0.9974\nstate[joint_eff]: [0.8137, -15.1043, 7.0359, 1.1062, -0.315, 0.105, -0.0122, -0.1026, -1.3744, 7.0632, 1.663, -0.022, 0.0073, -0.0122]",
      "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]: [-0.939, 2.1544, 1.6382, -0.6418, -0.6437, -0.8017, 0.0928, -0.0219, 0.8173, 0.598, -0.4156, -0.0166, -0.0204, 0.9974]\nstate[eef_state]: left_x=0.3796 left_y=-0.333 left_z=0.0701 left_yaw=0.0477 left_pitch=-0.2591 left_roll=0.1064 left_gripper=0.0928 right_x=0.2904 right_y=0.0002 right_z=0.1636 right_yaw=0.0022 right_pitch=-0.0648 right_roll=0.0025 right_gripper=0.9974\nstate[joint_eff]: [-0.3214, -9.7573, 6.3932, 1.0232, -0.3053, -0.0464, -0.0122, -0.0752, -1.1556, 7.0906, 1.6532, -0.0415, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b8f757a55c607ed868e641c64788648d1ef6eba22afe0d6d9a7b33f524ee7d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05379a09f1397104080d39861182646c5dd0fd0dccebf48be2c8a44d2a36f7d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6450049eb0c98f079ee76cbd91ba877ceaf5208aee2df9564e7d03b2b2e2b72e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISyAIKjgEIEhgCKkCiCc4T782D3vunJh9YDXal/PEcjYV+EhLpK5N0KRMKtfrEbZSj2LWqc2g6H+aOuNNJPFL5ZDA9IrXLCDpn+P+JMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaOZzNUGEgwDvV3sHmv5yreWomMaDApVrGy+jbv4TCUCxyIwBlmucGQTbvf6KHks6UpVMF5JE/M58tm7347XdEs3mNk/eZRQI9NZVgMeZetMTs5pKmfUoA4NXcfm3EH5gR9ssM3xkbsp/LIPkwGfBAjlowQNCZF5tn/WAF0gVmlG1sNbPOzlpHU50ukmNG3y+TmMuKwTArj1kxR+O9o6n3Cdt3tUsmQghSybO6bExBhnd8uO2cUzPgXtH0stGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YJm3QHzgSNZxfRRU4kFx4K",
      "input": {
        "note": "Descent stalled at z≈0.07, suggesting the white bowl is resting in/on the purple bowl; opening the gripper to release it.",
        "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_01YJm3QHzgSNZxfRRU4kFx4K",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.939, 2.175, 1.6238, -0.6205, -0.6373, -0.8089, 0.9951, -0.0219, 0.8227, 0.5953, -0.4225, -0.0166, -0.0204, 0.9974]\nstate[eef_state]: left_x=0.3785 left_y=-0.3332 left_z=0.0568 left_yaw=0.0514 left_pitch=-0.2711 left_roll=0.1098 left_gripper=0.9951 right_x=0.2892 right_y=0.0002 right_z=0.1596 right_yaw=0.0022 right_pitch=-0.0797 right_roll=0.0028 right_gripper=0.9974\nstate[joint_eff]: [-0.2667, -11.3846, 6.1744, 0.9841, -0.398, 0.0659, -0.0562, -0.1709, -1.7983, 7.2274, 1.7705, -0.0513, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23dbd511bae4c74a21a1f6163d1aad08b5ea0e6375ea6803868b2df8577547f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b559d1239dd7710cae34d88c1b4754e75b9608e7b589e38f588ccc802dd85391",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f456f90fd1ae280e2f4da0e46f21172a431718b1bed8e6ddf9b35bbd0a0d57dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 10.26 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]: [-0.9421, 2.1464, 1.71, -0.7345, -0.6434, -0.8009, 0.0928, -0.0219, 0.8173, 0.5995, -0.4156, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.3787 left_y=-0.3346 left_z=0.0897 left_yaw=0.0469 left_pitch=-0.2666 left_roll=0.1179 left_gripper=0.0928 right_x=0.2906 right_y=0.0001 right_z=0.1643 right_yaw=0.002 right_pitch=-0.0633 right_roll=0.0027 right_gripper=0.9974\nstate[joint_eff]: [0.8137, -15.1043, 7.0359, 1.1062, -0.315, 0.105, -0.0122, -0.1026, -1.3744, 7.0632, 1.663, -0.022, 0.0073, -0.0122]",
      "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]: [-0.939, 2.1544, 1.6382, -0.6418, -0.6437, -0.8017, 0.0928, -0.0219, 0.8173, 0.598, -0.4156, -0.0166, -0.0204, 0.9974]\nstate[eef_state]: left_x=0.3796 left_y=-0.333 left_z=0.0701 left_yaw=0.0477 left_pitch=-0.2591 left_roll=0.1064 left_gripper=0.0928 right_x=0.2904 right_y=0.0002 right_z=0.1636 right_yaw=0.0022 right_pitch=-0.0648 right_roll=0.0025 right_gripper=0.9974\nstate[joint_eff]: [-0.3214, -9.7573, 6.3932, 1.0232, -0.3053, -0.0464, -0.0122, -0.0752, -1.1556, 7.0906, 1.6532, -0.0415, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.939, 2.175, 1.6238, -0.6205, -0.6373, -0.8089, 0.9951, -0.0219, 0.8227, 0.5953, -0.4225, -0.0166, -0.0204, 0.9974]\nstate[eef_state]: left_x=0.3785 left_y=-0.3332 left_z=0.0568 left_yaw=0.0514 left_pitch=-0.2711 left_roll=0.1098 left_gripper=0.9951 right_x=0.2892 right_y=0.0002 right_z=0.1596 right_yaw=0.0022 right_pitch=-0.0797 right_roll=0.0028 right_gripper=0.9974\nstate[joint_eff]: [-0.2667, -11.3846, 6.1744, 0.9841, -0.398, 0.0659, -0.0562, -0.1709, -1.7983, 7.2274, 1.7705, -0.0513, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23dbd511bae4c74a21a1f6163d1aad08b5ea0e6375ea6803868b2df8577547f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b559d1239dd7710cae34d88c1b4754e75b9608e7b589e38f588ccc802dd85391",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f456f90fd1ae280e2f4da0e46f21172a431718b1bed8e6ddf9b35bbd0a0d57dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISmwQKjgEIEhgCKkAX67AN93USVFhkG8HxOHQGhvAtP8ort7qc27MTaW2UuAY2AyvhmuDXAIA+t2setG/r2aUUlrJz47FfgcIYyBoCMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaeZzNUGEgz03z5kKYmmyRXhouwaDBJ3ofr6ky/YwS4bJiIwwRYUnGZn2DV2/hi5XbMsEE3QyUfno+6q1Zp2T/UYs0zWdUfzAM1UbQLAcOMI3tbrKrkC3ei9KXcvipBOmYuDdv452fsc8I8X9EffDYS40kiD4ISySAaUN75w5i+zkdn8wiXhAFZh5cBn11LHHHLhiQz8lD64nSKAdwlQUQ/ag/PjVPPLMO0FfMrB/DZI1Bo/PqdjYCvm1gSbwSUu9gZrWRKCQ27AaDLIEZljoTtWxGfJnFbsO2Vos0Yu3VcL2aeyAftyshLL2iH7TzYvkLAWPmkn1f4PIcWvueds9se4eaH3Am3cjcfXq1UVQDnyZwCpMmKEwV6Jm4TTGyB5CJuGVRkGDcAXcHbKup68Syhy4bPH38LSEP5JYRseALjcDAdsK+TE3iXReGju0yiI87JkIFeiOVjHyuZHQebj/sjzhCprwbj3TKizRw6r8F/7msgL9kNKAY8wEOR7tSrIZeJ+z1umLmC1PvE4vYoOJxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W9gTrAyiK91TjkC8FFHQ9u",
      "input": {
        "note": "Released the bowl; retracting the left arm out of the way to see the table clearly in the overhead camera.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.05,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01W9gTrAyiK91TjkC8FFHQ9u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5129, 1.1088, 1.4071, -1.2552, -0.4381, -0.4206, 0.9957, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.2576 left_y=-0.0549 left_z=0.2898 left_yaw=0.0862 left_pitch=-0.2692 left_roll=0.0932 left_gripper=0.9957 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=0.002 right_pitch=-0.0827 right_roll=0.0032 right_gripper=0.9974\nstate[joint_eff]: [0.2667, -2.8786, 8.1983, 1.1648, -0.1734, 0.1587, 0.0513, -0.1846, -1.5795, 7.0359, 1.6435, -0.0611, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:985fd17bc8d6992540539b7b69f1a02e50ebfacece4bb856b8966a35af002736",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3b17e39035783c818bc882dbe6bd685655d550132c4e317d1d87b4a0ce71542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7dd78925b8ab4b49cac496b4aab3088ab27f2f8aea6c5c00abe104021c628a76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 5.222 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]: [-0.939, 2.1544, 1.6382, -0.6418, -0.6437, -0.8017, 0.0928, -0.0219, 0.8173, 0.598, -0.4156, -0.0166, -0.0204, 0.9974]\nstate[eef_state]: left_x=0.3796 left_y=-0.333 left_z=0.0701 left_yaw=0.0477 left_pitch=-0.2591 left_roll=0.1064 left_gripper=0.0928 right_x=0.2904 right_y=0.0002 right_z=0.1636 right_yaw=0.0022 right_pitch=-0.0648 right_roll=0.0025 right_gripper=0.9974\nstate[joint_eff]: [-0.3214, -9.7573, 6.3932, 1.0232, -0.3053, -0.0464, -0.0122, -0.0752, -1.1556, 7.0906, 1.6532, -0.0415, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.939, 2.175, 1.6238, -0.6205, -0.6373, -0.8089, 0.9951, -0.0219, 0.8227, 0.5953, -0.4225, -0.0166, -0.0204, 0.9974]\nstate[eef_state]: left_x=0.3785 left_y=-0.3332 left_z=0.0568 left_yaw=0.0514 left_pitch=-0.2711 left_roll=0.1098 left_gripper=0.9951 right_x=0.2892 right_y=0.0002 right_z=0.1596 right_yaw=0.0022 right_pitch=-0.0797 right_roll=0.0028 right_gripper=0.9974\nstate[joint_eff]: [-0.2667, -11.3846, 6.1744, 0.9841, -0.398, 0.0659, -0.0562, -0.1709, -1.7983, 7.2274, 1.7705, -0.0513, -0.0659, -0.0171]",
      "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]: [-0.5129, 1.1088, 1.4071, -1.2552, -0.4381, -0.4206, 0.9957, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.2576 left_y=-0.0549 left_z=0.2898 left_yaw=0.0862 left_pitch=-0.2692 left_roll=0.0932 left_gripper=0.9957 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=0.002 right_pitch=-0.0827 right_roll=0.0032 right_gripper=0.9974\nstate[joint_eff]: [0.2667, -2.8786, 8.1983, 1.1648, -0.1734, 0.1587, 0.0513, -0.1846, -1.5795, 7.0359, 1.6435, -0.0611, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:985fd17bc8d6992540539b7b69f1a02e50ebfacece4bb856b8966a35af002736",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3b17e39035783c818bc882dbe6bd685655d550132c4e317d1d87b4a0ce71542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dd78925b8ab4b49cac496b4aab3088ab27f2f8aea6c5c00abe104021c628a76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISigkKjgEIEhgCKkDb0QMKzpbRPiq57pjk29U9KWZLgc9Zkq51aaCSyQS31ZUof3CfdQLglpmzpGVBI4OojHki0uQtMYA43s8mcEYUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbSZzNUGEgy4zgrGpp56tJCBn9YaDB+dThF/RuavVL3JgiIwBO5S4DFRXRaZwqxAMOAKlCNuvYfrbMKsppjWn7F2/YP/8HhpnjkWBaVT4c4PqRTbKqgHSpFgjDmRptEftuGBAdQQgtzSVyBdQOVa4xDw5nWC3xSJRz0u74TOEp8kAURTXx0FQQXGpX5quA43iZXsDz8lyMyoR+mZNzVlZVun0l98wEKkUsOPP5G4um98F8Ky6YmIjVxjOgN+BRKKJA/04/1lPqU3Bc6kri/jeykPHmIr95arfpvPOXkUwpx5PWeVgQR/9ibRyOCM4Q8nI0XorsFfloWCXBUUbgMO/fydCwLusxy58ggTOWv0Mk2crhpX9smF05Dn4pJaBJZulv1KUCtGRwsrNGVnbgwWacrc2hnq5NEF3Lg6m6RLmmQ/61LnCHhZ1pkiEa73iRfro7/pdZgyeru8Ch+QjOfZHo6mMvRNaBiErZvVPXrrs8VPYjxHCdsY4vlc8ExdU6XwL1syNoTxkII9wmHqgAp4gEUJic5QxG/2mybbzjiop9zWutLxXlx3bPp63+UU5i4hB3WEv7jxuschtK1aZX1WW7R2byfoObIIwVVtuTBtCea8XalTyhvLFcaica/TVcMk+9ZmTAo3LAl8SgJlWgsEmnt7sCCTQujxf/2zfS75ZzszwH4h2rTrnT/HIM54GjSTQaGWTddB6TgYRteNhT7EGIpbCCZ0m11Gwe7xp9nZUPuzQKpLxvv3Kwx2JhIlMS89OYDPHc5j2X5JyE8fcm4dJNWTPsFFC+NuGVkJZoGgSHm/aAuUcTqZZNpXfN3mAaY3Kj3+P+VtmUpJo2rznxnKmP2Ri4BdNavPPe24Y6+A9+Rbu+MyMUrQGvpYU/fmvNFWDO61X6ceoIwEptxwAbPlL6MjhMn/NGfmTvqvHi1jHA4Lr8eoE3pHLxKr3exKblIwvgmW5Hwf8f6dqAbr18/AdS44RgpBv3tJ2yLLLQm9tpVg7e7AH9PNQcW13SIMoG+oSJyxo3LGHQSLm/FTrjmYyHLnQAw2NQjIKjqCx/HQk/ZekIBiLIHm2mXsI8uOxEXbgW2KHHwhw7KPNk5X0e+WaA3ssM07jLDIuPe6UNEUp6sLGNJhstI6PJWjHwDYdZr5Y2YqC+q17d3RZkdvrPc1c2zCWc2KZwecXiY/qIx+GEKo+wRJlc3zd5+nClgjU3wnO5RrGMaqnq7e3e8fCQelTqDFqlVlurKI3YVuFxKtLhwnFYeZ3qZnUchyBrdeijmlgUdRuBPBP5zj76r9tBUbBW2uN8Vc7iBGWsQ/F8lYbt0TJMj76S7JKMSB3OZZlSxOIW59T+P557wui41h2ZseGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CmWqQUhveMQNtoj84nZkDo",
      "input": {
        "note": "The white bowl is now nested in the purple bowl. Now moving the right arm over the pink bowl, which appears to the left of its jaw column and further out.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.36,
          "right_y": 0.1,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01CmWqQUhveMQNtoj84nZkDo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1145, 1.4048, -1.2682, -0.4198, -0.416, 0.9958, 0.4019, 1.2407, 0.8429, -0.3607, 0.2783, 0.2115, 0.9975]\nstate[eef_state]: left_x=0.2555 left_y=-0.0565 left_z=0.2848 left_yaw=0.0753 left_pitch=-0.2952 left_roll=0.0956 left_gripper=0.9958 right_x=0.3469 right_y=0.0986 right_z=0.1572 right_yaw=0.0495 right_pitch=-0.153 right_roll=-0.0238 right_gripper=0.9975\nstate[joint_eff]: [-0.4308, -2.7692, 5.8598, 1.3602, -0.3932, -0.0757, -0.0024, 0.1983, -5.1487, 9.4701, 1.746, 0.2955, 0.1929, -0.2711]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2d9c83e1daef057760d0ec2195262f84acfa828879ee1896b523d9aa3fcf62c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab8eb65fc5e5d60c02467a8e99e8b9c1413e5cc04b1219dc0f3df9e1e49b5348",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a32c66741b195fd392ea08d3a916f1fd13df2053d4d235a9522066e8a3809ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 10.32 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]: [-0.939, 2.175, 1.6238, -0.6205, -0.6373, -0.8089, 0.9951, -0.0219, 0.8227, 0.5953, -0.4225, -0.0166, -0.0204, 0.9974]\nstate[eef_state]: left_x=0.3785 left_y=-0.3332 left_z=0.0568 left_yaw=0.0514 left_pitch=-0.2711 left_roll=0.1098 left_gripper=0.9951 right_x=0.2892 right_y=0.0002 right_z=0.1596 right_yaw=0.0022 right_pitch=-0.0797 right_roll=0.0028 right_gripper=0.9974\nstate[joint_eff]: [-0.2667, -11.3846, 6.1744, 0.9841, -0.398, 0.0659, -0.0562, -0.1709, -1.7983, 7.2274, 1.7705, -0.0513, -0.0659, -0.0171]",
      "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]: [-0.5129, 1.1088, 1.4071, -1.2552, -0.4381, -0.4206, 0.9957, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.2576 left_y=-0.0549 left_z=0.2898 left_yaw=0.0862 left_pitch=-0.2692 left_roll=0.0932 left_gripper=0.9957 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=0.002 right_pitch=-0.0827 right_roll=0.0032 right_gripper=0.9974\nstate[joint_eff]: [0.2667, -2.8786, 8.1983, 1.1648, -0.1734, 0.1587, 0.0513, -0.1846, -1.5795, 7.0359, 1.6435, -0.0611, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1145, 1.4048, -1.2682, -0.4198, -0.416, 0.9958, 0.4019, 1.2407, 0.8429, -0.3607, 0.2783, 0.2115, 0.9975]\nstate[eef_state]: left_x=0.2555 left_y=-0.0565 left_z=0.2848 left_yaw=0.0753 left_pitch=-0.2952 left_roll=0.0956 left_gripper=0.9958 right_x=0.3469 right_y=0.0986 right_z=0.1572 right_yaw=0.0495 right_pitch=-0.153 right_roll=-0.0238 right_gripper=0.9975\nstate[joint_eff]: [-0.4308, -2.7692, 5.8598, 1.3602, -0.3932, -0.0757, -0.0024, 0.1983, -5.1487, 9.4701, 1.746, 0.2955, 0.1929, -0.2711]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2d9c83e1daef057760d0ec2195262f84acfa828879ee1896b523d9aa3fcf62c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab8eb65fc5e5d60c02467a8e99e8b9c1413e5cc04b1219dc0f3df9e1e49b5348",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a32c66741b195fd392ea08d3a916f1fd13df2053d4d235a9522066e8a3809ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS4QYKjgEIEhgCKkCyBHxEjxsUZReaYxKO1NE4haKUJRQdKwu44MLSAqYpQazQXNICbLiVlNl/ASQiZW4tjpgwcn9WCAgYRrW0VQ81Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbqZzNUGEgzBXBHobtyVkPLutCUaDGryTIwscjAvh94UnyIwqXvYjkD1JKKzpS41D2jyMb+wzEpKXacf/qU2ED1rRxxap2LiNZ8fbpLXEz1R8v+gKv8EQz6FFZdbjFDjxChxKR5iUa+hEaCv1czLR7VyLoFQvtD7RMuB7xQuioLZ0DYgswK3mFEH63drxy9SaXFp+5dqQYk6SuDqTw02CEeP+WTzOOUgJPl3dLBgRpWUl43RiZimw/x6Ahi1ZR5dwgyAHXv4VQhA3PIrtymcyC5Xgz2tr6ZCGIBQRVLW7C8zzQb3OI9C84qMX6pEp0q0OTIlj1Er68fYC7O2rs+5l4dLdw1MCOTTjqJYwX1VZCYxgpU0yi2JjaQTsofQrDRaFBOFWqhd6WnBbhspZ2+n7EJ0AdX7H7F1bz/1HAIgZVCvsExjcL81ObM/inhR6wPQ+kimBYDxvLgD77wdMFedFj6C/PyqpISb028WujU+ylDBJ/McEQsxcFKaETaz9T2AXDY0iXpoHh52tGmIZib1kuVsOAHp59Dj+VtfujxT3drSM9T2j+lNLq3vJi3EQZX2IOHFVXfWoLzZY3miOBozDtj93igl/otc3yJeVzhhBt5CzKMrt1pZv6pbEgyaTRpRHWUKSEID6i4Nmwku4m3DtBRuDsPr/N8sN97q+bCHuXxjoF2vQGoZ2PU4CKOROlGdDjm/BeXWXV3oTQgKaMW6WEvJZOn1p46sF1OTiQe8y6wox3p59mrG12pByTW3HcScV7DDv+6rpmlhQYa+CDKDCRWBsjrRDJMEPdheqVx0481C4MRJrz7i5LrLvK0c4BdsXV0t4oLxUMN8cSm85knrH18eC1JP6oJLhH0m4KyVHw6PWYUtGe+bjCHNbq6xG3/vYWwTpr660MrEXG0i69o/nM7UNXAKunz5aBvbu7heYNV2JOzt/O9mJqFFaBm7x5Gu4LtZyPemGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SRYmRaPBebyiUHTLn5wuko",
      "input": {
