adhoc

completed
2026-09-22T20:18:59.611676+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
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
221.6 s
total steps
250
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI can see three bowls in a row (green, blue, pink). The right wrist camera shows the pink bowl a little to the left of the arm and ahead of it. I'm moving the right arm over my estimate of where the pink bowl is, then I'll check the wrist view.
move_to
right_x0.3600right_y0.0600right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7956, 0.6056, -0.379, -0.0223, -0.041, 0.9995, -0.0177, 0.794, 0.6029, -0.3798, -0.0162, -0.0334, 0.9969] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1805 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9995 right_x=0.2947 right_y=0.0012 right_z=0.1795 right_yaw=0.0002 right_pitch=-0.0008 right_roll=-0.0003 right_gripper=0.9969 state[joint_eff]: [-0.4171, -1.5795, 10.0034, 1.7558, -0.022, 0.2564, -0.0611, -0.5538, -1.4974, 10.3179, 1.8486, -0.0952, 0.149, -0.3394] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.06, "right_z": 0.2}, "note": "I can see three bowls in a row (green, blue, pink). The right wrist camera shows the pink bowl a little to the left of the arm and ahead of it. I'm moving the right arm over my estimate of where the pink bowl is, then I'll check the wrist view."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe pink bowl is centred under the right wrist camera now. Too wide to grip across, so I'm shifting about 5.5 cm left to sit over its left rim and lowering to 12 cm.
move_to
right_x0.3650right_y0.1150right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7994, 0.609, -0.3862, -0.0223, -0.0418, 0.9995, 0.2489, 1.1271, 0.783, -0.3233, 0.1658, 0.0795, 0.9966] state[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1795 left_yaw=0.0003 left_pitch=-0.0076 left_roll=-0.001 left_gripper=0.9995 right_x=0.3451 right_y=0.0613 right_z=0.1732 right_yaw=0.0522 right_pitch=-0.0867 right_roll=-0.0217 right_gripper=0.9966 state[joint_eff]: [-0.0068, -1.5385, 6.7624, 1.7705, -0.0317, -0.0073, -0.0122, 0.1573, -4.3829, 9.3333, 1.7851, 0.188, 0.1929, -0.0366] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.365, "right_y": 0.115, "right_z": 0.12}, "note": "The pink bowl is centred under the right wrist camera now. Too wide to grip across, so I'm shifting about 5.5 cm left to sit over its left rim and lowering to 12 cm."})
tool
executing move_to over 5 steps (0.5s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe pink bowl's left rim now sits on the jaw column in the right wrist view. Lowering so the jaws straddle the rim.
move_to
right_x0.3650right_y0.1150right_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8005, 0.6083, -0.3866, -0.0227, -0.0422, 0.9995, 0.4244, 1.3437, 0.7212, -0.1463, 0.271, 0.1661, 0.9966] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1788 left_yaw=0.0008 left_pitch=-0.0099 left_roll=-0.0011 left_gripper=0.9995 right_x=0.3528 right_y=0.1114 right_z=0.1082 right_yaw=0.0893 right_pitch=-0.1649 right_roll=-0.0489 right_gripper=0.9966 state[joint_eff]: [-0.0342, -1.3607, 7.3231, 1.707, -0.0269, -0.0659, -0.0122, 0.212, -5.5863, 6.4889, 1.79, 0.1734, 0.1734, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.365, "right_y": 0.115, "right_z": 0.03}, "note": "The pink bowl's left rim now sits on the jaw column in the right wrist view. Lowering so the jaws straddle the rim."})
tool
executing move_to over 6 steps (0.6s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe right arm stayed at z≈0.11, so the descent didn't happen, and the rim is still between the open jaws in the wrist view. Trying the descent again with a lower target and watching for contact.
move_to
right_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8028, 0.6083, -0.3889, -0.0227, -0.0422, 0.9995, 0.4404, 1.367, 0.7197, -0.0925, 0.2989, 0.1844, 0.9966] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.001 left_gripper=0.9995 right_x=0.3596 right_y=0.1159 right_z=0.1097 right_yaw=0.0739 right_pitch=-0.1307 right_roll=-0.043 right_gripper=0.9966 state[joint_eff]: [-0.0479, -1.4427, 7.0359, 1.7167, -0.0659, -0.0513, -0.0122, -0.4444, -6.2017, 6.5709, 1.8632, 0.2027, 0.149, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02}, "note": "The right arm stayed at z\u22480.11, so the descent didn't happen, and the rim is still between the open jaws in the wrist view. Trying the descent again with a lower target and watching for contact."})
tool
executing move_to over 6 steps (0.6s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteDescent is going slowly (z is now 0.073). Still lowering toward the rim height; the rim is still between the jaws.
move_to
right_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.804, 0.6083, -0.3889, -0.0227, -0.0422, 0.9995, 0.4404, 1.4479, 0.6231, 0.0814, 0.2996, 0.1837, 0.9966] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0156 left_roll=-0.001 left_gripper=0.9995 right_x=0.359 right_y=0.1155 right_z=0.0733 right_yaw=0.0735 right_pitch=-0.1337 right_roll=-0.0453 right_gripper=0.9966 state[joint_eff]: [-0.1983, -1.4017, 7.2274, 1.7411, -0.0513, -0.0757, -0.0122, -0.0615, -1.894, 2.947, 0.3834, 0.022, -0.0073, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02}, "note": "Descent is going slowly (z is now 0.073). Still lowering toward the rim height; the rim is still between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe right gripper is low at the pink bowl's left rim, and the rim is near the right jaw. Closing to pinch the bowl wall.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6083, -0.3901, -0.0227, -0.0456, 0.9995, 0.4404, 1.6077, 0.5236, 0.2829, 0.2955, 0.1829, 0.9964] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1768 left_yaw=0.0027 left_pitch=-0.0179 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3495 right_y=0.1118 right_z=0.0157 right_yaw=0.074 right_pitch=-0.1889 right_roll=-0.0642 right_gripper=0.9964 state[joint_eff]: [-0.1983, -1.4017, 7.1179, 1.7021, -0.0269, -0.0269, -0.0122, -0.335, -5.7641, 4.6564, 1.6923, 0.1001, 0.022, -0.0366] approver: 1 step(s) modified (delta_clamped). 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": {"right_gripper": 0.0}, "note": "The right gripper is low at the pink bowl's left rim, and the rim is near the right jaw. Closing to pinch the bowl wall."})
tool
executing move_to over 10 steps (1.0s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe gripper reads 0.04, which is borderline for a thin bowl wall, and the rim now sits right at the jaws in the wrist view. Lifting to see whether the pink bowl comes up with it.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8055, 0.6083, -0.3897, -0.0227, -0.049, 0.9995, 0.4404, 1.6341, 0.5186, 0.3763, 0.3103, 0.1642, 0.0398] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1768 left_yaw=0.0045 left_pitch=-0.0179 left_roll=-0.0066 left_gripper=0.9995 right_x=0.3603 right_y=0.1141 right_z=0.0215 right_yaw=0.0755 right_pitch=-0.1278 right_roll=-0.0656 right_gripper=0.0398 state[joint_eff]: [-0.1436, -1.1556, 7.0085, 1.7167, -0.0317, -0.022, -0.0122, -0.0342, -6.2564, 4.8479, 1.453, -0.0171, 0.0513, 1.4139] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08}, "note": "The gripper reads 0.04, which is borderline for a thin bowl wall, and the rim now sits right at the jaws in the wrist view. Lifting to see whether the pink bowl comes up with it."})
tool
executing move_to over 4 steps (0.4s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe pink bowl is coming up with the gripper: it looks the same in the wrist view even though the arm rose, and the reading is 0.049. Lifting to carry height before moving it over the lavender bowl.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6083, -0.3901, -0.0227, -0.049, 0.9995, 0.4404, 1.4643, 0.5953, 0.1356, 0.3054, 0.1574, 0.0493] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1765 left_yaw=0.0045 left_pitch=-0.019 left_roll=-0.0066 left_gripper=0.9995 right_x=0.3587 right_y=0.1143 right_z=0.0666 right_yaw=0.0836 right_pitch=-0.1238 right_roll=-0.0658 right_gripper=0.0493 state[joint_eff]: [-0.0068, -1.1829, 7.2274, 1.6972, -0.0659, -0.0464, -0.0171, -0.2803, -6.2974, 8.3214, 1.6532, 0.2076, 0.0122, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16}, "note": "The pink bowl is coming up with the gripper: it looks the same in the wrist view even though the arm rose, and the reading is 0.049. Lifting to carry height before moving it over the lavender bowl."})
tool
executing move_to over 7 steps (0.7s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe pink bowl is held by its left rim, and the lavender bowl is visible to the left in the wrist view. Carrying the pink bowl left so its centre ends up over the lavender bowl.
move_to
right_x0.3800right_y0.2900right_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4061, -0.0227, -0.0494, 0.9995, 0.4404, 1.3193, 0.823, -0.26, 0.2985, 0.1566, 0.0493] state[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1718 left_yaw=0.0047 left_pitch=-0.0396 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3573 right_y=0.1149 right_z=0.14 right_yaw=0.0885 right_pitch=-0.1469 right_roll=-0.07 right_gripper=0.0493 state[joint_eff]: [-0.0889, -1.6205, 7.3094, 1.873, -0.0611, -0.0317, -0.0122, -0.2393, -6.7624, 9.306, 1.6777, 0.149, -0.0122, 1.0281] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.29, "right_z": 0.17}, "note": "The pink bowl is held by its left rim, and the lavender bowl is visible to the left in the wrist view. Carrying the pink bowl left so its centre ends up over the lavender bowl."})
tool
executing move_to over 15 steps (1.5s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteIn the wrist view the lavender bowl is straight ahead of the jaws, but the pink bowl hangs off to the right of the gripper. Moving about 5.5 cm further left and a bit forward so the pink bowl's centre lines up over the lavender bowl.
move_to
right_x0.3900right_y0.3450right_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.8433, 1.8004, 1.4036, -0.5468, 0.5335, 0.4465, 0.0493] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0047 left_pitch=-0.0431 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3701 right_y=0.2859 right_z=0.15 right_yaw=0.1316 right_pitch=-0.2052 right_roll=-0.1046 right_gripper=0.0493 state[joint_eff]: [-0.0068, -1.4701, 6.9812, 1.6874, -0.0317, -0.0659, -0.0122, -0.1436, -9.5658, 9.6205, 1.2869, 0.4664, 0.2027, 1.0281] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.345, "right_z": 0.17}, "note": "In the wrist view the lavender bowl is straight ahead of the jaws, but the pink bowl hangs off to the right of the gripper. Moving about 5.5 cm further left and a bit forward so the pink bowl's centre lines up over the lavender bowl."})
tool
executing move_to over 5 steps (0.5s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe pink bowl now mostly covers the lavender bowl in the wrist view. Lowering it slowly so it nests inside.
move_to
right_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6075, -0.4088, -0.0227, -0.0494, 0.9995, 0.9024, 2.022, 1.7329, -0.7284, 0.5388, 0.4744, 0.0499] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1708 left_yaw=0.0047 left_pitch=-0.0442 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3804 right_y=0.3412 right_z=0.1487 right_yaw=0.1601 right_pitch=-0.2558 right_roll=-0.1386 right_gripper=0.0499 state[joint_eff]: [-0.1846, -1.347, 6.9949, 1.6972, -0.0464, -0.0659, -0.0122, -0.4034, -12.0274, 9.1145, 1.1941, 0.486, 0.2418, 0.5788] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.07}, "note": "The pink bowl now mostly covers the lavender bowl in the wrist view. Lowering it slowly so it nests inside."})
tool
executing move_to over 6 steps (0.6s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe arm didn't descend. It may be near a joint limit at this far-left reach, since the pink bowl shouldn't be touching yet. Easing slightly back toward centre while lowering.
move_to
right_y0.3250right_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9024, 2.0338, 1.7618, -0.7601, 0.5423, 0.4793, 0.0501] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1709 left_yaw=0.0047 left_pitch=-0.0434 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3808 right_y=0.3409 right_z=0.1503 right_yaw=0.1524 right_pitch=-0.2641 right_roll=-0.1475 right_gripper=0.0501 state[joint_eff]: [-0.1026, -1.347, 6.9949, 1.7118, -0.0415, -0.0659, -0.0122, -0.3487, -11.7265, 9.4974, 1.3504, 0.4274, 0.232, 0.9011] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.325, "right_z": 0.11}, "note": "The arm didn't descend. It may be near a joint limit at this far-left reach, since the pink bowl shouldn't be touching yet. Easing slightly back toward centre while lowering."})
tool
executing move_to over 3 steps (0.3s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe right arm is frozen: the joints haven't changed over two commands, so it's probably stuck at an IK limit. Backing off toward the last pose that worked so I can re-approach.
move_to
right_x0.3700right_y0.2800right_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9024, 2.0338, 1.7618, -0.7601, 0.5423, 0.4793, 0.0512] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1709 left_yaw=0.0047 left_pitch=-0.0434 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3808 right_y=0.3409 right_z=0.1503 right_yaw=0.1524 right_pitch=-0.2641 right_roll=-0.1475 right_gripper=0.0512 state[joint_eff]: [-0.0479, -1.1556, 7.0222, 1.7314, -0.0611, -0.0708, -0.0122, -0.5128, -11.7265, 9.4701, 1.3358, 0.4518, 0.1587, 0.9597] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.28, "right_z": 0.16}, "note": "The right arm is frozen: the joints haven't changed over two commands, so it's probably stuck at an IK limit. Backing off toward the last pose that worked so I can re-approach."})
tool
executing move_to over 6 steps (0.6s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe arm moves again, and the lavender bowl is ahead and to the left of the held pink bowl. Lowering here first, then I'll slide sideways to line up, since the arm got stuck when I tried to lower at the far-left pose.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.8242, 1.8622, 1.4971, -0.7078, 0.5034, 0.4187, 0.0529] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1707 left_yaw=0.0047 left_pitch=-0.0442 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3679 right_y=0.2774 right_z=0.1361 right_yaw=0.1267 right_pitch=-0.3225 right_roll=-0.1906 right_gripper=0.0529 state[joint_eff]: [-0.1026, -1.4017, 7.0769, 1.746, -0.0904, -0.0806, -0.0122, 0.1299, -12.2598, 7.5419, 1.4676, 0.2466, -0.0952, 0.9695] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.11}, "note": "The arm moves again, and the lavender bowl is ahead and to the left of the held pink bowl. Lowering here first, then I'll slide sideways to line up, since the arm got stuck when I tried to lower at the far-left pose."})
tool
executing move_to over 2 steps (0.2s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe pink bowl hangs tilted below the gripper and seems to be resting on something, since shoulder effort dropped, so the earlier stall was probably the pink bowl touching the lavender bowl's rim. Going back over the lavender bowl so I can let go there.
move_to
right_x0.3850right_y0.3400right_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.8227, 1.8454, 1.449, -0.6491, 0.4911, 0.4026, 0.0543] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1707 left_yaw=0.0047 left_pitch=-0.0442 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3673 right_y=0.2785 right_z=0.1316 right_yaw=0.1485 right_pitch=-0.3095 right_roll=-0.1744 right_gripper=0.0543 state[joint_eff]: [-0.0479, -1.3607, 7.2137, 1.7021, -0.0611, -0.0611, -0.0122, -0.0205, -7.4325, 6.0513, 1.0916, 0.3346, 0.1099, 0.7985] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": 0.34, "right_z": 0.17}, "note": "The pink bowl hangs tilted below the gripper and seems to be resting on something, since shoulder effort dropped, so the earlier stall was probably the pink bowl touching the lavender bowl's rim. Going back over the lavender bowl so I can let go there."})
tool
executing move_to over 6 steps (0.6s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe controller seems to lag: the arm is only now arriving at an earlier target (z≈0.10). The lavender bowl is straight ahead in the wrist view and the pink bowl hangs to the right, so I'm shifting left and a bit forward to centre the pink bowl over it.
move_to
right_x0.3900right_y0.3350right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4084, -0.0227, -0.0494, 0.9995, 0.8227, 1.8912, 1.4052, -0.638, 0.4892, 0.4042, 0.0572] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1706 left_yaw=0.0048 left_pitch=-0.0446 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3612 right_y=0.2724 right_z=0.0975 right_yaw=0.1314 right_pitch=-0.3714 right_roll=-0.2246 right_gripper=0.0572 state[joint_eff]: [-0.0479, -1.1966, 6.9812, 1.6825, -0.0659, -0.0513, -0.0122, 0.1026, -10.8239, 7.1726, 1.3309, 0.3443, 0.1245, 0.7253] 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": {"right_x": 0.39, "right_y": 0.335, "right_z": 0.12}, "note": "The controller seems to lag: the arm is only now arriving at an earlier target (z\u22480.10). The lavender bowl is straight ahead in the wrist view and the pink bowl hangs to the right, so I'm shifting left and a bit forward to centre the pink bowl over it."})
tool
executing move_to over 6 steps (0.6s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe wrist has drifted to about -0.4 rad pitch and -0.27 rad roll under the bowl's weight, which is slowing the IK down. Commanding the orientation back to level while I move to centre the pink bowl over the lavender one.
move_to
right_x0.3900right_y0.3350right_z0.1300right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8135, 0.6075, -0.4088, -0.0227, -0.0494, 0.9995, 0.8398, 1.9945, 1.5414, -0.7364, 0.5003, 0.4194, 0.0601] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1704 left_yaw=0.0048 left_pitch=-0.0457 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3667 right_y=0.2874 right_z=0.0905 right_yaw=0.1146 right_pitch=-0.4127 right_roll=-0.2695 right_gripper=0.0601 state[joint_eff]: [-0.1709, -1.4017, 7.241, 1.6728, -0.022, -0.0513, -0.0122, 1.5658, -9.265, 6.1607, 0.3639, 0.2955, 0.2564, 0.5348] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.335, "right_z": 0.13, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "The wrist has drifted to about -0.4 rad pitch and -0.27 rad roll under the bowl's weight, which is slowing the IK down. Commanding the orientation back to level while I move to centre the pink bowl over the lavender one."})
tool
executing move_to over 14 steps (1.4s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe pink bowl now sits almost directly over the lavender bowl, with only a sliver of lavender showing at its left edge. Opening the gripper to set it down onto the lavender bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9356, 2.0048, 1.4242, -0.3569, 0.6926, 0.5858, 0.0622] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0048 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9995 right_x=0.3791 right_y=0.3302 right_z=0.1014 right_yaw=0.0411 right_pitch=-0.1015 right_roll=-0.0848 right_gripper=0.0622 state[joint_eff]: [-0.0479, -1.6889, 6.9812, 1.7167, -0.0366, -0.0806, -0.0122, 0.2803, -12.8205, 6.653, 1.8339, 0.5788, 0.1978, 0.696] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The pink bowl now sits almost directly over the lavender bowl, with only a sliver of lavender showing at its left edge. Opening the gripper to set it down onto the lavender bowl."})
tool
executing move_to over 10 steps (1.0s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe pink bowl has nested into the lavender bowl; the lavender rim shows all around it. Moving the right arm back to its home pose to clear the way for the left arm.
move_to
right_x0.3000right_y0.0000right_z0.2000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9398, 2.0052, 1.4189, -0.3626, 0.6907, 0.5793, 0.9954] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0048 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9995 right_x=0.3762 right_y=0.3302 right_z=0.0984 right_yaw=0.049 right_pitch=-0.1102 right_roll=-0.0979 right_gripper=0.9954 state[joint_eff]: [-0.0615, -1.3333, 7.0222, 1.7265, -0.0904, -0.0855, -0.0122, -0.3624, -10.988, 6.7487, 1.2723, 0.2564, 0.0317, 0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.2, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "The pink bowl has nested into the lavender bowl; the lavender rim shows all around it. Moving the right arm back to its home pose to clear the way for the left arm."})
tool
executing move_to over 28 steps (2.8s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe overhead view shows the white bowl on the left and the pink-in-lavender stack in the middle. Moving the left arm over the white bowl's left rim, estimated at x≈0.35, y≈-0.125, to grip it the same way.
move_to
left_x0.3500left_y-0.1250left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.0006, 0.8402, 0.6781, -0.4244, 0.0494, 0.0013, 0.9958] state[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0048 left_pitch=-0.0499 left_roll=-0.0062 left_gripper=0.9995 right_x=0.3008 right_y=-0.005 right_z=0.192 right_yaw=-0.0555 right_pitch=-0.0157 right_roll=-0.0074 right_gripper=0.9958 state[joint_eff]: [-0.1026, -1.0598, 7.0222, 1.7509, -0.0562, -0.0708, -0.0122, -0.0752, -1.9897, 8.2393, 1.6972, -0.1001, -0.0513, 0.0366] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.125, "left_z": 0.12}, "note": "The overhead view shows the white bowl on the left and the pink-in-lavender stack in the middle. Moving the left arm over the white bowl's left rim, estimated at x\u22480.35, y\u2248-0.125, to grip it the same way."})
tool
executing move_to over 12 steps (1.2s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe white bowl turned out to be centred right under the left wrist camera, not where I estimated. Shifting about 5 cm left so the jaws sit over its left rim.
move_to
left_x0.3650left_y-0.0680left_z0.1100left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5537, 1.3159, 0.6395, -0.1032, -0.4221, -0.3683, 0.9995, 0.0002, 0.8436, 0.6739, -0.4446, 0.0433, -0.0185, 0.9959] state[eef_state]: left_x=0.3347 left_y=-0.1176 left_z=0.0985 left_yaw=-0.0209 left_pitch=-0.1279 left_roll=0.032 left_gripper=0.9995 right_x=0.2977 right_y=-0.004 right_z=0.185 right_yaw=-0.04 right_pitch=-0.0438 right_roll=-0.0217 right_gripper=0.9959 state[joint_eff]: [-0.3487, -5.1487, 9.2513, 1.7314, -0.3297, -0.1294, -0.0122, -0.0205, -1.7436, 7.5145, 1.8632, 0.0415, 0.1783, -0.0024] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.365, "left_y": -0.068, "left_z": 0.11, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "The white bowl turned out to be centred right under the left wrist camera, not where I estimated. Shifting about 5 cm left so the jaws sit over its left rim."})
tool
executing move_to over 5 steps (0.5s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe white bowl's left rim is on the jaw column in the left wrist view. Lowering so the jaws straddle the rim.