        "note": "Pink bowl is centered on the right jaw column; moving down beside its right rim to pinch the rim wall.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.044,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01SRYmRaPBebyiUHTLn5wuko",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1149, 1.4048, -1.2701, -0.4187, -0.4156, 0.9959, 0.1604, 1.5478, 0.5266, 0.2108, 0.1173, 0.0616, 0.9974]\nstate[eef_state]: left_x=0.2552 left_y=-0.0565 left_z=0.2844 left_yaw=0.0746 left_pitch=-0.2977 left_roll=0.0963 left_gripper=0.9959 right_x=0.3604 right_y=0.041 right_z=0.0206 right_yaw=0.0238 right_pitch=-0.2339 right_roll=-0.0345 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -2.3179, 5.7094, 1.243, -0.2759, -0.022, -0.0122, -0.2393, -6.065, 5.5316, 1.7411, -0.0611, -0.0659, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e28d0d2634fbde811a1afc2c313cc984321fb3d82e3926b7eae72961f9ebaa53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc836b868115190c8ed5809efdf13671fc80332054a9ff586847a57b6db97579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3959c6326b54ba15921f382af430b3402261b8c9b527f90649ae5eb7f960aad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 2.232 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]: [-0.5129, 1.1088, 1.4071, -1.2552, -0.4381, -0.4206, 0.9957, -0.0219, 0.8249, 0.5945, -0.4225, -0.0166, -0.02, 0.9974]\nstate[eef_state]: left_x=0.2576 left_y=-0.0549 left_z=0.2898 left_yaw=0.0862 left_pitch=-0.2692 left_roll=0.0932 left_gripper=0.9957 right_x=0.2892 right_y=0.0002 right_z=0.1587 right_yaw=0.002 right_pitch=-0.0827 right_roll=0.0032 right_gripper=0.9974\nstate[joint_eff]: [0.2667, -2.8786, 8.1983, 1.1648, -0.1734, 0.1587, 0.0513, -0.1846, -1.5795, 7.0359, 1.6435, -0.0611, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1145, 1.4048, -1.2682, -0.4198, -0.416, 0.9958, 0.4019, 1.2407, 0.8429, -0.3607, 0.2783, 0.2115, 0.9975]\nstate[eef_state]: left_x=0.2555 left_y=-0.0565 left_z=0.2848 left_yaw=0.0753 left_pitch=-0.2952 left_roll=0.0956 left_gripper=0.9958 right_x=0.3469 right_y=0.0986 right_z=0.1572 right_yaw=0.0495 right_pitch=-0.153 right_roll=-0.0238 right_gripper=0.9975\nstate[joint_eff]: [-0.4308, -2.7692, 5.8598, 1.3602, -0.3932, -0.0757, -0.0024, 0.1983, -5.1487, 9.4701, 1.746, 0.2955, 0.1929, -0.2711]",
      "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]: [-0.5106, 1.1149, 1.4048, -1.2701, -0.4187, -0.4156, 0.9959, 0.1604, 1.5478, 0.5266, 0.2108, 0.1173, 0.0616, 0.9974]\nstate[eef_state]: left_x=0.2552 left_y=-0.0565 left_z=0.2844 left_yaw=0.0746 left_pitch=-0.2977 left_roll=0.0963 left_gripper=0.9959 right_x=0.3604 right_y=0.041 right_z=0.0206 right_yaw=0.0238 right_pitch=-0.2339 right_roll=-0.0345 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -2.3179, 5.7094, 1.243, -0.2759, -0.022, -0.0122, -0.2393, -6.065, 5.5316, 1.7411, -0.0611, -0.0659, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e28d0d2634fbde811a1afc2c313cc984321fb3d82e3926b7eae72961f9ebaa53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc836b868115190c8ed5809efdf13671fc80332054a9ff586847a57b6db97579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3959c6326b54ba15921f382af430b3402261b8c9b527f90649ae5eb7f960aad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017mW6Dkqt4hd6Y9LNPqYehv",
      "input": {
        "note": "The pink bowl's rim sits a bit right of the jaw center in the wrist view; nudging 1.2 cm to the arm's right so the rim is centered between the fingers before closing.",
        "targets": {
          "right_y": 0.029
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_017mW6Dkqt4hd6Y9LNPqYehv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1187, 1.404, -1.2709, -0.416, -0.416, 0.9958, 0.1284, 1.5631, 0.5156, 0.2607, 0.0875, 0.0319, 0.9974]\nstate[eef_state]: left_x=0.2555 left_y=-0.0572 left_z=0.283 left_yaw=0.0737 left_pitch=-0.3034 left_roll=0.0972 left_gripper=0.9958 right_x=0.3647 right_y=0.0351 right_z=0.0197 right_yaw=0.0345 right_pitch=-0.2135 right_roll=-0.0314 right_gripper=0.9974\nstate[joint_eff]: [-0.3077, -2.6325, 5.7504, 1.243, -0.2564, -0.0659, -0.0171, -0.294, -7.3231, 5.5316, 1.4725, -0.0611, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c899f138765f10bfc904b7a454733a2fd8348df367aef32c82bd0bbb9853ef12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc143c2218f34c6ba3c411c956f68087846513a900d428b544a35f9ccc16897e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6bb460a80320c88959d8e84b443e000b1ad9a44899092e45ffd927f544e457b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 3.814 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]: [-0.5106, 1.1145, 1.4048, -1.2682, -0.4198, -0.416, 0.9958, 0.4019, 1.2407, 0.8429, -0.3607, 0.2783, 0.2115, 0.9975]\nstate[eef_state]: left_x=0.2555 left_y=-0.0565 left_z=0.2848 left_yaw=0.0753 left_pitch=-0.2952 left_roll=0.0956 left_gripper=0.9958 right_x=0.3469 right_y=0.0986 right_z=0.1572 right_yaw=0.0495 right_pitch=-0.153 right_roll=-0.0238 right_gripper=0.9975\nstate[joint_eff]: [-0.4308, -2.7692, 5.8598, 1.3602, -0.3932, -0.0757, -0.0024, 0.1983, -5.1487, 9.4701, 1.746, 0.2955, 0.1929, -0.2711]",
      "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]: [-0.5106, 1.1149, 1.4048, -1.2701, -0.4187, -0.4156, 0.9959, 0.1604, 1.5478, 0.5266, 0.2108, 0.1173, 0.0616, 0.9974]\nstate[eef_state]: left_x=0.2552 left_y=-0.0565 left_z=0.2844 left_yaw=0.0746 left_pitch=-0.2977 left_roll=0.0963 left_gripper=0.9959 right_x=0.3604 right_y=0.041 right_z=0.0206 right_yaw=0.0238 right_pitch=-0.2339 right_roll=-0.0345 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -2.3179, 5.7094, 1.243, -0.2759, -0.022, -0.0122, -0.2393, -6.065, 5.5316, 1.7411, -0.0611, -0.0659, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1187, 1.404, -1.2709, -0.416, -0.416, 0.9958, 0.1284, 1.5631, 0.5156, 0.2607, 0.0875, 0.0319, 0.9974]\nstate[eef_state]: left_x=0.2555 left_y=-0.0572 left_z=0.283 left_yaw=0.0737 left_pitch=-0.3034 left_roll=0.0972 left_gripper=0.9958 right_x=0.3647 right_y=0.0351 right_z=0.0197 right_yaw=0.0345 right_pitch=-0.2135 right_roll=-0.0314 right_gripper=0.9974\nstate[joint_eff]: [-0.3077, -2.6325, 5.7504, 1.243, -0.2564, -0.0659, -0.0171, -0.294, -7.3231, 5.5316, 1.4725, -0.0611, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c899f138765f10bfc904b7a454733a2fd8348df367aef32c82bd0bbb9853ef12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc143c2218f34c6ba3c411c956f68087846513a900d428b544a35f9ccc16897e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6bb460a80320c88959d8e84b443e000b1ad9a44899092e45ffd927f544e457b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VVu2oYLmLw7t1ENWG2Ebw5",
      "input": {
        "note": "Rim now lies between the jaws in the right wrist view; closing to pinch the pink bowl's rim.",
        "targets": {
          "right_gripper": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VVu2oYLmLw7t1ENWG2Ebw5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.124, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.1268, 1.5555, 0.5163, 0.2665, 0.0746, 0.033, 0.0886]\nstate[eef_state]: left_x=0.256 left_y=-0.0575 left_z=0.281 left_yaw=0.0751 left_pitch=-0.31 left_roll=0.1018 left_gripper=0.9958 right_x=0.3665 right_y=0.0371 right_z=0.0235 right_yaw=0.0437 right_pitch=-0.2002 right_roll=-0.02 right_gripper=0.0886\nstate[joint_eff]: [-0.1846, -2.8376, 5.9145, 1.2332, -0.2662, -0.0708, -0.0073, -0.1026, -5.1214, 5.6684, 1.0037, 0.3834, -0.0415, 0.6032]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:844d8ec493392a65c1a2b64b81d08a502a9fcf8e89b1ab621e77182972a1edae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b77a3673b1b08bbf818179e42c7036f74cfe380dd08b225755aeedba4fd97d73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0dbfcf1a6635e758e25ebe43c9138fe7f5a57088b522c870509e4aa75e02052f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 6.192 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]: [-0.5106, 1.1149, 1.4048, -1.2701, -0.4187, -0.4156, 0.9959, 0.1604, 1.5478, 0.5266, 0.2108, 0.1173, 0.0616, 0.9974]\nstate[eef_state]: left_x=0.2552 left_y=-0.0565 left_z=0.2844 left_yaw=0.0746 left_pitch=-0.2977 left_roll=0.0963 left_gripper=0.9959 right_x=0.3604 right_y=0.041 right_z=0.0206 right_yaw=0.0238 right_pitch=-0.2339 right_roll=-0.0345 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -2.3179, 5.7094, 1.243, -0.2759, -0.022, -0.0122, -0.2393, -6.065, 5.5316, 1.7411, -0.0611, -0.0659, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1187, 1.404, -1.2709, -0.416, -0.416, 0.9958, 0.1284, 1.5631, 0.5156, 0.2607, 0.0875, 0.0319, 0.9974]\nstate[eef_state]: left_x=0.2555 left_y=-0.0572 left_z=0.283 left_yaw=0.0737 left_pitch=-0.3034 left_roll=0.0972 left_gripper=0.9958 right_x=0.3647 right_y=0.0351 right_z=0.0197 right_yaw=0.0345 right_pitch=-0.2135 right_roll=-0.0314 right_gripper=0.9974\nstate[joint_eff]: [-0.3077, -2.6325, 5.7504, 1.243, -0.2564, -0.0659, -0.0171, -0.294, -7.3231, 5.5316, 1.4725, -0.0611, 0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.124, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.1268, 1.5555, 0.5163, 0.2665, 0.0746, 0.033, 0.0886]\nstate[eef_state]: left_x=0.256 left_y=-0.0575 left_z=0.281 left_yaw=0.0751 left_pitch=-0.31 left_roll=0.1018 left_gripper=0.9958 right_x=0.3665 right_y=0.0371 right_z=0.0235 right_yaw=0.0437 right_pitch=-0.2002 right_roll=-0.02 right_gripper=0.0886\nstate[joint_eff]: [-0.1846, -2.8376, 5.9145, 1.2332, -0.2662, -0.0708, -0.0073, -0.1026, -5.1214, 5.6684, 1.0037, 0.3834, -0.0415, 0.6032]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:844d8ec493392a65c1a2b64b81d08a502a9fcf8e89b1ab621e77182972a1edae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b77a3673b1b08bbf818179e42c7036f74cfe380dd08b225755aeedba4fd97d73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dbfcf1a6635e758e25ebe43c9138fe7f5a57088b522c870509e4aa75e02052f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS2AQKjgEIEhgCKkAzvZoT4/2zgiDzscz5o8dI+1IZeFpGs4RUs3DxkJ2zwg+3KPx77PH+r/Ps9ouuAF4JxCKFLXUxg2XPbgpALX5OMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcyZzNUGEgzN7BFAmca9mM7TS5waDPbJ6Z94pe3q6u86ViIwPfT4Nw39eT74s2y8Pth0N97PEl6Qc88wgLGlh00IU//VNFCz4mr2QSgspc57CqRDKvYCm6HB8S0LPX5vio9Q7P9u405CzD/nOgyTDQ4pXBNoPBUtTB9U29H+EWQQronb1ow42RiVV4XW07s4YZ/p+ItKcxuNJlGdgGN9MdQI9/PpRxtORKtcRUz+Y12q08dD5+5PR9gJdxyPbw2YZSFa0PcgFAoU6lVjgCjJ/NsFZMVzonMc122iCFxjX941ETKOjr+Dv8hvHC5JC7ZB7knmnLvS2i4ztyb2/nxyVQLMh582aJjrlgrsDKs1xsHGlmTHCWVVgiugdb5Pqh2kkJn0iuaM8t4VVxBDSS72Gkg84NYdrc/xQgdNqjwqrQ7Yow8s8qkt0kGGCFpJgkn7d1WSIqiquKsfljKInT5YHHfT535zDgIFuV2X9C40a48S+9qTrlAJIhHI1bqtLK338w305OHvDirDeIucm4S/BhgvButT3BZKhNQ/jgfrpH9q//OPCkeBklsPSsB7LMNHtBbr9XlQI6Ok583CZWrLnMtxgKAjHxoPWcWlI2sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sdijjg31pexL7R4rsuvYgw",
      "input": {
        "note": "Gripper settled at 0.089 (~9 mm), so the rim is held; lifting the pink bowl clear of the table.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01Sdijjg31pexL7R4rsuvYgw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1248, 1.4021, -1.2716, -0.4156, -0.416, 0.9958, 0.1268, 1.277, 1.0851, -0.5972, 0.0658, 0.025, 0.0889]\nstate[eef_state]: left_x=0.2561 left_y=-0.0576 left_z=0.2808 left_yaw=0.0749 left_pitch=-0.3109 left_roll=0.102 left_gripper=0.9958 right_x=0.3672 right_y=0.0387 right_z=0.2022 right_yaw=0.0554 right_pitch=-0.2171 right_roll=-0.0208 right_gripper=0.0889\nstate[joint_eff]: [-0.0752, -2.4821, 5.8598, 1.2039, -0.2466, -0.0659, -0.0073, -0.253, -5.4906, 9.2923, 1.6484, 0.0952, 0.0269, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e4b8237efa5eede79ee97b215cd41dd907131fa189c0da27b84ca19cb025575",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b209787276f9e9ead8039b199f0058c627868625d5c0c11b266cbd803154f588",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dbfacfc74d1194696fe3b6618f979c7879523b34e1df3a9cb61f69f327c56427",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 7.638 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]: [-0.5106, 1.1187, 1.404, -1.2709, -0.416, -0.416, 0.9958, 0.1284, 1.5631, 0.5156, 0.2607, 0.0875, 0.0319, 0.9974]\nstate[eef_state]: left_x=0.2555 left_y=-0.0572 left_z=0.283 left_yaw=0.0737 left_pitch=-0.3034 left_roll=0.0972 left_gripper=0.9958 right_x=0.3647 right_y=0.0351 right_z=0.0197 right_yaw=0.0345 right_pitch=-0.2135 right_roll=-0.0314 right_gripper=0.9974\nstate[joint_eff]: [-0.3077, -2.6325, 5.7504, 1.243, -0.2564, -0.0659, -0.0171, -0.294, -7.3231, 5.5316, 1.4725, -0.0611, 0.0611, -0.0122]\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]: [-0.5106, 1.124, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.1268, 1.5555, 0.5163, 0.2665, 0.0746, 0.033, 0.0886]\nstate[eef_state]: left_x=0.256 left_y=-0.0575 left_z=0.281 left_yaw=0.0751 left_pitch=-0.31 left_roll=0.1018 left_gripper=0.9958 right_x=0.3665 right_y=0.0371 right_z=0.0235 right_yaw=0.0437 right_pitch=-0.2002 right_roll=-0.02 right_gripper=0.0886\nstate[joint_eff]: [-0.1846, -2.8376, 5.9145, 1.2332, -0.2662, -0.0708, -0.0073, -0.1026, -5.1214, 5.6684, 1.0037, 0.3834, -0.0415, 0.6032]",
      "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]: [-0.5106, 1.1248, 1.4021, -1.2716, -0.4156, -0.416, 0.9958, 0.1268, 1.277, 1.0851, -0.5972, 0.0658, 0.025, 0.0889]\nstate[eef_state]: left_x=0.2561 left_y=-0.0576 left_z=0.2808 left_yaw=0.0749 left_pitch=-0.3109 left_roll=0.102 left_gripper=0.9958 right_x=0.3672 right_y=0.0387 right_z=0.2022 right_yaw=0.0554 right_pitch=-0.2171 right_roll=-0.0208 right_gripper=0.0889\nstate[joint_eff]: [-0.0752, -2.4821, 5.8598, 1.2039, -0.2466, -0.0659, -0.0073, -0.253, -5.4906, 9.2923, 1.6484, 0.0952, 0.0269, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e4b8237efa5eede79ee97b215cd41dd907131fa189c0da27b84ca19cb025575",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b209787276f9e9ead8039b199f0058c627868625d5c0c11b266cbd803154f588",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbfacfc74d1194696fe3b6618f979c7879523b34e1df3a9cb61f69f327c56427",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISogYKjgEIEhgCKkBgXBQvbaU7cUEbLlUwJKhRq/4hoizDQdSBez18W1KjlNHfjqGnTTG46Si+wJ7K/QTZ8ZoA3TCwWsWfZu8p56mPMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdOZzNUGEgwrH3hpqW1Hfj+7IacaDHU8E+ThRMkCWj5wQCIwMLhqrAdwJMGWi3OzZUMKOXlV/1vX8HRVpb2LnHgsKUJJ2DZT5M0lk1IXFbmfZXXWKsAEpow91ClGBOktTJYugHNFJ8xPkInydlldkN79ariPVZn/PzUrNT48iBk0xXGFxSq5XTLeNN2hRPo+983aS3mTssRqyPraO4cPtyM1yi9JW+BOV274QCOo/9AjEcOe5rh0/gS4U8ezzEQ+DyKVOizBJ3W1bE+zCpt5g0w1pW40AKoE1TWRlRa86xAYwoKUGNvkjxP2FTTNnmF7TRon33wwjzYEGs+ElxnFtBwiak5e4YuhizqZ4kWihx7dW05TO+GjGgSpOQ743qYuWvJeW4yTQHhZNxORMmVq3cajHOh0Eg/pxQkXCMyKvXEULubtq3n9/mkeqk9jgqDgoLyVWR5c1/stF2sljb9Ghs5zwy7x/07slAfkweUyqBVrBMZiP9e4LxFlzt4GD/KlSAAUfFDV5vB+MYMoj6VPP7jgirNeT7Gm4GK6/XjVYd7eq0vE+lKJvQWt6qXuSGCrWgD+lGMhiysrb9iI3a+oWDFPcbsZR61NEHu+SKpPHMeEsegii2G1dbA0cMUILnksI+Wou+PC2VQbkAkUVZ4ROyyYVvDpejD/Mq6fdVRXQ8YS1Jk+H9XHyUtAB0SI+Spo0H/4pQYuEWI2CqkaOu1LvROrEtG+76Roe7rEkKVBv5/2dxkLHaUtO4TAYAD7cmAsoMgl2wTEWUQmjXNeBLW6Rb6i/Pec8O1oQhjOjuVU9HOUL8N6/pFO8uGRIGwzS33cR4qU3x482SRAdtUyELpJ2RSYd0Sc5lgP/8kaFUN8PrbB4QfWXUr4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DVRCB9r6YMYXffD2W5g3bh",