move_to
left_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.347, 1.309, 0.5583, 0.0689, -0.3202, -0.2573, 0.9995, 0.0002, 0.8436, 0.6731, -0.4458, 0.0433, -0.02, 0.9959] state[eef_state]: left_x=0.3553 left_y=-0.0655 left_z=0.0941 left_yaw=0.0392 left_pitch=-0.0727 left_roll=0.0147 left_gripper=0.9995 right_x=0.2975 right_y=-0.004 right_z=0.1844 right_yaw=-0.0392 right_pitch=-0.0457 right_roll=-0.023 right_gripper=0.9959 state[joint_eff]: [0.2803, -5.8598, 6.106, 1.8877, -0.0806, 0.0952, -0.0171, -0.1573, -1.5111, 7.1316, 1.7265, -0.0024, -0.0171, -0.0122] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02}, "note": "The white bowl's left rim is on the jaw column in the left wrist view. Lowering so the jaws straddle the rim."})
tool
executing move_to over 5 steps (0.5s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe left gripper is down at the white bowl's rim, with the right jaw inside the bowl and the left jaw outside. Closing to pinch the wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3481, 1.5764, 0.408, 0.3901, -0.3134, -0.2543, 0.9995, -0.0002, 0.8444, 0.6731, -0.4461, 0.0433, -0.02, 0.9959] state[eef_state]: left_x=0.3415 left_y=-0.0622 left_z=0.007 left_yaw=0.0351 left_pitch=-0.1639 left_roll=0.0493 left_gripper=0.9995 right_x=0.2975 right_y=-0.0041 right_z=0.1841 right_yaw=-0.0396 right_pitch=-0.0469 right_roll=-0.0231 right_gripper=0.9959 state[joint_eff]: [-0.1709, -6.3932, 4.7248, 1.9609, -0.2173, -0.0513, -0.0122, -0.0479, -1.5658, 6.9949, 1.6825, -0.0073, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The left gripper is down at the white bowl's rim, with the right jaw inside the bowl and the left jaw outside. Closing to pinch the wall."})
tool
executing move_to over 10 steps (1.0s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe jaws have closed on the white bowl's rim, which you can see right at the fingertips. Lifting to carry height and holding the wrist level.
move_to
left_z0.1700left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3519, 1.5536, 0.4236, 0.4847, -0.2993, -0.2882, 0.0379, -0.0002, 0.8444, 0.6731, -0.4461, 0.0433, -0.0204, 0.9959] state[eef_state]: left_x=0.362 left_y=-0.0736 left_z=0.0365 left_yaw=0.0329 left_pitch=-0.0436 left_roll=-0.0361 left_gripper=0.0379 right_x=0.2975 right_y=-0.0041 right_z=0.1841 right_yaw=-0.0394 right_pitch=-0.0469 right_roll=-0.0234 right_gripper=0.9959 state[joint_eff]: [-0.0068, -3.3573, 4.1368, 0.6325, -0.2222, 0.2711, 0.9939, -0.1846, -1.5521, 7.2137, 1.6923, 0.0024, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "The jaws have closed on the white bowl's rim, which you can see right at the fingertips. Lifting to carry height and holding the wrist level."})
tool
executing move_to over 9 steps (0.9s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
assistant
agent noteThe white bowl is lifted; in the overhead view it has come up with the jaws. Carrying it right toward the pink/lavender stack, going part of the way so I can check alignment in the wrist camera.
move_to
left_x0.3750left_y-0.2700left_z0.1700left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3519, 1.2114, 0.6907, -0.0994, -0.3038, -0.2501, 0.0417, -0.0002, 0.8482, 0.6731, -0.4458, 0.0433, -0.0204, 0.9959] state[eef_state]: left_x=0.361 left_y=-0.0724 left_z=0.1508 left_yaw=0.0158 left_pitch=-0.0189 left_roll=-0.0114 left_gripper=0.0417 right_x=0.2978 right_y=-0.0041 right_z=0.1832 right_yaw=-0.0394 right_pitch=-0.0503 right_roll=-0.0235 right_gripper=0.9959 state[joint_eff]: [-0.2803, -5.4906, 9.306, 1.6728, -0.149, 0.2125, 0.779, -0.0068, -1.7162, 7.1316, 1.6874, -0.022, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.375, "left_y": -0.27, "left_z": 0.17, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "The white bowl is lifted; in the overhead view it has come up with the jaws. Carrying it right toward the pink/lavender stack, going part of the way so I can check alignment in the wrist camera."})
tool
executing move_to over 18 steps (1.8s)
step 208
assistant
agent noteIn the overhead view the white bowl is now almost over the pink/lavender stack, and the pink rim shows near the jaws in the wrist view. Lowering and nudging slightly right to nest it.
move_to
left_y-0.2800left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8753, 1.7046, 1.1946, -0.3199, -0.6857, -0.6044, 0.0432, -0.0002, 0.8494, 0.6727, -0.45, 0.0433, -0.0204, 0.9959] state[eef_state]: left_x=0.3693 left_y=-0.2623 left_z=0.1539 left_yaw=-0.0162 left_pitch=-0.0394 left_roll=0.022 left_gripper=0.0432 right_x=0.2972 right_y=-0.0041 right_z=0.1818 right_yaw=-0.0394 right_pitch=-0.056 right_roll=-0.0237 right_gripper=0.9959 state[joint_eff]: [-0.3761, -8.4444, 9.3607, 1.3504, -0.5739, -0.0806, 0.8132, -0.2393, -1.6479, 6.9949, 1.746, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.28, "left_z": 0.1}, "note": "In the overhead view the white bowl is now almost over the pink/lavender stack, and the pink rim shows near the jaws in the wrist view. Lowering and nudging slightly right to nest it."})
tool
executing move_to over 4 steps (0.4s)
step 212
assistant
agent noteIn the wrist view the pink rim sticks out past the white bowl's left edge, so the white bowl is sitting a bit too far right. Shifting 2 cm left and lowering.
move_to
left_y-0.2550left_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8982, 1.8179, 1.1313, -0.1989, -0.6983, -0.6281, 0.0452, -0.0002, 0.8494, 0.6727, -0.4644, 0.0433, -0.0231, 0.9959] state[eef_state]: left_x=0.3671 left_y=-0.2728 left_z=0.1002 left_yaw=-0.0155 left_pitch=-0.0673 left_roll=0.0516 left_gripper=0.0452 right_x=0.2951 right_y=-0.0041 right_z=0.1789 right_yaw=-0.038 right_pitch=-0.0705 right_roll=-0.0264 right_gripper=0.9959 state[joint_eff]: [-0.6906, -9.6205, 6.3521, 1.3944, -0.4274, -0.0317, 0.6813, -0.1983, -1.5658, 6.9812, 1.8046, -0.0317, -0.0366, -0.0122] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.255, "left_z": 0.08}, "note": "In the wrist view the pink rim sticks out past the white bowl's left edge, so the white bowl is sitting a bit too far right. Shifting 2 cm left and lowering."})
tool
executing move_to over 2 steps (0.2s)
step 214
assistant
agent noteThe arm has stopped lowering at about z=0.09, so the white bowl looks to be resting on the stack, with just a sliver of pink showing. Releasing it onto the stack.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9035, 1.8423, 1.1183, -0.1673, -0.6975, -0.6369, 0.0452, 0.0002, 0.8494, 0.6727, -0.4679, 0.0433, -0.0231, 0.9959] state[eef_state]: left_x=0.3662 left_y=-0.2757 left_z=0.0893 left_yaw=-0.0163 left_pitch=-0.0711 left_roll=0.0486 left_gripper=0.0452 right_x=0.2946 right_y=-0.004 right_z=0.1783 right_yaw=-0.0376 right_pitch=-0.074 right_roll=-0.0266 right_gripper=0.9959 state[joint_eff]: [-0.4444, -10.0718, 6.4752, 1.58, -0.4225, -0.0415, 0.7009, -0.0479, -1.5248, 6.9402, 1.6825, -0.0415, -0.0317, -0.0122] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The arm has stopped lowering at about z=0.09, so the white bowl looks to be resting on the stack, with just a sliver of pink showing. Releasing it onto the stack."})
tool
executing move_to over 10 steps (1.0s)
step 224
assistant
Released. Lifting the left arm clear and parking it to check the stack.
agent noteThe white bowl is released and sits under the open jaws, with no pink showing around it now. Moving the left arm back home so the overhead camera can see the stack.
move_to
left_x0.3000left_y0.0000left_z0.2000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9035, 1.8423, 1.1183, -0.1627, -0.6968, -0.6445, 0.9952, -0.0002, 0.8494, 0.6727, -0.4713, 0.0433, -0.0235, 0.9959] state[eef_state]: left_x=0.3666 left_y=-0.2764 left_z=0.0898 left_yaw=-0.013 left_pitch=-0.0685 left_roll=0.0385 left_gripper=0.9952 right_x=0.2941 right_y=-0.0041 right_z=0.1776 right_yaw=-0.0378 right_pitch=-0.0774 right_roll=-0.027 right_gripper=0.9959 state[joint_eff]: [-0.1436, -9.0598, 6.106, 1.2821, -0.3834, 0.0317, -0.1148, -0.1436, -1.5521, 6.9538, 1.7167, -0.0269, -0.0269, -0.0122] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
Released. Lifting the left arm clear and parking it to check the stack.
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.2, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "The white bowl is released and sits under the open jaws, with no pink showing around it now. Moving the left arm back home so the overhead camera can see the stack."})
tool
executing move_to over 25 steps (2.5s)
step 249
assistant
agent noteI stacked all three bowls into one pile in the middle of the table, with lavender on the bottom, pink in the middle and white on top. The last overhead view shows one stack and no other bowls on the table. The right arm picked the pink bowl up by its rim and nested it into the lavender bowl. The left arm then picked up the white bowl by its rim and let go once it was resting on the stack. Both arms are back at their home poses. I only checked the result from above, so I can't confirm how deeply each bowl sits inside the one below.
done
hindsightThese bowls are about 12 cm across, too wide to grip whole. Gripping by the rim works: put the jaws over the bowl's left or right rim (where the rim runs along x, so the jaws close across the wall), descend to a readback of z≈0.01–0.02 and close fully. The settled reading was about 0.04–0.05 on a thin wall, even though the sheet says below 0.04 means empty. Confirm by lifting; the wrist view stays the same while z rises. Then put the grasp point about 5.5 cm to the rim side of the target bowl's centre. Converting overhead-camera pixels to positions was off by about 6 cm in y. Going to a rough point about 10 cm above and reading the left/right wrist camera was much more accurate. When carrying a load the wrist pitch and roll drift (up to -0.4 rad), and moves become sluggish or look stuck. Always command pitch/roll/yaw = 0 explicitly with every move. Readbacks can lag a command by a whole call, so a 'stall' may just be lag. A descent that stops about 9–10 cm up while holding a bowl means the hanging bowl is resting on the stack below; opening there made it nest. Pink and white bowls nested fine; the stack ended at about right_x 0.38, right_y 0.28 (left_y ≈ -0.37).
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 0.8391, 0.6666, -0.416, -0.1017, -0.0998, 0.9957, 0.0002, 0.8505, 0.6727, -0.4747, 0.0433, -0.0238, 0.9959] state[eef_state]: left_x=0.3006 left_y=0.0046 left_z=0.1892 left_yaw=0.0617 left_pitch=-0.0161 left_roll=-0.0051 left_gripper=0.9957 right_x=0.2936 right_y=-0.004 right_z=0.1766 right_yaw=-0.0372 right_pitch=-0.082 right_roll=-0.0275 right_gripper=0.9959 state[joint_eff]: [0.1983, -1.9487, 9.0462, 1.7851, -0.0024, 0.1001, 0.0464, -0.1026, -1.5111, 6.9538, 1.6679, -0.0073, -0.0611, -0.0122] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
done({"summary": "I stacked all three bowls into one pile in the middle of the table, with lavender on the bottom, pink in the middle and white on top. The last overhead view shows one stack and no other bowls on the table. The right arm picked the pink bowl up by its rim and nested it into the lavender bowl. The left arm then picked up the white bowl by its rim and let go once it was resting on the stack. Both arms are back at their home poses. I only checked the result from above, so I can't confirm how deeply each bowl sits inside the one below.", "hindsight": "These bowls are about 12 cm across, too wide to grip whole. Gripping by the rim works: put the jaws over the bowl's left or right rim (where the rim runs along x, so the jaws close across the wall), descend to a readback of z\u22480.01\u20130.02 and close fully. The settled reading was about 0.04\u20130.05 on a thin wall, even though the sheet says below 0.04 means empty. Confirm by lifting; the wrist view stays the same while z rises. Then put the grasp point about 5.5 cm to the rim side of the target bowl's centre. Converting overhead-camera pixels to positions was off by about 6 cm in y. Going to a rough point about 10 cm above and reading the left/right wrist camera was much more accurate. When carrying a load the wrist pitch and roll drift (up to -0.4 rad), and moves become sluggish or look stuck. Always command pitch/roll/yaw = 0 explicitly with every move. Readbacks can lag a command by a whole call, so a 'stall' may just be lag. A descent that stops about 9\u201310 cm up while holding a bowl means the hanging bowl is resting on the stack below; opening there made it nest. Pink and white bowls nested fine; the stack ended at about right_x 0.38, right_y 0.28 (left_y \u2248 -0.37)."})
tool
done: I stacked all three bowls into one pile in the middle of the table, with lavender on the bottom, pink in the middle and white on top. The last overhead view shows one stack and no other bowls on the table. The right arm picked the pink bowl up by its rim and nested it into the lavender bowl. The left arm then picked up the white bowl by its rim and let go once it was resting on the stack. Both arms are back at their home poses. I only checked the result from above, so I can't confirm how deeply each bowl sits inside the one below.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 20.33 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6056, -0.379, -0.0223, -0.041, 0.9995, -0.0177, 0.794, 0.6029, -0.3798, -0.0162, -0.0334, 0.9969]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1805 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9995 right_x=0.2947 right_y=0.0012 right_z=0.1795 right_yaw=0.0002 right_pitch=-0.0008 right_roll=-0.0003 right_gripper=0.9969\nstate[joint_eff]: [-0.4171, -1.5795, 10.0034, 1.7558, -0.022, 0.2564, -0.0611, -0.5538, -1.4974, 10.3179, 1.8486, -0.0952, 0.149, -0.3394]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6d3557667cd04e5e4b5cfc257780c5eb61e15d2795e7c5ac4ab09d49f412215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2fd36a301a2f33266d941d1a8dc2551bf74f243ff20b599255bb821a177e59e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40e7db8ac3f678c8917f67fbf72dec1402be48fe2ca961c8c559400a4c7fe91f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 7.715 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6056, -0.379, -0.0223, -0.041, 0.9995, -0.0177, 0.794, 0.6029, -0.3798, -0.0162, -0.0334, 0.9969]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1805 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9995 right_x=0.2947 right_y=0.0012 right_z=0.1795 right_yaw=0.0002 right_pitch=-0.0008 right_roll=-0.0003 right_gripper=0.9969\nstate[joint_eff]: [-0.4171, -1.5795, 10.0034, 1.7558, -0.022, 0.2564, -0.0611, -0.5538, -1.4974, 10.3179, 1.8486, -0.0952, 0.149, -0.3394]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6d3557667cd04e5e4b5cfc257780c5eb61e15d2795e7c5ac4ab09d49f412215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2fd36a301a2f33266d941d1a8dc2551bf74f243ff20b599255bb821a177e59e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40e7db8ac3f678c8917f67fbf72dec1402be48fe2ca961c8c559400a4c7fe91f",
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  "role": "user"
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{
  "content": [
    {