      "input": {
        "note": "Pink bowl is lifted by its rim; carrying it across above the white/purple stack (grasp point offset 5.5 cm to the right of the bowl's center).",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.26,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01DVRCB9r6YMYXffD2W5g3bh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1248, 1.4021, -1.272, -0.416, -0.4156, 0.9958, 0.7685, 1.7687, 1.737, -0.9363, 0.4637, 0.4934, 0.0889]\nstate[eef_state]: left_x=0.2561 left_y=-0.0575 left_z=0.2808 left_yaw=0.0751 left_pitch=-0.311 left_roll=0.1028 left_gripper=0.9958 right_x=0.3745 right_y=0.2572 right_z=0.2353 right_yaw=0.091 right_pitch=-0.2595 right_roll=-0.049 right_gripper=0.0889\nstate[joint_eff]: [-0.253, -2.3316, 5.9556, 1.2332, -0.2173, -0.0513, -0.0122, 0.294, -8.5812, 9.0188, 1.3748, 0.3101, 0.1978, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cac5facf0b99c008e36b7814499fb4a51b213c3671875ee743b8e0b1609c2a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db730fcec9cbfa4e9de74af42672d9ce0a9331822ab538815ed3a62582d148aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1969c83393e27bb7d685153dba647bbfc40e814ecad9cab0efc020b0b95a2f1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 7.247 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]: [-0.5106, 1.124, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.1268, 1.5555, 0.5163, 0.2665, 0.0746, 0.033, 0.0886]\nstate[eef_state]: left_x=0.256 left_y=-0.0575 left_z=0.281 left_yaw=0.0751 left_pitch=-0.31 left_roll=0.1018 left_gripper=0.9958 right_x=0.3665 right_y=0.0371 right_z=0.0235 right_yaw=0.0437 right_pitch=-0.2002 right_roll=-0.02 right_gripper=0.0886\nstate[joint_eff]: [-0.1846, -2.8376, 5.9145, 1.2332, -0.2662, -0.0708, -0.0073, -0.1026, -5.1214, 5.6684, 1.0037, 0.3834, -0.0415, 0.6032]",
      "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]: [-0.5106, 1.1248, 1.4021, -1.2716, -0.4156, -0.416, 0.9958, 0.1268, 1.277, 1.0851, -0.5972, 0.0658, 0.025, 0.0889]\nstate[eef_state]: left_x=0.2561 left_y=-0.0576 left_z=0.2808 left_yaw=0.0749 left_pitch=-0.3109 left_roll=0.102 left_gripper=0.9958 right_x=0.3672 right_y=0.0387 right_z=0.2022 right_yaw=0.0554 right_pitch=-0.2171 right_roll=-0.0208 right_gripper=0.0889\nstate[joint_eff]: [-0.0752, -2.4821, 5.8598, 1.2039, -0.2466, -0.0659, -0.0073, -0.253, -5.4906, 9.2923, 1.6484, 0.0952, 0.0269, 0.022]",
      "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]: [-0.5106, 1.1248, 1.4021, -1.272, -0.416, -0.4156, 0.9958, 0.7685, 1.7687, 1.737, -0.9363, 0.4637, 0.4934, 0.0889]\nstate[eef_state]: left_x=0.2561 left_y=-0.0575 left_z=0.2808 left_yaw=0.0751 left_pitch=-0.311 left_roll=0.1028 left_gripper=0.9958 right_x=0.3745 right_y=0.2572 right_z=0.2353 right_yaw=0.091 right_pitch=-0.2595 right_roll=-0.049 right_gripper=0.0889\nstate[joint_eff]: [-0.253, -2.3316, 5.9556, 1.2332, -0.2173, -0.0513, -0.0122, 0.294, -8.5812, 9.0188, 1.3748, 0.3101, 0.1978, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cac5facf0b99c008e36b7814499fb4a51b213c3671875ee743b8e0b1609c2a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db730fcec9cbfa4e9de74af42672d9ce0a9331822ab538815ed3a62582d148aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1969c83393e27bb7d685153dba647bbfc40e814ecad9cab0efc020b0b95a2f1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISlQkKjgEIEhgCKkAm6bqg3glxSK4u79S5Ovaf4gsJ8+1tzZNgVuUiEKePvxVnt9UOjGw+5l5GZDu+Gz6Ehrd+xqvdsa6MXybl+T84Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd2ZzNUGEgwp5fRBJrarx5/hJOIaDFdD0BMCsLCDUnfMeCIwj4UjykBGeYkpz/Aq3XXbtldVRGDxZR3uGq8UzfVv6Q0hYq9FKoNn5kjX1CAShUjBKrMH6LimmD+iZwKYgUOxo5xUoCnhdNVuiz1lpgn06FMd+3ZgIoJ4CXyNrqvjtjGHpO2XYDaFofWystrOJF6xxoX4hQH8TYQj0/2aVsaIQglUDwnH2Tqh7gXVysrXYPp4BCjUhy3gMkFC76/dwIvcsbirFYCuduar+X6FEkImnInaCZl0ewtEQFI0+0YxR9IkhFHjbK8dNwHam+zWxLy+p0FBkOtgcCG+gzUSBTAMdCX1JbHZivYl2XmzbrUyQoI30ZXjxBZhkQtMy+28d8fZ4tTJf6Su7dEE/pZw1JFM4lOefl2NhJqJqOFA6tRr2W1J9TL1zQGZRpk/iJ2N7ACBN/7T3Cn4BTne31KaxPw2FQStIzJ2paeIpAkeMVs9aQcx7VGj7Ep+pO9HAnw85rzVhnbQGVDAfkqwE1nLC8REe7031fVNLlayhdQ2DjHVfo+ywo9mm19lBFANfxuKeod60wfU68V3hYmib5oaT2LFIz/6qsm20+gLR2rbkYIwmXT2S7XpvY7VmUsXgpA3Cz7n6H5xQ2CK50x97nmSOlUgAcrJmYwCY6pNo6nMwQ4VF40+75b/3981IGArnBfpF4vAODoawnRnkodWt7/HpJvcVJ0nWzpt30Dgd6Sd1n+vlwqQyEJSk403V9NZNeg/0sO+aupy94qCAqe/ULOasEqN2ftGy430TvBvGo/y9wB/OZtXBg2+d0XLKT6K62dTYXUR2XYELu2Cj2bMMX+Z4tn/e6xlPuMuZQU9d/gFv+y8aSlErvgUuP7TMMylG2pR+dlVDZC5Hv+bRAxYMc1yyC7eLyvB8q9A7mR2iavaNABCkhEs62Dgy6ADFtJg1JQQMqlLccUAhWxro/m33jSFrtV0m2ZS7Gv2b/wn1TtbGLQw8l1KyaMNuHmyuz/BA1ONR6QDssLYLzwUrNa17h/14Dcvy3Lf2W07Eh+ustcFEUIBz1SSSzv1xx8gz3dTKwFg7/AKFoRykSiCpEM59sYPW0iM0F9sKrKKMZCJ1x1hxhh27+/uw4q6/pfdsKYoFukDLl5jjaH2JGoQe9/caMomW/Vf+T3miMLsjxSw3zSzDgXhXjYZdIYhHSg3+zR9SljI8tZHtNHRgZGMIo1lOzcFrp+ysv3Jk9llSYSPBKDea8zTqgJl/m8D04nlpyxyY947ihcDIDGzCmfZNTcxo3YW6kuhdClEvCVValsNV33V0c+qQPH8H5mSitjlzqPZgddJaYvZmV94xoplrdr5sv8hLaMeXmaPn6bTaaUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gi8UsUDgGWe52WMp1zDPpa",
      "input": {
        "note": "The white/purple stack appears at the bottom-left of the right wrist view, still a few cm to the arm's left of the hanging bowl; shifting left 3.5 cm and dropping slightly before lowering in.",
        "targets": {
          "right_y": 0.295,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Gi8UsUDgGWe52WMp1zDPpa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1248, 1.4021, -1.2716, -0.4156, -0.416, 0.9958, 0.8318, 1.8668, 1.7752, -0.9489, 0.4808, 0.5331, 0.0889]\nstate[eef_state]: left_x=0.2561 left_y=-0.0576 left_z=0.2808 left_yaw=0.0749 left_pitch=-0.3109 left_roll=0.102 left_gripper=0.9958 right_x=0.3683 right_y=0.2882 right_z=0.2064 right_yaw=0.1061 right_pitch=-0.3039 right_roll=-0.082 right_gripper=0.0889\nstate[joint_eff]: [-0.0205, -2.2906, 5.6957, 1.2234, -0.2271, -0.0562, -0.0073, 0.1573, -9.7026, 9.9214, 1.2479, 0.3053, 0.2271, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51964eaa32d0ab50bac7fa4e5b9871915ea0d5b524208c547060a80491e454c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70df2a6021154a536ada4c1e9204ba0ebe421b5d119895734c686b694b52a762",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fecb4130329c24f3a10d37d4ef7e331dccbeef2498586fa2eaee57f5a4c503e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 12.72 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]: [-0.5106, 1.1248, 1.4021, -1.2716, -0.4156, -0.416, 0.9958, 0.1268, 1.277, 1.0851, -0.5972, 0.0658, 0.025, 0.0889]\nstate[eef_state]: left_x=0.2561 left_y=-0.0576 left_z=0.2808 left_yaw=0.0749 left_pitch=-0.3109 left_roll=0.102 left_gripper=0.9958 right_x=0.3672 right_y=0.0387 right_z=0.2022 right_yaw=0.0554 right_pitch=-0.2171 right_roll=-0.0208 right_gripper=0.0889\nstate[joint_eff]: [-0.0752, -2.4821, 5.8598, 1.2039, -0.2466, -0.0659, -0.0073, -0.253, -5.4906, 9.2923, 1.6484, 0.0952, 0.0269, 0.022]",
      "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]: [-0.5106, 1.1248, 1.4021, -1.272, -0.416, -0.4156, 0.9958, 0.7685, 1.7687, 1.737, -0.9363, 0.4637, 0.4934, 0.0889]\nstate[eef_state]: left_x=0.2561 left_y=-0.0575 left_z=0.2808 left_yaw=0.0751 left_pitch=-0.311 left_roll=0.1028 left_gripper=0.9958 right_x=0.3745 right_y=0.2572 right_z=0.2353 right_yaw=0.091 right_pitch=-0.2595 right_roll=-0.049 right_gripper=0.0889\nstate[joint_eff]: [-0.253, -2.3316, 5.9556, 1.2332, -0.2173, -0.0513, -0.0122, 0.294, -8.5812, 9.0188, 1.3748, 0.3101, 0.1978, -0.0073]",
      "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]: [-0.5106, 1.1248, 1.4021, -1.2716, -0.4156, -0.416, 0.9958, 0.8318, 1.8668, 1.7752, -0.9489, 0.4808, 0.5331, 0.0889]\nstate[eef_state]: left_x=0.2561 left_y=-0.0576 left_z=0.2808 left_yaw=0.0749 left_pitch=-0.3109 left_roll=0.102 left_gripper=0.9958 right_x=0.3683 right_y=0.2882 right_z=0.2064 right_yaw=0.1061 right_pitch=-0.3039 right_roll=-0.082 right_gripper=0.0889\nstate[joint_eff]: [-0.0205, -2.2906, 5.6957, 1.2234, -0.2271, -0.0562, -0.0073, 0.1573, -9.7026, 9.9214, 1.2479, 0.3053, 0.2271, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51964eaa32d0ab50bac7fa4e5b9871915ea0d5b524208c547060a80491e454c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70df2a6021154a536ada4c1e9204ba0ebe421b5d119895734c686b694b52a762",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fecb4130329c24f3a10d37d4ef7e331dccbeef2498586fa2eaee57f5a4c503e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISpAgKjgEIEhgCKkB9RtMXnUDXbNMbG6h6p2DvjWfxTlnukzmHhUETuiyHC1SNl9HKqPBSi5Xvvk1OmWarGTiInW1/L7fjuisF6AXUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeWZzNUGEgxGGV4wBRy/oy6VROEaDKcYhTcRWXgaHZezeiIwtzzojMfKpdAEHwun/zjXXtIQzlKdk72lm8MC8YpI0EeUMaycmSxq4T3KTZUczwGNKsIGUNHRJmwNikCRGYNquiUYVZumA4lDhLohuEVvMf2nDgHfy6g0Xuryp4Kh8s8b6Uivxzk3WamerWRhLa4mMLlkKd1zfrxjRGXxHGbetLMj1Y9GUgFz9SCMyxTpmoMOY0ag0VwidId7GW0IBS4IoMVS8ZVOdzvpShMjU9hLrBqo9HjkQUWhk4UcrOJKrSs7sKrIiVh3SyDvQk7i/qX+clXMMU4wJSaEzSltqOs29rnUkGZ7G2WVgZ8/fpLcEMBW0QVP81kKxK9+uuwOA29pxyteppFdlDc00Ar5fEYuZWBeZuMrb4EEnWnZzee7zp5w1yRuh+gcFwYsp6g/MnM9VdIAKpjPGY6DDeruBL0EFqj7u5JlGOLtVtS9sI5ltSOVuEq1OLbttof9Az3wDXBiYm3xBLIVFhiCYc0uMAG08julh1iKeg2BF5rY+zPoLk3h2dHkDtBWo8YCMLoLTmickUlNGqBMtppdupqM2IBwB0JarUE7Vqx5c3Io+gVuKambXg7bEe5DDIIEzd3urHeG78bDfLQCglFbIspriDcqkEY1Xn0/FPaLz03w3dHmvT2xkqcqRxEH3C1mTJqtl7XQ/JCvN6a1v35FA1cCZkWNbkdj3clEarK5LsdEzawmjp1OZ8PswECgMteUeqX4Hl40YT6oPySfrlKp8FPuEt8rDHZqoLxUg8izn+e08p4rsH57VaLm3QX8aqUZC8IpKSzyK/l/wO07sbBdCJygBy/cgPn/sf4aHjdz02NB3mmYFTBSArZtBpHS9SLAGZfyIEHcHdxgmyM5QZBFV3v0FPxuivfx8xf5ipDa3sYH6Qvee44xmaru5ZlNR+fcAv/BTTqxK7H4CacwC9khY3XuTRaEwvkem7u6qOUyNLjVNa7ly1/+cSCzhex4xtAoOhUSpJzFaUliXBqJA8vIG9DcxflsSvNN4zGkXgWqBvtYP899kh7yhBhruxRj66ifpor5REZKqJAk8dnGI1+X4hLE1Rae6FAIeMy75xgv0LMf8EsRKiDVlKi7wVt6qmXthamwZ7DQf7L+6RJ21bkFJAjNsU8Rxj13DzaigYi0yDgMnPT9OR7J3csgjRrj0+3wyYP8eTQbEfZtC5DEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JqsLzpjxbVAHAu98vjUHK5",
      "input": {
        "note": "Shifting 2.5 cm further left to line the hanging pink bowl up with the stack, and lowering toward it.",
        "targets": {
          "right_y": 0.315,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01JqsLzpjxbVAHAu98vjUHK5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.8425, 1.887, 1.7805, -0.9478, 0.4828, 0.543, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0753 left_pitch=-0.311 left_roll=0.1025 left_gripper=0.9958 right_x=0.3673 right_y=0.294 right_z=0.1997 right_yaw=0.1069 right_pitch=-0.3126 right_roll=-0.0863 right_gripper=0.0889\nstate[joint_eff]: [-0.0479, -2.441, 5.9419, 1.1941, -0.2369, -0.0269, -0.0073, -0.4308, -10.7282, 9.7162, 1.1844, 0.3932, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28e9d071168aac072a49f9957cada5a6781f85d9d329d52a84ae275411bdbfbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:749b9930e61a43f0aa0cfa4dc15112500032b0bb0bacf09c520d2c9a53e28a34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e8226e6f9d4ec3771e1915d725df3d0bf66e7870cb55409a58eb317c8ee33ac7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 4.614 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]: [-0.5106, 1.1248, 1.4021, -1.272, -0.416, -0.4156, 0.9958, 0.7685, 1.7687, 1.737, -0.9363, 0.4637, 0.4934, 0.0889]\nstate[eef_state]: left_x=0.2561 left_y=-0.0575 left_z=0.2808 left_yaw=0.0751 left_pitch=-0.311 left_roll=0.1028 left_gripper=0.9958 right_x=0.3745 right_y=0.2572 right_z=0.2353 right_yaw=0.091 right_pitch=-0.2595 right_roll=-0.049 right_gripper=0.0889\nstate[joint_eff]: [-0.253, -2.3316, 5.9556, 1.2332, -0.2173, -0.0513, -0.0122, 0.294, -8.5812, 9.0188, 1.3748, 0.3101, 0.1978, -0.0073]",
      "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]: [-0.5106, 1.1248, 1.4021, -1.2716, -0.4156, -0.416, 0.9958, 0.8318, 1.8668, 1.7752, -0.9489, 0.4808, 0.5331, 0.0889]\nstate[eef_state]: left_x=0.2561 left_y=-0.0576 left_z=0.2808 left_yaw=0.0749 left_pitch=-0.3109 left_roll=0.102 left_gripper=0.9958 right_x=0.3683 right_y=0.2882 right_z=0.2064 right_yaw=0.1061 right_pitch=-0.3039 right_roll=-0.082 right_gripper=0.0889\nstate[joint_eff]: [-0.0205, -2.2906, 5.6957, 1.2234, -0.2271, -0.0562, -0.0073, 0.1573, -9.7026, 9.9214, 1.2479, 0.3053, 0.2271, -0.0171]",
      "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]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.8425, 1.887, 1.7805, -0.9478, 0.4828, 0.543, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0753 left_pitch=-0.311 left_roll=0.1025 left_gripper=0.9958 right_x=0.3673 right_y=0.294 right_z=0.1997 right_yaw=0.1069 right_pitch=-0.3126 right_roll=-0.0863 right_gripper=0.0889\nstate[joint_eff]: [-0.0479, -2.441, 5.9419, 1.1941, -0.2369, -0.0269, -0.0073, -0.4308, -10.7282, 9.7162, 1.1844, 0.3932, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28e9d071168aac072a49f9957cada5a6781f85d9d329d52a84ae275411bdbfbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:749b9930e61a43f0aa0cfa4dc15112500032b0bb0bacf09c520d2c9a53e28a34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8226e6f9d4ec3771e1915d725df3d0bf66e7870cb55409a58eb317c8ee33ac7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0177JmDJ9k7fgLsuBQ9uT8BA",
      "input": {
        "note": "The arm stalled short of the last target (likely reach/IK limit at that stretch), so I'm pulling in 3 cm in x while continuing to shift left and down toward the target bowl.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.31,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0177JmDJ9k7fgLsuBQ9uT8BA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.8425, 1.887, 1.7805, -0.9474, 0.4831, 0.543, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0753 left_pitch=-0.311 left_roll=0.1025 left_gripper=0.9958 right_x=0.3674 right_y=0.294 right_z=0.1998 right_yaw=0.1067 right_pitch=-0.312 right_roll=-0.0862 right_gripper=0.0889\nstate[joint_eff]: [-0.253, -2.441, 5.7094, 1.2332, -0.2418, -0.0659, -0.0122, -0.2803, -10.7419, 9.6615, 1.2674, 0.4274, 0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b802cced91d942bef6d6e95c7c15b73524d39e77d6a90aebe91d25bb3bbed7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64fd36c0e7e695069337aac8a1c2b5d2c7b7ee811b25087426bd77d70b16f1cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:128d8a43c35b4569ebc3eefb861d04bd240659298b70cadab6c346a30db4c3d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 10.54 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]: [-0.5106, 1.1248, 1.4021, -1.2716, -0.4156, -0.416, 0.9958, 0.8318, 1.8668, 1.7752, -0.9489, 0.4808, 0.5331, 0.0889]\nstate[eef_state]: left_x=0.2561 left_y=-0.0576 left_z=0.2808 left_yaw=0.0749 left_pitch=-0.3109 left_roll=0.102 left_gripper=0.9958 right_x=0.3683 right_y=0.2882 right_z=0.2064 right_yaw=0.1061 right_pitch=-0.3039 right_roll=-0.082 right_gripper=0.0889\nstate[joint_eff]: [-0.0205, -2.2906, 5.6957, 1.2234, -0.2271, -0.0562, -0.0073, 0.1573, -9.7026, 9.9214, 1.2479, 0.3053, 0.2271, -0.0171]",
      "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]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.8425, 1.887, 1.7805, -0.9478, 0.4828, 0.543, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0753 left_pitch=-0.311 left_roll=0.1025 left_gripper=0.9958 right_x=0.3673 right_y=0.294 right_z=0.1997 right_yaw=0.1069 right_pitch=-0.3126 right_roll=-0.0863 right_gripper=0.0889\nstate[joint_eff]: [-0.0479, -2.441, 5.9419, 1.1941, -0.2369, -0.0269, -0.0073, -0.4308, -10.7282, 9.7162, 1.1844, 0.3932, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.8425, 1.887, 1.7805, -0.9474, 0.4831, 0.543, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0753 left_pitch=-0.311 left_roll=0.1025 left_gripper=0.9958 right_x=0.3674 right_y=0.294 right_z=0.1998 right_yaw=0.1067 right_pitch=-0.312 right_roll=-0.0862 right_gripper=0.0889\nstate[joint_eff]: [-0.253, -2.441, 5.7094, 1.2332, -0.2418, -0.0659, -0.0122, -0.2803, -10.7419, 9.6615, 1.2674, 0.4274, 0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b802cced91d942bef6d6e95c7c15b73524d39e77d6a90aebe91d25bb3bbed7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64fd36c0e7e695069337aac8a1c2b5d2c7b7ee811b25087426bd77d70b16f1cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:128d8a43c35b4569ebc3eefb861d04bd240659298b70cadab6c346a30db4c3d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISwwQKjgEIEhgCKkC7gjHMpeU8ickGTZo8Vt78KX7F4KLktu7YfnisGzXHn7lXkty2x6pcwvDawqOwIjJuOf7Ma0XCNMnqvZXW4yojMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfeZzNUGEgy+7pBIXyn3ehGBvZ0aDIR7uYmXkDyAI+TatiIw/mgNqZaloHSwpWCP295th/llV0i80ZW+LPnmHf2PnTdWdH/9c6WpNYLMXWCSkmqnKuECf3NmfGUxNUA8rN1Q1HNF6FLZjd6eLEywRxGeD4TbHC0V/3yvDN+mr73wxg8uGKxVXmOWxgsyM3IUVZQ9LswLyEcSMTVaeinJPVsNA/tfYJo6jNAkhqX8wrp/whge+FAHy9lmU0n1uowa7nTqwuR69N1kGhe+htP501xK5v+X1GogRgu7xvrYEGvrujA86yU6xRqMZxm/MEwI26xSgDaYIs7umsYN0P9iSuyXv97yu2DCVlochkY7iuR1AY4kjMNMWWZ5ZEAiD18rVNwFuPEQHRmbW9rVf1V2OPRcq0ipngGGLXnKyC0ogIaJG4yBtTNRLmCxrwmbL/CX4t15qrTWz2BUKQ4QJZvy+J7I4hQ0CyHXZdKB7yTiijaDfGHURHnc/Vb3H7zmpkLqe3NStkdDiOny06EhqYDJD+1uKzXGi5lhaxO/og+KrUQTmoJC55RS2P/Kgl9zi3Rf+kJSM4HyXnEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BdqZb1My93vudNYJhdWNb3",
      "input": {
        "note": "The right arm is frozen at its current pose; raising z first to unstick the IK before trying to reposition over the stack.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.29,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01BdqZb1My93vudNYJhdWNb3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.4156, 0.9958, 0.8494, 1.9575, 2.1849, -1.2606, 0.4713, 0.5388, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0751 left_pitch=-0.311 left_roll=0.1028 left_gripper=0.9958 right_x=0.3621 right_y=0.2957 right_z=0.2749 right_yaw=0.1287 right_pitch=-0.3037 right_roll=-0.0667 right_gripper=0.0889\nstate[joint_eff]: [-0.0752, -2.1128, 5.7231, 1.2527, -0.2369, -0.0757, -0.0122, 0.1573, -8.8547, 7.3778, 1.16, 0.3346, 0.1099, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae0c880c66d46cfe26dcd767812ade3a195d3cc88b619c1ad0805d9599ae596f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d8aa3bcca290ea2e0ab98085894dda3f1803fa4f3caf2a69ffa5cdd17ed04a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4f846793f2c4a88a675df60cf1ce142746c47c77ccec4089273e0f3ae97f03b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 6.894 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]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.8425, 1.887, 1.7805, -0.9478, 0.4828, 0.543, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0753 left_pitch=-0.311 left_roll=0.1025 left_gripper=0.9958 right_x=0.3673 right_y=0.294 right_z=0.1997 right_yaw=0.1069 right_pitch=-0.3126 right_roll=-0.0863 right_gripper=0.0889\nstate[joint_eff]: [-0.0479, -2.441, 5.9419, 1.1941, -0.2369, -0.0269, -0.0073, -0.4308, -10.7282, 9.7162, 1.1844, 0.3932, 0.1099, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.8425, 1.887, 1.7805, -0.9474, 0.4831, 0.543, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0753 left_pitch=-0.311 left_roll=0.1025 left_gripper=0.9958 right_x=0.3674 right_y=0.294 right_z=0.1998 right_yaw=0.1067 right_pitch=-0.312 right_roll=-0.0862 right_gripper=0.0889\nstate[joint_eff]: [-0.253, -2.441, 5.7094, 1.2332, -0.2418, -0.0659, -0.0122, -0.2803, -10.7419, 9.6615, 1.2674, 0.4274, 0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.4156, 0.9958, 0.8494, 1.9575, 2.1849, -1.2606, 0.4713, 0.5388, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0751 left_pitch=-0.311 left_roll=0.1028 left_gripper=0.9958 right_x=0.3621 right_y=0.2957 right_z=0.2749 right_yaw=0.1287 right_pitch=-0.3037 right_roll=-0.0667 right_gripper=0.0889\nstate[joint_eff]: [-0.0752, -2.1128, 5.7231, 1.2527, -0.2369, -0.0757, -0.0122, 0.1573, -8.8547, 7.3778, 1.16, 0.3346, 0.1099, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae0c880c66d46cfe26dcd767812ade3a195d3cc88b619c1ad0805d9599ae596f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d8aa3bcca290ea2e0ab98085894dda3f1803fa4f3caf2a69ffa5cdd17ed04a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f846793f2c4a88a675df60cf1ce142746c47c77ccec4089273e0f3ae97f03b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISrAsKjgEIEhgCKkAyWPYcC0n3YH/Tkg81NywoNWB5xlcWUieAf5zvJcATHrUFqa+7lar3XAIrj0AMQb1Nw52YsUZX9//8cJBxiorkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYGazNUGEgwI+/Sjy5R1rPwf8z0aDEI5OsvzCx7nr/r9uiIwWhsoWuQ/d/O4ARCGeJ1hoAOTw+Ry+mjUanGTpczrYmkpdr5nq18+FQQYSzr7AP+/KsoJJY18CnehBqubVjgynBGPryaEIhA0HH7gQ2HFVgaem7E8zQrkZWos0tN+lPTklKhlptszeEgyYStxpLX5u7pa8ouks+vqNM7aVIPFqoH2TyAsdSXCgEb9NFlieru6ThJ9JCflKcVCq7SvjQMgWO4tSW+WGzyUJjzw3g0+rIGmmkQ/34CVEAyTfFUuJNTAgeodsh75zvByTjWEzwxlozzdAFsmCEQOKUKpodR6SdjMeDeDNW/Ampdy3/RKP7zR28GknhRWebkw1BCSY4470R0gtYWosV57940mRQakPcuEb47Mpjr5QsFF2c34Houed8OD66D3aX8fkFCFIkMS51JTzGrQLNYOogNp83uN0pQ7Cg3/rcif4aimp6fuNbEPoyPdZQYyAvYtGT4c0+wvP5b5Tu4oKPuqWd51Ce5OBotctAr9wj1bVbrYj/DZ1qtaOLJzLvEGsWjZmwdUILsOXfn4JeXmo3rKmL5vgus6ZtHuzQj9G9yQMdT/0nh0SdAnZKXn1n7mupXU9sjuhMdJ28W0cq/RLPKSKYqLi3BBFnPIJKAGi27teebs/gFz+SbH5am5AkbUkNuTpD5mr7pkxuQdkVVhDnTbFtEr3Xo20BDKv7D4yd5HJjM+09lpvZr8BLDP/HAdNtXHoVbRObAdSmJGCc5wCUnlYWEmgWX2U6gd+C5oaCMKp4eAVGJRWf5zyJg6nsIOu+xwm0c0ay82AOToVqLRcb501ylqLX4J5twbzza2uTA6zafB5XY3uizrwnpse8ErLQvHvs38Iqa1zeUa14gLOI/kBesCYlQA74gcNpcRh/UbpBUbM8auiJ7aqNHp7SOR1PhcnBgdTIWMc5QbCU7WmeBGan/qhD3oQN6tGG3MRyGZcJmB5jw//FDJqJDjqvoDC7RPCObODdD7F5mmrcDn5PuqrRshAItz1xS8n8vmVbU8sg7klHajR7lMHcRv4IURzB8ULudNQcC4qxjKhWzVlEG8XIxKYjb48fCwhQy0ICxBAn1pKFe3QcfCyoplaVIobDGPWHac3HV8qun0HDqSxl0gK/EaBubrP11kHJ7QD4qsxAdtVAyVSjt6Xm7d076cA9I7B/05jWm4hROoGCNKv61hovXFfqL9BvKoSE4exGEGynbPLqQP5pZUNMQF5wzD242DaBQ7NC5xeBSaN2wOaqAHilargjBS0y07jr0fegCrGtKqoPUGhYjbT7CZU+I2PQ0YCgfq+cnIXxD+pZZtanxuawchPWmv2r1zoNeFEYdga0DR/ZzIn9khbyoOXIbLGgT4MtxqfRCtEDzjR8OTg/556QzO4A8rl+P0EXDIRSXUZuysdL5DgzRo85H8Owy22ERu88Ttw0n+Z5weFb/Pn8zPdVSbwDqhT35wObX1++HqjN+nyE+5NlVvVKaPGuGzeZaRenJnV+avr2bxX3qSaS9q0IReQgR8ebG4b5JO9PV0Q7yQII4dEWS8EAGTl1gf8zTnoVb5IbTlY+inUhfxj26Bt8YkAMLYc4/ZTjJQ1ach1TyTy7M13LhZ8PtQllXkueAh97oGDj4ZL8a0rr3xo5NHGaFePgCKlvRn8MiLz4wfusD2b889afyQFTdg3IBH/VYZbPz11CCNvtaTHGK8jiPP9yBfGD8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FzM8ZGwJM7qGawmrsxEjYB",
      "input": {
        "note": "The stacked white-in-purple bowl sits well left of the jaws in the right wrist view; moving 5.5 cm further left (and pulling x in a little) so the hanging pink bowl comes over it.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.35,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FzM8ZGwJM7qGawmrsxEjYB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.9745, 2.0777, 2.2284, -1.2987, 0.4988, 0.6277, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0753 left_pitch=-0.311 left_roll=0.1025 left_gripper=0.9958 right_x=0.333 right_y=0.3465 right_z=0.2337 right_yaw=0.1566 right_pitch=-0.3647 right_roll=-0.1115 right_gripper=0.0889\nstate[joint_eff]: [-0.1026, -2.4, 5.7368, 1.199, -0.232, -0.0562, -0.0122, -0.3897, -11.2752, 9.7026, 1.116, 0.5397, 0.1148, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d383b1a4d165daad91a6a720e28cb3df86bb490fda0747297b50bf943b91318",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:900640c7c33e1a11618adbce9f72c8397c696dcdaec3f67eab1db8516c48027f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fdbdb62bc4b935a56a23bd51430c6f41b0d813c506c4aa850105a8e77c194de8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 41.12 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]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.8425, 1.887, 1.7805, -0.9474, 0.4831, 0.543, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0753 left_pitch=-0.311 left_roll=0.1025 left_gripper=0.9958 right_x=0.3674 right_y=0.294 right_z=0.1998 right_yaw=0.1067 right_pitch=-0.312 right_roll=-0.0862 right_gripper=0.0889\nstate[joint_eff]: [-0.253, -2.441, 5.7094, 1.2332, -0.2418, -0.0659, -0.0122, -0.2803, -10.7419, 9.6615, 1.2674, 0.4274, 0.1294, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.4156, 0.9958, 0.8494, 1.9575, 2.1849, -1.2606, 0.4713, 0.5388, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0751 left_pitch=-0.311 left_roll=0.1028 left_gripper=0.9958 right_x=0.3621 right_y=0.2957 right_z=0.2749 right_yaw=0.1287 right_pitch=-0.3037 right_roll=-0.0667 right_gripper=0.0889\nstate[joint_eff]: [-0.0752, -2.1128, 5.7231, 1.2527, -0.2369, -0.0757, -0.0122, 0.1573, -8.8547, 7.3778, 1.16, 0.3346, 0.1099, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.9745, 2.0777, 2.2284, -1.2987, 0.4988, 0.6277, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0753 left_pitch=-0.311 left_roll=0.1025 left_gripper=0.9958 right_x=0.333 right_y=0.3465 right_z=0.2337 right_yaw=0.1566 right_pitch=-0.3647 right_roll=-0.1115 right_gripper=0.0889\nstate[joint_eff]: [-0.1026, -2.4, 5.7368, 1.199, -0.232, -0.0562, -0.0122, -0.3897, -11.2752, 9.7026, 1.116, 0.5397, 0.1148, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d383b1a4d165daad91a6a720e28cb3df86bb490fda0747297b50bf943b91318",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:900640c7c33e1a11618adbce9f72c8397c696dcdaec3f67eab1db8516c48027f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdbdb62bc4b935a56a23bd51430c6f41b0d813c506c4aa850105a8e77c194de8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISqwgKjgEIEhgCKkAO6K++tSYV8gDOX/lrEdIjT+6Pbf8Az3aKFQFxGJtNFs8kq3O8BtPgDgx6iR6bEEb+WCN4YERpfR6OEYOnh5tOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYmazNUGEgzhgeFYkbXkueK/QLsaDCm4bYIcPMyIZ8srjyIwLOLyGLPm+xNG5PqWj6aceYeJofM6PglUXk+ixU4rrkbrJ2edcIv9RMo14F8P8n7IKskG8QltbFxiOhuBVHHd4vLDTvgld6EcqeDD2HTzuaGwJtqgWbBkvEscXeGW6v6T5lC7isAwaUd4ZBZP05o49dwdtzR7ltbgMv2QAkjdOZSF9Bfbv6G94F5xtKECgAht31Dboia4G7m0vOwuiV9mfvJoyuQssSRKecgByuYFaShyp5YH+M89KSCY1BW401ln5VBgG3UNrdfsiak6UxO4oTMLtYPUrkHn8tXlpogk7wm7moRkx7iJdjvHgOzCDNuK/o/vf/zDx3P6z6349BAmhEBxbkGVVjS3ySeszgBRT3+mKBWt5XcN9yxSv1DZ3aA/8e/vqM0rdQq7ZkK/+rxZFMWh/MPtkjqFM7X+Bf4XS/UzAtUiNDVhF/uYulkjSeE90AJl92i69oR8W5yC3y3OrA7l/6W21sxJCEEV6KmD9Gw3TSJlqsW+6HrTvb+vZ1QiGDgViZvGVmlI/RsdlZ5BzM4kgluHE9r4sQElydI98tlrJMMGAGdOvPILZe9kYAEqOIRWRrXtdzIT9oz5c1TCnIxwmo2hb98Tuco6RLdcSGmuQtdLJKwOylSAMn15zvbNqeoo1TVcvAhCEXiRpE7zys2F2iEAheN4CKBjxGYt0GSeRVrnNLa9QPRa1qtoGaAFZ/FZc38Sd47MZo5azL2IKx99qE9Aj6dCagW1OkEjvaIUpf8clrUh4n+YWEcflR3EXi6IE4pIRsgqmDFeElUZhUMyMx7a/x//oWGPaqsywg5Iur83u2i3HGXh1dLHFRDOXIVb7x2xz/fynCKEwRInM4UGvlQxO4g5FxnDWx2mdzLdK8J0pyULeyL0PO/bbtpxem0qSrIlhEdrS+I8P3SAgWP/GSs6rSG+rnTyLALi4FPNyfYaN9vYF3CSb0f0C0yrAdVFyzfNKh9E2ILKUkR9shPXSp6jWtPHlZ0Hv04vkGaQuSt9K2zp7kkXo6l4rvT9lCZU3NHduoVplGMNbM0ziaoRoigoGyuK/hvL3imAl4r0J9VXl+4v5GQP/JN6LHDNG+9YKzn/LteFEICNfzu9Nwn1eOW/tiWtt0DmPBqlnqICkF414vbK48GUe8zzUx85wAdRB/2WVqK5wQk1HxEJqELmiADfi6iht6X1qRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EPix2JWoETtkagPpub9KfY",
      "input": {
        "note": "Lateral alignment looks right; the target bowl sits high in the wrist frame, so I'm advancing 4 cm and descending to bring the hanging pink bowl over it.",
        "targets": {
          "right_x": 0.37,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01EPix2JWoETtkagPpub9KfY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.4156, -0.4156, 0.9958, 0.9798, 2.0937, 2.2406, -1.3048, 0.5133, 0.6483, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0748 left_pitch=-0.3112 left_roll=0.1025 left_gripper=0.9958 right_x=0.3338 right_y=0.3483 right_z=0.2309 right_yaw=0.1381 right_pitch=-0.3602 right_roll=-0.1158 right_gripper=0.0889\nstate[joint_eff]: [-0.3214, -2.441, 5.9145, 1.2527, -0.2369, -0.0171, -0.0073, -0.253, -12.0821, 8.3487, 1.1844, 0.4176, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ee66e86cf2f1e641da3726b587b0f282035a030336cb5395f91bfdd6e5b68cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43b48f21a0dd37211da9ef4d93dbbad812d757640992b367013a30a9934a5237",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:356db12ab3e436080a101b8904c75c2317203b6edce1614f983f0d2eb14678d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 4.032 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]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.4156, 0.9958, 0.8494, 1.9575, 2.1849, -1.2606, 0.4713, 0.5388, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0751 left_pitch=-0.311 left_roll=0.1028 left_gripper=0.9958 right_x=0.3621 right_y=0.2957 right_z=0.2749 right_yaw=0.1287 right_pitch=-0.3037 right_roll=-0.0667 right_gripper=0.0889\nstate[joint_eff]: [-0.0752, -2.1128, 5.7231, 1.2527, -0.2369, -0.0757, -0.0122, 0.1573, -8.8547, 7.3778, 1.16, 0.3346, 0.1099, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.9745, 2.0777, 2.2284, -1.2987, 0.4988, 0.6277, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0753 left_pitch=-0.311 left_roll=0.1025 left_gripper=0.9958 right_x=0.333 right_y=0.3465 right_z=0.2337 right_yaw=0.1566 right_pitch=-0.3647 right_roll=-0.1115 right_gripper=0.0889\nstate[joint_eff]: [-0.1026, -2.4, 5.7368, 1.199, -0.232, -0.0562, -0.0122, -0.3897, -11.2752, 9.7026, 1.116, 0.5397, 0.1148, -0.0073]",
      "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]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.4156, -0.4156, 0.9958, 0.9798, 2.0937, 2.2406, -1.3048, 0.5133, 0.6483, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0748 left_pitch=-0.3112 left_roll=0.1025 left_gripper=0.9958 right_x=0.3338 right_y=0.3483 right_z=0.2309 right_yaw=0.1381 right_pitch=-0.3602 right_roll=-0.1158 right_gripper=0.0889\nstate[joint_eff]: [-0.3214, -2.441, 5.9145, 1.2527, -0.2369, -0.0171, -0.0073, -0.253, -12.0821, 8.3487, 1.1844, 0.4176, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ee66e86cf2f1e641da3726b587b0f282035a030336cb5395f91bfdd6e5b68cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43b48f21a0dd37211da9ef4d93dbbad812d757640992b367013a30a9934a5237",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:356db12ab3e436080a101b8904c75c2317203b6edce1614f983f0d2eb14678d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017fvmTdwKH4fvkYssRL9HCz",
      "input": {