      "signature": "CAQSyx4KEAgSGAI4AUIIdGhpbmtpbmcSDP2LvJCZDUL9jX2gDRoM2f6SQv6pJk9CH/fgIjDyQbDKpCDLKidIkKtdiZR6ke3NM01mc/LlU3GkpD4geMpe4JFTFwHM9ArdF5qvS+Yq6B0lMMLV5TfJEZDU/O9I3MfnIsu9nTP+mn2iftbdg4YICKbVlAC2/0HWk/pBEi/W1TlbN2FndZYKKQFiUnOLpiYvSXO2gK/4p7hbg80y9Qtm4sTPsRnMThQsTAAH/qQWDnGkTvY50Scit/HCpKSy6bvQrXR3wSj88lhsiME6oJCQfebs29lYeePNps9U130UQ+GCAP1UBAb2nAEeZKJGwfv07NNaBVAK4EuRlcpG4Yl5M0X10fZqgejr2glAAsc4Npc3M+kPTJ4p/0XJa+aN6wLzcKpEePvoisGhjWpKAjZBJcqWVtXFhAwG+usdIMOEnZOSen9o72q8hZr+9QhI3KAnTbMS5fsa32tk71jDO3c2ZA6axSRo2iSSjRK8A/rAA5nNVEVfcBJUC8ywqE6VBNLL56/25hS63AKJ7ItD+5FPCbmZaCwMXc5HlOuff9FuFij4FWiHLAABlyFK8+ReOp7ABNFGclujOJh9EbUr4MR/4LxNRU38CYK2NSuUQRF0cF4DqH7PCiNWDdU1CkHzYb8vXz6RFnOzRtSAoyFQRWY1mu3D7IeigrcnbmcyEBQrZCj+XovJPFo0BPFbgd6CKRgZVmJjhrh9hXdwUsquew8EZXtE4vFmWsGh9Qibn6NyMgVHmc3b+stOMvnsUi9IDsG+BunSC1pJ9IaRycW4/ndnyUYn9KeLqawv772qEFZwM5Su1WNUKXA6LvY7ORqkbkQgReRN0F7MfAgc7TGuJK1EkFWRRI7qOs7NNdv1uiOm2XIjXAFtTmA/GUFCy7c/QYEoV3bWiu1PFd5HijMMkNUSlFoXffmO7xARgLrb18U2WRP08S4xQQKtNeTb1OiZtyYkBRZrjBmiU+nM4FMfs4J+BS3VOzXioZX0N2x589ag3/d9e6R4veM00XauzvOiEW7K1eQDNXsaJakUFPuqalVbUjr1elbwPhbh9h+NndoBlAqzq3/90oDymB1e9A2AduRbpBOZ2kAMOLm12ha1ydA2i2vflXiCVK8TH+EZGmongpulQwD8Q7n06+nWz4yOog5Z4NSEpu3yRShXrejJFkHi3fOYoB/lRBMx5FULn2x5GzmMYtIU5Zj8GBF3LI+0o8sSRPos34qcTl9zOuDomDDERGqc+uXhJZcGdLrxBHKXGTs80Ju/er17HbX+vST7GqiWqnrge/lENHo7grB1JbMzLAwCrx0FTF8/4a7ZEaXAjHxaxF4NJdDSQwrNOYvsHz+9hH6MKnXA1umSMqzXo0AcXa8JyFcDf51FFoEeMArJxif1HSRjiBmCihO5bwHH4Zv/gjBBKm2VODphLwkIm6pPwTWggYdcMqwowgqe8cWCSWncNcbhWLTCOlP+cNqFxI/KYPV9R5cfmo5roRvlZiXe4ssKE0KOQG1jZiJpMaNjnCHLKU4IufiGF6efSUdbxzCS3OXEG5gMw7uHpBS9mYusXj3shE1MRzFCR85NNXDZQtrfBFIidT+xnYVZOMavlOtNmhBQ3twmdB1q4sXqA0jBegbn8bgLBBpwXag9cs+5+iERbPoPudyahA59XdN/Nld5ZMghklTXKqMqO7YIDt01RoclmQLEk0bQUXhV80wmZwEftlhVsEx1zFj+ArVqmymRQed5JJYkkhFrjkjLibUuj7eHoz73oXbAhAPQW0iQqspdOXNXQrvgRJaAEIsgKb1NC/oVX/GZcGP4+DNpNItlHsvAjb0+cEpW53WfXH8baTYZLHSxRbYzs9vmVJcDMFBUWikuRZXVlhVvxe6GBLtz2YjbkrjY0q9JgKze5nTTh0JuftF/MCJgcispCeEUWkBmilHJRad5rz4HKUriH247xZyHCnG008r5oDfNw8QPlN5x/ayT+AZtxycgvuwwYQG+yuKcOQ2LD+4ZVOWNtnrZeAuMnl/vtXg8dX42THzipszFcyE6rlw2wJXgVUI8W1HZQ6UaY8F4VA5iRfYpuD7y4xXd9EGInvrkgzJroz7cO5IvhSK1tIiHU0BNilNAyLWSQvOiN2O0UThJLyHiIk5pMRzeut6cqrbJPJp2gCLdSTQwNTPWau1JLcwtjeQNtWgFvBuzDSzTtMDObmYYoxqBjM7wNpQxGHuBCRMJx0Zjh/RlDaB6NTsWnQgDIeO58aJFdufO+EsBklmRnEbv1luZ4o76XjFFsqw18WpwrAk0bdDdxtUBKZyDzJcx/iwcQ4DfHL1VLDs4VZp8MfIC9mRozYL4c/jrqscV0SvDRqMVIXbMb6oLUWIw4E9aZBrEoTljpcxxbILoKjX+7YzlYemV0guUCyuZfuES8B+/SUqvvtcTDHvlGAUQErKmrr5g/pRwEl2Iu3SbavY2MxHOyUrxE2cspafs1ZR4L9cZAwB1S+Hn8J7Z2Y2Q4fA/CPQVgHeEVusCGW2ImzRRX3vvQkvZ+8MbQU9oFFvvqmBvSPro7G+52gVfViBntnmX/z6IorNHw+2rPNG78AtmVbaMfi3wsSFo3RY5C8cbS8br8XAQ9NcdM6njex2oR5/DZe0OFcw6VpZNk6E3sso/fF4e/PssTAuaokI14r+zArROO6Vw7ZwZ94p/DBgrMltzpsZS2XK+j9vLSPBkVDT4N7MhuQu+kp7PONNvOi4jgF//MJGdHZihXsEUcp54FjzlAh9y10ArU6nbygUBlWteuw8/S/qt1egMUWl8XU6ct5uMYn1Nl3srwPGs1NHd1aLpx87XhI/XPtMUylTniJoStOIe2zwP8rY7170V2SGZsc6OMjCtz7rk4GBbu5ldy7/oyd8AiXxAAa83ee2Oi4DD5g64JR0IFz0u9WknQ8QhDbMBkccOEg8aLSud38vtJH+xh8eKLxqjZcYt/yvghOmAL46BBtv3wKSj/rsHCq2mBIdSDf/Dglfggfb1/myqjxBkwKWFMW+Wj1Ku5x8FOznkoowHIzBUBsOJeu14rLOEVTd6Stw0USc45i+0zwVndRq1zMBW0+nlSEvFAVM6ccxSVwZN/OCv++lRi8zJLYwTSQcG3STJ9xN9r/mz2YoRU6sc7y+HkjNCRe3MsYDVMbPGQRxf4KpRQ9pwXlzsQxSVIKZo8+U/aBzluDbTn5s6bRR+60/A+DGrplGHgXZqfQiO7pacGSZtiidU//0+NcT5KBqiGGl+DYULSNP1S6EGV7ZZbxtAkuC76abpXcbglUZEOyS5aD71RavZsKHfDVpi0TL6ksfenkthkEmt78xA+VL9W66a5vAkYl6cezu3jJQyxNV3ySL0xZ1uhNfOChV9XFGj2bfvpPIGkGeOT9YYGd5J1wFILibdb34eg9Gx+Uy9iDq+ND3CsuTpLanE4dwBFMcUThH0bTyRuxWWSH57WBxv6+4CyZ6gJy2S9M1DN9CSNcgzYsvzL21s13yhXsHf/Jq9mnvEUQfOLAHDMvvJNbQH5LwxUPYRFVZsDh872SW1siV1lV9JrDaMahkt8aONAXfpkOmeQqWsBBLUUyscorZtfUiAL/PwU4h2RrZ/4gsCD0q6BiB+KeRa3OxTcGmDkFVlyCeU314FiC07eD28cxeN2b9E6YZXyTYLYULIkSd5Kr2I1Gve+SJCicazVMpFH7dXblcN84T82gptcQ4t2q3GcAgpN+DSJbiGMmLi4xafiVR2FBiLlqfXIOFrYnWEjC5nmuUjNHj0gI+58UR50Kls1lKAzTroU3j94uCKDEdVL2Re6bAdhysrYh43n+23jbsl1AZSzeM+ftLQgXR109d/CMt8wEFhBbRHuVG7E80EM3i/xaLoDjLCMrfs7tb0ETrxAFYlSb2zbji8+PeWRG+V1CCGDRkhgoxBr98mf7LLwgVurv/0364wVMTFjwNNPEt4BBa5I6e4QbdZxDP/weY7NfV+AOLsQd2YsA7fb+SxvFaLf/J9NfbZcAcUMNZ5onoR/Lx9T6nncl2BcmpcoLJZhq8xPMijHIn9heI90KIO2xEwlYagzzO0iCu6iFFS+aBGhftzvTiM5d1ItcyhcP4lyxNo2/aCguWCw5YMbpPl28Z5z9y3KTC49Ukd6lE9kacQoBJa/MdLPk9QpDjfcirh1yehDhuNobk64MJFqpMr1pA9x1c6jWcGHRA/+Co9f+2FdRVjQUIgcMq9LXw4XYXnO+JH5NoYxs3B+Fg23xhqZP91GpSXpsxYX24gzom1pK8j5RT+XtIykuaaKWyXc5fkPBLrCDO/4OTTslfpSBaMQ453C7mJjjOUw0ljRKyQEE12J01ulhkhBssm2VC8XZWQ5/eUFj+ejh6076bDG0VrNjITPY0VrNcro2HHpdXjXBbzmsAhIV2Ky3RcQKKQ9eDhPc4+VS0Y6N1bCKw5RDNSL2jRfPlcAT0sqZiX6BoLagQfBrZp5SD1xyGQ/FtXgPAV+8jWn4JmTdeD1W2IxQycVmkCEMyqkZ9O8CuHQ7POXYbWhXOMXtm7bGx11Hor1e5bGBFQMWpWKHa+E5Zbtj3a8/kMS6VRBRm+5KEbusgpQ3sC7+UKK+xqFy9MD/XB+L+DLsPGUo6b0nLJyguLcxgdWF2uGr+7U+1ugN/rjTpiFg2vtJVqAqtnWubGah3t1IeMGEMSvD1rjrP1k9GFWKtdMtY+z6JZoQVyh0BwYRGI7Zna5gr4PGbShHqRtW/ngEhbeJPVfJQYcSkO/b26eM1uUzGdLuIu+6uYP+QSVe0bYVaC/52/8qdT7lXKpnYb6fqzK/3tUYzpyFiGdTueNTt9nGZU9wBro4OuVA1iziY9nyHoHzGPyn9KVF8SKziPXJ9SPTUQDPOygrItLAM8PJRrSsF8bvNHteNJ/7N390ksv7CW4bSUcaRdDPtEQQ/MaNzUxYyrZZz6kmKMWQJQp7/SPhlv4ALqajR7qh8fUhUSW+eWtspxPPGjc7vKS7sqK3oi0d8qjFLdPNh6PIQ38HllC9tpdOUvKg4WEXDXd7iwHtuUFx0Ke0OpkS7UeLfJu1sBu1Z95CnsdyCZKQmFofapIDYO7CZK6ezSMszUZFU/skhuFelVTndSSZO2EVgH5J4zSzNAf5zsAxHoZ25hvFXIrCoTZ/Vleers1NEDRkPhOAhKA811YhQ9uBwxJ04qjeY9lo29A7LK+xLFzYmtqasYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CibzeRMoKcXwAD9xNfz6Ec",
      "input": {
        "note": "I can see three bowls in a row (green, blue, pink). The right wrist camera shows the pink bowl a little to the left of the arm and ahead of it. I'm moving the right arm over my estimate of where the pink bowl is, then I'll check the wrist view.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.06,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01CibzeRMoKcXwAD9xNfz6Ec",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7994, 0.609, -0.3862, -0.0223, -0.0418, 0.9995, 0.2489, 1.1271, 0.783, -0.3233, 0.1658, 0.0795, 0.9966]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1795 left_yaw=0.0003 left_pitch=-0.0076 left_roll=-0.001 left_gripper=0.9995 right_x=0.3451 right_y=0.0613 right_z=0.1732 right_yaw=0.0522 right_pitch=-0.0867 right_roll=-0.0217 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.5385, 6.7624, 1.7705, -0.0317, -0.0073, -0.0122, 0.1573, -4.3829, 9.3333, 1.7851, 0.188, 0.1929, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8376feb23f1b21b87c02740c6b3cfb3145589c27a293686f9c20b9942988ba4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bc24cbaaedf33ac24490fc092e34f359669deecb9c17cb6c31239db11bb49f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3986f96c01a7041f33b069060efedd63af4af49e94052ab5d04f0ebfa05a3c95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 5.022 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6056, -0.379, -0.0223, -0.041, 0.9995, -0.0177, 0.794, 0.6029, -0.3798, -0.0162, -0.0334, 0.9969]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1805 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9995 right_x=0.2947 right_y=0.0012 right_z=0.1795 right_yaw=0.0002 right_pitch=-0.0008 right_roll=-0.0003 right_gripper=0.9969\nstate[joint_eff]: [-0.4171, -1.5795, 10.0034, 1.7558, -0.022, 0.2564, -0.0611, -0.5538, -1.4974, 10.3179, 1.8486, -0.0952, 0.149, -0.3394]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7994, 0.609, -0.3862, -0.0223, -0.0418, 0.9995, 0.2489, 1.1271, 0.783, -0.3233, 0.1658, 0.0795, 0.9966]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1795 left_yaw=0.0003 left_pitch=-0.0076 left_roll=-0.001 left_gripper=0.9995 right_x=0.3451 right_y=0.0613 right_z=0.1732 right_yaw=0.0522 right_pitch=-0.0867 right_roll=-0.0217 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.5385, 6.7624, 1.7705, -0.0317, -0.0073, -0.0122, 0.1573, -4.3829, 9.3333, 1.7851, 0.188, 0.1929, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8376feb23f1b21b87c02740c6b3cfb3145589c27a293686f9c20b9942988ba4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bc24cbaaedf33ac24490fc092e34f359669deecb9c17cb6c31239db11bb49f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3986f96c01a7041f33b069060efedd63af4af49e94052ab5d04f0ebfa05a3c95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0wwKEAgSGAI4AUIIdGhpbmtpbmcSDNv/BVOQmykSCHthwhoMM/oKBVATQekBwEa0IjCpNmcGizOYg04VH051/ZK+rO9zq7fgvUFG/D4U8Rpi8CXKS8nOEiKC73+PgXWgcJ8q8As11D2gLI8HcQAr0E2/yRaa/Hz/Z9tke1zvAp0hqkTyDpzobsV2kkOFbH+HCIuxOa077VrpJj//IT3g9SPnhUZ42Pj3L4QI/xjHV6G3O3l9IBd5XcVpMcy5HsyGG2BO/BTJc1/UGahHoJBahfG5H2kUJknHTnTy465go75rANEh7Q673HLW364hZO8+AVAjsbwejftt+/vMo2W0Impnkif53jc6stK2ZXTR3qrwj26EwX50fF8zLFAr7t0jr8NQ5ctlSBgAX2+AIp/Z3y6MOPlIdpMzZrB0G+A0IzhuVGk0ozDF8k3X7TR5jxCg8kZD43kslvwGPwl08Nq8ytlTDqeJNjwf1N8nDOd5FaYGYI7BHAhw5mqz6GRVtvwd+OKKsbIj3MFufn4V/5BLc+LMvG2BEHOdZ2oKPge9CE4GyvPT2RsI537JblqWAXcl/LM3LLGLPd9FL7qH4KYnOQG01UCzCOyv+LeeC5UQBPMJmVqu2Q0O+CzFqflJMs0htVJILKS+UwKXKN7D6nSIHkQ9v4FW8wJgsY99PujGXx09tRs5EJvvulV8+PIHdYEcgq/g7FYtHsZ/YsRDudmGAqFqsTh0MMlmcgoQpfRmCYVj4qA+hAahBmJKOBdbh2tUyvNVpI1gn+Twt+zL3evPi+icpzDkmF/HBrdeMNSbz8T1Ai/gqZs1t962o+pi7yPkTZRFOzStx5MqROUDk9P8z7fq5B9a8mPRiKl27zuM79byTzdoIF7BdYx0SYy8SeppWyo54pxJznk8b6kILrqPpj/QZOzz4yV/HloT5z2LEHMPQtni3Kkhvwzxcuh1wiL7DgHjczb/4/Cw1Jzls3S8E44CStJGMaow0m/THthFRCaDhdqbi9SDEpA40EAf/tkPZcYG0RIMUtu12lThBlQMPnvDpsCfkYoVTyLJOVYtMqNwi4J5PGp/dibXUxCS28orCuTSi/cWQ+Cw3nJME4phiFnOCrk24PWJvA7lzu493y/tzozeWjx981wHhwNhzblvntBXtUfKq1W5KanVKFItwFkRKdzv8bbJDdGKjDk/f+cHmM9JvOd9VYZxV+sF+Ol3hjqgKlRYw4ILrjcWHFKtIhsM5JOi0kKlwaPZU+Dp48bpOJc5PMtySJgvhSnpfXKuTrzN1OgsyJo5Rn3b0ZL7AvY4l6fYt35NhHu/TvS+lWhiPrJZjgeWDsYhsoeZOywMhF35Ot87cmdk8+U+IXoH/wAjc7HKeGIUxAIs8+fspaCSaXuC4kNECgkefUHhCqlYit835tk3Se/GIfXQBrQZJcO8zEZ40yo20n1s1QgsU/Z6vWjCIoQgoRzjaN9454LlJf7M0fXw0rTuLtRlF3bCNAsL5x6DpfpWAKvnbFuGucLZxoewxDTsHtxkIYK0Nltqe0XGiqy16BgZR1b7rvlNyUFYFsUhdAuiW/GaQobiRenEnFfaA2h5LneX4nUglDmZdTDHn4SZGU+fR5ZcnqTio926efKlp7hXARydtQxaJCNyMjsVNpAjwIGaAtqCbEy8XDSFjxGNEskHYOT9G5ulG4hzYm/fC7CETS7nUblY+ejRfrElbSN6aW6MQJvPar4PQjgjcx4Kh9o1+6rvG42azauMEXy16cvoEYM+C2aZ59+pmy5ZNGHw0MmNuirNS8PUkfEkXkJejLAjnqZS/rO9JHSESp7QYIRwclxvVTjd+5K67pReliU5TTYRgoTvyDpDZjK0LTkIeNlWj5NmuDQwUj4sjGwMELYJcupUZuLUyLJL2syYXDPMkQPElt7x0iYp8zg9zIV7Nf8xObRZmUIkAnZWhPzYPWcLfyu4BoXXifRcD9iS+MwpE/NA9cQhyJVKatQZN80OzdTzHPjfxth+8E465Ls8qO0jeJgzJhkG0++ycFCY0EHhhrMa0KtvMVgVu54Si0VHmf10USCeJX/9I9LAzCKJ35Xft6FADCiQIUc9pY2MsjheO6MoEMsgd28FY+KWjCMY1fxUIKWB4os2uzojRBtZYBsblcSDMdgXBDwQ7NMtIxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CwgiGPi1b8q2hQnTcpJFJ8",
      "input": {
        "note": "The pink bowl is centred under the right wrist camera now. Too wide to grip across, so I'm shifting about 5.5 cm left to sit over its left rim and lowering to 12 cm.",
        "targets": {
          "right_x": 0.365,
          "right_y": 0.115,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01CwgiGPi1b8q2hQnTcpJFJ8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6083, -0.3866, -0.0227, -0.0422, 0.9995, 0.4244, 1.3437, 0.7212, -0.1463, 0.271, 0.1661, 0.9966]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1788 left_yaw=0.0008 left_pitch=-0.0099 left_roll=-0.0011 left_gripper=0.9995 right_x=0.3528 right_y=0.1114 right_z=0.1082 right_yaw=0.0893 right_pitch=-0.1649 right_roll=-0.0489 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.3607, 7.3231, 1.707, -0.0269, -0.0659, -0.0122, 0.212, -5.5863, 6.4889, 1.79, 0.1734, 0.1734, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f88487a084cee36d1b3131f1b08f9813647277138c71daf1036b17c0ade5e06e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66de0cff695858c39496e685f329dbdda8d14f0e01cdd09728005f9ffb669175",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:acc988c66da0ccc4a677806b28df461db6d45aad654e8a1a0d2fc237d4c9f2ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 6.11 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6056, -0.379, -0.0223, -0.041, 0.9995, -0.0177, 0.794, 0.6029, -0.3798, -0.0162, -0.0334, 0.9969]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1805 left_yaw=-0.0001 left_pitch=-0.0 left_roll=-0.0005 left_gripper=0.9995 right_x=0.2947 right_y=0.0012 right_z=0.1795 right_yaw=0.0002 right_pitch=-0.0008 right_roll=-0.0003 right_gripper=0.9969\nstate[joint_eff]: [-0.4171, -1.5795, 10.0034, 1.7558, -0.022, 0.2564, -0.0611, -0.5538, -1.4974, 10.3179, 1.8486, -0.0952, 0.149, -0.3394]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7994, 0.609, -0.3862, -0.0223, -0.0418, 0.9995, 0.2489, 1.1271, 0.783, -0.3233, 0.1658, 0.0795, 0.9966]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1795 left_yaw=0.0003 left_pitch=-0.0076 left_roll=-0.001 left_gripper=0.9995 right_x=0.3451 right_y=0.0613 right_z=0.1732 right_yaw=0.0522 right_pitch=-0.0867 right_roll=-0.0217 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.5385, 6.7624, 1.7705, -0.0317, -0.0073, -0.0122, 0.1573, -4.3829, 9.3333, 1.7851, 0.188, 0.1929, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6083, -0.3866, -0.0227, -0.0422, 0.9995, 0.4244, 1.3437, 0.7212, -0.1463, 0.271, 0.1661, 0.9966]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1788 left_yaw=0.0008 left_pitch=-0.0099 left_roll=-0.0011 left_gripper=0.9995 right_x=0.3528 right_y=0.1114 right_z=0.1082 right_yaw=0.0893 right_pitch=-0.1649 right_roll=-0.0489 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.3607, 7.3231, 1.707, -0.0269, -0.0659, -0.0122, 0.212, -5.5863, 6.4889, 1.79, 0.1734, 0.1734, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f88487a084cee36d1b3131f1b08f9813647277138c71daf1036b17c0ade5e06e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66de0cff695858c39496e685f329dbdda8d14f0e01cdd09728005f9ffb669175",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acc988c66da0ccc4a677806b28df461db6d45aad654e8a1a0d2fc237d4c9f2ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+AcKEAgSGAI4AUIIdGhpbmtpbmcSDKDFkfGeCIpiU9AJrhoMNXJJ5TLMDJpgVCdeIjDZrdHQG2uX88CLbPfaQvqUFY3Mn2Od3MLTk4A/l9cD9q5Ps2sgEPuzD2imGWXzPIMqlQcOuncz/z1J5dZWgArKdvyKaCXHhQA9dDaMnduZvgKVYBKAHLJBgWxv4RFAQ1To7c2NQ1vArqWiRkrdgErIc7ZSEVjQwKDJzzguq1GjOj9le8+st6yNVzA+fOwFxh2n9H/XPmHfJ1bfPD6nl9fV1FWqbzYi42C0k0k9crXXoeSAI7JTVjoTfBN6QRDSp3OGu232w7vd/AS2JV9qCX++16HOjVXCeR817jaKeL/XSSRazcotAMmCUgHl5C3Crig8PJpCqgd6hUGEli99CW2NTursL2s/5s/O5C62qk+3xjj/eW3QpH/CldYJ0m2YIIq8exP36t/6FM1vvRV/ozi9TYjP7HIzw0ZEciYEo0Po6Wxt6WsGRnDRL5UL03dzYfOo1UwqNQaQJukzt9GP22CpgPTMo8PQgfhhu1yuPkZkWPk6ya+pvrR80KETWRTdASj30q43+gxKjj31DUeWgTiCriiHR8d3oeFNfOzMjgOb2t7Fa31ekz99L3cg5c88iDbx3i/85iXCwPV0HvmT6bIocAo26iZle1wwtqLBCw60qx90qIYjjifg5pwpUtyyxgoCVcdUmSxg1fyrDp7haX36LhPPQrsCUlJXdeFLAa2mGcqOzQ0p7qAhJWOPWL4unOxY07URgEuN25NtMW5CcPJuA4uLZXc1xcmQYU4S6OwHmW4IEp0E4xcBdnZ2YYdpc1G+BeNPpxIjZomNedcHhgRp/Be5Qv8ESRMDEjgvsPeafEsQ7yZEsmfAAXZXTi4GK9tb6UVlrthqcAQU0HzQr9+b2VmcjbfKGF7aBzZ06SF66rSsHdF8O+3KymFitR1ySU3Wrw5Hrx8ttBg/8E5ZtLYuLp8DGDtSnLN7BHpyuFPTjTXJ1EXfWKIzoGAIWqJ8L/O9fueAXc9Zb1ZMyHjgkFPBTwdTxXD8KGrisyfWmlMsSY5P0Odl5XTnWYUOwHxuNfTU8FCtphWsnZpKfkioJUzLfm8agtmnDRFug1PMQhLt0WCCwjR1k5pmJoWbZqZIMDcLtWBBZS7FovoPDY7EZ+qs4YRinDr+5UaT2ZiK7OIKACEFc3qZ246U2s4zLozGmEYIv3QpUH/U3cbcaRumJQXdFhiZPymAi5GVdYzE/nzBQIP5mcvRWr0SqOT/eYpRRQ7pDjhDB+PEnYv025wndBDz3LZ6j04wbw6OCDQa0rBOTxwcCGy+NqaF2fg6S+8N4N1lTc+LHpBpFRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qc67ZJLuDhK2awNQm3sVtb",
      "input": {
        "note": "The pink bowl's left rim now sits on the jaw column in the right wrist view. Lowering so the jaws straddle the rim.",
        "targets": {
          "right_x": 0.365,