        "note": "The right arm is at its reach limit and cannot get the pink bowl over the stack, so I'll set the pink bowl down at a spot the left arm can work with, then move the white/purple stack onto it with the left arm.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.15,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_017fvmTdwKH4fvkYssRL9HCz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1278, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.514, 1.5883, 1.1069, -0.5846, 0.297, 0.2249, 0.0889]\nstate[eef_state]: left_x=0.2566 left_y=-0.0578 left_z=0.2802 left_yaw=0.0757 left_pitch=-0.3132 left_roll=0.1041 left_gripper=0.9958 right_x=0.359 right_y=0.1475 right_z=0.1066 right_yaw=0.1036 right_pitch=-0.4326 right_roll=-0.1482 right_gripper=0.0889\nstate[joint_eff]: [-0.0068, -2.6598, 5.7915, 1.2137, -0.2711, -0.0464, -0.0073, -0.335, -8.5128, 6.2701, 1.58, 0.0855, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:795bd93311dca2ea695378e4de9d6cf08c0f935123b0a7bf35c6976cf399f480",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee1d1d70f68b222da279d1b73a8aae53817768ac556a815c2d5d2930ce8f0c4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:750491d35a58997126b9f493d2257dcbcc1f1d9e046c66d24bd2657ad25b71a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 2.692 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]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.9745, 2.0777, 2.2284, -1.2987, 0.4988, 0.6277, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0753 left_pitch=-0.311 left_roll=0.1025 left_gripper=0.9958 right_x=0.333 right_y=0.3465 right_z=0.2337 right_yaw=0.1566 right_pitch=-0.3647 right_roll=-0.1115 right_gripper=0.0889\nstate[joint_eff]: [-0.1026, -2.4, 5.7368, 1.199, -0.232, -0.0562, -0.0122, -0.3897, -11.2752, 9.7026, 1.116, 0.5397, 0.1148, -0.0073]",
      "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]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.4156, -0.4156, 0.9958, 0.9798, 2.0937, 2.2406, -1.3048, 0.5133, 0.6483, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0748 left_pitch=-0.3112 left_roll=0.1025 left_gripper=0.9958 right_x=0.3338 right_y=0.3483 right_z=0.2309 right_yaw=0.1381 right_pitch=-0.3602 right_roll=-0.1158 right_gripper=0.0889\nstate[joint_eff]: [-0.3214, -2.441, 5.9145, 1.2527, -0.2369, -0.0171, -0.0073, -0.253, -12.0821, 8.3487, 1.1844, 0.4176, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1278, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.514, 1.5883, 1.1069, -0.5846, 0.297, 0.2249, 0.0889]\nstate[eef_state]: left_x=0.2566 left_y=-0.0578 left_z=0.2802 left_yaw=0.0757 left_pitch=-0.3132 left_roll=0.1041 left_gripper=0.9958 right_x=0.359 right_y=0.1475 right_z=0.1066 right_yaw=0.1036 right_pitch=-0.4326 right_roll=-0.1482 right_gripper=0.0889\nstate[joint_eff]: [-0.0068, -2.6598, 5.7915, 1.2137, -0.2711, -0.0464, -0.0073, -0.335, -8.5128, 6.2701, 1.58, 0.0855, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:795bd93311dca2ea695378e4de9d6cf08c0f935123b0a7bf35c6976cf399f480",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee1d1d70f68b222da279d1b73a8aae53817768ac556a815c2d5d2930ce8f0c4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:750491d35a58997126b9f493d2257dcbcc1f1d9e046c66d24bd2657ad25b71a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS/gMKjgEIEhgCKkDxyGsh3IlbMUS15hKrE88q3vLFk+eWh5CgNSRbdzI8f5RsQH3CzhomY5u8/iVd0WVFxgmQbLtJgg2e8DqAWP0LMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbiazNUGEgzWAmqQB/akIWYjaIYaDGp/xnRy5glelyUGtSIweauhpEz9hwFZrjox6xbtCutmLBEWXuo1s59Tb8sm05ZRz2FGwilJukzXbjT61A43KpwC8IqRd7EdpEjpWEd2IFAFuIHYsokal8gMAOP9Y1K29s6GKsg+EuhIeeyMTAr4VDByiRiyGYVcj87TnFj2W0OlZcoGmq3w/JL2bp33l6LnrhdhDOpelJV0YEG6cOAy1fIP+IihWClUnZWy+WXClO0Euge+wDgWh48aT35S68RxF96sOe+8RMVTHE3ifxfeknDeXbtjxl8T7paje7EMZxPa71HbBLlmMc52XLdItRUdF8qAjOTtGeVBJrqmGZbLc8eQyaJTFsupn1Nh99GQoKxFFVl6bJf5oyx2uwI0AeIE+Ue8ZzlvCoUcb1dZCUufV68F2XiCBugpe1xxkasEvEiTVVjLIVDArzS+R4TS2iwllmXeI/ym8yLu1Dny8oYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G49wpc59kkZL5xDRLJw9hX",
      "input": {
        "note": "Top view confirms the white bowl is nested in the purple one. Lowering the pink bowl to the table before releasing it at this easier-to-reach spot.",
        "targets": {
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01G49wpc59kkZL5xDRLJw9hX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1278, 1.4021, -1.272, -0.416, -0.416, 0.9958, 0.5114, 1.6878, 0.9215, -0.3679, 0.2829, 0.21, 0.0889]\nstate[eef_state]: left_x=0.2565 left_y=-0.0578 left_z=0.2801 left_yaw=0.0758 left_pitch=-0.3135 left_roll=0.1043 left_gripper=0.9958 right_x=0.3452 right_y=0.1413 right_z=0.0304 right_yaw=0.1084 right_pitch=-0.5016 right_roll=-0.174 right_gripper=0.0889\nstate[joint_eff]: [-0.1846, -2.2496, 5.7231, 1.2332, -0.2369, -0.0611, -0.0122, 0.335, -7.0769, 6.5026, 1.2381, 0.2369, 0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f05e2639bc553ca1fd83e0ecb3e0aa3395a658391030e6a1d1df416a3fd9bb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0930796387ab4abe6cddf901101d2bfa6e4832d06c67b143d57b176d110043b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25cf3c10f4869900f101609bd6e8c8acb3d95871f3e7a198368f10fbf8bc1fba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 27.81 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]: [-0.5106, 1.1252, 1.4021, -1.2716, -0.4156, -0.4156, 0.9958, 0.9798, 2.0937, 2.2406, -1.3048, 0.5133, 0.6483, 0.0889]\nstate[eef_state]: left_x=0.2562 left_y=-0.0576 left_z=0.2808 left_yaw=0.0748 left_pitch=-0.3112 left_roll=0.1025 left_gripper=0.9958 right_x=0.3338 right_y=0.3483 right_z=0.2309 right_yaw=0.1381 right_pitch=-0.3602 right_roll=-0.1158 right_gripper=0.0889\nstate[joint_eff]: [-0.3214, -2.441, 5.9145, 1.2527, -0.2369, -0.0171, -0.0073, -0.253, -12.0821, 8.3487, 1.1844, 0.4176, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1278, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.514, 1.5883, 1.1069, -0.5846, 0.297, 0.2249, 0.0889]\nstate[eef_state]: left_x=0.2566 left_y=-0.0578 left_z=0.2802 left_yaw=0.0757 left_pitch=-0.3132 left_roll=0.1041 left_gripper=0.9958 right_x=0.359 right_y=0.1475 right_z=0.1066 right_yaw=0.1036 right_pitch=-0.4326 right_roll=-0.1482 right_gripper=0.0889\nstate[joint_eff]: [-0.0068, -2.6598, 5.7915, 1.2137, -0.2711, -0.0464, -0.0073, -0.335, -8.5128, 6.2701, 1.58, 0.0855, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1278, 1.4021, -1.272, -0.416, -0.416, 0.9958, 0.5114, 1.6878, 0.9215, -0.3679, 0.2829, 0.21, 0.0889]\nstate[eef_state]: left_x=0.2565 left_y=-0.0578 left_z=0.2801 left_yaw=0.0758 left_pitch=-0.3135 left_roll=0.1043 left_gripper=0.9958 right_x=0.3452 right_y=0.1413 right_z=0.0304 right_yaw=0.1084 right_pitch=-0.5016 right_roll=-0.174 right_gripper=0.0889\nstate[joint_eff]: [-0.1846, -2.2496, 5.7231, 1.2332, -0.2369, -0.0611, -0.0122, 0.335, -7.0769, 6.5026, 1.2381, 0.2369, 0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f05e2639bc553ca1fd83e0ecb3e0aa3395a658391030e6a1d1df416a3fd9bb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0930796387ab4abe6cddf901101d2bfa6e4832d06c67b143d57b176d110043b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25cf3c10f4869900f101609bd6e8c8acb3d95871f3e7a198368f10fbf8bc1fba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015iXJyNMHa64v5FPTjqnaEV",
      "input": {
        "note": "Pink bowl is down on the table; opening the gripper to release it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015iXJyNMHa64v5FPTjqnaEV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1278, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.5129, 1.7, 0.91, -0.3672, 0.2787, 0.205, 0.9965]\nstate[eef_state]: left_x=0.2566 left_y=-0.0578 left_z=0.2802 left_yaw=0.0757 left_pitch=-0.3132 left_roll=0.1041 left_gripper=0.9958 right_x=0.3405 right_y=0.1401 right_z=0.0224 right_yaw=0.1116 right_pitch=-0.5247 right_roll=-0.183 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -2.4821, 5.7368, 1.2137, -0.2418, -0.0708, -0.0073, -0.335, -8.5402, 6.5436, 1.0085, 0.1636, 0.0024, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ac0c244357b21265a52aea5c551b2c1e054c6f57c04fe1ceeeb593810d5ee55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:595c35f5310a6b458b91c8eeebc04715c5cda3bd8a1945d3af55e8cd30c2d3d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9696ad4761a1d3ed64f1a189e5c325481873e153b6ab0ade33411e33046021b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 4.926 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]: [-0.5106, 1.1278, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.514, 1.5883, 1.1069, -0.5846, 0.297, 0.2249, 0.0889]\nstate[eef_state]: left_x=0.2566 left_y=-0.0578 left_z=0.2802 left_yaw=0.0757 left_pitch=-0.3132 left_roll=0.1041 left_gripper=0.9958 right_x=0.359 right_y=0.1475 right_z=0.1066 right_yaw=0.1036 right_pitch=-0.4326 right_roll=-0.1482 right_gripper=0.0889\nstate[joint_eff]: [-0.0068, -2.6598, 5.7915, 1.2137, -0.2711, -0.0464, -0.0073, -0.335, -8.5128, 6.2701, 1.58, 0.0855, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1278, 1.4021, -1.272, -0.416, -0.416, 0.9958, 0.5114, 1.6878, 0.9215, -0.3679, 0.2829, 0.21, 0.0889]\nstate[eef_state]: left_x=0.2565 left_y=-0.0578 left_z=0.2801 left_yaw=0.0758 left_pitch=-0.3135 left_roll=0.1043 left_gripper=0.9958 right_x=0.3452 right_y=0.1413 right_z=0.0304 right_yaw=0.1084 right_pitch=-0.5016 right_roll=-0.174 right_gripper=0.0889\nstate[joint_eff]: [-0.1846, -2.2496, 5.7231, 1.2332, -0.2369, -0.0611, -0.0122, 0.335, -7.0769, 6.5026, 1.2381, 0.2369, 0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1278, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.5129, 1.7, 0.91, -0.3672, 0.2787, 0.205, 0.9965]\nstate[eef_state]: left_x=0.2566 left_y=-0.0578 left_z=0.2802 left_yaw=0.0757 left_pitch=-0.3132 left_roll=0.1041 left_gripper=0.9958 right_x=0.3405 right_y=0.1401 right_z=0.0224 right_yaw=0.1116 right_pitch=-0.5247 right_roll=-0.183 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -2.4821, 5.7368, 1.2137, -0.2418, -0.0708, -0.0073, -0.335, -8.5402, 6.5436, 1.0085, 0.1636, 0.0024, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ac0c244357b21265a52aea5c551b2c1e054c6f57c04fe1ceeeb593810d5ee55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:595c35f5310a6b458b91c8eeebc04715c5cda3bd8a1945d3af55e8cd30c2d3d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9696ad4761a1d3ed64f1a189e5c325481873e153b6ab0ade33411e33046021b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015zafDzAfSDuePQ8RmoCTZ6",
      "input": {
        "note": "Pink bowl released on the table; parking the right arm at home so it does not block the view or collide while the left arm repositions the stack.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.29,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_015zafDzAfSDuePQ8RmoCTZ6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.129, 1.4021, -1.272, -0.4156, -0.416, 0.9958, 0.0433, 1.2213, 1.0721, -0.9417, 0.0956, -0.1894, 0.9975]\nstate[eef_state]: left_x=0.2567 left_y=-0.0579 left_z=0.2798 left_yaw=0.0757 left_pitch=-0.3147 left_roll=0.1047 left_gripper=0.9958 right_x=0.2946 right_y=-0.0005 right_z=0.165 right_yaw=0.0664 right_pitch=-0.5317 right_roll=-0.19 right_gripper=0.9975\nstate[joint_eff]: [-0.1436, -2.1538, 5.7778, 1.2137, -0.232, -0.0757, -0.0073, -0.0889, -4.9162, 8.8684, 1.0916, -0.0806, -0.0269, -0.2711]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a079a82578d83c910720d60330c51c50e6192ff3939e1545e0e3f60e5b9c3b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e510c98b03b7788186c76232e867cd133b9e1f578a3822c6ee378d63889e5226",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0fdeccba1d11622e1191960401e281acf3aba04acd9cebf3323cbfbc669a8de3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 6.532 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]: [-0.5106, 1.1278, 1.4021, -1.272, -0.416, -0.416, 0.9958, 0.5114, 1.6878, 0.9215, -0.3679, 0.2829, 0.21, 0.0889]\nstate[eef_state]: left_x=0.2565 left_y=-0.0578 left_z=0.2801 left_yaw=0.0758 left_pitch=-0.3135 left_roll=0.1043 left_gripper=0.9958 right_x=0.3452 right_y=0.1413 right_z=0.0304 right_yaw=0.1084 right_pitch=-0.5016 right_roll=-0.174 right_gripper=0.0889\nstate[joint_eff]: [-0.1846, -2.2496, 5.7231, 1.2332, -0.2369, -0.0611, -0.0122, 0.335, -7.0769, 6.5026, 1.2381, 0.2369, 0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.1278, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.5129, 1.7, 0.91, -0.3672, 0.2787, 0.205, 0.9965]\nstate[eef_state]: left_x=0.2566 left_y=-0.0578 left_z=0.2802 left_yaw=0.0757 left_pitch=-0.3132 left_roll=0.1041 left_gripper=0.9958 right_x=0.3405 right_y=0.1401 right_z=0.0224 right_yaw=0.1116 right_pitch=-0.5247 right_roll=-0.183 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -2.4821, 5.7368, 1.2137, -0.2418, -0.0708, -0.0073, -0.335, -8.5402, 6.5436, 1.0085, 0.1636, 0.0024, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5106, 1.129, 1.4021, -1.272, -0.4156, -0.416, 0.9958, 0.0433, 1.2213, 1.0721, -0.9417, 0.0956, -0.1894, 0.9975]\nstate[eef_state]: left_x=0.2567 left_y=-0.0579 left_z=0.2798 left_yaw=0.0757 left_pitch=-0.3147 left_roll=0.1047 left_gripper=0.9958 right_x=0.2946 right_y=-0.0005 right_z=0.165 right_yaw=0.0664 right_pitch=-0.5317 right_roll=-0.19 right_gripper=0.9975\nstate[joint_eff]: [-0.1436, -2.1538, 5.7778, 1.2137, -0.232, -0.0757, -0.0073, -0.0889, -4.9162, 8.8684, 1.0916, -0.0806, -0.0269, -0.2711]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a079a82578d83c910720d60330c51c50e6192ff3939e1545e0e3f60e5b9c3b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e510c98b03b7788186c76232e867cd133b9e1f578a3822c6ee378d63889e5226",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fdeccba1d11622e1191960401e281acf3aba04acd9cebf3323cbfbc669a8de3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISkQUKjgEIEhgCKkDGRiStpg5B0jJCeingMe26OD3ibO5ssfgNmzQWONk01IBHfbIbInDTPWTqSG9Q0SyyOhcvrriYxpNSrA3ag4ACMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd6azNUGEgzkKyOdA8+ReuytpcQaDA4oqZBIv2A3GUu6DiIwUtl8XotLea0uLm0FIWNeuHEiC7UpbZLIx4vZY2EEwjrvpHf38YRlnlPNuD81/qJVKq8DZVSLiez5UZP8wC/sQ1KzbfKDP5IXr0yuv7drw3S3JLLhVDmzqSHo5W/tV61NCIdFHKS9gj9eiqR4/e9dAmEUBHMc+zeM+uQ8eZQXJVADd8rvLVvXC5FkVwsiGRv56tP1BBVn3+yQxw/3s6DYhyHcrfMdk8SS4wRaWkcOD4qvgdIDoCi7Vl69xAddvxUawRSX8q8M+UXuFO1EtYBTx2nWDftlQcN8v7dUghAvdXKGzyRKSc+M07NnmmyHvcuys4Z5ajmc+ucPDA4osEtcVjM6Y42evxq8xDZSEVYyGeOP+dqPytxj4t/6nSmj8qJd6izQUP+GGZfVvBwHBC946YWTug5oUTLu9XyIUYWzjFS+Hw5zfteyOSFwQhsOlNszKlfL02qRajvI+K6rF532MPhJpwuhu+0BCGtZQrAuS2aDsrsDcAuJg719ec4UkwOq4jt8yGa6WO8TYDHqhJjGkphf/lBYQubCSRB9o3lso27Dv8UYG53h0CS3GeuKP2CrK28Gphabj5oRd4EQumQg8/MvXetyiyD3T1HCEVVk4sZp42vPLF5VMR2851Pkla61eR8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015fJcAYECQjsjhtfD8N6P2x",
      "input": {
        "note": "Moving the left arm over the white+purple stack to pick it up and reposition it toward the table centre, where the right arm can reach to place the pink bowl on top.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.22,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_015fJcAYECQjsjhtfD8N6P2x",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7708, 1.7214, 1.562, -1.0138, -0.5255, -0.6716, 0.9959, 0.0399, 1.2232, 1.0695, -0.9646, 0.0883, -0.202, 0.9974]\nstate[eef_state]: left_x=0.3492 left_y=-0.2106 left_z=0.188 left_yaw=0.0789 left_pitch=-0.3641 left_roll=0.1371 left_gripper=0.9959 right_x=0.2891 right_y=-0.0005 right_z=0.1608 right_yaw=0.0785 right_pitch=-0.5603 right_roll=-0.188 right_gripper=0.9974\nstate[joint_eff]: [-0.5812, -8.5402, 8.8, 1.0525, -0.4567, 0.0317, -0.0073, 0.1436, -4.1094, 6.612, 1.3407, 0.0611, 0.1197, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:276a9398a20fba3ef31c4e80ebfcf435181cb0e400321bdc1fc6a75c656c85d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a7b87e90012220b1594abbf5a4c4fa708cd716ace56208a6e2b68b08bb70c2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3cae8259c1afb0c2a2ffc8c62be12939dcf51bd3482a0b374ce37e86a6d79e8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 5.71 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]: [-0.5106, 1.1278, 1.4021, -1.2716, -0.416, -0.416, 0.9958, 0.5129, 1.7, 0.91, -0.3672, 0.2787, 0.205, 0.9965]\nstate[eef_state]: left_x=0.2566 left_y=-0.0578 left_z=0.2802 left_yaw=0.0757 left_pitch=-0.3132 left_roll=0.1041 left_gripper=0.9958 right_x=0.3405 right_y=0.1401 right_z=0.0224 right_yaw=0.1116 right_pitch=-0.5247 right_roll=-0.183 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -2.4821, 5.7368, 1.2137, -0.2418, -0.0708, -0.0073, -0.335, -8.5402, 6.5436, 1.0085, 0.1636, 0.0024, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5106, 1.129, 1.4021, -1.272, -0.4156, -0.416, 0.9958, 0.0433, 1.2213, 1.0721, -0.9417, 0.0956, -0.1894, 0.9975]\nstate[eef_state]: left_x=0.2567 left_y=-0.0579 left_z=0.2798 left_yaw=0.0757 left_pitch=-0.3147 left_roll=0.1047 left_gripper=0.9958 right_x=0.2946 right_y=-0.0005 right_z=0.165 right_yaw=0.0664 right_pitch=-0.5317 right_roll=-0.19 right_gripper=0.9975\nstate[joint_eff]: [-0.1436, -2.1538, 5.7778, 1.2137, -0.232, -0.0757, -0.0073, -0.0889, -4.9162, 8.8684, 1.0916, -0.0806, -0.0269, -0.2711]",
      "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]: [-0.7708, 1.7214, 1.562, -1.0138, -0.5255, -0.6716, 0.9959, 0.0399, 1.2232, 1.0695, -0.9646, 0.0883, -0.202, 0.9974]\nstate[eef_state]: left_x=0.3492 left_y=-0.2106 left_z=0.188 left_yaw=0.0789 left_pitch=-0.3641 left_roll=0.1371 left_gripper=0.9959 right_x=0.2891 right_y=-0.0005 right_z=0.1608 right_yaw=0.0785 right_pitch=-0.5603 right_roll=-0.188 right_gripper=0.9974\nstate[joint_eff]: [-0.5812, -8.5402, 8.8, 1.0525, -0.4567, 0.0317, -0.0073, 0.1436, -4.1094, 6.612, 1.3407, 0.0611, 0.1197, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:276a9398a20fba3ef31c4e80ebfcf435181cb0e400321bdc1fc6a75c656c85d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a7b87e90012220b1594abbf5a4c4fa708cd716ace56208a6e2b68b08bb70c2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cae8259c1afb0c2a2ffc8c62be12939dcf51bd3482a0b374ce37e86a6d79e8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS0wYKjgEIEhgCKkAqVu2p4IxKSSLpyfyxH7FjLSCj5PMrM0WyUY3r9r7zBt4b1jo7hVkaZGoUUlDeqs/kZ2bRTim1gvxDM627RrA+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeaazNUGEgyNsWejPwoYkUzO5j8aDJlf5mwQCXBFqFcWnSIwboVX6r/XxyX6kW3h8HDoeuqsE9gJHQ3mKZv7GctiLNaOz94pK3f7Nih6caQbNCQ+KvEE+ptGQSx9y8zrQt+JoEj1OxMXeyb15qY+eiSqKHWYnuUUNCTHbPFePLADAzg6GQ/3pGSMhorczD+cGQ39nPHtFO+6ZyJtqu1e/9JOr9r7lt/4zYpmt4dxfsLCQAFwiIwglCq8EQl0t/xctDPpx8ujUAyXn8NFiOt5vb+TmZd+1ZwRRhQcmRKLQpNyf3oDrSdd03IGFe4vGKiGb8IlVhnX0zdkXLiCmqd/l1RuBR989V5cgH4iHd4Zjyb4Z9nXgrbxKdoQLNlGcV0o/kUcqjjAl2dOIyXNTwoRtOuss07GCjuXh0j42SiEPUYysdoam08c2++2SSX8QVorvYXXkuC5EYlxR6xIjMVTWaDYmAXMs/60BWkvJ+OefMTY+6M8AVcNuZ7k7Ras9qKZqEFE9nID/goZJGduhU9OGVVk54qXfPrwJcSChyXcy9HYHQLWgDkLA1zpKOjQbQG/jSO9oEDCrcmZNYLaVCspIqzOMjZ/GT8QgbHQ2Js78PYyXwUrSHEgwO7zAEySpZ7xcSW7otaSDtDHACN2dmKkG6pbftSbehLil22dru3VwbxP+41KcF0YNyHwVCix/aUk4FkD1j+5EHpF1RUTdUAsLp6UOZOoF0P1+8GyrATXeO4tF534MrB1Vp6C7o7D4MeN458Mqu602T4DNsBsjmkGATz9zt1fyAaVpJp6lrmo18v9uPDSkFpguahOcCb1Io4a+NL9dRARFRm+d30NfEmyOavcMIUBzCGkHmhT5s4R1lPCwIJIGxQeP1MfzcjIu55KAM07bM26U/903GlMqhnGOW4jwXl5RreP3/NRLqdgB6stkYrFG8hD4BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014EVwRtYuFRyr5rxUnSq1cG",
      "input": {
        "note": "The stack is centered under the left jaws; descending beside its right rim to pinch the rim of the outer (purple) bowl.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.266,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_014EVwRtYuFRyr5rxUnSq1cG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8291, 2.022, 1.3571, -0.5728, -0.5331, -0.7307, 0.9958, 0.0391, 1.2232, 1.0695, -0.9688, 0.0883, -0.2058, 0.9974]\nstate[eef_state]: left_x=0.3644 left_y=-0.2595 left_z=0.0358 left_yaw=0.0787 left_pitch=-0.3947 left_roll=0.1581 left_gripper=0.9958 right_x=0.2882 right_y=-0.0007 right_z=0.1604 right_yaw=0.0802 right_pitch=-0.5649 right_roll=-0.1897 right_gripper=0.9974\nstate[joint_eff]: [-0.6769, -9.7983, 5.559, 0.9841, -0.4811, -0.149, -0.0171, -0.0342, -3.959, 6.4068, 1.0916, -0.0024, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6c6acc5e1b7b14fabd335e5231a95b1cd7a952c5a95b2c52a06abde3853aaf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6f92587be1ac955b5724a762f69a07e404e75840876bd831b432b8e6010f8fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b3284467c9c66bee7e50450676df3e6bb1a4c8f858726d247155f9837897ef0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 10.57 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]: [-0.5106, 1.129, 1.4021, -1.272, -0.4156, -0.416, 0.9958, 0.0433, 1.2213, 1.0721, -0.9417, 0.0956, -0.1894, 0.9975]\nstate[eef_state]: left_x=0.2567 left_y=-0.0579 left_z=0.2798 left_yaw=0.0757 left_pitch=-0.3147 left_roll=0.1047 left_gripper=0.9958 right_x=0.2946 right_y=-0.0005 right_z=0.165 right_yaw=0.0664 right_pitch=-0.5317 right_roll=-0.19 right_gripper=0.9975\nstate[joint_eff]: [-0.1436, -2.1538, 5.7778, 1.2137, -0.232, -0.0757, -0.0073, -0.0889, -4.9162, 8.8684, 1.0916, -0.0806, -0.0269, -0.2711]",
      "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]: [-0.7708, 1.7214, 1.562, -1.0138, -0.5255, -0.6716, 0.9959, 0.0399, 1.2232, 1.0695, -0.9646, 0.0883, -0.202, 0.9974]\nstate[eef_state]: left_x=0.3492 left_y=-0.2106 left_z=0.188 left_yaw=0.0789 left_pitch=-0.3641 left_roll=0.1371 left_gripper=0.9959 right_x=0.2891 right_y=-0.0005 right_z=0.1608 right_yaw=0.0785 right_pitch=-0.5603 right_roll=-0.188 right_gripper=0.9974\nstate[joint_eff]: [-0.5812, -8.5402, 8.8, 1.0525, -0.4567, 0.0317, -0.0073, 0.1436, -4.1094, 6.612, 1.3407, 0.0611, 0.1197, -0.0269]",
      "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]: [-0.8291, 2.022, 1.3571, -0.5728, -0.5331, -0.7307, 0.9958, 0.0391, 1.2232, 1.0695, -0.9688, 0.0883, -0.2058, 0.9974]\nstate[eef_state]: left_x=0.3644 left_y=-0.2595 left_z=0.0358 left_yaw=0.0787 left_pitch=-0.3947 left_roll=0.1581 left_gripper=0.9958 right_x=0.2882 right_y=-0.0007 right_z=0.1604 right_yaw=0.0802 right_pitch=-0.5649 right_roll=-0.1897 right_gripper=0.9974\nstate[joint_eff]: [-0.6769, -9.7983, 5.559, 0.9841, -0.4811, -0.149, -0.0171, -0.0342, -3.959, 6.4068, 1.0916, -0.0024, 0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6c6acc5e1b7b14fabd335e5231a95b1cd7a952c5a95b2c52a06abde3853aaf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6f92587be1ac955b5724a762f69a07e404e75840876bd831b432b8e6010f8fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b3284467c9c66bee7e50450676df3e6bb1a4c8f858726d247155f9837897ef0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISigcKjgEIEhgCKkANTJlYEH1bgzsHHmYrLQ55YsdTkecMcmLrfNGaJTPzBKFbem3AZ3PjsXGMhrLawGJ+RYbh30vn85qSFZ6forn/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe2azNUGEgw0i+fShjz6kyKiofoaDMd2159sCx1eIJzlpiIwIv4uW48+DVzd6lGK+oaHlAahZBDIAlfK3OyUseVy0J/YcC5i9zqi3wJXrmIi8RtvKqgFABPXSGXVHoyETs3kVWdENPCaSuhF3SRIHkZFSMW2HkEoufzIoekOMxKdmhKqRlIRDRPSptsnHTbnC3HKfUo3WefXZwtPc71pvFobP2KtdsifvCg94WltX+3XSu9C1qiBrZntvRCK4r+RRH8gjTjees7Maipaq707PsY+B0hk8TOXyHBJD+bDyiUPoz0CddcyPJw0IbvmhsNhOXonCx8R4u6kwBm7c2LegrU0C3OW3eFat5PcgcNA7zMqLNiU0EHhIAUmmIXL8YCBRLheXYgX0+yMEiPXW2KNmdE1OogBqDSNn9+E5LLk8ptS1X1qRnbgLoh6KZLivbQZL0N9892elN+S3EKdsbicDjB3aXaLsTdjhjr/9k4yq669rDHRn1+t/6NLbb/sGG199AOjsnkBCvhvQ6WtsvuC93wBUI9YehNBJfz+vavqDFh1yh0SUxkob1rxbyZmvgaeM5HkWnS6NKJoRWBWjD2FSl7jEd8z2p0VHdD8xSEmBroXh46SEguPAjAKVUwHZRT5cmYGdLILs4gn6dAqyE4FsoLWqO1rPtBBwus6mkf8xFQBBLwPRGXwkBeHkygzIdjao5VTOBVDYC1BpJLiKkkHY08p+v924USzohnKZ/w0GkmmUbDBOJEeOH1CRM9dU7DbeoBUmpWDnjeKU4c/irt6z4/y+4luJKgS662bcuhgi5omjb/UZyCpCine6jqrWti6LB5fIO5kWyxA2XoXad5NOgWFxcOzK7T83o1ZuBXW4CSzxK7aWIrOu/GGT6FcaPxAQnpNMd47+XaKmCNjH1TMaUcaETNbwXZmAwLzBFgZWJ+P0yrM3lP1QZ1VJfdzTYfPEHUgVRljRT/NC1SfWlkude/2kMILmO3Zo2jdPcA1eSqL3eTkhs63idqhj26v6TsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ELmuqDSE6i9nmdfVeomxye",
      "input": {
        "note": "The purple rim sits slightly left of the jaw centre in the wrist view; nudging 1.6 cm to the arm's left so the rim is centred between the fingers.",
        "targets": {
          "left_y": -0.243
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01ELmuqDSE6i9nmdfVeomxye",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8192, 2.0266, 1.3136, -0.5255, -0.5236, -0.7216, 0.9958, 0.0391, 1.2232, 1.0695, -0.9688, 0.0883, -0.2062, 0.9974]\nstate[eef_state]: left_x=0.3631 left_y=-0.2539 left_z=0.0235 left_yaw=0.0782 left_pitch=-0.4031 left_roll=0.1584 left_gripper=0.9958 right_x=0.2882 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.565 right_roll=-0.1899 right_gripper=0.9974\nstate[joint_eff]: [1.2103, -13.0667, 5.9966, 0.9304, -0.3004, 0.1978, -0.0073, -0.1162, -3.8632, 6.5573, 1.0818, 0.022, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8297c9c1fd6104ccc554509a058becd31f87c73d8b6c643abf75cf819ad8c36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e84f91208a609bc42e0f98fb5415a13763d520e767756ce8932f311276e049fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4bf0a8574289edbdc413be10e388cfb42ff2c63d26b194eb0e1b85189936b927",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 3.896 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]: [-0.7708, 1.7214, 1.562, -1.0138, -0.5255, -0.6716, 0.9959, 0.0399, 1.2232, 1.0695, -0.9646, 0.0883, -0.202, 0.9974]\nstate[eef_state]: left_x=0.3492 left_y=-0.2106 left_z=0.188 left_yaw=0.0789 left_pitch=-0.3641 left_roll=0.1371 left_gripper=0.9959 right_x=0.2891 right_y=-0.0005 right_z=0.1608 right_yaw=0.0785 right_pitch=-0.5603 right_roll=-0.188 right_gripper=0.9974\nstate[joint_eff]: [-0.5812, -8.5402, 8.8, 1.0525, -0.4567, 0.0317, -0.0073, 0.1436, -4.1094, 6.612, 1.3407, 0.0611, 0.1197, -0.0269]",
      "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]: [-0.8291, 2.022, 1.3571, -0.5728, -0.5331, -0.7307, 0.9958, 0.0391, 1.2232, 1.0695, -0.9688, 0.0883, -0.2058, 0.9974]\nstate[eef_state]: left_x=0.3644 left_y=-0.2595 left_z=0.0358 left_yaw=0.0787 left_pitch=-0.3947 left_roll=0.1581 left_gripper=0.9958 right_x=0.2882 right_y=-0.0007 right_z=0.1604 right_yaw=0.0802 right_pitch=-0.5649 right_roll=-0.1897 right_gripper=0.9974\nstate[joint_eff]: [-0.6769, -9.7983, 5.559, 0.9841, -0.4811, -0.149, -0.0171, -0.0342, -3.959, 6.4068, 1.0916, -0.0024, 0.0415, -0.0122]",
      "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]: [-0.8192, 2.0266, 1.3136, -0.5255, -0.5236, -0.7216, 0.9958, 0.0391, 1.2232, 1.0695, -0.9688, 0.0883, -0.2062, 0.9974]\nstate[eef_state]: left_x=0.3631 left_y=-0.2539 left_z=0.0235 left_yaw=0.0782 left_pitch=-0.4031 left_roll=0.1584 left_gripper=0.9958 right_x=0.2882 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.565 right_roll=-0.1899 right_gripper=0.9974\nstate[joint_eff]: [1.2103, -13.0667, 5.9966, 0.9304, -0.3004, 0.1978, -0.0073, -0.1162, -3.8632, 6.5573, 1.0818, 0.022, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8297c9c1fd6104ccc554509a058becd31f87c73d8b6c643abf75cf819ad8c36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e84f91208a609bc42e0f98fb5415a13763d520e767756ce8932f311276e049fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bf0a8574289edbdc413be10e388cfb42ff2c63d26b194eb0e1b85189936b927",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISowwKjgEIEhgCKkA9myuXeoNgidbiRWFk1vCu0/xrnUgYs7Eu2v/Z9+GQrQAoMeMSK1j+XuJ4xrqtS6Feb/3stdMEPr29KqfLVqnDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfeazNUGEgx2I4/t0gnD3eXym7kaDDznO2fz0IOGbD9z2SIwRXE0fJ+rZq4kvxxT2U0IPzurtJwaNChtneY9mG6tZfdwWFAMvjsgotFo/DiCv9VVKsEKmCz6fKZkrD3cqYZUjZjYexcZMtaRh5BLAX6AvLreBkhcEw29PiGH+3gOCnZgtu2ouMpvVCU1WPg/KOKPJ+wTyJ1ypH9NiX2lharmX6zGGv9uFAVkjdI+MhiHUTPMhUrUMnebWb61WHqKw5/sELqF4RojZtCl8zP65AHiHZhdOjl4xV/BFh60+WZ1qSyAJQrhPCVBqN7rFsfRylOKc5/53ezmgNFksh+Dv/7/OBrpvsLetacLFJA9ZXZMeixTPF8qbz0YGEwFQX+oogq42OoIWwY7L1Cyu1E2l8RJ9Atpzs6I4rl3ISkSU62euPzvgCjDPqZB1FwVgBV7jyCsL+c739u1D+f9gbODnxucF5LXCZk4dpqJn83xNjcryRPOXdTg9P4U1dMs1WrEq/hC+75d00TdTtzSX1SnXi96Gg0lhRtWSe58JbafAn+Am9bsPOqUHKbFexxj5XOBQJmT4JFhccRH8DYX+r7AkE5GH+WrljsAfoggYPuRMQCoHfen40GZS+4TKdiYqLEd43QvZ7FEcW+A84ImvtR49hosXvwApe3eATe5Zf3xmVkA7TnCmX36kftDq/dXp4Kng4plhBVn5ujJM1OEyb6y3H0cmBRIeJU7CSjoIZsDWt9ATcXIlGcF8ey+EHCAiZ2bWKfLf+2r69gVi8Z0l6qx2btRI36qhRxzuUsGr1btypxgtLPvTNta2fZMyBcYnKD/nTTL1eTcj81GOCq2j41FA2wURXXU7BZ7NkyEjb7rGRdTsxql3yv002LNM/aUvFya5uc30sX/XoEOv61c3GDuzj2u3ey2muBELaV7HFbAfX20JadqUFLM4eYx/Tb447nDLcvBagzWsgvEik6FwCIiZDZ4tAVerbo2aJphTtIgZSgkhgIv73YqKpyXYAArpKN0SryGzcet00BPJPrdPinH6SvIiDQX5NRUMaiss88n/Ydp1Afccid0znk1TxjGJepQMo7seSQFgiSMX3lYcnI203lA3L5jv7GIO43nya74BRObK+HCYM7HL47p2Ah0t4oD0wEpCou6s4xe6A5/uttVAvMZvoQMn1HMJp6skr5QustlylyewIcPisVzgN8GvFWRsd8RbCZ/0ZzJPdtb52VvTGWKORV0IZyZWO+NyQ+rH73VewYd0BEAJQdcr1ddtrIwgX2D6U4PlwMGLZX4djLdNKRiou8N4cnmOqiPzBwRKs2RGileZSo9YLZWvJXmrWiyQdzKsvEeqvQW7H5CnRTFdJ8cAENxrtWDuBh1ypx2kI0ESncoJV1fdeBL4VCblqSas64E84fW59Ech6dEqcbcosFumPMXEV1GSSMH8CFp8wQd87zlkjMKOqjBDL26gbQU4wAyacTdvBtPXJkUh6g6y6pqoK0OJGdmiG0UZ5TVmjyzFLejBIE2pW/95cbQJ8oho5TR3/odFCaqx+XeP2ubSJT2GzjCuihi+SsxdKIr4x6svyerQ2/DBBHgEfC7E8fgiFC7nLqugKRAdFtrzvpDr88vr7bol1K2Ay9Fa4eXuva07NOMDrqEjB6ydXESeq9zGOyChDAk9gBmMGk9H6RpupQYTZlE6LzJ1oXYWkOUw0+e8znIeKydvu3Q0Hdwk6DEVSWwEFK77EeY7tn1b9PSOJs6fun0kpofICZfLyXWtuINU0UD2MIXcnaa01rpPJ6owsZujyLqjrjhStgyhyXLXl8pTbYERLRTLLHOZBiYlsaJxuyq4yHqc/3gcdg7o3lGWPSM6tiPDZVsQlKQzyoV4+/AGM+nNHFsVFwSHc8NPwaTou5oGoTmDxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01URLuV1CMz3EgoR4nm5Vw2z",
      "input": {
        "note": "The rim still appears left of the jaw column, so I'm shifting a further 3 cm to the arm's left to straddle the rim.",
        "targets": {
          "left_y": -0.213,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01URLuV1CMz3EgoR4nm5Vw2z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7986, 2.0117, 1.2839, -0.5255, -0.5205, -0.704, 0.9958, 0.0391, 1.2232, 1.0695, -0.9691, 0.0883, -0.2062, 0.9973]\nstate[eef_state]: left_x=0.3621 left_y=-0.2408 left_z=0.0205 left_yaw=0.0919 left_pitch=-0.4164 left_roll=0.1798 left_gripper=0.9958 right_x=0.2881 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.5653 right_roll=-0.1899 right_gripper=0.9973\nstate[joint_eff]: [-0.3761, -11.5897, 5.1624, 0.9646, -0.3053, 0.0024, -0.0073, -0.0752, -3.9316, 6.5983, 1.072, 0.0024, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9018f47f356840d0b5be9b4080b56eaa98e63f38b2094137901f18108bb49bf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69b68362ae8ff75475ca1219761846b7780597b4542353e754204cc9bf8e2a12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9ab70ebceefc66e36b15340f42fcdff8a64f9cd5aadf2aace4e2a0788adeb0b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 9.928 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]: [-0.8291, 2.022, 1.3571, -0.5728, -0.5331, -0.7307, 0.9958, 0.0391, 1.2232, 1.0695, -0.9688, 0.0883, -0.2058, 0.9974]\nstate[eef_state]: left_x=0.3644 left_y=-0.2595 left_z=0.0358 left_yaw=0.0787 left_pitch=-0.3947 left_roll=0.1581 left_gripper=0.9958 right_x=0.2882 right_y=-0.0007 right_z=0.1604 right_yaw=0.0802 right_pitch=-0.5649 right_roll=-0.1897 right_gripper=0.9974\nstate[joint_eff]: [-0.6769, -9.7983, 5.559, 0.9841, -0.4811, -0.149, -0.0171, -0.0342, -3.959, 6.4068, 1.0916, -0.0024, 0.0415, -0.0122]",