          "right_y": 0.115,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Qc67ZJLuDhK2awNQm3sVtb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8028, 0.6083, -0.3889, -0.0227, -0.0422, 0.9995, 0.4404, 1.367, 0.7197, -0.0925, 0.2989, 0.1844, 0.9966]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.001 left_gripper=0.9995 right_x=0.3596 right_y=0.1159 right_z=0.1097 right_yaw=0.0739 right_pitch=-0.1307 right_roll=-0.043 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.4427, 7.0359, 1.7167, -0.0659, -0.0513, -0.0122, -0.4444, -6.2017, 6.5709, 1.8632, 0.2027, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:983a8e4b5faaee7b4792e0a80cc383333b507c5cb0b5a988008c8796da42b767",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbcbf6fcc5fcd694a7c2367c867b181ea079af5f23e8ba4d9d313ffeb8cacca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ce2d7910218e0c8ad8784059ac76482783e5797a0a3649dce7f45b49090f871",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 3.35 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7994, 0.609, -0.3862, -0.0223, -0.0418, 0.9995, 0.2489, 1.1271, 0.783, -0.3233, 0.1658, 0.0795, 0.9966]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1795 left_yaw=0.0003 left_pitch=-0.0076 left_roll=-0.001 left_gripper=0.9995 right_x=0.3451 right_y=0.0613 right_z=0.1732 right_yaw=0.0522 right_pitch=-0.0867 right_roll=-0.0217 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.5385, 6.7624, 1.7705, -0.0317, -0.0073, -0.0122, 0.1573, -4.3829, 9.3333, 1.7851, 0.188, 0.1929, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6083, -0.3866, -0.0227, -0.0422, 0.9995, 0.4244, 1.3437, 0.7212, -0.1463, 0.271, 0.1661, 0.9966]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1788 left_yaw=0.0008 left_pitch=-0.0099 left_roll=-0.0011 left_gripper=0.9995 right_x=0.3528 right_y=0.1114 right_z=0.1082 right_yaw=0.0893 right_pitch=-0.1649 right_roll=-0.0489 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.3607, 7.3231, 1.707, -0.0269, -0.0659, -0.0122, 0.212, -5.5863, 6.4889, 1.79, 0.1734, 0.1734, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8028, 0.6083, -0.3889, -0.0227, -0.0422, 0.9995, 0.4404, 1.367, 0.7197, -0.0925, 0.2989, 0.1844, 0.9966]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.001 left_gripper=0.9995 right_x=0.3596 right_y=0.1159 right_z=0.1097 right_yaw=0.0739 right_pitch=-0.1307 right_roll=-0.043 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.4427, 7.0359, 1.7167, -0.0659, -0.0513, -0.0122, -0.4444, -6.2017, 6.5709, 1.8632, 0.2027, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:983a8e4b5faaee7b4792e0a80cc383333b507c5cb0b5a988008c8796da42b767",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbcbf6fcc5fcd694a7c2367c867b181ea079af5f23e8ba4d9d313ffeb8cacca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ce2d7910218e0c8ad8784059ac76482783e5797a0a3649dce7f45b49090f871",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5AoKEAgSGAI4AUIIdGhpbmtpbmcSDJk0Wc5pTsFv0tStRRoM2IdmWQYYEqdezJN1IjAla+DLacCxWTUPUgfWyOnQl3jUmdHrZ51GTVA4hE6/WDrc8iImUM0sWMhyEfIRz6oqgQof5A/YsVCPEy290J7sQobfcO1m3LF7AZx8rCh7kxQinh0XXQDFtCkrakWSmhGqZPoqKeXHNXmiBJtxBzWpNHfigeKWbGPGBf3boXjJS8fulaih85ehLtJib/t6fm5sMINRace2PiQ0GlqyXQKrdBJGgRi4wgPfvRT99YbfFUzwrvyzifT0DcqFcOYiHTNtFdBAzsL6Gt2EzUZzTrLKeL+xvMfMvJrllGeDwLFVtm6jr+zBfPfEOM6ESmb4zlgIcj3AJLLzAzjPvWTAorV0cWIz50lHuuCo6r2m7IVG1r0ZPkyLKGav7l2MyMYSJObYuDUCzjjRlmngYGXzVJZDOVPcfUNCWn9kI6mtuorWpF3AumLvZLxlKAcoK5kHL0wHBDyNynLjd6BHHOECnC7sYPSra9G3WtFw7jHhAmCgxUVDreICtOj9ewsiCr6mpaLOrdkS/5bkt6iZ1ePpqD7I3doIQSZZ1gocI+T6IHFDnSmxmEeRlqxFOt3TZ2o+WiJCBLDj3YAVovnVXgBofBwDQOw9FtzKI83gx0UR2/dvcX9Ee2MjtTFokYAw1hYKKqSMix6tpD2gLOziI/wdDxJc81MpCvRJQ8RtZidJvvCSf18zuKymv0iq/XcLRa7t0yxd00pBrTEKJ2SfVIZsLARL8q0W+ybgNfsBHcdgwBRxyciFM+f1tw12pe9G9nqILb6Sou63fAhNOEAVezGLneEy5I9Wj1MfZ7NLgbErAb20F3sELaU6HAC1/hwvIEuBFfjR9OrbKwbYJ1ORn3YPEJF0NiKlEgdN0+qyd14oQW9ljYQHQKze8bDwmiwSG6aqWrZdL/MaHIL22dLDNE/RyyE1n0EmQxF7BZzx6PjPVZJjd3TPOYAaeZiB9J0x9RheZIrIreh2+e6rs3kmzEF4KNXadytjgzU5tv+3Bn2EPYXhSJv9Q72CKykL4pwa08SI9XFAJp2TtflwOtB4T2jtJnE57bCkYlPgKV/Or4FlGrpYdqt1NOEaz59mBxykKE9BK8OdBobcQ81cYNmTn9b5VCPTmlLu7KtUY7yqROmmgMFdNaTdYBqdmrg8cWG0hHO3iFWjxO0V6Uu5i3qbZ1vbeUPKzn2G+R2eMGqtCNn8DiK/iWtKEF0mC7Bl0cQ/WFjGHaeHBpvczLRAzw2FxA12lV6SYZaaKUwbhrvMsWSIBHL1TzFkH8JYoKYpX/SW0cG7XAucU8iWb1S6I0R/8m+rdSg/I7v5O/QCdf0GKbWWASuoj32g6PQIIO59i/HKXVqbr+hOKCn1MLpCBDGzyTTUcxWKWS7SpJ+MFFzmHr4LDtcMkRDO1j2AxKbvEY8B0Mq1u8mCVtXayzORAIpkdekuiWqaZ+YAkocPOOtxz74sdWJpWwjp3QvW/hxbVUaEJ9vjENwtnPEC2ivTRZwNr3S43M3KKPlVsSkdnJ4PsoN0Vt4+na/YFofTHIfeGAhNi/XFHsKMd5lQJPUymLyeRnESbEuAfM8l+EsU6u/gtxOtyWk8G5n43+8FwTssKsDNyVaoZpTl0Ske5o+CfWvCBYQYv+WH668uSXadSzz2Y0TvHtQ3QjtQRDndYB4FP4WCPlO6Lt2tGVcXkAIbETps6m4TCN1yqNQOwlHp8Z/jqrLjWhux4IDwXW/1wwuoblzQJmdRBhy800NnG2oCuzaMCp1BtD6T811iLUpsApBwibLp+CZ/JEiUgIgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RHfndqMdNe6BwUXE8z8yS1",
      "input": {
        "note": "The right arm stayed at z≈0.11, so the descent didn't happen, and the rim is still between the open jaws in the wrist view. Trying the descent again with a lower target and watching for contact.",
        "targets": {
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01RHfndqMdNe6BwUXE8z8yS1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.804, 0.6083, -0.3889, -0.0227, -0.0422, 0.9995, 0.4404, 1.4479, 0.6231, 0.0814, 0.2996, 0.1837, 0.9966]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0156 left_roll=-0.001 left_gripper=0.9995 right_x=0.359 right_y=0.1155 right_z=0.0733 right_yaw=0.0735 right_pitch=-0.1337 right_roll=-0.0453 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.4017, 7.2274, 1.7411, -0.0513, -0.0757, -0.0122, -0.0615, -1.894, 2.947, 0.3834, 0.022, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd4741a9320b6e7da7334704cdd4d83b16f810526c0fdbed8eb6a8137a979ebf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:366bbae9e596f8666ee0ab38723b6733d9b99a14d0d6220ab15a8f580e91bc21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d88e9dd95b0ef479cd5a8bf151d26efce107f3fd031e79bd03e9dd73174bc069",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 5.653 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6083, -0.3866, -0.0227, -0.0422, 0.9995, 0.4244, 1.3437, 0.7212, -0.1463, 0.271, 0.1661, 0.9966]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1788 left_yaw=0.0008 left_pitch=-0.0099 left_roll=-0.0011 left_gripper=0.9995 right_x=0.3528 right_y=0.1114 right_z=0.1082 right_yaw=0.0893 right_pitch=-0.1649 right_roll=-0.0489 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.3607, 7.3231, 1.707, -0.0269, -0.0659, -0.0122, 0.212, -5.5863, 6.4889, 1.79, 0.1734, 0.1734, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8028, 0.6083, -0.3889, -0.0227, -0.0422, 0.9995, 0.4404, 1.367, 0.7197, -0.0925, 0.2989, 0.1844, 0.9966]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.001 left_gripper=0.9995 right_x=0.3596 right_y=0.1159 right_z=0.1097 right_yaw=0.0739 right_pitch=-0.1307 right_roll=-0.043 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.4427, 7.0359, 1.7167, -0.0659, -0.0513, -0.0122, -0.4444, -6.2017, 6.5709, 1.8632, 0.2027, 0.149, -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 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.804, 0.6083, -0.3889, -0.0227, -0.0422, 0.9995, 0.4404, 1.4479, 0.6231, 0.0814, 0.2996, 0.1837, 0.9966]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0156 left_roll=-0.001 left_gripper=0.9995 right_x=0.359 right_y=0.1155 right_z=0.0733 right_yaw=0.0735 right_pitch=-0.1337 right_roll=-0.0453 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.4017, 7.2274, 1.7411, -0.0513, -0.0757, -0.0122, -0.0615, -1.894, 2.947, 0.3834, 0.022, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd4741a9320b6e7da7334704cdd4d83b16f810526c0fdbed8eb6a8137a979ebf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:366bbae9e596f8666ee0ab38723b6733d9b99a14d0d6220ab15a8f580e91bc21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d88e9dd95b0ef479cd5a8bf151d26efce107f3fd031e79bd03e9dd73174bc069",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wYKEAgSGAI4AUIIdGhpbmtpbmcSDMG8YBRMGDkQ4P49hBoMaU1qmK+ZHKIuk0fBIjAGTialhXTZKZcZeC4WR4LbR6NJJVnX01o4eyli3GQcTlrN/2r8uG9c3D9NHfEE4Soq+AVWh0nEEo9Di++TnPZ+rjqAU6Juxne4h4SWvZK2OHwPt/ULPahpF9MAqZx2oE6si8iNc2I4FlBhkBVTvMZlh1O81e4QccsPtz/hq2Ly3wiCweDA0mSl1ub/5AktFbFNdH0jX6+kze2rtU1F8w0W3oTnQ54YMuNDEPFlnnhvEyJV3XJS05B+GRpKFfrf+HuiuLUp4qAL9fJnh17xXYxXJ4riIcZ+urLK7tfLC10BuHHIhg8Ud1m1+uZp1Lz/Usslz5Mul3MD3+cElKLEW4T7YxnZtKE+GzwgU0cQuDdsUtXHjeeTeNdKfRgEe+zONmpUTpzzwUjq4ufrAXHiFAlAySe1bYBEaL/EcY93wcqTAM1ca73O2CKm2KwnALcYcZ4EP7D5z56cvE7M4tRl9vzC8+7cipfov+QK73G0GiZfLKRm1ry5LXwl/sdhbtkeMSVBbi608Q7i4pJf+6xa7xcqcMEZV15n19BTWOkZ4PkQ0naMnVmEfCiEUGJD5FoEwJ+p81jgRy60ESuegx3ObAWRNYFIfYDtvUANb+H3zhoh5tkYNh4UwfMdBQGe0UprR8eUxkUe+dsFeve7bTWX+Gwjg8f9j1r/fNprides1akOpA7nTsGa/18GWqqVlZ+Y6FQby323TBHZIKb0l3Pl/Tesk2EdieOO+M+G7vkRX09Kvr82kJrMsBNtEce/3tgsHGRHFv9qNX8C7q8C2Vrzz4h09thiCysQl8Yg5sre3ZG/BAhWMwFJo8lXOl6kXchOojRrskv9U4MSoREgKavnuTRH1X13zbgbnQkbvVzlgKp6y3Efg6z6/ycjSiLWbMcUEp7D8p35zIOqkzNq/fOVb7s7Lx+XEkjR1ywbo9b4Gh4jDmmBezXlJBIw6Y+t5rUcrKKfRNFFTD+2km5exwglIUeDABP/F6txECzLUz4R/cWah2VI9Vcm3qR6Ov3RJl8n5jzeE2PHCtblIVSMf66PTSNnipr8CvnxfGkRVd0su3J97BK4RiPP0OhE1rJuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013R6DaiSKJmyHnbCvfyDcd8",
      "input": {
        "note": "Descent is going slowly (z is now 0.073). Still lowering toward the rim height; the rim is still between the jaws.",
        "targets": {
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013R6DaiSKJmyHnbCvfyDcd8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6083, -0.3901, -0.0227, -0.0456, 0.9995, 0.4404, 1.6077, 0.5236, 0.2829, 0.2955, 0.1829, 0.9964]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1768 left_yaw=0.0027 left_pitch=-0.0179 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3495 right_y=0.1118 right_z=0.0157 right_yaw=0.074 right_pitch=-0.1889 right_roll=-0.0642 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.4017, 7.1179, 1.7021, -0.0269, -0.0269, -0.0122, -0.335, -5.7641, 4.6564, 1.6923, 0.1001, 0.022, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f7e068a0e412b793ddcc7b1233ebb3293ba70be44f83743b0dbd8f371d75f3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a87ef656331b7cc51fc6e6d2c271091ceca0d5695cb11c366537a1277ab9090",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c6b713db1aa57de145b2af0b155c61cedf407a4f29ecae608b29550a64d23209",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 4.22 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8028, 0.6083, -0.3889, -0.0227, -0.0422, 0.9995, 0.4404, 1.367, 0.7197, -0.0925, 0.2989, 0.1844, 0.9966]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1777 left_yaw=0.0008 left_pitch=-0.0145 left_roll=-0.001 left_gripper=0.9995 right_x=0.3596 right_y=0.1159 right_z=0.1097 right_yaw=0.0739 right_pitch=-0.1307 right_roll=-0.043 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.4427, 7.0359, 1.7167, -0.0659, -0.0513, -0.0122, -0.4444, -6.2017, 6.5709, 1.8632, 0.2027, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.804, 0.6083, -0.3889, -0.0227, -0.0422, 0.9995, 0.4404, 1.4479, 0.6231, 0.0814, 0.2996, 0.1837, 0.9966]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0156 left_roll=-0.001 left_gripper=0.9995 right_x=0.359 right_y=0.1155 right_z=0.0733 right_yaw=0.0735 right_pitch=-0.1337 right_roll=-0.0453 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.4017, 7.2274, 1.7411, -0.0513, -0.0757, -0.0122, -0.0615, -1.894, 2.947, 0.3834, 0.022, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6083, -0.3901, -0.0227, -0.0456, 0.9995, 0.4404, 1.6077, 0.5236, 0.2829, 0.2955, 0.1829, 0.9964]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1768 left_yaw=0.0027 left_pitch=-0.0179 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3495 right_y=0.1118 right_z=0.0157 right_yaw=0.074 right_pitch=-0.1889 right_roll=-0.0642 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.4017, 7.1179, 1.7021, -0.0269, -0.0269, -0.0122, -0.335, -5.7641, 4.6564, 1.6923, 0.1001, 0.022, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f7e068a0e412b793ddcc7b1233ebb3293ba70be44f83743b0dbd8f371d75f3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a87ef656331b7cc51fc6e6d2c271091ceca0d5695cb11c366537a1277ab9090",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6b713db1aa57de145b2af0b155c61cedf407a4f29ecae608b29550a64d23209",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQsKEAgSGAI4AUIIdGhpbmtpbmcSDHKCCd3FBkimmcpKrRoM4+EBqjIfhkURCiMFIjDQAZFn8SVqE86B5h62yLTh7x6eQpBHxJFBaL3WM7cM/uMmAdzRs2SJ0SkB+dSnNj0q3gp7OxaTTHG/GH3E0heEUBaC1dOP4Xln5U2bqoB7nJn/ro8UzYC9Nij5sCOoIjDpIx1XgoQeR+WkrqYaA3ZQ9Tfkwj8b+HlncQPP5LRKClszdqsw2HFi+HxCulOsdm+80/pBVIrd6eFA+6pB++7FlumO3Q1O0FgmzRZE2i3LPdHr/j5ArDX20ey3OHTNfF5C0IdNfjJe5SvAv4jBSZDD9dqt2ZJtQJXHTj0iNngkyAdgmxaTJtw3sl23gvjHO3bgbqNwwBE9Qs9AEENW86k3vVi4CjxWhN3v8iDwrtUNqEIXLqNnHk1l2WgRrukZOU/b0wHsVRIcqYFKQ0QkQ98UeA58ni8i6FeYMnKjFNDVgeS52XUaxxtAkc50P2MkABN1yZKz1W+9WUJnEWbNgch2YC9yyJfDE9jP0Z5P99g5keYpgx26qkveBMp5qEQFaiodnbxZlfLIX7IssPNw4mBdVd6giu7hR2pn+jyBpm/B6kq/7+fmT7dQwNRT69R9NwMGhuvJrMI7TW2x6IyPvBxsKwt59a48ATvGNZOd2jN93mjZhowRSSI1DifxxWVT+EQUuiTJG8YihwKYyZN5thCP7AcH2oqG6JxmDER3KoHgombWPWW8ERDDx1gZKJMy5cyUk47kPTCjml19AazjRuCwmuID/qZQhgnLtd0aKlYq0Ag3J7Zf45iLIWX89tQr5B7nUsagTeTjGOysyJ5bTa6+e34kZe6kGCMAtoCU22p1kivWvsm/T4IvnCfX4FAAqWWExhCQ2A9pZWSoeq3oWvuhD/gv59bWonFowd/qsGbb0vGlvQd5a34RUhiu6/6J2xlKufCkiiPX04l0a30CZ6Y/yT+2MkYzwOPs0FSO5d+z3z+uTTLrSk74AC8u31JsYx67971fWea3RlAyiqwHIkK5wGqZpRI/HQvr0aWfBGUYberOZLoF7zBWiYh7uAPOflML6qJpX8jaX17+ijjhrN3Vjjf3A31R6bZCxs0foR3ypogneCHmN3M7gi+qBdyG+sZTX1xegSLWvIvgo6EVfZiK3Okhbiru462hj0FidIQ4v6+vxSGSLix3Q8Y98yeLh+3M567ApXbrZaJtEynThW87DeEdTT79Q9EC/XJcJOQZ+Ia0zbjzeq8CFV9cuBzbCQRjm8esHi5/DwZY4OO1rBGZaQy5uemFv7mt388abBoASPIYMQsAtZsq/4IWRZH1WkSoIsV4cwz9eEsKU4sYo5ise6aKVreF8L0WDNIbb8fqGVAG0RgfOav3iCxEUIBuifSknwnz4R7pI0ocywNz9m8N9bquL4VIFxIOW3jmi5U8RNqpXxN3p878PUp5v4OOLNm6BvOl+5LEFFpfxHNPnC3QxsIHbjHmAP96MEtzK2TW1A6VuH3umaRlyA1diUvZX3DilLjHIkX9eK66elH9mhZjrp/p+4NwWdsq01D95qll427W+gL5+nvBYbHc3RgaPEdNmXnD/2UjBmvox95shsP40sX9gGCHTQyx4e8KD6HJG0Pr+RSrDrLcNjHFlT3CkBdJP0rCO3oSTp4XNIHWq6Y1h0z3BqgFsT6FFtefUFGGd8adVccTmyf/zZ1+LfkXtDfGrHIbyFTjW3rZy5jmrZzJ0bGC1ld8uTAuTXO3ng28P/6NELUjg9HWHAKe64x2qYFgOj3Z9uv4wLIbdFNI07bMal7EpOJSS2zA5NfGHowSyPUFn9FbreDCL0daUJz19lFGI3R5Q5rieuqXz61bs4QLtfLoRy1y7ps4aE9qN03bb5kuF1A0VuIOG+fSipEbRJLG0h8YqzIAcZZET+85fzEe4rE2pTYPRHnEOQ1YMNvsaVYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GPkYCpv1Mms6BV43fmtMrK",
      "input": {
        "note": "The right gripper is low at the pink bowl's left rim, and the rim is near the right jaw. Closing to pinch the bowl wall.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GPkYCpv1Mms6BV43fmtMrK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8055, 0.6083, -0.3897, -0.0227, -0.049, 0.9995, 0.4404, 1.6341, 0.5186, 0.3763, 0.3103, 0.1642, 0.0398]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1768 left_yaw=0.0045 left_pitch=-0.0179 left_roll=-0.0066 left_gripper=0.9995 right_x=0.3603 right_y=0.1141 right_z=0.0215 right_yaw=0.0755 right_pitch=-0.1278 right_roll=-0.0656 right_gripper=0.0398\nstate[joint_eff]: [-0.1436, -1.1556, 7.0085, 1.7167, -0.0317, -0.022, -0.0122, -0.0342, -6.2564, 4.8479, 1.453, -0.0171, 0.0513, 1.4139]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b52da2a873efcdfa2b33900478e5c832f44b5383f0f7046ffe9e7c25e544d66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed9a1e57c3561089d802a050993ac2a3dd2fe5a9a7605b5f011d570313c25b05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b3aa00452250a4568b6e19645cc07117b5b732e8127a845617479b08830701d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 6.979 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.804, 0.6083, -0.3889, -0.0227, -0.0422, 0.9995, 0.4404, 1.4479, 0.6231, 0.0814, 0.2996, 0.1837, 0.9966]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1774 left_yaw=0.0008 left_pitch=-0.0156 left_roll=-0.001 left_gripper=0.9995 right_x=0.359 right_y=0.1155 right_z=0.0733 right_yaw=0.0735 right_pitch=-0.1337 right_roll=-0.0453 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.4017, 7.2274, 1.7411, -0.0513, -0.0757, -0.0122, -0.0615, -1.894, 2.947, 0.3834, 0.022, -0.0073, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6083, -0.3901, -0.0227, -0.0456, 0.9995, 0.4404, 1.6077, 0.5236, 0.2829, 0.2955, 0.1829, 0.9964]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1768 left_yaw=0.0027 left_pitch=-0.0179 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3495 right_y=0.1118 right_z=0.0157 right_yaw=0.074 right_pitch=-0.1889 right_roll=-0.0642 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.4017, 7.1179, 1.7021, -0.0269, -0.0269, -0.0122, -0.335, -5.7641, 4.6564, 1.6923, 0.1001, 0.022, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8055, 0.6083, -0.3897, -0.0227, -0.049, 0.9995, 0.4404, 1.6341, 0.5186, 0.3763, 0.3103, 0.1642, 0.0398]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1768 left_yaw=0.0045 left_pitch=-0.0179 left_roll=-0.0066 left_gripper=0.9995 right_x=0.3603 right_y=0.1141 right_z=0.0215 right_yaw=0.0755 right_pitch=-0.1278 right_roll=-0.0656 right_gripper=0.0398\nstate[joint_eff]: [-0.1436, -1.1556, 7.0085, 1.7167, -0.0317, -0.022, -0.0122, -0.0342, -6.2564, 4.8479, 1.453, -0.0171, 0.0513, 1.4139]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b52da2a873efcdfa2b33900478e5c832f44b5383f0f7046ffe9e7c25e544d66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed9a1e57c3561089d802a050993ac2a3dd2fe5a9a7605b5f011d570313c25b05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3aa00452250a4568b6e19645cc07117b5b732e8127a845617479b08830701d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwgKEAgSGAI4AUIIdGhpbmtpbmcSDPj8kI5cs879ib8zMBoMOXbKA2YuXCxV0nbbIjCzqeED5lq8yqNb3gjtCbVnawbluehKcwQfWSh1aIpIDsSCakoaxBiTx00GNCtmnaYquAcIzkC2D9+zVFkM5CqGsw753mko2px79g8c0QMbn6nxlxsuhjJHjzqKVzFIPobe3aS99ipBfy5XJImvgOTz84zBtZbFImlPUx9nRnZO4cpBeSqrqX5uOb6nKPO0KNgwv2hBv1Wqn4LiFDV3x7H7fgpKeEu3qtCI9ATl3O58m9bMTgvs7BjHkjwWTDQV0oDSbupcm9DEr6X5xyw+IDgf2rbqeL9juRMglXJ2Av+8js3MjyudrnpWY4MTtkaf0j6XXxzQV5tziIh2TzUHplK/UKfcdu7+9T1cLUUL1xOiusL9/bUs8CtvjNSFf4IVsUtmH6GWDVlB98hZ3WHR0VXfbuU2hFXrlWbBL4yjQVeJg5LfEIGj7eJpN2T2Wwr8PuBmXPtdBFtIaBo1bC4zs+TK6GweL4Hk1mu5NlSC4pan68+KJmwXe2GVs4LalazIF+P04HC/IxjKVUv6U5pTt/O3Whe9xRd3hpgcUqImB4IdqvMEKF6EAmKv0MmtHtMpgnXYyt+VGO9wlpfqMwefLntshjjqV4DwWu9EvOutnrR8dpasuarYwCyOARqP2ZUHPIAgQ1d7wHlsdQPP6kyrmJd2l8bzKVhQ8mLq3FbDVO3te3NpubKjSoREZgCfNGxJaPlB2ebFLBqaufhcIxXhuAvtrzpYcIzJezJCa826i9JtO/Ja186okSNLRmqq+cRNRITExF+r37MA1V/QUEjgDGWcgjpD3O/0s15J2czsFjeVBN5vA/3HzDI5Si1SnGwIqpPqLXzovyDGT+e/PEhXnpDVJI86kvgnM+4GOjXlHZDO1tF4BP/Z5/gBU2IJ3nV5ZGwc+OyuRR5he2ygz6YSiTzfweP+gOKylfj11dQcJqN84AGausbtH9+u40xpbKrV+BEOTxvgIbhRCSCATnEBASsvNou+pQCQjXDPREGHXv9+SUAWUZJZqMhhj5C2YK9xYTK+jd0mYUV4Zzel0mJT38CZdnmc+QwJy8TgId1TtVVqXhBVc50gT8Myor4O9VtB73nDU2Jl7yRWH21rdsAX9cNwsvGQKzSVPT9KwDAjMtJknnRT6UNEhbMWp9BzBhWS+0+MBreSsxVXktmmW3WSt5Af02b/I1t7sYcdQi3ibS7o30N1h0+Z1oP/zNZ2+9iEv+D4Os/O2s8UafWt3NtevW/AaNTTngXmWrbM0hska0f7VAu8ghpfzbHNSwEEnhY+3gnI2j96zb520tFA+Y7A6VFPw19G9gdpAtTpW7jEGVJGjRQZp2c3I6cTB+9TGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01567w9e3Q3WvaXpDbvcANvm",
      "input": {
        "note": "The gripper reads 0.04, which is borderline for a thin bowl wall, and the rim now sits right at the jaws in the wrist view. Lifting to see whether the pink bowl comes up with it.",
        "targets": {
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01567w9e3Q3WvaXpDbvcANvm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6083, -0.3901, -0.0227, -0.049, 0.9995, 0.4404, 1.4643, 0.5953, 0.1356, 0.3054, 0.1574, 0.0493]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1765 left_yaw=0.0045 left_pitch=-0.019 left_roll=-0.0066 left_gripper=0.9995 right_x=0.3587 right_y=0.1143 right_z=0.0666 right_yaw=0.0836 right_pitch=-0.1238 right_roll=-0.0658 right_gripper=0.0493\nstate[joint_eff]: [-0.0068, -1.1829, 7.2274, 1.6972, -0.0659, -0.0464, -0.0171, -0.2803, -6.2974, 8.3214, 1.6532, 0.2076, 0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7657477e8d1b61ecaec25d5e263da773163d51667d4a854809da02b215b941f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caa34c6b076bd379f7d05d099b16f04ef2f273c2369f07286f95a509965bb765",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb66425330495689d0decb612dfb6820781390d508ec6279db8b15a44e0d3afb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 3.676 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6083, -0.3901, -0.0227, -0.0456, 0.9995, 0.4404, 1.6077, 0.5236, 0.2829, 0.2955, 0.1829, 0.9964]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1768 left_yaw=0.0027 left_pitch=-0.0179 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3495 right_y=0.1118 right_z=0.0157 right_yaw=0.074 right_pitch=-0.1889 right_roll=-0.0642 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.4017, 7.1179, 1.7021, -0.0269, -0.0269, -0.0122, -0.335, -5.7641, 4.6564, 1.6923, 0.1001, 0.022, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8055, 0.6083, -0.3897, -0.0227, -0.049, 0.9995, 0.4404, 1.6341, 0.5186, 0.3763, 0.3103, 0.1642, 0.0398]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1768 left_yaw=0.0045 left_pitch=-0.0179 left_roll=-0.0066 left_gripper=0.9995 right_x=0.3603 right_y=0.1141 right_z=0.0215 right_yaw=0.0755 right_pitch=-0.1278 right_roll=-0.0656 right_gripper=0.0398\nstate[joint_eff]: [-0.1436, -1.1556, 7.0085, 1.7167, -0.0317, -0.022, -0.0122, -0.0342, -6.2564, 4.8479, 1.453, -0.0171, 0.0513, 1.4139]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6083, -0.3901, -0.0227, -0.049, 0.9995, 0.4404, 1.4643, 0.5953, 0.1356, 0.3054, 0.1574, 0.0493]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1765 left_yaw=0.0045 left_pitch=-0.019 left_roll=-0.0066 left_gripper=0.9995 right_x=0.3587 right_y=0.1143 right_z=0.0666 right_yaw=0.0836 right_pitch=-0.1238 right_roll=-0.0658 right_gripper=0.0493\nstate[joint_eff]: [-0.0068, -1.1829, 7.2274, 1.6972, -0.0659, -0.0464, -0.0171, -0.2803, -6.2974, 8.3214, 1.6532, 0.2076, 0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7657477e8d1b61ecaec25d5e263da773163d51667d4a854809da02b215b941f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caa34c6b076bd379f7d05d099b16f04ef2f273c2369f07286f95a509965bb765",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb66425330495689d0decb612dfb6820781390d508ec6279db8b15a44e0d3afb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012zL4WPqPqT9giSTDFsKbT4",
      "input": {
        "note": "The pink bowl is coming up with the gripper: it looks the same in the wrist view even though the arm rose, and the reading is 0.049. Lifting to carry height before moving it over the lavender bowl.",
        "targets": {
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_012zL4WPqPqT9giSTDFsKbT4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4061, -0.0227, -0.0494, 0.9995, 0.4404, 1.3193, 0.823, -0.26, 0.2985, 0.1566, 0.0493]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1718 left_yaw=0.0047 left_pitch=-0.0396 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3573 right_y=0.1149 right_z=0.14 right_yaw=0.0885 right_pitch=-0.1469 right_roll=-0.07 right_gripper=0.0493\nstate[joint_eff]: [-0.0889, -1.6205, 7.3094, 1.873, -0.0611, -0.0317, -0.0122, -0.2393, -6.7624, 9.306, 1.6777, 0.149, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bd5bde27a051b23820b289dd321ca4bfa504c1d28f91e300171abbb93f9bc3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:773b25db3455925be2db4a9d100d7cb804d80d8d280ba0f40a25c2263b061ee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee40d62eedb1a138faba86f6ee2140f980f2adf4b84b832c512d653abfe3abc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 6.035 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8055, 0.6083, -0.3897, -0.0227, -0.049, 0.9995, 0.4404, 1.6341, 0.5186, 0.3763, 0.3103, 0.1642, 0.0398]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1768 left_yaw=0.0045 left_pitch=-0.0179 left_roll=-0.0066 left_gripper=0.9995 right_x=0.3603 right_y=0.1141 right_z=0.0215 right_yaw=0.0755 right_pitch=-0.1278 right_roll=-0.0656 right_gripper=0.0398\nstate[joint_eff]: [-0.1436, -1.1556, 7.0085, 1.7167, -0.0317, -0.022, -0.0122, -0.0342, -6.2564, 4.8479, 1.453, -0.0171, 0.0513, 1.4139]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6083, -0.3901, -0.0227, -0.049, 0.9995, 0.4404, 1.4643, 0.5953, 0.1356, 0.3054, 0.1574, 0.0493]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1765 left_yaw=0.0045 left_pitch=-0.019 left_roll=-0.0066 left_gripper=0.9995 right_x=0.3587 right_y=0.1143 right_z=0.0666 right_yaw=0.0836 right_pitch=-0.1238 right_roll=-0.0658 right_gripper=0.0493\nstate[joint_eff]: [-0.0068, -1.1829, 7.2274, 1.6972, -0.0659, -0.0464, -0.0171, -0.2803, -6.2974, 8.3214, 1.6532, 0.2076, 0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4061, -0.0227, -0.0494, 0.9995, 0.4404, 1.3193, 0.823, -0.26, 0.2985, 0.1566, 0.0493]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1718 left_yaw=0.0047 left_pitch=-0.0396 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3573 right_y=0.1149 right_z=0.14 right_yaw=0.0885 right_pitch=-0.1469 right_roll=-0.07 right_gripper=0.0493\nstate[joint_eff]: [-0.0889, -1.6205, 7.3094, 1.873, -0.0611, -0.0317, -0.0122, -0.2393, -6.7624, 9.306, 1.6777, 0.149, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bd5bde27a051b23820b289dd321ca4bfa504c1d28f91e300171abbb93f9bc3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:773b25db3455925be2db4a9d100d7cb804d80d8d280ba0f40a25c2263b061ee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee40d62eedb1a138faba86f6ee2140f980f2adf4b84b832c512d653abfe3abc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgcKEAgSGAI4AUIIdGhpbmtpbmcSDMehXibtKWeHawbhRxoMwBGOBUtiHGn852cbIjD7oJ6ZwfLydvE5KufdPum+Vp/mArYHHH+nmYTwDSmb0eZ3nfY8hajSP68gPjiJQ5Aqswa98Ig/hZwxvKTr4oKnOU9jgHj86ejxDeVbstN8r6jv9DRiDwDWHHmINj3XzWaOD8967YRkxeJr3dMO9Xr4BYMXxXBx3x6X1UCtHEKmtraqN+SaEh5Pze8oF+hPBbPB5U1D0FRFX17JrxwWzDF0zs5aCigv/46K+9FAsesw0CvZPqzFDdBNtr1Fa64Br5wPdmwwcIYFvUVXn8wubwETvnNsCJDxFOs3xk97SjVrfnCCcfxBPqJ33fqjOZnusJh1S3vB7VaJQKKOCO6DTaRnylAlXo8xX/zxKTlLQG65BXvt9jbK6dwDxe1NchDKSmMG0P39o3S/hnI/rFQxjZvcnOCXRstufTzFax4uu2GZiEA+o1BllPiAeH7ztVd2AUpma35BP0zaw29gf1kgrckO9iTAmP8ENNn83NrYXVkgqn+OvO7zYFfqWrMK12rijUY1rypO+ATJGKKAmpHYDZotmfW0DXXFd4aE9ajzxVWYTFfWrUDNhEvyL3aq15IhSKLLUUFEVbsSbpF26WxyDeJbj4SV3GWWHnvh55ty7rC5PAmi/NqgXvGCKCFVRgG71qIZFrnWAmTr22xEYA4eK4mcADM1DNoNMURqtfFRFSEcp7H91gQXk3H9aWHfbz8DsPBKzJ34eU+fJAB0Y0JX+k+dfkTCxmP5LsA53AfkgukTu3yso2sNCz5gz1Sl0mkdjwWWoeR8QEZVUT/HpkK6kUmRtx9L3TFeFI5ziTLX064ujCQccFX5ms6oo/ZRW4TfN6DvMU8NYwqXQBBDbzyYFq3bQLHLT2dKs09eeo8DcYuMOo64q2uja6+ktO+8PvtEg8pj3QnoQ7VRu0OtR1sj2V/rpAk+6WFLk7f1z/pzYFCDP21IGkj/gkMnRsH/WxdsMBoilik4LFNimNWFoxoC/loiZYssGzhDe+K3E0yXA7f21CPoXJnKDPNba1zjUysf/rt/Ii4uQXBTmvum0/EaXWtVojFO+ErRJa+X9pZw4FK+RzShlkENX7gddD1f+o0JiNWwVk88OWZJ5TwQCKiym8bSdgIDjpzBk/6cJkBfoHGAq+ljE69vNztBhkAwK37kR3Etb/BCn5oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KUpEM2Whaj77hF6ra4QevQ",
      "input": {
        "note": "The pink bowl is held by its left rim, and the lavender bowl is visible to the left in the wrist view. Carrying the pink bowl left so its centre ends up over the lavender bowl.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.29,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01KUpEM2Whaj77hF6ra4QevQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.8433, 1.8004, 1.4036, -0.5468, 0.5335, 0.4465, 0.0493]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0047 left_pitch=-0.0431 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3701 right_y=0.2859 right_z=0.15 right_yaw=0.1316 right_pitch=-0.2052 right_roll=-0.1046 right_gripper=0.0493\nstate[joint_eff]: [-0.0068, -1.4701, 6.9812, 1.6874, -0.0317, -0.0659, -0.0122, -0.1436, -9.5658, 9.6205, 1.2869, 0.4664, 0.2027, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a4758d156210fc70ca76eca18dc228b74b8dabe802ee9086812fb4fff3fae39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32669eb5a02b8cee32ed4cd33ce3d50d80c3b5f286878916f7c145e04299086c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fbb91a7439ce8a2c6e0145c6126f82911162fa3e6467a4608f91b021d34d3ad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 3.864 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6083, -0.3901, -0.0227, -0.049, 0.9995, 0.4404, 1.4643, 0.5953, 0.1356, 0.3054, 0.1574, 0.0493]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1765 left_yaw=0.0045 left_pitch=-0.019 left_roll=-0.0066 left_gripper=0.9995 right_x=0.3587 right_y=0.1143 right_z=0.0666 right_yaw=0.0836 right_pitch=-0.1238 right_roll=-0.0658 right_gripper=0.0493\nstate[joint_eff]: [-0.0068, -1.1829, 7.2274, 1.6972, -0.0659, -0.0464, -0.0171, -0.2803, -6.2974, 8.3214, 1.6532, 0.2076, 0.0122, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4061, -0.0227, -0.0494, 0.9995, 0.4404, 1.3193, 0.823, -0.26, 0.2985, 0.1566, 0.0493]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1718 left_yaw=0.0047 left_pitch=-0.0396 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3573 right_y=0.1149 right_z=0.14 right_yaw=0.0885 right_pitch=-0.1469 right_roll=-0.07 right_gripper=0.0493\nstate[joint_eff]: [-0.0889, -1.6205, 7.3094, 1.873, -0.0611, -0.0317, -0.0122, -0.2393, -6.7624, 9.306, 1.6777, 0.149, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.8433, 1.8004, 1.4036, -0.5468, 0.5335, 0.4465, 0.0493]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0047 left_pitch=-0.0431 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3701 right_y=0.2859 right_z=0.15 right_yaw=0.1316 right_pitch=-0.2052 right_roll=-0.1046 right_gripper=0.0493\nstate[joint_eff]: [-0.0068, -1.4701, 6.9812, 1.6874, -0.0317, -0.0659, -0.0122, -0.1436, -9.5658, 9.6205, 1.2869, 0.4664, 0.2027, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a4758d156210fc70ca76eca18dc228b74b8dabe802ee9086812fb4fff3fae39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32669eb5a02b8cee32ed4cd33ce3d50d80c3b5f286878916f7c145e04299086c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbb91a7439ce8a2c6e0145c6126f82911162fa3e6467a4608f91b021d34d3ad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxwsKEAgSGAI4AUIIdGhpbmtpbmcSDBBG8/g4uPrJ3wbu1hoMlM76gnBhUb0SIFnOIjApF0Y+0wAofjR8FkNj4LH1edm16Nb6L0mNFcCvRGTOyWYEcgGHjxdHMNBv2aafw+Yq5AqH2qhe2f23LbXVbG2f5aov1Mx37peuInsI/shZ7kbkXkQxfu+YzOjf3aKWtjUF+jtyGbLYLfeVYdtOHwFM5Z4ZP8pmI+UX9QENmihhiopCmiU1I11Rjpalh4DKDw8OGv7Oys7g+djZj+egAjwnqK1QJ8+6JzYwgVM3D1i37IUwX2IaBZxA50M0nqY3/4+NblqGZ/s7pBXVjNfUEibROcPpVK3tnLEtAUIb8WvBXspJNwVFNDQybGh+N4lQjqO4oNRu60a5GurOjfJp/z74VzAeUtPKAztNManJtIizsGMjmzSZfIH/2QX04JJzxGiNAUsUWG15LZ0cM4emCAD0N6VeibORGBUB17IZWHIYGiDfHwV7wNWhnr0XYQKRyWEQ9Dz2imxiDLXoXXx7KcNHWmu3mafYW51qVqSv4SsmqPLIha44tcErB5VwQdSSKu8HzcrgRE5Jmx9i0btK7j1ny1AZBHV2iPlwsMqjw4969Sh2IwaLpHlMug5+ysZTviMxLkXfqG/wrzMUMu2sb8vt5GX0BAVdMm1ieVflFxJLc/2bGtfWHB53ivgQBmo/VVpJhuCwPigOGu1sBrMOmHwmQ8eerEyILNgyn5igYsNxY/PvaOQ4dtRA8q6Byr83c/7IiqJyASZLzC0l6gv9MgmoU0B3nl44rVYkyGMkGJMpavuVm4x5UsKhTQwtEsPbFnfSXHWlToS+riaOgS6IFeHbLzGenx7UN0X+N+Fyq6yZ9MgDJMFhei68BUJJ5AOIZ7LEbJLMPzmzVHWtC3XckAPXLVX8OvNkYAc0mxe7RK0/jsLD/db3Tv9nTi6LcEex2C/lKyg/7dIBg7UpYAGuLPz8qGXy0K9fIj8Hg5cUHx1BM5OpFoU0suySRxg4FDUrKQE2R9NeHnoweUPDP2wYCkbsjpQ4JNsuGK6P2dgYEPh3m0Jz4Q3Bp5J9D/MG/1gUukj7QBTYsqHJUHAhHvT+7hZGiM+Q1/DuYqJGJZQ6xs5Uro4ZQd6PSsXTMNIfgn3lmmNeLcQA2U/9jVYOSrxNEA/F+AcZfqIBI7BQhmV3seJSHgShFsciRkI7RrpzPIq8EaV8KJZWA+skubJY0D8Ikxvd3aZ2waM96MUgPi2HzMhMMeWNfW1l6bfVE9OsITEGkxHSIIBBYRyLME8XlCn1rI36Q8LpWZfrXrMTtQinArPh6wuU3r4ZQ0V+uX9OdbA6VOrJJOLj2Rii5h9dPtynrPOtLNrccZvyiP+cIHKlGL8bF3RFvxjt3WxAnSafAqC4TqwT3xJWwWSCzMXkUyLH1xwreMKnpITGw9GtwPlQTLFgvti67p9GxSCGls1oABzRAV5cQ01AOSTuUZgADReIDj6eUa/rYCgnRlfpqyH2k1GT4656wV1BvDipCaTrn0vxoyVPtqIGqDDbtY3xkDjzhFNrjtF0vGzuePx6SRB5pbSsdu2AnBm6LG2wV9LlxN2RsRTNjxp8zrdl8JbyK14M7QftBlUh3mwphFdSdhGhwEeO0AJf3ZHNmS7CkcoNF3lx//mrgKXpQpPJDmgTNX5mSch5hxFI7ppZaF9AE4oUOQCre7AM9o6FVN0uUyvgeDT/arjDH0xn1p3kVeCdpo5XLujc4kqHAl5VvSYN0mqKRpwGGGhTypzHI+0TFC6iNk49byXqqrOlJ05am/17YgON2czaAlejI3gUixQ82Vuc8NOB9kv76SFkhK4UpfumZgqE+fGr5zZkYCGi6swvZnY42zUKFI4qzu4ACRmx285lpccWvoWuGciQmaHFP4oYzN2rbA2zUaSOdbAijlVkWLTJCsnQ4jiDbQ7RKj+qvQuNRaMK6eSiD6UmKU0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JGBGHf5WXUGxRq4kszkQmS",
      "input": {