      "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]: [-0.8192, 2.0266, 1.3136, -0.5255, -0.5236, -0.7216, 0.9958, 0.0391, 1.2232, 1.0695, -0.9688, 0.0883, -0.2062, 0.9974]\nstate[eef_state]: left_x=0.3631 left_y=-0.2539 left_z=0.0235 left_yaw=0.0782 left_pitch=-0.4031 left_roll=0.1584 left_gripper=0.9958 right_x=0.2882 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.565 right_roll=-0.1899 right_gripper=0.9974\nstate[joint_eff]: [1.2103, -13.0667, 5.9966, 0.9304, -0.3004, 0.1978, -0.0073, -0.1162, -3.8632, 6.5573, 1.0818, 0.022, -0.0269, -0.0171]",
      "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]: [-0.7986, 2.0117, 1.2839, -0.5255, -0.5205, -0.704, 0.9958, 0.0391, 1.2232, 1.0695, -0.9691, 0.0883, -0.2062, 0.9973]\nstate[eef_state]: left_x=0.3621 left_y=-0.2408 left_z=0.0205 left_yaw=0.0919 left_pitch=-0.4164 left_roll=0.1798 left_gripper=0.9958 right_x=0.2881 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.5653 right_roll=-0.1899 right_gripper=0.9973\nstate[joint_eff]: [-0.3761, -11.5897, 5.1624, 0.9646, -0.3053, 0.0024, -0.0073, -0.0752, -3.9316, 6.5983, 1.072, 0.0024, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9018f47f356840d0b5be9b4080b56eaa98e63f38b2094137901f18108bb49bf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69b68362ae8ff75475ca1219761846b7780597b4542353e754204cc9bf8e2a12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ab70ebceefc66e36b15340f42fcdff8a64f9cd5aadf2aace4e2a0788adeb0b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISlwQKjgEIEhgCKkARbLmzGT+JXt+flO6VZjyR1QXcs/rE1EeJxrVOo7Dtlj9rsKUn0CFiQR0f72Clizu1FCo8fZ72H+dtruH9+kl1Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfyazNUGEgz0OZ/Bx4SNCuQ5MQkaDIBVy0ovBZWB9nJLNyIwGs3xWEktPnD6IijgyqqOa7er/yS1yoj3BcuwJj9tblLD02QI/sItiMyzMe+IfTnaKrUC2pPzSfgQsH8NPPmrEicmUZJbx1GLbYfBINhxQuPjYK3LSoJh8nLMoQU3eBKWXiPOKm7H131wnOmu2tdHUZVyg4Nh0BsFDjo1Ap0kPJtmZ/IBzNlbvi+qgHCgoITLNTfdTZp/nnRqjnE6vMs0OceX99T3DRRi4xhhKYkrQ0OT1DwNeRTCtuq2Zb31mfXewCB/LAgzzEteYPtGznPGT5IAJnbk/k11VsHUO6GhlAWxLfET4UuX0fcYeuZlxA8gortIULem0aePu9yi4EimnbGJKl4I1qJLBWKuPOnp53WEefJVdcMLgrZWEsrzo4uPsXqMri++1tBFho26mPIHCE7DSkuP48F8LLMfe85XTojGMCgUJwMzc6y8NUauT+3Z46hxbyJ00GCd5e3TauRLEdCY1dljm2wbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KXErcs1feA5uwRpFqDBTkf",
      "input": {
        "note": "The purple rim now passes between the fingers; closing to pinch the rim of the stacked bowls.",
        "targets": {
          "left_gripper": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KXErcs1feA5uwRpFqDBTkf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7986, 2.0075, 1.2839, -0.5217, -0.5587, -0.6868, 0.0954, 0.0391, 1.2232, 1.0695, -0.9691, 0.0883, -0.2062, 0.9973]\nstate[eef_state]: left_x=0.3663 left_y=-0.2368 left_z=0.0258 left_yaw=0.1011 left_pitch=-0.385 left_roll=0.2082 left_gripper=0.0954 right_x=0.2881 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.5653 right_roll=-0.1899 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -9.5521, 6.2154, 0.8181, 0.0415, -0.2271, 0.5299, -0.0479, -3.959, 6.3932, 1.0965, -0.0269, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f04288944fa0b0aab77d4643eff9da26b38641d8867f3b750365537b146c7d38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:231463fcc59547ee96686000f6365eaa17e6428a3021aa53409b0387f751088e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:48c4f9971f6b037d74e5bb43564e4830849b1a44bd26ddae406980affa772d8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 4.381 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]: [-0.8192, 2.0266, 1.3136, -0.5255, -0.5236, -0.7216, 0.9958, 0.0391, 1.2232, 1.0695, -0.9688, 0.0883, -0.2062, 0.9974]\nstate[eef_state]: left_x=0.3631 left_y=-0.2539 left_z=0.0235 left_yaw=0.0782 left_pitch=-0.4031 left_roll=0.1584 left_gripper=0.9958 right_x=0.2882 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.565 right_roll=-0.1899 right_gripper=0.9974\nstate[joint_eff]: [1.2103, -13.0667, 5.9966, 0.9304, -0.3004, 0.1978, -0.0073, -0.1162, -3.8632, 6.5573, 1.0818, 0.022, -0.0269, -0.0171]",
      "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]: [-0.7986, 2.0117, 1.2839, -0.5255, -0.5205, -0.704, 0.9958, 0.0391, 1.2232, 1.0695, -0.9691, 0.0883, -0.2062, 0.9973]\nstate[eef_state]: left_x=0.3621 left_y=-0.2408 left_z=0.0205 left_yaw=0.0919 left_pitch=-0.4164 left_roll=0.1798 left_gripper=0.9958 right_x=0.2881 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.5653 right_roll=-0.1899 right_gripper=0.9973\nstate[joint_eff]: [-0.3761, -11.5897, 5.1624, 0.9646, -0.3053, 0.0024, -0.0073, -0.0752, -3.9316, 6.5983, 1.072, 0.0024, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7986, 2.0075, 1.2839, -0.5217, -0.5587, -0.6868, 0.0954, 0.0391, 1.2232, 1.0695, -0.9691, 0.0883, -0.2062, 0.9973]\nstate[eef_state]: left_x=0.3663 left_y=-0.2368 left_z=0.0258 left_yaw=0.1011 left_pitch=-0.385 left_roll=0.2082 left_gripper=0.0954 right_x=0.2881 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.5653 right_roll=-0.1899 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -9.5521, 6.2154, 0.8181, 0.0415, -0.2271, 0.5299, -0.0479, -3.959, 6.3932, 1.0965, -0.0269, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f04288944fa0b0aab77d4643eff9da26b38641d8867f3b750365537b146c7d38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:231463fcc59547ee96686000f6365eaa17e6428a3021aa53409b0387f751088e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48c4f9971f6b037d74e5bb43564e4830849b1a44bd26ddae406980affa772d8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS/QwKjgEIEhgCKkBN3WFx23WIsVxkUhCzvC+jnvQXkmJdfsrEa0q/Fwxkbhl1vgzkz9DEj6g7zGbVU4vhuHbCEsNUguOnKCBSZpoaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYabzNUGEgzZD32IZ6dHc2cAVu8aDMvqPgJvrJve37kXvSIwYhgy1fgp/ZzgnncVoKX6EjUrSLJIRS4MiRcLTn0o21Z9XZK6+rAwALN5uthlBV9GKpsLebRd9x45W5CHOfB7ji/lflhPpUIymlM/zeQWwlkiAXf5FFdjx7Vl3EygrxaoKYaO1lgoD7bMhIq5d7NAmGfFpt5MquaGs7tYw41MH7xatpiVD2YOWW1NV1DpVufSOymyWb6MTsJVf/FBGnDECw8uLZSi+GnUCFSCDOzBo4fWLhp67zboQld5jD8XgKc0Hoop87Mo7lzX+Klv3VIHDR94Hdkj2FINAGtbpQ5CMyA57WmiQ7KX6fZ7PATcn5DzrfLZ9rZ1iCXkIsgN53wctZCYKysDhj3KdHWYJoVzgOao8LWzykPCiEJGxcjhsqCrlF+lLQR3bj/TO6j0/YbICXqeOI5JTzY8/EysyDCg5T2QHSrIJcy+bVSsjEM+hZVRgAwDdvDqjSUIr9MQ6DMiLgyqOmimGbNTfJWEmWoPb/UL7E9vuZEwwzxeSw1NJdWOZFXptzL5rPMzaqURGolAUXDhQun5MMJ/aGpddIp2jMgr4j0yx48dmh+jokJhOE2uuBQYeu6TgY3HTkUUnfC6nQPuCzn6vyUmkUsK/sf44RZWC7pwnbGtBAKyPQxoorUTBwUD6xgjU/QP5qe8+TGHLuXGkiXz+CpH52NWTSQElROd+/U0p9snMr7vwfKrHE5xpWzmiUv7r5gSAUFakkveVl+rKC/Z6ChqpIdILNnjfMgOm3WMAJ5WBwh/2H71idXOyi6RPkEB7THDWxpc09Hl+96m9gZAKKeQ2MpR3L+wYUzkD1YrTPKnFkLBK6zTtJINRtuX5neWqNTYaylzza32p17w1jHFr4V0E3djOYEEhQG2jVnsoJadNhKPlkQ4sMkZGwJ0wW/QrsWj/+oNRE8G5vyN86jYEg9gS18iJO/YNivAqIlNWbbsfPS8vZFNT+ty31cLoY8IyjpeM5yzM4QA5BSUgzJ9bJULrI5xsyns75Gayo6cVfKEQLJsbT4MMstaobXlFOWUYcVKva5xyxZE+2u7PSLpj9fLyrOHE2GO46tJe8vcE1g/Y+3ErfaxiYHJutwvfhI7CCMjNtcta+nEgeOaffTr9ioK1XPPXIqqnaLCk/lhnfG4ogO1LiV2Um87tVIoPVYrVCundR1SArHaVBJB9URPjeSLadeo9ZznbaXrftNWcGtRsZtyyqLkiMjxMVzFcRPeKoMJTm1dkj4/fjEAARilaJ/O3FACOag1i04fnPB7bQYRAOx7EVeD5mmXITWirQdaaXq5+MUdpzcMPRQ15ABjGOZ4WJigwFGFCXVIe/9QrKCpBiT/AHVOmnMUSAJimr0xcuFSZHpKOXU/G4RjWHuwiAeXUi+i0hEQNjQ3xWfD+G9LMKZroViauTX6ut2VZQlv6b5DeNXM76LgdxUSNu5I3id1GxqY6XV3aTd1MPLCCTPGFid+gJPSwuyvbMV72t17wOMYKzsGX/uuK1ywgMunfpMD5aks0EovWLP4sgmkXMrR3uc8UmR1Q2csn/ihN3Og7WtS356jbedEk4HHml5IUQOAuVtAaDbOZs2K03BCG7CmliE4cLBYOAMhmPYqpggHaFGj2lRY93mbLkD5rGHqpxIWxk0M6he7dlNOTG0cUFouVZRQmUzY7JJ+0Cxx0R+X92Li5IDS7Mt3g+5bkJ5vgt/fAORnfgR8IcYnJ7BhvFn+cuczWZ4LH+LrS+W2BjFi1XRLi17RWk6iGVmVbe6H/WlYTS+Z3I1Zf4YnjS66tu+AYo/HBaeM5Ji4h+t3y0Cj7WwvPwrQD4MGMO5u+FAEQkUlqFENPAsDg3D7QfYtaoSJFavZcMhcrx0HoHRTCAx25sDC2ecWAFQaapCcfGfF4XTtrRcBjQC4Y7sGpJLHWfgB0iDDtKy4cG5bvIIsKuzsYgtK018r0MOI2OvyhXnDEa90uWBlz/RgzloGO5ITjHuGlfesLTLzQBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PyJFKy6ds4atPomTWuKV9D",
      "input": {
        "note": "Rim is gripped (0.095); lifting the white+purple stack and shifting it ~6 cm toward the table centre so the right arm can reach it.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.305,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01PyJFKy6ds4atPomTWuKV9D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8944, 2.1296, 1.9759, -1.1202, -0.5556, -0.8055, 0.0976, 0.0391, 1.2232, 1.0695, -0.9695, 0.0883, -0.2062, 0.9974]\nstate[eef_state]: left_x=0.3732 left_y=-0.3103 left_z=0.1472 left_yaw=0.0808 left_pitch=-0.392 left_roll=0.1569 left_gripper=0.0976 right_x=0.288 right_y=-0.0007 right_z=0.1603 right_yaw=0.0805 right_pitch=-0.5657 right_roll=-0.1899 right_gripper=0.9974\nstate[joint_eff]: [-0.6496, -11.4803, 7.8154, 0.4127, -0.6667, 0.0904, 0.5397, -0.0752, -3.8359, 6.3932, 1.0818, -0.0317, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aba1f7636d44823dffa76cab3b45c7d0206efee0c2f83b5861309740710ecdf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4af0d884e50c2b70be795a92dd85eabc5f26a79c8990cea0da4775b7191a7bf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9bee9f268417d761b5c82358982dde0dd765d32ca709fbf13eab8abde42b1ffe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 1.9 s

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

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7986, 2.0117, 1.2839, -0.5255, -0.5205, -0.704, 0.9958, 0.0391, 1.2232, 1.0695, -0.9691, 0.0883, -0.2062, 0.9973]\nstate[eef_state]: left_x=0.3621 left_y=-0.2408 left_z=0.0205 left_yaw=0.0919 left_pitch=-0.4164 left_roll=0.1798 left_gripper=0.9958 right_x=0.2881 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.5653 right_roll=-0.1899 right_gripper=0.9973\nstate[joint_eff]: [-0.3761, -11.5897, 5.1624, 0.9646, -0.3053, 0.0024, -0.0073, -0.0752, -3.9316, 6.5983, 1.072, 0.0024, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7986, 2.0075, 1.2839, -0.5217, -0.5587, -0.6868, 0.0954, 0.0391, 1.2232, 1.0695, -0.9691, 0.0883, -0.2062, 0.9973]\nstate[eef_state]: left_x=0.3663 left_y=-0.2368 left_z=0.0258 left_yaw=0.1011 left_pitch=-0.385 left_roll=0.2082 left_gripper=0.0954 right_x=0.2881 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.5653 right_roll=-0.1899 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -9.5521, 6.2154, 0.8181, 0.0415, -0.2271, 0.5299, -0.0479, -3.959, 6.3932, 1.0965, -0.0269, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8944, 2.1296, 1.9759, -1.1202, -0.5556, -0.8055, 0.0976, 0.0391, 1.2232, 1.0695, -0.9695, 0.0883, -0.2062, 0.9974]\nstate[eef_state]: left_x=0.3732 left_y=-0.3103 left_z=0.1472 left_yaw=0.0808 left_pitch=-0.392 left_roll=0.1569 left_gripper=0.0976 right_x=0.288 right_y=-0.0007 right_z=0.1603 right_yaw=0.0805 right_pitch=-0.5657 right_roll=-0.1899 right_gripper=0.9974\nstate[joint_eff]: [-0.6496, -11.4803, 7.8154, 0.4127, -0.6667, 0.0904, 0.5397, -0.0752, -3.8359, 6.3932, 1.0818, -0.0317, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aba1f7636d44823dffa76cab3b45c7d0206efee0c2f83b5861309740710ecdf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4af0d884e50c2b70be795a92dd85eabc5f26a79c8990cea0da4775b7191a7bf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bee9f268417d761b5c82358982dde0dd765d32ca709fbf13eab8abde42b1ffe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS0QUKjgEIEhgCKkDyoNKjWvYxTivm1ZRtoBeOHUxZuXqDF7rmGjs9alOynCzexe7VyEDZH7UbEp8dzSd+a3IhvJ8ysiJ1rPm4AMfwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYybzNUGEgzwcmnfXUD6KDOef7caDHH7BmZLtrKpJxdqGyIwA6azhQFcm8IHVTXopRHP09VrS8fNyOniR7mKK//Q52lCBO2iJsx/6EcWavpsvS4wKu8D782KcqatFtD6kSRqePG4a38GqmTUjToGtpvPB35jB0E/e7D8J8UkbxSPHGxw2wkzGBEGKByFVze/bvo6DG6ZvNR7pHeGDCFDwEUlROpzWQlTuJ2QcVnkoOMh8VLTLN9LWnHXCgqW69a8XQa6jFgG7U9upNekNyyWnIJkxvH1CY0w86PclzHpJ3SosiLiEuK668hFpm7bIzgCvoYi65do1aemoxp5zJR0m5Gw2xSAoMEL3cNuuK7aLbRNCsUqIh/QU58B0fSA6ON8eUV1Z3HuGF4dNkW2hbzA0DifxHNdZijVnhMAG6kxdVIhnb6uTQavld25X/X136nnCcEUE6NJpzSFHMMCgz/TOL6nrPBbywQn1atNSH4SuOc11kHOUrltSQht30K9V/LmLaiYH4JV0s6ITw28CpkOX/656MnZMdJo1DbsamIP3lZiZAeYDPlEw/FybvSCuF5yBwdniojFsB6q3b5ya+ZeH4WuFBSdXsM0od9jq2I49tO30fWGf/4quKGYe3fJbmIVGDeY6b3MKWnelUxSvNBEANM5fGk9Y3Aiq1j3kgvqIdHoPlhOdgWCckflEP7kb5AZCBwAnB7yeL3kRTykbYGooL9z6Kr8p1Z8npj54pfTQvVkH2VJ6/T9bPSYBCP6aSHRJJ3th+yVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017nmYTVv1VAGdfZ5xD25cTT",
      "input": {
        "note": "Lowering the carried stack back to the table at its new, more central position.",
        "targets": {
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_017nmYTVv1VAGdfZ5xD25cTT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8986, 2.1704, 1.6188, -0.749, -0.54, -0.8097, 0.1001, 0.0391, 1.2232, 1.0695, -0.9691, 0.0883, -0.2062, 0.9973]\nstate[eef_state]: left_x=0.3654 left_y=-0.3075 left_z=0.0392 left_yaw=0.0806 left_pitch=-0.419 left_roll=0.1693 left_gripper=0.1001 right_x=0.2881 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.5653 right_roll=-0.1899 right_gripper=0.9973\nstate[joint_eff]: [0.1573, -10.1949, 6.0513, 0.779, -0.4811, 0.0171, 0.2466, -0.1299, -3.959, 6.5299, 1.0232, 0.0073, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7befefe8b6acd222d5c725eb62c7cb9394e33baddd876cdc64072326c124ee66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b379646b6f21523bb1c2013e77121d9b9c2f36feabc2bc51ea3366de4bac09ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d36593b65fe854cdc7e9fe86bb8765ba499c7a1eb0f992481ac416a044ba78a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /messages · status 200 · 5.601 s

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

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7986, 2.0075, 1.2839, -0.5217, -0.5587, -0.6868, 0.0954, 0.0391, 1.2232, 1.0695, -0.9691, 0.0883, -0.2062, 0.9973]\nstate[eef_state]: left_x=0.3663 left_y=-0.2368 left_z=0.0258 left_yaw=0.1011 left_pitch=-0.385 left_roll=0.2082 left_gripper=0.0954 right_x=0.2881 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.5653 right_roll=-0.1899 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -9.5521, 6.2154, 0.8181, 0.0415, -0.2271, 0.5299, -0.0479, -3.959, 6.3932, 1.0965, -0.0269, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8944, 2.1296, 1.9759, -1.1202, -0.5556, -0.8055, 0.0976, 0.0391, 1.2232, 1.0695, -0.9695, 0.0883, -0.2062, 0.9974]\nstate[eef_state]: left_x=0.3732 left_y=-0.3103 left_z=0.1472 left_yaw=0.0808 left_pitch=-0.392 left_roll=0.1569 left_gripper=0.0976 right_x=0.288 right_y=-0.0007 right_z=0.1603 right_yaw=0.0805 right_pitch=-0.5657 right_roll=-0.1899 right_gripper=0.9974\nstate[joint_eff]: [-0.6496, -11.4803, 7.8154, 0.4127, -0.6667, 0.0904, 0.5397, -0.0752, -3.8359, 6.3932, 1.0818, -0.0317, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8986, 2.1704, 1.6188, -0.749, -0.54, -0.8097, 0.1001, 0.0391, 1.2232, 1.0695, -0.9691, 0.0883, -0.2062, 0.9973]\nstate[eef_state]: left_x=0.3654 left_y=-0.3075 left_z=0.0392 left_yaw=0.0806 left_pitch=-0.419 left_roll=0.1693 left_gripper=0.1001 right_x=0.2881 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.5653 right_roll=-0.1899 right_gripper=0.9973\nstate[joint_eff]: [0.1573, -10.1949, 6.0513, 0.779, -0.4811, 0.0171, 0.2466, -0.1299, -3.959, 6.5299, 1.0232, 0.0073, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7befefe8b6acd222d5c725eb62c7cb9394e33baddd876cdc64072326c124ee66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b379646b6f21523bb1c2013e77121d9b9c2f36feabc2bc51ea3366de4bac09ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d36593b65fe854cdc7e9fe86bb8765ba499c7a1eb0f992481ac416a044ba78a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GYcB2xHn7JwQH4foGaVzK2",