        "note": "In the wrist view the lavender bowl is straight ahead of the jaws, but the pink bowl hangs off to the right of the gripper. Moving about 5.5 cm further left and a bit forward so the pink bowl's centre lines up over the lavender bowl.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.345,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01JGBGHf5WXUGxRq4kszkQmS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.4088, -0.0227, -0.0494, 0.9995, 0.9024, 2.022, 1.7329, -0.7284, 0.5388, 0.4744, 0.0499]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1708 left_yaw=0.0047 left_pitch=-0.0442 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3804 right_y=0.3412 right_z=0.1487 right_yaw=0.1601 right_pitch=-0.2558 right_roll=-0.1386 right_gripper=0.0499\nstate[joint_eff]: [-0.1846, -1.347, 6.9949, 1.6972, -0.0464, -0.0659, -0.0122, -0.4034, -12.0274, 9.1145, 1.1941, 0.486, 0.2418, 0.5788]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5fddf9ffad4d5a30f44803d97a319c8b3f5e9fedb4a321d593c0b6e964d25c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eb1bc75abcec073e3e273dad198bb8807641815305acd09da442a623621494e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee5ce4fbd7f5997b0d4c931e10c7c3757d495bff05bf182aa3fe82dabfa5536c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 5.284 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4061, -0.0227, -0.0494, 0.9995, 0.4404, 1.3193, 0.823, -0.26, 0.2985, 0.1566, 0.0493]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1718 left_yaw=0.0047 left_pitch=-0.0396 left_roll=-0.0064 left_gripper=0.9995 right_x=0.3573 right_y=0.1149 right_z=0.14 right_yaw=0.0885 right_pitch=-0.1469 right_roll=-0.07 right_gripper=0.0493\nstate[joint_eff]: [-0.0889, -1.6205, 7.3094, 1.873, -0.0611, -0.0317, -0.0122, -0.2393, -6.7624, 9.306, 1.6777, 0.149, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.8433, 1.8004, 1.4036, -0.5468, 0.5335, 0.4465, 0.0493]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0047 left_pitch=-0.0431 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3701 right_y=0.2859 right_z=0.15 right_yaw=0.1316 right_pitch=-0.2052 right_roll=-0.1046 right_gripper=0.0493\nstate[joint_eff]: [-0.0068, -1.4701, 6.9812, 1.6874, -0.0317, -0.0659, -0.0122, -0.1436, -9.5658, 9.6205, 1.2869, 0.4664, 0.2027, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.4088, -0.0227, -0.0494, 0.9995, 0.9024, 2.022, 1.7329, -0.7284, 0.5388, 0.4744, 0.0499]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1708 left_yaw=0.0047 left_pitch=-0.0442 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3804 right_y=0.3412 right_z=0.1487 right_yaw=0.1601 right_pitch=-0.2558 right_roll=-0.1386 right_gripper=0.0499\nstate[joint_eff]: [-0.1846, -1.347, 6.9949, 1.6972, -0.0464, -0.0659, -0.0122, -0.4034, -12.0274, 9.1145, 1.1941, 0.486, 0.2418, 0.5788]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5fddf9ffad4d5a30f44803d97a319c8b3f5e9fedb4a321d593c0b6e964d25c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eb1bc75abcec073e3e273dad198bb8807641815305acd09da442a623621494e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee5ce4fbd7f5997b0d4c931e10c7c3757d495bff05bf182aa3fe82dabfa5536c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjQgKEAgSGAI4AUIIdGhpbmtpbmcSDLkIeU66Ng1TFgRV/xoMY0skY+iWxOo46b8fIjA9B7usO4KxLSPUBPCTtvQHmJ+X5qwyzNOLwNP5lAgVHJPTIYfRkSCopm2ryW9pIugqqgc1ndlpsJwbZFGxNYr012JFanHMR1eHonyEgPZEY9V7s5QFmjqe7oGw+DMGYJmjhZkFX9HGfFl8XThYO/dZ7mT0Pk2iGrTpUDl0XXbjtTQlNbi57ACa8bneSIhx0tsVVLjSlIUk0r4n8qUG9ZYZIxKRQ8JHAa5gYD5kwHex441mzF8gO0H7coGHrcitikt8U3miXgKGMOTJs1uwckw81g++IGa+yRH4MenBG6J+mUvEFBmBeX/pKHRiGLcpz1QPTFqYyHnL+rAQ1iY1FSRY8Uqg/sWtzh+MY/zmznYGtU8Fb03UYW0FEiKv+XCJ+7HIHyxNsHnAvi98N64lLEmfXNTFbJ3Nlv2A7q/t8uJLT/dqZRc3hQPWxomTbuPTl2O7zhvVBm6DCkkIH0Kgrz2ynBNfENmgqedeUkou2Xy8VHLzaGd63TT+QLz01ehhsBd7NdYz3jEVsgYuYKjBD7dt2d0xN46dmXbKiU4mUkzET63xZ4Zs0OAxyC2VYHAKWKi4ofsVb378bTgKVj1tzhpmBc+8DWMDJ/9KF3G0OqsRkl6DTBV0TGw//7YZNjc4q7mo672+Evp7qy3wSOY4wpOkqwo+atLsOLQpyen1Oi940LHA8vAEj5NdA1zMvMuIjxj5CkxUQWfvSrcjPs3rxxI5NjEUFr27lb1SS5NoWEHSpNu5iVSZ9SfzyJ9+OmbHv6HTOI98UsP1NpEcfMEOdhcXcQUMNLVAZ6p7+INGNVFFCjt2R+5TXojYjR/JDt/YzXtIEDfyYKvP25NWy8Aq5bhRZsOsSevMYQBxaa/fHhJCeQJAIY/0KiOzQtQU/911lj0iAzWzcuh61S7ISQk3flMv8CmhCIIYR+LKpHpkBP6vFLaE5KQIEGm3Qy8SEP3kUfwVR2MOKtUrezNZqYdihsSrMTrFHACZTu5Ua1eQttJRMdlaazy58BuKdlrtFK7CB9IgJDD0QXa5lODNaEKf1pg9N5gK9+LVTGnPGhwpG5xdG0N05PPTr0zQIYTMSpfYp++Nb2MHYVRXdaYu96JZbQaA79lyqbYTCC9cQj7hXdMXkzoP5XGUtOu6Zl5N0mk4e13Baz5W1kU1Bof+4/VxfZW5gLhTYBUF+hHQwGcCQjvOasd8VFbLu6nG1WTqq2ud5kxLwEHrPHjT/U6ebdV/1y1OFlvBL2uPF6QIjrQjDp4AsyLVoSRWjxEbJvEcXQEj4d9ooodgptSFtahlHlfO8q9RvVUT/F+IybFU5l2alBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BuHGkuMHZL8uCWZPVfyjcb",
      "input": {
        "note": "The pink bowl now mostly covers the lavender bowl in the wrist view. Lowering it slowly so it nests inside.",
        "targets": {
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01BuHGkuMHZL8uCWZPVfyjcb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9024, 2.0338, 1.7618, -0.7601, 0.5423, 0.4793, 0.0501]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1709 left_yaw=0.0047 left_pitch=-0.0434 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3808 right_y=0.3409 right_z=0.1503 right_yaw=0.1524 right_pitch=-0.2641 right_roll=-0.1475 right_gripper=0.0501\nstate[joint_eff]: [-0.1026, -1.347, 6.9949, 1.7118, -0.0415, -0.0659, -0.0122, -0.3487, -11.7265, 9.4974, 1.3504, 0.4274, 0.232, 0.9011]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:883a58e806fc3bcbad293a6dff71ac1673585e390dde3ea1121825563ce16b0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd76b5eaff683e581eff291746fc3ddadf478e029b8da37b6f58e009cef7c193",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d49852eb670ec92d27389b9249d24e622e1a380b823c84d574c78f86e84b0dd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 3.799 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.8433, 1.8004, 1.4036, -0.5468, 0.5335, 0.4465, 0.0493]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0047 left_pitch=-0.0431 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3701 right_y=0.2859 right_z=0.15 right_yaw=0.1316 right_pitch=-0.2052 right_roll=-0.1046 right_gripper=0.0493\nstate[joint_eff]: [-0.0068, -1.4701, 6.9812, 1.6874, -0.0317, -0.0659, -0.0122, -0.1436, -9.5658, 9.6205, 1.2869, 0.4664, 0.2027, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.4088, -0.0227, -0.0494, 0.9995, 0.9024, 2.022, 1.7329, -0.7284, 0.5388, 0.4744, 0.0499]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1708 left_yaw=0.0047 left_pitch=-0.0442 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3804 right_y=0.3412 right_z=0.1487 right_yaw=0.1601 right_pitch=-0.2558 right_roll=-0.1386 right_gripper=0.0499\nstate[joint_eff]: [-0.1846, -1.347, 6.9949, 1.6972, -0.0464, -0.0659, -0.0122, -0.4034, -12.0274, 9.1145, 1.1941, 0.486, 0.2418, 0.5788]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9024, 2.0338, 1.7618, -0.7601, 0.5423, 0.4793, 0.0501]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1709 left_yaw=0.0047 left_pitch=-0.0434 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3808 right_y=0.3409 right_z=0.1503 right_yaw=0.1524 right_pitch=-0.2641 right_roll=-0.1475 right_gripper=0.0501\nstate[joint_eff]: [-0.1026, -1.347, 6.9949, 1.7118, -0.0415, -0.0659, -0.0122, -0.3487, -11.7265, 9.4974, 1.3504, 0.4274, 0.232, 0.9011]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:883a58e806fc3bcbad293a6dff71ac1673585e390dde3ea1121825563ce16b0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd76b5eaff683e581eff291746fc3ddadf478e029b8da37b6f58e009cef7c193",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d49852eb670ec92d27389b9249d24e622e1a380b823c84d574c78f86e84b0dd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSvwkKEAgSGAI4AUIIdGhpbmtpbmcSDD8HTGq/CvFb61403RoMlr3LZeW74ik49xqPIjD6UJJ86ys7hHJXVxJ5Qw1ihS8IBj+G+uAd6yOidlqsqd2lTUMiAzq3TL79w/378BYq3AjL34SENcARcCRRREOh7SpM0CHQVNDzEl2cSgWYd+KqWxjOdXxOei74swGam5L9zW0R62MYKfE8FvWboGLfpPFYQDLPOs5sUFwm90HFCXyBiMTciqj0rE2EZRsNGCwhceOTtvPR6nykWuttoscNlQG52EgPhb34FVZvDGm/o0i4j2UOkr8v71WA/58dYBoJdlAVGENNhL9qreGTEi+MR+hRGXkeehARpk1d7wadUIriP7TL4BusS78zEx97x/C/4TbZf+W5/V19xa1QrVvhWNuDgeOi+A8SQTneUaU/M67Y/MudDg7ie8W7vjpn82h1io0dEyJh9MrUKV5rhDgpzXxJED5LQpsBLuX08g9+gyjhtfhxpKCKLXx96QzvkQr7WrV5kcDinx+UsR2rsrJmGZj3o+RJ1Ho28sPyUHDnRGBCfl3KYp6njtadzwopcgrdLWyHUQ99eJe+emv0UR/2aRxrOCW/WcYjOQtXPqk+GUMGstLS5aMEtiDjxQFc8PjWY7O6UrnOEi8gomkRaLp+H7VnI51+YPRlMAhGWzzmsMzth+ZDfBVeb+3UY1AFbNg1/XfzZSDvalQaLWWdLCLYcFfTX2/PD/ih0VKpr+vu4yStG3EcPwH1Cxt/ZrBT0VddASCU3Ry5TjLsrcnNXWXwddNzj9WzrgHOSlQwwDkaoHtRoReJ7KN2YS3yV4tQuEouxvrOCx8APmOOWkKtwp0rqTE15ymuXzv1ylBBani6FyVL4H5voZdyAu97k0cTGFmwSSWHFReFkGYRxvwbGoQ9tVaI1P0jZMd7eWmyxOIy7XB5L5WyfXZmp+Cg73A5Y6woX+KZFAAPi96yNE8mfNsr6BPOhlTmCZjkW8sfbHtl/yPop6CpKtNzpors4rVtKQgCH0jpTEQ3jgWiDJyv4nqT3GrsfOyfJaDnx9H2mQ1NoLPkZrsK67i2+VH3MzDf0adCM/wi3tiRlLXH3cBZmikUBE3nQEuzW937eNhuV1HVDyJaNPWQsjBVsyX73WQd8ok2xG4cBfYhGl4erWsk4yk9+9vTaZPimQEyJYfSvoyNkb0ufRpdMY/jkm2ZVetqt3VYY6UgDLc+0tH5X3yB5SoP1AuYdzNgDzGfiCaASmw9Wc1HcWFs/kx9XZR09e9Qxm0MO7J5KMfIcN5vswn1Kk0zDsxXcCTHnY1xVwSxdzdUbz7Sbq4YnnYK97NvX+Cm/woqDLluzl3n8BtPK2ZUL8QZQSDkVdBRGWWfZfVpyBfD/RDFVMFX8tA3c0Cjb7XYXubRZmA4MYLd/Bd6AaBejvsSh2Z4nIesDe/b+TezUCAeVDuvwMIddeYAnDDEVJ//6eSbDFxAOykrjlcKdQNd7HGfxic3BrgeOD9MzKQk7Ey7BecY6TaLpppCG7gAr6fBOOFSPz6CZ/9w9zN520t8U9x/JJj+4/jOeEpwHFwIMAUU2+MiFLVAjf6TyWxt+rR5d0aTgvexE+7EJAAvou9e2bcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015HeN4yiW4UwUsGuPrezgca",
      "input": {
        "note": "The arm didn't descend. It may be near a joint limit at this far-left reach, since the pink bowl shouldn't be touching yet. Easing slightly back toward centre while lowering.",
        "targets": {
          "right_y": 0.325,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015HeN4yiW4UwUsGuPrezgca",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9024, 2.0338, 1.7618, -0.7601, 0.5423, 0.4793, 0.0512]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1709 left_yaw=0.0047 left_pitch=-0.0434 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3808 right_y=0.3409 right_z=0.1503 right_yaw=0.1524 right_pitch=-0.2641 right_roll=-0.1475 right_gripper=0.0512\nstate[joint_eff]: [-0.0479, -1.1556, 7.0222, 1.7314, -0.0611, -0.0708, -0.0122, -0.5128, -11.7265, 9.4701, 1.3358, 0.4518, 0.1587, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:038feb6cca6aa2ea5be8c2f55dd526ca4315986a6212b74fa86ac2cae23d00fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:083ff5c4d70395144f12fd5cf9c4927e7ed9ecef50a0a69a52730213a37438c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:03d2bdefc49c97af7afdef6d921c05ac92bf070409c501a1e43d395afe7221ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 6.285 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.4088, -0.0227, -0.0494, 0.9995, 0.9024, 2.022, 1.7329, -0.7284, 0.5388, 0.4744, 0.0499]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1708 left_yaw=0.0047 left_pitch=-0.0442 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3804 right_y=0.3412 right_z=0.1487 right_yaw=0.1601 right_pitch=-0.2558 right_roll=-0.1386 right_gripper=0.0499\nstate[joint_eff]: [-0.1846, -1.347, 6.9949, 1.6972, -0.0464, -0.0659, -0.0122, -0.4034, -12.0274, 9.1145, 1.1941, 0.486, 0.2418, 0.5788]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9024, 2.0338, 1.7618, -0.7601, 0.5423, 0.4793, 0.0501]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1709 left_yaw=0.0047 left_pitch=-0.0434 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3808 right_y=0.3409 right_z=0.1503 right_yaw=0.1524 right_pitch=-0.2641 right_roll=-0.1475 right_gripper=0.0501\nstate[joint_eff]: [-0.1026, -1.347, 6.9949, 1.7118, -0.0415, -0.0659, -0.0122, -0.3487, -11.7265, 9.4974, 1.3504, 0.4274, 0.232, 0.9011]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9024, 2.0338, 1.7618, -0.7601, 0.5423, 0.4793, 0.0512]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1709 left_yaw=0.0047 left_pitch=-0.0434 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3808 right_y=0.3409 right_z=0.1503 right_yaw=0.1524 right_pitch=-0.2641 right_roll=-0.1475 right_gripper=0.0512\nstate[joint_eff]: [-0.0479, -1.1556, 7.0222, 1.7314, -0.0611, -0.0708, -0.0122, -0.5128, -11.7265, 9.4701, 1.3358, 0.4518, 0.1587, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:038feb6cca6aa2ea5be8c2f55dd526ca4315986a6212b74fa86ac2cae23d00fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:083ff5c4d70395144f12fd5cf9c4927e7ed9ecef50a0a69a52730213a37438c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03d2bdefc49c97af7afdef6d921c05ac92bf070409c501a1e43d395afe7221ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiAcKEAgSGAI4AUIIdGhpbmtpbmcSDGtzmWuPu3a4zWVBcBoMELotF7s2lsjiCRS5IjCaTYS7IIR0s74J78SMv9KuY9Nxjr+nWfzFYdQ0rrflHNGRXsnqtx8GPmUSBNo+2GgqpQYKFe5iIkjBf5NfZe8j2jtQxZT7i7dL7Lw310mQvI4PvTAuplkhrmk5Fk2doTgsQKgpOs8nMAtCEEDANQP64mLo7lHo2pq8Z7b5hidxhwEZ5jDnrtdco3bN5ca3O9OZUG5XcQDtQaoJy78ZtoBr10oSvJ7eMsy9DN1Ldo2RyECPT2y1XAlfYt7VEa7Co0DU7tkOGjDBctwfxON5k16c/be6s2DHm7FosV/1gXA6XmgHQ9NFgGUxlKElPeS6GVU4298rslN/iQrS7pn0RXnzkSTDFJkAm3FlLfyWVD6/knLmZEqGIIowqfl1nbhjtZx/OT2/C4uheYilpag4lYyLEmQDYUQ7rfKgyl54RoKnVxS3gvRLEkCaexEiRZc8RYdDfLSdXETZ9ZsdPK7vPpb+YH/W0nbi54tDgbcj3cNBdsRaWBlHIazKIc4BAHBBRIgzYXwT5i6XEklFGFYNFS4jjRXOLkRGl3HF9tchF9IcfE5WB3TwrfkV2PkShhiwOrfzxAIDZY94BZnbYWTYbL9+VoccgxLGi/mwns5AiYZpSORJEsNIxkem+rJEw9p8/ti5IjL1BCvVyAaQiJFzceLsasS4RsfMwpNhTE7zsSUbOgwF1hmx8aIQoJW8KjDTbGMfzMXjdGlDtfRx5HFNj9sjCul5wBGVtJbufGOfpgQe7l4zGFWcuy71GBCrKV8BPQebJDE7PgtsGFYBWQqqb5KobWKvCaVYlbHnFaLMqNmPizaTUJe41lg8+gxv6Va3E4XQQpOvs6wA7D1hkrWxDCjAAS1U/m1D0vnBxVWbIyl967cK522V0VEmQBt2ERgsCJ9v7lElP97+ZA+5q0K8Tnj6Max1j55/OlwMzifB0viSH6g+SWUha9BtAGfQrnWGcFQw+XgBbEhU+3R30eNm4ne+Kz3L4RAK8jDLr35qIyZ2ZEy3rW3IflgMFbKpdkdhkCE/k/jq2xOQ7Z3diBZ1AtxfmbKrWy7Obaju1aCUCPjhnNNsIHZKO9AA4x4h9nDK4DgZ66XbO1Lz5FNr+nrq+vdfZjUbgxnPJc2yOh08lYRizbwDtnDpG0mkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NLKUDRrzYX2VssLSkzYeZo",
      "input": {
        "note": "The right arm is frozen: the joints haven't changed over two commands, so it's probably stuck at an IK limit. Backing off toward the last pose that worked so I can re-approach.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.28,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01NLKUDRrzYX2VssLSkzYeZo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.8242, 1.8622, 1.4971, -0.7078, 0.5034, 0.4187, 0.0529]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1707 left_yaw=0.0047 left_pitch=-0.0442 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3679 right_y=0.2774 right_z=0.1361 right_yaw=0.1267 right_pitch=-0.3225 right_roll=-0.1906 right_gripper=0.0529\nstate[joint_eff]: [-0.1026, -1.4017, 7.0769, 1.746, -0.0904, -0.0806, -0.0122, 0.1299, -12.2598, 7.5419, 1.4676, 0.2466, -0.0952, 0.9695]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39224cddd34379e7420056b9f48b78cde8b95e6e8bbf7183a7acf29084a9f5a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52ffdd256094b08ad7695020ddda619e5b095a2f03dbd7ec646e07b33a596fcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:199b501dcc448a37f6679375c5bdb8de7cafa37b17d041932a46e2fa9e7addb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 14.04 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9024, 2.0338, 1.7618, -0.7601, 0.5423, 0.4793, 0.0501]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1709 left_yaw=0.0047 left_pitch=-0.0434 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3808 right_y=0.3409 right_z=0.1503 right_yaw=0.1524 right_pitch=-0.2641 right_roll=-0.1475 right_gripper=0.0501\nstate[joint_eff]: [-0.1026, -1.347, 6.9949, 1.7118, -0.0415, -0.0659, -0.0122, -0.3487, -11.7265, 9.4974, 1.3504, 0.4274, 0.232, 0.9011]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9024, 2.0338, 1.7618, -0.7601, 0.5423, 0.4793, 0.0512]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1709 left_yaw=0.0047 left_pitch=-0.0434 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3808 right_y=0.3409 right_z=0.1503 right_yaw=0.1524 right_pitch=-0.2641 right_roll=-0.1475 right_gripper=0.0512\nstate[joint_eff]: [-0.0479, -1.1556, 7.0222, 1.7314, -0.0611, -0.0708, -0.0122, -0.5128, -11.7265, 9.4701, 1.3358, 0.4518, 0.1587, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.8242, 1.8622, 1.4971, -0.7078, 0.5034, 0.4187, 0.0529]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1707 left_yaw=0.0047 left_pitch=-0.0442 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3679 right_y=0.2774 right_z=0.1361 right_yaw=0.1267 right_pitch=-0.3225 right_roll=-0.1906 right_gripper=0.0529\nstate[joint_eff]: [-0.1026, -1.4017, 7.0769, 1.746, -0.0904, -0.0806, -0.0122, 0.1299, -12.2598, 7.5419, 1.4676, 0.2466, -0.0952, 0.9695]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39224cddd34379e7420056b9f48b78cde8b95e6e8bbf7183a7acf29084a9f5a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52ffdd256094b08ad7695020ddda619e5b095a2f03dbd7ec646e07b33a596fcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:199b501dcc448a37f6679375c5bdb8de7cafa37b17d041932a46e2fa9e7addb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQoKEAgSGAI4AUIIdGhpbmtpbmcSDE1mlLTehexfES1TqhoM1oPuRcKZ5g0ofNZDIjDfK58z/YBK9SjRrOVyKL29WI+eHujK4UFKxfGGxtgOYi3+a5nn/gxvYulZH8Mhxv8q5gk2i0GAF7jhurFBheLflAA2tz8VQN6STxG7IuTtOYqHygouVKn5Mb2na+KcsDSWNGBMvOvUt0cVCyVousrSEqI9WgRnRSsI7wMWDpiKHcaLMhNBUX215V5JvEIs1Eococ59txKQll1YVuIIrkU4S83U/KI5hieWrpf7RBhS8EbTiYiZHMpicokYH0dCt8QhjDfl8WU1CIc8TyyZLzq4nWaPLhErC0IskrK5Z20JIzKJCjgLoldUiFTcUHI4LHA/3iYsPl1sG4MG5WdO23JxDlc9ergYYdmvCWO7PWFyYq/wX3lWL8bMsEX3yMbmQMX7yWdasWP8IZTJM+DgTJDJzjQm2By7vz7cIJU5NwyZqScLR/cXApCik0hUGpucrwTYtiPuvlhXc7M0V4aMMlNyNjJJx9Kivyk04fenGQrirXO5oP908PU0EgyMcUdwFg6mFlCR3WJg9wKnh5+Ewy6Ycmc563tXgB0eIX4pzNeglex3ZQ/lXHTkGHs5BAhpKJ8QPwdm+7tP37jrlzVWKGBsJsibAQwIxVEvDP7RMRfg2LO9Y9zAfCuhFCXg37sD6eGOgvynAJAyag/Q9gzHGVjcehp6KzcijC+chCSW2WTEE6ZCC26jWXvwD+qRsp5614CNI1oX8JtQ5UmEpCzyvTNFtMebxdRINYVTVW6KJFB9NEiLq3FuREQCyHPAYuYGMc8FXA6AwRsxhrjtMIk9C0kCY7lEgVO3DNG8om4Mxw3IotLHcv5T/Aqigty/h5Lb67DfFqb9j02Ly68nTn4wevQIJUG4FisZmvtomrdeGT7U05s5ZYlcL0xitjdBn5DA4LYzNn8yonrn8QhPTGwse8rH5Zwq8ZqzP+bXIJZPAQeVKnLzODc8d7ylMuepJb8wE2GLYwD+fzJ6vg60ZTG4cZfILD6BXxNeyWN/0S4uuxJiGJWiCqWkYUB1hXoVOlOfWMjP8dMZ08oP58E/hzrU5m9puoMvQgWGFlnlLjucQiW0wBgSe/V+mykrFF1sIiCvluQh1OE0JDO40/hwvS8INqaCX99wEYJ/Wnvy8lk8cmPVu1EIVcllMxfsLAXmQUaBR1sVv/GXMox8HDfSeRaeTqQPQFFG70J9HM+J/6+dPSkjl6YGMHHag6bCMQVhHbTQGZWKAHwwdkNxov5EOurPKGN3fSOh76vdMu0j081HklmouGdHCbx8uYd6H2WZwiqaVi/C+MHHHyrMpKwptAkTvoq3sj3/h57yI0Z6+af5VaVVelFPBM+g1jeghgQlgeT/ztys9oe8KyJ/Co2aI2+PoAwGlKrEePURY+GfZ2FuHam+OLCtMwoj21w6gQGH9zKDi0iOGLW5WXB92P+uBVs8xq05fpB5pzmsYvCHzPKnKRAJRG+06Au6TXJJOcywvJbVyIU7JyjM7y+LoJzdSCxmGgVYk0o8L4g0GgH0POcUxLSosmQcVOyP4k2ZKJXs80b5dQjmfy5vmp+6M8c2ZA7eGqow3erujsUqtLBxQSh6CuH9vQJgcGzWbCjCC4TXBN8jqIpMC+b+nvmupS+Jxhnd6a+pm4XtKcYUsT5rbgOd57vZXcsigM/XBseooVsSD49f5ZfelvtiZmLvlbyYs8xd78b4JA2b2+943cB1qMPpAEw6ErIqeB+5kuGAdFpNsg4Jvyw24FU6d/5GJqoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XHwaZLTfJh15bDP2WCWstw",
      "input": {
        "note": "The arm moves again, and the lavender bowl is ahead and to the left of the held pink bowl. Lowering here first, then I'll slide sideways to line up, since the arm got stuck when I tried to lower at the far-left pose.",
        "targets": {
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01XHwaZLTfJh15bDP2WCWstw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.8227, 1.8454, 1.449, -0.6491, 0.4911, 0.4026, 0.0543]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1707 left_yaw=0.0047 left_pitch=-0.0442 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3673 right_y=0.2785 right_z=0.1316 right_yaw=0.1485 right_pitch=-0.3095 right_roll=-0.1744 right_gripper=0.0543\nstate[joint_eff]: [-0.0479, -1.3607, 7.2137, 1.7021, -0.0611, -0.0611, -0.0122, -0.0205, -7.4325, 6.0513, 1.0916, 0.3346, 0.1099, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad4e42a56f12297086017cbf3230e45c7eba0ba39d3477a8259da59037f594ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1daa5901952926f2ad21e89e5016cc977170e876a95aeed28afbb93d44a12f20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3648b4ea35e8c43804e47e854de15a5978d708956ea408781f08017a214d5d81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 5.869 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9024, 2.0338, 1.7618, -0.7601, 0.5423, 0.4793, 0.0512]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1709 left_yaw=0.0047 left_pitch=-0.0434 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3808 right_y=0.3409 right_z=0.1503 right_yaw=0.1524 right_pitch=-0.2641 right_roll=-0.1475 right_gripper=0.0512\nstate[joint_eff]: [-0.0479, -1.1556, 7.0222, 1.7314, -0.0611, -0.0708, -0.0122, -0.5128, -11.7265, 9.4701, 1.3358, 0.4518, 0.1587, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.8242, 1.8622, 1.4971, -0.7078, 0.5034, 0.4187, 0.0529]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1707 left_yaw=0.0047 left_pitch=-0.0442 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3679 right_y=0.2774 right_z=0.1361 right_yaw=0.1267 right_pitch=-0.3225 right_roll=-0.1906 right_gripper=0.0529\nstate[joint_eff]: [-0.1026, -1.4017, 7.0769, 1.746, -0.0904, -0.0806, -0.0122, 0.1299, -12.2598, 7.5419, 1.4676, 0.2466, -0.0952, 0.9695]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.8227, 1.8454, 1.449, -0.6491, 0.4911, 0.4026, 0.0543]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1707 left_yaw=0.0047 left_pitch=-0.0442 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3673 right_y=0.2785 right_z=0.1316 right_yaw=0.1485 right_pitch=-0.3095 right_roll=-0.1744 right_gripper=0.0543\nstate[joint_eff]: [-0.0479, -1.3607, 7.2137, 1.7021, -0.0611, -0.0611, -0.0122, -0.0205, -7.4325, 6.0513, 1.0916, 0.3346, 0.1099, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad4e42a56f12297086017cbf3230e45c7eba0ba39d3477a8259da59037f594ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1daa5901952926f2ad21e89e5016cc977170e876a95aeed28afbb93d44a12f20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3648b4ea35e8c43804e47e854de15a5978d708956ea408781f08017a214d5d81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KorM4G8J5jkYdzhgyrgbbf",
      "input": {
        "note": "The pink bowl hangs tilted below the gripper and seems to be resting on something, since shoulder effort dropped, so the earlier stall was probably the pink bowl touching the lavender bowl's rim. Going back over the lavender bowl so I can let go there.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.34,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01KorM4G8J5jkYdzhgyrgbbf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4084, -0.0227, -0.0494, 0.9995, 0.8227, 1.8912, 1.4052, -0.638, 0.4892, 0.4042, 0.0572]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1706 left_yaw=0.0048 left_pitch=-0.0446 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3612 right_y=0.2724 right_z=0.0975 right_yaw=0.1314 right_pitch=-0.3714 right_roll=-0.2246 right_gripper=0.0572\nstate[joint_eff]: [-0.0479, -1.1966, 6.9812, 1.6825, -0.0659, -0.0513, -0.0122, 0.1026, -10.8239, 7.1726, 1.3309, 0.3443, 0.1245, 0.7253]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6020090cdde53c9a38d99c37a2416831125d9b39a5f24efdd7befd6ac2f6c10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03c8c8b45624f9a21271d1a7e5fbc2c72beb8700ecdf4fa687c8f1f517f4a0c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:790b7f4ed3e771de0786a7c36bfd65c7e6f0ce3fbab00223eca007209bc84c11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 4.886 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.8242, 1.8622, 1.4971, -0.7078, 0.5034, 0.4187, 0.0529]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1707 left_yaw=0.0047 left_pitch=-0.0442 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3679 right_y=0.2774 right_z=0.1361 right_yaw=0.1267 right_pitch=-0.3225 right_roll=-0.1906 right_gripper=0.0529\nstate[joint_eff]: [-0.1026, -1.4017, 7.0769, 1.746, -0.0904, -0.0806, -0.0122, 0.1299, -12.2598, 7.5419, 1.4676, 0.2466, -0.0952, 0.9695]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.8227, 1.8454, 1.449, -0.6491, 0.4911, 0.4026, 0.0543]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1707 left_yaw=0.0047 left_pitch=-0.0442 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3673 right_y=0.2785 right_z=0.1316 right_yaw=0.1485 right_pitch=-0.3095 right_roll=-0.1744 right_gripper=0.0543\nstate[joint_eff]: [-0.0479, -1.3607, 7.2137, 1.7021, -0.0611, -0.0611, -0.0122, -0.0205, -7.4325, 6.0513, 1.0916, 0.3346, 0.1099, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4084, -0.0227, -0.0494, 0.9995, 0.8227, 1.8912, 1.4052, -0.638, 0.4892, 0.4042, 0.0572]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1706 left_yaw=0.0048 left_pitch=-0.0446 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3612 right_y=0.2724 right_z=0.0975 right_yaw=0.1314 right_pitch=-0.3714 right_roll=-0.2246 right_gripper=0.0572\nstate[joint_eff]: [-0.0479, -1.1966, 6.9812, 1.6825, -0.0659, -0.0513, -0.0122, 0.1026, -10.8239, 7.1726, 1.3309, 0.3443, 0.1245, 0.7253]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6020090cdde53c9a38d99c37a2416831125d9b39a5f24efdd7befd6ac2f6c10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03c8c8b45624f9a21271d1a7e5fbc2c72beb8700ecdf4fa687c8f1f517f4a0c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:790b7f4ed3e771de0786a7c36bfd65c7e6f0ce3fbab00223eca007209bc84c11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1QoKEAgSGAI4AUIIdGhpbmtpbmcSDCY0rQaT5JsG1/lLuRoMC0Z7xZO1nWXP4NJMIjBZyIbCDbJhnz2a1yrksmUUfiJMIVdX3KshSbRrM9/eWJeuNSxt8oOv+xwUZ4TAKdkq8gl1v5nWlJ5aqwYZ/rC0Jm2LtRN3OWxzSAg8Ndp9iyBp+o99ElWwOfVE8wOZYkPktWQFc9ZpPhyWo4EtYNvcBlq3WYHPUj5zAZct5/7deAGiCgTSHoq6snFK44We7W2JvD4J2HRQTH6KXe5xOIvqWKBjiZq7hCGSyCeK+HOLXjbwyvdEPhZ3+//2n8Ek+Biugo327KkbVzN2hWOLO+bTTSL2EXcpbHKuGxWnOrjVbMjtR8fRhUZNAEXfBB9fC6N7hRJDhLInP3nqL9Ic6lT/VvRmLXBJpL8+tnorDtRXyXMOEK4jWbwPVStAlWIp7H9wYtI3gq9fyLDGpzVtJ3anTOaTtresaVGZL9TXYItnV9tBL3+0ndH3YkPvp0LnYsT8S9SzWb7MG8AGsmRAe8RBDrGIOZgTYl8GtxoYZZXG/7TYuRuxL4cxb017eRdmIPR7IG2VbYcGEluJ7xpqmikhQdfRd1MZaBu6Ln6jwwpxhoQ/yztYmQCdGiGaPsNZPnJItzAr6HBlXRj0MDHHUWPPZWsYb+SD6onVkcMOUyflSEuqDzoMZ10AIFrtADioY+Ze2SbEgWUEsn52A3+nppy2b6e89n5afluvsbomZMFOwrzW1fKxJ/fOip80NS5JDULx2a7BrMyXY9V/AphaibjT1m/RHsJg3KKY3rs+30F+6xDsk1vgxPENWXZrQcfepmiyY2vL92KUT6WhexZ3ijLk0CyBBzcKdqFsRyizt9awimuSSYbcp3TJybIO2XrmHIngrU7cxuw2bIgXG2C3+9NjSB+G48/xUsxGoc4swsQ25xZxbl9cRhFbaaH0O7KR4rFCntt3yTumvAawHbUDL9YyywRj7OpX6nUiHZszZmrYtkzr47yXLoOeHhvbomeAtoB7HXGGg2wNRpV1vpA964gWmpEgBGkHYNuU5Bp+rvKwcgnUtGlJrq88JXjXiyEGjGLE6QtjoJ6Yz/lHAnWjOjwfGMm2swEA5OPfeqzJj72laYiBRausXm9nUu4JW5SvFe/NenBGQNCMNU3RDnDSkr20p9Qaz4zv1CsGLdenWxQSp5rD9RddoUedB5yLn6qa8VmW7hlA/VbexHZPmhn4+fm0wDfNJmp7SS994h6E+YFp4XkNHdF+Tj2ODmCS3PU6SHzi+6GN0afNtY5q1KaXUMS4yDys3axNtGrynzxQkEMq7n/rWA526XkCdqtZOyHXj1q2p3pRHKmQXy6lngu92Q8fvYfDKX1kV/Vilre0ozJSl33evNapYxqD5O4mL2avSlmYgJno02jUnGRFDDK9hiYAJWk97DHkoXl+vPwbLS8oden5sOt9q2zNqwaxT8gOB2xrw4AZ7hnJVUxt01BevPxIy2KoObfaFdXnvsRm2sU2aD9pB2q1IgD2sv8ew9pQIxZzKhNONjOkwEjeUGzJ3qNUe6oSQnGCCYHlpm/qmsWB9bGWh+bKsZD3qcZomwVYVkK+Rktwo9goJ/26WlFQ8Cbxz/WTeIjKW2Uwj7E9C44kQbQt4NiwxmPa7AL5G14PRQyqdvL9eKorFOQtJ9+ebQ3IOsL2Ja6COmC3fDhcOsT99Cs7hC0EkdclPXEqoysqQ8BSVJnAeqk35IwOgPlkJJxx8agVADAeP/Uf51x03dmpJxYUcn/3ANH5fdQ+tYufIULyrAZBGMWj+5uJBGKZouqpb6N3hW8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U1ChJPdhSup5T3s2YsHpsX",
      "input": {
        "note": "The controller seems to lag: the arm is only now arriving at an earlier target (z≈0.10). The lavender bowl is straight ahead in the wrist view and the pink bowl hangs to the right, so I'm shifting left and a bit forward to centre the pink bowl over it.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.335,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01U1ChJPdhSup5T3s2YsHpsX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8135, 0.6075, -0.4088, -0.0227, -0.0494, 0.9995, 0.8398, 1.9945, 1.5414, -0.7364, 0.5003, 0.4194, 0.0601]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1704 left_yaw=0.0048 left_pitch=-0.0457 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3667 right_y=0.2874 right_z=0.0905 right_yaw=0.1146 right_pitch=-0.4127 right_roll=-0.2695 right_gripper=0.0601\nstate[joint_eff]: [-0.1709, -1.4017, 7.241, 1.6728, -0.022, -0.0513, -0.0122, 1.5658, -9.265, 6.1607, 0.3639, 0.2955, 0.2564, 0.5348]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fb1a84b5916e9456a0ddd78aea473d650cfed2329ddc52f1be2de35dc9f8cb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65304e04a8fb0e02ff71adfeff0bf7508ad4c4d7e8da551b755f74bc2dc99b5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9c5cc3e3306ea8505acd93a5c4694e676f62c637d838407bd7297e83723ebe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 5.323 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.8227, 1.8454, 1.449, -0.6491, 0.4911, 0.4026, 0.0543]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1707 left_yaw=0.0047 left_pitch=-0.0442 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3673 right_y=0.2785 right_z=0.1316 right_yaw=0.1485 right_pitch=-0.3095 right_roll=-0.1744 right_gripper=0.0543\nstate[joint_eff]: [-0.0479, -1.3607, 7.2137, 1.7021, -0.0611, -0.0611, -0.0122, -0.0205, -7.4325, 6.0513, 1.0916, 0.3346, 0.1099, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4084, -0.0227, -0.0494, 0.9995, 0.8227, 1.8912, 1.4052, -0.638, 0.4892, 0.4042, 0.0572]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1706 left_yaw=0.0048 left_pitch=-0.0446 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3612 right_y=0.2724 right_z=0.0975 right_yaw=0.1314 right_pitch=-0.3714 right_roll=-0.2246 right_gripper=0.0572\nstate[joint_eff]: [-0.0479, -1.1966, 6.9812, 1.6825, -0.0659, -0.0513, -0.0122, 0.1026, -10.8239, 7.1726, 1.3309, 0.3443, 0.1245, 0.7253]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8135, 0.6075, -0.4088, -0.0227, -0.0494, 0.9995, 0.8398, 1.9945, 1.5414, -0.7364, 0.5003, 0.4194, 0.0601]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1704 left_yaw=0.0048 left_pitch=-0.0457 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3667 right_y=0.2874 right_z=0.0905 right_yaw=0.1146 right_pitch=-0.4127 right_roll=-0.2695 right_gripper=0.0601\nstate[joint_eff]: [-0.1709, -1.4017, 7.241, 1.6728, -0.022, -0.0513, -0.0122, 1.5658, -9.265, 6.1607, 0.3639, 0.2955, 0.2564, 0.5348]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fb1a84b5916e9456a0ddd78aea473d650cfed2329ddc52f1be2de35dc9f8cb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65304e04a8fb0e02ff71adfeff0bf7508ad4c4d7e8da551b755f74bc2dc99b5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9c5cc3e3306ea8505acd93a5c4694e676f62c637d838407bd7297e83723ebe0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AgKEAgSGAI4AUIIdGhpbmtpbmcSDM6NFIj3K8F4T6tsZhoMYXDouRIYnd2ieIBtIjBdL1Qi2aigp+SF7kUxdqJhXccHOTMTNdoPfj0+XmJV8xpD+mxWofg1DrbMBTBsOIUq9QdzbQsze37EakbmD7ULUp9wwAHF9U8MJectuIym3JRCG53sHv0JGCNfZ1LadDyIebJYdEJ0HDqS9IEtSy/FPFUZM4IgkHLY8/6bdRp27ESWTF8b1oxCJEYuNIQrb8y3Zx1V3VbyKUJnNyk5sTMJHEuDCkPTrUbRdSMpKgFXLjXoj+klv9T4NG7PO6p4sXawDQvqduDlV+UG0cAydabPYK6TFHUPoP/V+55L9xoU8Jq/9tSy8SK939h/4bDJgLyL62LuBIszikeMlHeX9nataO84zyGpDOH+Xnyszs1sWNzx7eTMM84vyz7xAG+gxbvFYH8OLJJ5ZY9U9YAvm4ki1Om5jBo0MqaXgmhElHZxCmFM8hOYSuuQgwCY0K7SEv15ib4DcFtHyOOFbLg9mTHENF1lOvqJzMbBcVrC7y98fIH9rpk/BWVTARPCctJ9/6O6s58weoUJGu4FnSCp4XU4ZR4HIXfK3Y0Qblg6qqeLw7vwvmFelC10A7STmeYXiCI5LfF7rrxBRo1e2p15Aade33ym0tKpb9Y51KfxhS+eIopye3srqnK+Ne50I3XzIvSXx7CLcyFfuaFI6fqHMqzdfJ8L0oTV4XogemWyrOP6Lo2uWK0If8vNDMtt7tqMRfCdEMXiBg2hDsEgMnBDETSwJAz0blAXDIpaFVfDpKKgXT4ZTajr1s4Fas6iFl4Q74uG7UPaFLtbFqwWMJXYjrcavI43McMZn5+/jDc7N/o8iMVX9ruG/0bFlJuiM4SVutZzelZWXnEiVbchZh2VsFcej9v1eUKRY9cTEJ/47JFTeZsKQxips8UrvSI3AXtKmmXCI/00zRpVL7nfXz1Br9eTUVmPX3rS8lj/5usG+Md+2+uZcRQX/nrg6AtWx7QPvjaGU9D5QJdcBljY9YttUmcxhtwZSd2ZAG0Hj0g7auxGq22nM8pzsntLhE3sLM10gLiS2kXnsntwhWSB6AyR5o5z2eI4GufX6ZzT4bMHjYk/9O9TjnQYV4NJVo3uVrIz30fQ5yrrQ7S3AdvMuHrXkTFRxqJXOSiG9X8+0tqI5xHfaWPny44k/rjjbsfSfNTvhs1mHJcdpEzZ/a5gqs+zSiFSythNQz63xbfZeKYGPwOthkM4mQUnJAYPJsN4XUW63ikNDlLS9J95+ypJJtFQR5nrApvGVKSFC+VrwgmjCTE/sszDTkJQeWQXbdPRUdcD28+4lh1fv0c67/y5YNdU7VXQFhop6X53nx4Xw0sKDwKuGHFMj7WPX4nLHfIykfkVKHTsAKRtKQjX6wjWC5+Z//ZhjcDyFDjA15It76lFQArLu5dZofl+0qODR8nvE1PWYdi5vuXECPWeMBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BZtsTskJCAvgh7vVMuyr2t",
      "input": {
        "note": "The wrist has drifted to about -0.4 rad pitch and -0.27 rad roll under the bowl's weight, which is slowing the IK down. Commanding the orientation back to level while I move to centre the pink bowl over the lavender one.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.39,
          "right_y": 0.335,