      "input": {
        "note": "Stack is down on the table at the new spot; releasing it and lifting the fingers slightly clear.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01GYcB2xHn7JwQH4foGaVzK2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8986, 2.1883, 1.6413, -0.812, -0.5392, -0.8127, 0.9919, 0.0391, 1.2232, 1.0695, -0.9688, 0.0883, -0.2062, 0.9973]\nstate[eef_state]: left_x=0.3601 left_y=-0.301 left_z=0.0345 left_yaw=0.1047 left_pitch=-0.4512 left_roll=0.2209 left_gripper=0.9919 right_x=0.2882 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.565 right_roll=-0.1899 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -15.1316, 8.212, 0.5641, -0.3101, 0.0024, -0.105, -0.0342, -3.9179, 6.5709, 1.0867, 0.0171, -0.0366, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd45a71afca13c92c65d1a67acbbe0b6891be4ed12733115785542e9df5cd6f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c51f5ceafdbacd3699167ff02b6a14137358d54df5cfe063c133b15feb32a6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:653833220a6b076ba7acbe614f3244f9f3b6de7061fb372a2f21ca2555dfb0b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /messages · status 200 · 24.05 s

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

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8944, 2.1296, 1.9759, -1.1202, -0.5556, -0.8055, 0.0976, 0.0391, 1.2232, 1.0695, -0.9695, 0.0883, -0.2062, 0.9974]\nstate[eef_state]: left_x=0.3732 left_y=-0.3103 left_z=0.1472 left_yaw=0.0808 left_pitch=-0.392 left_roll=0.1569 left_gripper=0.0976 right_x=0.288 right_y=-0.0007 right_z=0.1603 right_yaw=0.0805 right_pitch=-0.5657 right_roll=-0.1899 right_gripper=0.9974\nstate[joint_eff]: [-0.6496, -11.4803, 7.8154, 0.4127, -0.6667, 0.0904, 0.5397, -0.0752, -3.8359, 6.3932, 1.0818, -0.0317, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8986, 2.1704, 1.6188, -0.749, -0.54, -0.8097, 0.1001, 0.0391, 1.2232, 1.0695, -0.9691, 0.0883, -0.2062, 0.9973]\nstate[eef_state]: left_x=0.3654 left_y=-0.3075 left_z=0.0392 left_yaw=0.0806 left_pitch=-0.419 left_roll=0.1693 left_gripper=0.1001 right_x=0.2881 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.5653 right_roll=-0.1899 right_gripper=0.9973\nstate[joint_eff]: [0.1573, -10.1949, 6.0513, 0.779, -0.4811, 0.0171, 0.2466, -0.1299, -3.959, 6.5299, 1.0232, 0.0073, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8986, 2.1883, 1.6413, -0.812, -0.5392, -0.8127, 0.9919, 0.0391, 1.2232, 1.0695, -0.9688, 0.0883, -0.2062, 0.9973]\nstate[eef_state]: left_x=0.3601 left_y=-0.301 left_z=0.0345 left_yaw=0.1047 left_pitch=-0.4512 left_roll=0.2209 left_gripper=0.9919 right_x=0.2882 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.565 right_roll=-0.1899 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -15.1316, 8.212, 0.5641, -0.3101, 0.0024, -0.105, -0.0342, -3.9179, 6.5709, 1.0867, 0.0171, -0.0366, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd45a71afca13c92c65d1a67acbbe0b6891be4ed12733115785542e9df5cd6f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c51f5ceafdbacd3699167ff02b6a14137358d54df5cfe063c133b15feb32a6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:653833220a6b076ba7acbe614f3244f9f3b6de7061fb372a2f21ca2555dfb0b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS1wYKjgEIEhgCKkDZpjUn6VVsNIVUh5jQcNJs7ojmae/AT/OOEs7sPXzgoGMr69/fg0rMH+/DlMvz3Khkypa4iI7bE9K0olS1plJ/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZWbzNUGEgxVIQ2LF89CWNhjX2QaDIL7FsLcmp6eXsxK9CIwPGsLeLUbwbcGRme0+lUGHpAFh1dux8Y1DuRc1r6vACbx9oMQMCJMmF7X58KHJWZ5KvUEgliPeKQXNExEKr5jy7/CNiGHetY1ni/LAsi0iB83UFk4qLMp/XNGdrFJBqW75h1pbe3S/bxZ8MJU1l4rSM4smUirJVrSk/+yiLSWDKtz7y80Ntb4iI92x9PAAj/s3QTfiPps45S6JebuXl6khOSDvNVm1FhGuxFXpWJDLQ74UDY8sdEJ9NiCIYhlhPpC+vOMItameOOYArUVXpOEKIXvLvaE/35qCAhjzaCDhsqRhrnaf8l3ZxyFQL1IPTxHFmil6GO7g1Q99p9sykD2ofkGCMPiLIb3uMooVFOn5pBf26RuVLhMvc0vl+DvF5bmgCpOMY4ebeO2I90+/35HZ7idJ/g0gDMIqj45IXlSPJgjEkwNuEcn3wSoGQ4M0gvIL++UtR0c/HxxqRDTtGRQD/5h27Jg7pepkWPQ3aHF228GFrY0qU+CzFbMTb4FL3m6D6dcviReJNhJTooYh4noLaFF04fC3JvPbribSgGVrhp5vGGPb7z+ExK9qxJzQHr6110Ugfirt4upyXW/4/UeWGcRtU2nUPDSBij1jOxBH2Ejy+xYYOruP4yq/pYnvjlVr4fGwLE6fgYCJslLEl1ReR5zxmnSS++va0Tb2WWaQOR2PNErhNycUr4SLUifsPxFL8qslRPCku3xo9lKnuEiO+K99Qq/dDVZSpSeVkuDhuMMSa2GVVYYO3ODz27M1EQdIrQq0gKR3B2lqoN1/qZvmlvUrg+hMFCwWnXEzK+cByXiqB7rXPtTJoKrn5La/N1NdQeOGGOwYIupYKgqFKhUaDwIBXq8kjD8LWRB93ZQMwtU1cRHj7PPOBa7JhneqFCBsfqX5CAxuvQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WMG6pRqaAYqy9EGGxVWKm4",
      "input": {
        "note": "Stack released at its new central spot; parking the left arm out of the way.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.25,
          "left_y": -0.05,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01WMG6pRqaAYqy9EGGxVWKm4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5087, 1.3041, 1.6283, -1.4857, -0.4194, -0.4332, 0.9988, 0.0391, 1.2232, 1.0695, -0.9691, 0.0883, -0.2062, 0.9974]\nstate[eef_state]: left_x=0.26 left_y=-0.0585 left_z=0.2894 left_yaw=0.1277 left_pitch=-0.4444 left_roll=0.1972 left_gripper=0.9988 right_x=0.2881 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.5653 right_roll=-0.1899 right_gripper=0.9974\nstate[joint_eff]: [0.253, -4.4923, 7.241, 0.823, -0.4127, 0.1148, -0.1392, -0.0068, -3.7949, 6.4068, 1.0769, -0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01c586294208237b19013b42e47c0f4cc0f92a5cd687a9df008953ae671f31a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7e134db6a93ed3fe3d1ef9818d079ce6462765a14de4aa84ed59c7fdcd22166",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b71916ce27fc1a469a6c5e3f99f95947953c432ff867a5db54c03480a47dbbc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /messages · status 200 · 7.481 s

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

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8986, 2.1704, 1.6188, -0.749, -0.54, -0.8097, 0.1001, 0.0391, 1.2232, 1.0695, -0.9691, 0.0883, -0.2062, 0.9973]\nstate[eef_state]: left_x=0.3654 left_y=-0.3075 left_z=0.0392 left_yaw=0.0806 left_pitch=-0.419 left_roll=0.1693 left_gripper=0.1001 right_x=0.2881 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.5653 right_roll=-0.1899 right_gripper=0.9973\nstate[joint_eff]: [0.1573, -10.1949, 6.0513, 0.779, -0.4811, 0.0171, 0.2466, -0.1299, -3.959, 6.5299, 1.0232, 0.0073, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8986, 2.1883, 1.6413, -0.812, -0.5392, -0.8127, 0.9919, 0.0391, 1.2232, 1.0695, -0.9688, 0.0883, -0.2062, 0.9973]\nstate[eef_state]: left_x=0.3601 left_y=-0.301 left_z=0.0345 left_yaw=0.1047 left_pitch=-0.4512 left_roll=0.2209 left_gripper=0.9919 right_x=0.2882 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.565 right_roll=-0.1899 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -15.1316, 8.212, 0.5641, -0.3101, 0.0024, -0.105, -0.0342, -3.9179, 6.5709, 1.0867, 0.0171, -0.0366, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5087, 1.3041, 1.6283, -1.4857, -0.4194, -0.4332, 0.9988, 0.0391, 1.2232, 1.0695, -0.9691, 0.0883, -0.2062, 0.9974]\nstate[eef_state]: left_x=0.26 left_y=-0.0585 left_z=0.2894 left_yaw=0.1277 left_pitch=-0.4444 left_roll=0.1972 left_gripper=0.9988 right_x=0.2881 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.5653 right_roll=-0.1899 right_gripper=0.9974\nstate[joint_eff]: [0.253, -4.4923, 7.241, 0.823, -0.4127, 0.1148, -0.1392, -0.0068, -3.7949, 6.4068, 1.0769, -0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01c586294208237b19013b42e47c0f4cc0f92a5cd687a9df008953ae671f31a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7e134db6a93ed3fe3d1ef9818d079ce6462765a14de4aa84ed59c7fdcd22166",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b71916ce27fc1a469a6c5e3f99f95947953c432ff867a5db54c03480a47dbbc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KTYK16e4chbXCWT8AcH7hv",
      "input": {
        "note": "Pink bowl is centered ahead of the right jaws; descending beside its right rim to pinch it again for the final placement onto the stack.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.35,
          "right_y": 0.14,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01KTYK16e4chbXCWT8AcH7hv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5079, 1.3109, 1.6283, -1.4998, -0.4156, -0.4347, 0.9988, 0.487, 1.7245, 0.981, -0.5289, 0.2485, 0.1776, 0.9975]\nstate[eef_state]: left_x=0.2583 left_y=-0.058 left_z=0.2863 left_yaw=0.1326 left_pitch=-0.4632 left_roll=0.207 left_gripper=0.9988 right_x=0.3299 right_y=0.1296 right_z=0.0207 right_yaw=0.1016 right_pitch=-0.645 right_roll=-0.2181 right_gripper=0.9975\nstate[joint_eff]: [-0.2667, -3.8632, 5.4906, 1.0574, -0.2857, -0.0171, -0.0024, 0.2667, -8.1573, 8.253, 0.9841, 0.2271, 0.1343, -0.2711]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3c73730caf4573b27b30b2e05fdd7a4d9ae73e234f90bdf1b44bf98edb0c165",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5376a14f5435dc35ed2b59f3574113597e70a7382a0cf83ba8953fab40a9c353",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d97ffe17c82578d8bc516cc9942f34f75a9bd03850ccb83ef13bccd71534f587",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /messages · status 200 · 4.955 s

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

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8986, 2.1883, 1.6413, -0.812, -0.5392, -0.8127, 0.9919, 0.0391, 1.2232, 1.0695, -0.9688, 0.0883, -0.2062, 0.9973]\nstate[eef_state]: left_x=0.3601 left_y=-0.301 left_z=0.0345 left_yaw=0.1047 left_pitch=-0.4512 left_roll=0.2209 left_gripper=0.9919 right_x=0.2882 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.565 right_roll=-0.1899 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -15.1316, 8.212, 0.5641, -0.3101, 0.0024, -0.105, -0.0342, -3.9179, 6.5709, 1.0867, 0.0171, -0.0366, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5087, 1.3041, 1.6283, -1.4857, -0.4194, -0.4332, 0.9988, 0.0391, 1.2232, 1.0695, -0.9691, 0.0883, -0.2062, 0.9974]\nstate[eef_state]: left_x=0.26 left_y=-0.0585 left_z=0.2894 left_yaw=0.1277 left_pitch=-0.4444 left_roll=0.1972 left_gripper=0.9988 right_x=0.2881 right_y=-0.0007 right_z=0.1604 right_yaw=0.0805 right_pitch=-0.5653 right_roll=-0.1899 right_gripper=0.9974\nstate[joint_eff]: [0.253, -4.4923, 7.241, 0.823, -0.4127, 0.1148, -0.1392, -0.0068, -3.7949, 6.4068, 1.0769, -0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5079, 1.3109, 1.6283, -1.4998, -0.4156, -0.4347, 0.9988, 0.487, 1.7245, 0.981, -0.5289, 0.2485, 0.1776, 0.9975]\nstate[eef_state]: left_x=0.2583 left_y=-0.058 left_z=0.2863 left_yaw=0.1326 left_pitch=-0.4632 left_roll=0.207 left_gripper=0.9988 right_x=0.3299 right_y=0.1296 right_z=0.0207 right_yaw=0.1016 right_pitch=-0.645 right_roll=-0.2181 right_gripper=0.9975\nstate[joint_eff]: [-0.2667, -3.8632, 5.4906, 1.0574, -0.2857, -0.0171, -0.0024, 0.2667, -8.1573, 8.253, 0.9841, 0.2271, 0.1343, -0.2711]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3c73730caf4573b27b30b2e05fdd7a4d9ae73e234f90bdf1b44bf98edb0c165",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5376a14f5435dc35ed2b59f3574113597e70a7382a0cf83ba8953fab40a9c353",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 366):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d97ffe17c82578d8bc516cc9942f34f75a9bd03850ccb83ef13bccd71534f587",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISoQkKjgEIEhgCKkDMEDq76TIemEE433OofYK8OnPbqJcaWz5BRt0LVWY6bjK11dxT9r26GPKxW+PzbnqqmncMSNM5M9V/YCsXSm0/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbibzNUGEgwOqhBblEy2TQMhPtEaDFWxfohUWhkcgSWRQCIwaUBE0tXmmDaCi0r94aJxd7zbimQicUNSla9ksZD0BsppLp00ZHKl7rHh6Xmrp+DgKr8HC9LCfdGZ6aHQ7At3+Lyhs284/dyV9f7U6xYcwcKAmGfVBgOM2wzm2Qr8ERaTBOTwyByRh+5aRNZSQyqSpRg73eWad0fJhoOrUnsus9EgM2yrEMjfwG62tuMXvfLBk7vXtlysU1sZd/w69KJIaTaDf394akoMWraCkK6f6JEXLFG4jZUGWvh61MdpRFfQkR7ElQ++//qFWV/vOjTFer+lHQDY/PdXnYPIUjYaeHBW4YuODM17UXzV/QeA6kUBY5R5KdfSHkyaAMBOjsirO9Vi/X1NJj6OtPST05CINi3MK4qh4tyzFcNAhSayuRvUtdZDIUTnPRhUJZziVXDKewwzOSlEFsxf82k67bt+dK6RCjC6gtpKLSxW3ID+5f/vNTo6Mq0/vPXaF33BqfSrpszEY2z1F+jg7B77nbGxuDMBlf+wUUWcO7KK5TMo4jKXlo9Yhks7Y1YsrRLxF5dlVuDCE4rvt395jl23s0dCzbhLa7H3Pl8AIfAvFC0+wbfBsH5a90i8mY5kjMJvur8/W2FpGdGPI4pWYPHsAXdVXt14g4+gyI5kgYpuB6tE24p5vVbjrsxnq5ayyk02+Kcupm2LNRZ/fWRgwa2TqKAwmK4rIhjciPAiHSq3QFem7yF7QO43iYEw1zBobj4uP6ikkbjvccUw9rD6vr0vKitDH72fT1yRSS9KkPCSa9vs1K+QtC80WT3kI2RrU8toNXRbCLD4y4huAn3lHBSReuBA2TpUpWU0nOnF5rzYvG9bTaM8RkZnT54eyff8KBRc0B/G/DqzlQ9My0cdx1YAu0ezmAwrj326MdLYLG/7zbS8eGE7x+6TDqfQjsBLScLbISkCaiLHiklFH5lBpB4bBDOT8/7Z02GQs7BRZ5P3RpIth9vEHy/EoiPYvoReViMxkw4bo+0azZrcGGtZE7pTjrKl0Px6wLMko2vDGYfhdiH2MbEbHfSgwxlRGfuY/juGsvhB6Cw06h6rdMscy0Qc50ZnJ62FA9nCTvWphFhlw+xDIoSw26G16oyLJyc0qRvMTIiLNmnU2Bz0fAmAd3r9s8dTo9ZgrQU9ThtsLh1jjXsZO37FpIlcGOnMMx2YAjULcFwG48AQknTwEnoacFDxpwHYKPcUNCnKtNI3lpZZ3gVFnybVlDil6Xm11zg31t2cX2ufOO4Xn2/Hr5Rtq84unKCJyI/rRIKFwmtjhcFAnCXfa6tj/KUctImvGJugeGu5FFHytPemsWKNdS+FD/70PSUWJgMsISxNdfWhI3WgWLl9kCVRwi0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0142RJBTUrf1EW67wPLHQE1K",
      "input": {
        "note": "Pink bowl sits ~3 cm to the arm's right of the jaws; shifting right while closing to pinch its rim.",
        "targets": {
          "right_gripper": 0.08,
          "right_y": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0142RJBTUrf1EW67wPLHQE1K",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5079, 1.3109, 1.6283, -1.5005, -0.4152, -0.4347, 0.9988, 0.4095, 1.676, 0.8799, -0.4599, 0.2424, 0.1001, 0.0851]\nstate[eef_state]: left_x=0.2581 left_y=-0.058 left_z=0.2862 left_yaw=0.1325 left_pitch=-0.464 left_roll=0.2072 left_gripper=0.9988 right_x=0.3243 right_y=0.0984 right_z=0.0119 right_yaw=0.0852 right_pitch=-0.6414 right_roll=-0.2389 right_gripper=0.0851\nstate[joint_eff]: [-0.0342, -3.6855, 5.3128, 1.0037, -0.2418, -0.0269, -0.0122, -0.4991, -8.8957, 5.3128, 1.1209, 0.0464, -0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 376):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f379a06e0551d084171e301bca86cf90bb344978ab5e971258030db448e2f5c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 376):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a0fc4474b9f784bb18798e3614f6eb8690fb1b2d84f92e702c71cd08c4d6579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 376):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:599a8e039d43f71227874c48252cccf2cde1e398d55269dac24898a31e2bdb3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]