          "right_yaw": 0.0,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01BZtsTskJCAvgh7vVMuyr2t",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9356, 2.0048, 1.4242, -0.3569, 0.6926, 0.5858, 0.0622]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0048 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9995 right_x=0.3791 right_y=0.3302 right_z=0.1014 right_yaw=0.0411 right_pitch=-0.1015 right_roll=-0.0848 right_gripper=0.0622\nstate[joint_eff]: [-0.0479, -1.6889, 6.9812, 1.7167, -0.0366, -0.0806, -0.0122, 0.2803, -12.8205, 6.653, 1.8339, 0.5788, 0.1978, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99ec1382a7f132311d4015984e6baafc4eabc1ef043fbe470f254d1ac0f6fffe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a41b7fde74ed3ae8098ac341d97bb4d56a914637f90845b08873b59c6a4ef2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:319b4392d9fda5b8145cfc07d1e347333659ddd1fd605682b4e647ea888db52f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 5.7 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4084, -0.0227, -0.0494, 0.9995, 0.8227, 1.8912, 1.4052, -0.638, 0.4892, 0.4042, 0.0572]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1706 left_yaw=0.0048 left_pitch=-0.0446 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3612 right_y=0.2724 right_z=0.0975 right_yaw=0.1314 right_pitch=-0.3714 right_roll=-0.2246 right_gripper=0.0572\nstate[joint_eff]: [-0.0479, -1.1966, 6.9812, 1.6825, -0.0659, -0.0513, -0.0122, 0.1026, -10.8239, 7.1726, 1.3309, 0.3443, 0.1245, 0.7253]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8135, 0.6075, -0.4088, -0.0227, -0.0494, 0.9995, 0.8398, 1.9945, 1.5414, -0.7364, 0.5003, 0.4194, 0.0601]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1704 left_yaw=0.0048 left_pitch=-0.0457 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3667 right_y=0.2874 right_z=0.0905 right_yaw=0.1146 right_pitch=-0.4127 right_roll=-0.2695 right_gripper=0.0601\nstate[joint_eff]: [-0.1709, -1.4017, 7.241, 1.6728, -0.022, -0.0513, -0.0122, 1.5658, -9.265, 6.1607, 0.3639, 0.2955, 0.2564, 0.5348]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9356, 2.0048, 1.4242, -0.3569, 0.6926, 0.5858, 0.0622]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0048 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9995 right_x=0.3791 right_y=0.3302 right_z=0.1014 right_yaw=0.0411 right_pitch=-0.1015 right_roll=-0.0848 right_gripper=0.0622\nstate[joint_eff]: [-0.0479, -1.6889, 6.9812, 1.7167, -0.0366, -0.0806, -0.0122, 0.2803, -12.8205, 6.653, 1.8339, 0.5788, 0.1978, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99ec1382a7f132311d4015984e6baafc4eabc1ef043fbe470f254d1ac0f6fffe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a41b7fde74ed3ae8098ac341d97bb4d56a914637f90845b08873b59c6a4ef2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:319b4392d9fda5b8145cfc07d1e347333659ddd1fd605682b4e647ea888db52f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAoKEAgSGAI4AUIIdGhpbmtpbmcSDPdyG1GHlGNLY18jvxoMuGXG5iWinb7peE5AIjCWT00yAf1V5mHV8ug6/zlr45kK/qILbQN4L5QhiF4plFsLHiCXSJHsfHxGIMXO+vIq2QmjDE6GvD5OT6+o2EdWBAMtYxm5zqAfU++1xXbZ4HMh2+fXHqAHWgMLO5S6q5UbQByVlFs0M1TlFNlUez+2/5NasHNhYKn6XHZUlNj5H6M6ucx4pGEuHEmrz8nuhBAUxduFGCucI6RbjPgOTVuIi5hxIaRd7V0xE7GxqW6KgKVstXP/c8FZMbh67MJR2uvxWw2BpCKWgIUaimCa5ifRz9c7Hg3qykkKRkmeSDfLkn36JbF/oNRFPS+U20PLtww7e0ZN3bNYVATji3gizva6RQUX84X7F2E0jR7/Ds0A2m0jcrNdpkAQWlj9wjldv4UlmWfueM8WXDNOmbZkWtuX0B/Xko7SIKnZg1SNHcaK3AF91noBP9hR9aY2zM4vdul9WcJ6sqdNlQ3+uximhDZprLsxBCyrHD6lS+GPBHBaQ2XR+Z6UQiaW4pPhOgTZwbLlKFCIFbVrxCa/0HAheuYr/L4LD7FTGmULFocspomgg9k46icsGSCc8MXPtUTwGEcPybVob3PYIaVg7/cx0CjfgNwrb1qO+LxStewVrFnGS9ppNFB294IkIqk9fCfwZO5nNMCYrmJnOAlFug3tPfFXxENE6cTTyk9D9IhE8dcx7ufwzcH9FTBgj+DLnctU2C5kMx5OD3+iEcNnw8MaoZffaze4dkPVs+1BIE3GGe2WYcOE1LcuMxUOtE5YjT66MjDqI+PPN7RoL5PUCsSXmRbVY0ZtBl+obfZS41jEiqkzjZiEBvBn2HBFBWlJx+/Zf3sB/9d6vmyfvo+zmvJuk04NrjBTkJUCgPXnZZ8BNcVvuR6bcFBvTJz7+ZYQqZymHoqv8KbX92r3HYZkzbqeRHtfSmT2q1Xx4mHuLbn3l2M4zV5aQUwXU/BUBHtDIRCGwmHgsyj0A0pzkqNFxpZSlbA4Pv/W0XrJuUscrWcTLLX01wMAxFkXBinf9gvAkVzAAV4RGnG+9DIvlNFlz90v8H2vO9shbyFxvrTkiCcCsnNdm1sfYbSWkCi8PP2zpkKffrLFmvu4HdHUpsyQF9HvWkczZ+Np1uZLxAHRR7oysYiw0N6v/Nsu+EREkX7PUClUTPwEsAIsMPgsHsxBw/KZFRfrQ5NJDEpaG3VFrtkqKfWCTzWz0mRoqf6AVSO57cQrxwgWrckE/oT6PV7qBCL0ox+uNIHgat2QvCEC+QYY7sk1oPLKt6y/VZebqs8J1to35DfLDl5+EV6jjnDRwwY597uFyKjhp8m4Mwj3LY7hmco6AhG84fJu+QBMeBhSV+RBHoDIGI7G2nB/XIPZ3QK8J4BA1pJihU1B80DgtWTfcKnEvXXw0z0/l8nSbMBafLgiXEVr5AG472txm/8IbNDea2M8/AlD47UdlLj4V4eLY4MnIZI0OwFhYzD/rz5Xsx9UATpmC5Lud3Z6UNSJ0PtvU5DUiQaPMkqTTFFcV+wvkVfnjrTyLv9WSQpF+vwDyjqGu0OxWaU7kyOqq1PONroKjzvFC/UZiCkF9750cxao+IgIIl8gcQNiuujbgG8zgS2dCbZt7a0P2r/Gr279z1iXSwzoyIYiylWix85CmaQpe9ayHPqMJyo0SIInhZUk/yQFkS7XSpXFTRPqj28BdEPraV4fsarNZ3gW8928XnKKEvTp4AsbeTkhykR28iuzQxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0115ZaLK2kgUBnbBZ97N6BC4",
      "input": {
        "note": "The pink bowl now sits almost directly over the lavender bowl, with only a sliver of lavender showing at its left edge. Opening the gripper to set it down onto the lavender bowl.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0115ZaLK2kgUBnbBZ97N6BC4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9398, 2.0052, 1.4189, -0.3626, 0.6907, 0.5793, 0.9954]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0048 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9995 right_x=0.3762 right_y=0.3302 right_z=0.0984 right_yaw=0.049 right_pitch=-0.1102 right_roll=-0.0979 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -1.3333, 7.0222, 1.7265, -0.0904, -0.0855, -0.0122, -0.3624, -10.988, 6.7487, 1.2723, 0.2564, 0.0317, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f490d6e3609924f807051a93f4c8856f051db91df22eb44c865b089af93aab5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4ec42a619b047dbb7bdf4a3854b27f6a9888d50adba50c449fe5638c2d240dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e125039bd72359f9f8f475693d70335583580bf65fe6f3af6f9b257bb9d8ec44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 10.02 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8135, 0.6075, -0.4088, -0.0227, -0.0494, 0.9995, 0.8398, 1.9945, 1.5414, -0.7364, 0.5003, 0.4194, 0.0601]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1704 left_yaw=0.0048 left_pitch=-0.0457 left_roll=-0.0063 left_gripper=0.9995 right_x=0.3667 right_y=0.2874 right_z=0.0905 right_yaw=0.1146 right_pitch=-0.4127 right_roll=-0.2695 right_gripper=0.0601\nstate[joint_eff]: [-0.1709, -1.4017, 7.241, 1.6728, -0.022, -0.0513, -0.0122, 1.5658, -9.265, 6.1607, 0.3639, 0.2955, 0.2564, 0.5348]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9356, 2.0048, 1.4242, -0.3569, 0.6926, 0.5858, 0.0622]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0048 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9995 right_x=0.3791 right_y=0.3302 right_z=0.1014 right_yaw=0.0411 right_pitch=-0.1015 right_roll=-0.0848 right_gripper=0.0622\nstate[joint_eff]: [-0.0479, -1.6889, 6.9812, 1.7167, -0.0366, -0.0806, -0.0122, 0.2803, -12.8205, 6.653, 1.8339, 0.5788, 0.1978, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9398, 2.0052, 1.4189, -0.3626, 0.6907, 0.5793, 0.9954]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0048 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9995 right_x=0.3762 right_y=0.3302 right_z=0.0984 right_yaw=0.049 right_pitch=-0.1102 right_roll=-0.0979 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -1.3333, 7.0222, 1.7265, -0.0904, -0.0855, -0.0122, -0.3624, -10.988, 6.7487, 1.2723, 0.2564, 0.0317, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f490d6e3609924f807051a93f4c8856f051db91df22eb44c865b089af93aab5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4ec42a619b047dbb7bdf4a3854b27f6a9888d50adba50c449fe5638c2d240dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e125039bd72359f9f8f475693d70335583580bf65fe6f3af6f9b257bb9d8ec44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8gkKEAgSGAI4AUIIdGhpbmtpbmcSDHkb7ljogFepbBb4aBoMIYBT0K2vS0rHMNENIjAThfWWs4tzpkKtpsRekZ6kMvvKZqY5SucMoLl4lJn3lGtmTqUE47kUk47zIjfSlI4qjwmTEvId68LCqObpT3Kcp0YlrEm4+RE0gHANSElYFR3A/VOBJKZaINUGyvKmtNhlxhdEQy7NKio9pRUjSQrpJQ4At4Ec/7AZtWcb68qOhwhhtvNJuVZbiroEH+FmLCxzHuQ70szUG6GsOIX79ePS/TdtyjIai/AgL9j7KxQ9Kig1t5UxGVnjej1hg2GfVGNfew+CFJHwsGuDoMq7jKD7irgNxaqThGyLPC8IUwgWTJJ9oOUVX8YVVHscw6EWHEb7V3J8SbaM6QU5uKk6pbTNx4OwPmvS+Z1QA5CGiw4DbRGT79jgtyoTivFvFTWXh3n1DtWULJ0tKYQksKgOtvwKPD4goVYcriwNaveDrhWu9L4nevNm4yObQGPeMSw1E7FveFQSHLuCvEkYpr6p7PdfDZWED0YOiaH6TRWmrQO47V0x8WiarOG4rDOpkZz3u6vLl5geiv9rlDRpAy2pJUa01DSEtL9Hu6nXzie0545VQ3ptLNwrAKZwqvLY9zJ6dAEF6tTCKW0mKNT0khGM46CiBVaAcuJmNcJz3ynxzYQkbKKGFn6oSCuSDLfK0Y94K9p81cfRv7xMu8E4d94ijQsdK+uL5m+jiu4gclM0boPECfiaweBBQpfSpni6bjFE5DpXL0iCzedegR2LGdl11s5r2MDy/CA6plLHNG6XNAMWTeTNKfyXR29xs0+REFxqmCkXXNg3PJN92DF/jhbAV4gtbwqSnTUm3sxmHsThaa1tdj1rN+oBNtM2aJLe8rfXL161xw/lecqeXDsZ1hJAuhwJ04K7/wg2xNpJwq8jTPt+Ay5B85S+EB8kIxZOstRm9pYMzfxXvbZGx+txYXjKR1hM4nBN0Zbdk4FT533wUMJwvCVNXzqnsZGUXunznL3zDbMtcskxsVXnhvTwti95ro9qCI3VjLglf77NyTCXhcXfdLFnQ3jt3Cqk4Llfo4T0B0bW1I2z1+h5O9L8WH8bP4l1lpXl+T+c4/Wi88zawSBjt0IR8Y+xEqiqrlu1R21XrRo/6NX85ZzhfXp/IMeyH13EE8yhVyNAxmNuBbqPhSeeg6uPHfD/y+iMfu+XCjv+5N7lz/DKUME/81qu+SYD/mExxaroRB6x0xVujuFBbajF+lAbgy5FQ7aMcTpvbVm4yZFDyAAWjS2+ipwIioSW5ITcXg+KHP2ctihSMpbIYhDtE+qPUSjyNfWusHpuIODeSLrm/E5DIxffGpykKicDpzvdtMtn7vB9ovrfQDDZSOEDot5UD9H54C4yOQ93JRiWSCOcynFCzasUoukb2geAjciVfUYD0eFd149rQdLz7hbO9h8viKRaheCSMPjcfIl90XKljBUiNbdbb8u8XVvBTXH/S7RqR9ryF7BWj6JSCX3kmQSdp5rnC4xmKqeeZvxuJ88fHzzH0nNPOqC9o7KSlHcWwZdyDwp0TKuojwaChhhGvXl+vBFSxgiKir5h+o32SrBD4eRMgyRzv5JhwPuh2+QNik5qRIlwpCoRlbGjzCWoYRojzd7LJeDQzLhaRvBoDPJWnEE/BoWU+KP7qqqzKmsjzGAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C4XjsLG1m3i6gXw1hbzFCe",
      "input": {
        "note": "The pink bowl has nested into the lavender bowl; the lavender rim shows all around it. Moving the right arm back to its home pose to clear the way for the left arm.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 28 steps (2.8s)",
      "tool_use_id": "toolu_01C4XjsLG1m3i6gXw1hbzFCe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.0006, 0.8402, 0.6781, -0.4244, 0.0494, 0.0013, 0.9958]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0048 left_pitch=-0.0499 left_roll=-0.0062 left_gripper=0.9995 right_x=0.3008 right_y=-0.005 right_z=0.192 right_yaw=-0.0555 right_pitch=-0.0157 right_roll=-0.0074 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.0598, 7.0222, 1.7509, -0.0562, -0.0708, -0.0122, -0.0752, -1.9897, 8.2393, 1.6972, -0.1001, -0.0513, 0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15f571c94f7274e2669d1e443ee50270ea53782846f84edf1456d0ef29e90132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d37a136e8fd0845a197c42f2e1ec0bc9f67c42f117c0039da078cc27beea664",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:822c1034ac821362c751830635475db22933d6543d42f991a8a1bf6785fdf5c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 6.643 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9356, 2.0048, 1.4242, -0.3569, 0.6926, 0.5858, 0.0622]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0048 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9995 right_x=0.3791 right_y=0.3302 right_z=0.1014 right_yaw=0.0411 right_pitch=-0.1015 right_roll=-0.0848 right_gripper=0.0622\nstate[joint_eff]: [-0.0479, -1.6889, 6.9812, 1.7167, -0.0366, -0.0806, -0.0122, 0.2803, -12.8205, 6.653, 1.8339, 0.5788, 0.1978, 0.696]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9398, 2.0052, 1.4189, -0.3626, 0.6907, 0.5793, 0.9954]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0048 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9995 right_x=0.3762 right_y=0.3302 right_z=0.0984 right_yaw=0.049 right_pitch=-0.1102 right_roll=-0.0979 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -1.3333, 7.0222, 1.7265, -0.0904, -0.0855, -0.0122, -0.3624, -10.988, 6.7487, 1.2723, 0.2564, 0.0317, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.0006, 0.8402, 0.6781, -0.4244, 0.0494, 0.0013, 0.9958]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0048 left_pitch=-0.0499 left_roll=-0.0062 left_gripper=0.9995 right_x=0.3008 right_y=-0.005 right_z=0.192 right_yaw=-0.0555 right_pitch=-0.0157 right_roll=-0.0074 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.0598, 7.0222, 1.7509, -0.0562, -0.0708, -0.0122, -0.0752, -1.9897, 8.2393, 1.6972, -0.1001, -0.0513, 0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15f571c94f7274e2669d1e443ee50270ea53782846f84edf1456d0ef29e90132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d37a136e8fd0845a197c42f2e1ec0bc9f67c42f117c0039da078cc27beea664",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:822c1034ac821362c751830635475db22933d6543d42f991a8a1bf6785fdf5c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013m7dGxYN3reag1oPJtDUr6",
      "input": {
        "note": "The overhead view shows the white bowl on the left and the pink-in-lavender stack in the middle. Moving the left arm over the white bowl's left rim, estimated at x≈0.35, y≈-0.125, to grip it the same way.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.125,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_013m7dGxYN3reag1oPJtDUr6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5537, 1.3159, 0.6395, -0.1032, -0.4221, -0.3683, 0.9995, 0.0002, 0.8436, 0.6739, -0.4446, 0.0433, -0.0185, 0.9959]\nstate[eef_state]: left_x=0.3347 left_y=-0.1176 left_z=0.0985 left_yaw=-0.0209 left_pitch=-0.1279 left_roll=0.032 left_gripper=0.9995 right_x=0.2977 right_y=-0.004 right_z=0.185 right_yaw=-0.04 right_pitch=-0.0438 right_roll=-0.0217 right_gripper=0.9959\nstate[joint_eff]: [-0.3487, -5.1487, 9.2513, 1.7314, -0.3297, -0.1294, -0.0122, -0.0205, -1.7436, 7.5145, 1.8632, 0.0415, 0.1783, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1b0ddf5be07a4565c8bc03a4eec435064168e3794d3ca8bbdb5abcb18bc32b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a7f08cbd465026faa3928ca46681fb42598a2c83e9b764c2a716cfa08a779f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8616513318783e3504c3f8eb2c31fb86072b862902475a0caff2814e93e70efa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 3.543 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.9398, 2.0052, 1.4189, -0.3626, 0.6907, 0.5793, 0.9954]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0048 left_pitch=-0.0488 left_roll=-0.0062 left_gripper=0.9995 right_x=0.3762 right_y=0.3302 right_z=0.0984 right_yaw=0.049 right_pitch=-0.1102 right_roll=-0.0979 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -1.3333, 7.0222, 1.7265, -0.0904, -0.0855, -0.0122, -0.3624, -10.988, 6.7487, 1.2723, 0.2564, 0.0317, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.0006, 0.8402, 0.6781, -0.4244, 0.0494, 0.0013, 0.9958]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0048 left_pitch=-0.0499 left_roll=-0.0062 left_gripper=0.9995 right_x=0.3008 right_y=-0.005 right_z=0.192 right_yaw=-0.0555 right_pitch=-0.0157 right_roll=-0.0074 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.0598, 7.0222, 1.7509, -0.0562, -0.0708, -0.0122, -0.0752, -1.9897, 8.2393, 1.6972, -0.1001, -0.0513, 0.0366]",
      "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]: [-0.5537, 1.3159, 0.6395, -0.1032, -0.4221, -0.3683, 0.9995, 0.0002, 0.8436, 0.6739, -0.4446, 0.0433, -0.0185, 0.9959]\nstate[eef_state]: left_x=0.3347 left_y=-0.1176 left_z=0.0985 left_yaw=-0.0209 left_pitch=-0.1279 left_roll=0.032 left_gripper=0.9995 right_x=0.2977 right_y=-0.004 right_z=0.185 right_yaw=-0.04 right_pitch=-0.0438 right_roll=-0.0217 right_gripper=0.9959\nstate[joint_eff]: [-0.3487, -5.1487, 9.2513, 1.7314, -0.3297, -0.1294, -0.0122, -0.0205, -1.7436, 7.5145, 1.8632, 0.0415, 0.1783, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1b0ddf5be07a4565c8bc03a4eec435064168e3794d3ca8bbdb5abcb18bc32b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a7f08cbd465026faa3928ca46681fb42598a2c83e9b764c2a716cfa08a779f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8616513318783e3504c3f8eb2c31fb86072b862902475a0caff2814e93e70efa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6woKEAgSGAI4AUIIdGhpbmtpbmcSDCZaWh6wquWLVyY0dBoM918xiEIZ8V5v6fdNIjBX8UTRJyjWIKD0etEienQyqnv+xyUzDvqHthepYSLSSQa9XC1TBHnqKDXepvA9PsgqiAqlUN7n08qYkTELehyAeg3v4ZEp+a8uO7ETKlcdcPdDWEAk7kJJRT25uZwBUNywURmghc+fxzHsMEE8KRibJTk7SXaShrfnHG2x/f5gsIt5rtY9oDfoiyB8vB0gOeX3Bx5XHwO6RNqYJE7amDqscDSWemwGV+NIAWO3iZWrkaAc3YeCe97oeQ1HeT4z1rKeyAkcZPqmsadb0TEFYOtvt3mg7of0JTLKpc+3S0RIe+arLHgO/x2FKcRyWOpIgaHl8FSdhPvBmkKoDZhu670yiOoF0DfDlYxtk91BiVkbb+w4AaTep96KBtGA9zPtxKqB4PE0+dEbbz4LzMO6VaLSyrvs8tCirq2G1Kw90an+XGCB16qU2sP43rQVjam82ZbSI3JKLM5qmxTweOzjLY9PBVjfhEldHAHUpAgZRT9HTyp07Zp2hoF/zmb/rZhQkowpi5ZXzB8rtVkar2QGOHskT/fvC2IJLU1+RVfKKbaO5eAckHopLzTt5uxDJRN8TC75pZZhou047h/1UQe61+rp4tZvgdndbQPlQWN0wguK578JUknsS+DGRLyu+zz17ifvGsixv6M87EEpiL5bnMvTBVJG9mwSGIeeSPA9xa3vpjGaF3Uv0oqBi3WMTwhgVUuYahqWgL1UnSmTWNfA3CvXY2g02pHb+qaGM/kxWlC04ztn9wZr1tA3JngmibXTUe089JulWiYN7T8SBB35Zpyc0WQ4eOJgzkQ8wVNEfBTQ3Hn3B90PsyMGT2+vInhbrKrF20I4Fy9wB0py/xhhVqSrEKlNk5r+MlEJPWQR3J9e2rCkNANEXNT7RvFwimt0kMRxcOt+6XVSrPUw3XzmYDIA+xgKXgJmYZtBqt10CVTLLB1KkoF4U3494l4b/CcexpWUCvKtWjvN7xup1yh5x4PEqvy2/NUovpstbwQjvDbvUot98Wudgie+nr2WnG04OZ0CTtjiIsi8d+vEJSgb5g/iRNhcsrAix63oBJkOs2g2kmcj+Z6HrKPjYX1quanXBA7lKmOhfyByy/bHgBq5cGk2QpYXzdwb+8yZ7qkxzpa9C45N2V2RyllolLgeEv+Nz9wtjkpfIrru8HBHQxpMziGwp/4ypDiRouy3sE4xf9Zfkd0ld4nf9c3Okuk+kHszGAU00UOYEbN88DtPP7cBwgV6VgRp9JYDnApM5iWlB4Vzh8pryjUSrwTwI5CcGFUpqxwOIS0zUdUcSAwahZFhvxlKm3pyKgnPb/NYAsF4ZSOnuG7y5psfhvctbbUyDrRbGIn97HVxsDQ66XO7MXMlalif1YJ9SxLSf7wLKcAsyMF9agyNvYYfnkLOf+Oif55bZxVAuheMUhEexQFBWIrfbr7dnR3bGCvcqYXMi77CIDCHmDF7DPnVB1rH364S/THvFGjrcqpFGgrM2HeScuHQZszOB3nR7Yiu7kC4W79MUzf9XiVrjYrxuGDcnZpaFeBgXWEUzluRyygNs7IsA7WZre1OG1+NC9mlgHPS6MaskJ3py1gYkXuMZO7lLHHvf6otX4cx5KcaKAGHonAx7YpwqfXl9++UneNh7U9r6BRwHe5ywGu27KCqrTjm1P2YnZasx5UaA3WrW9LTSOzSLlf/BNcrS3ZMHT8bqIQBTMZgqdO6gSJXaDfP3i0YTPw+5nhKp1sbBzlWTwNVNyfSjIB8DUBTvEqgcfeImMJsAcE71NRmHWLjQm+f8Y24N04yGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011xVBcumyTbbUgTQ9VMVvvn",
      "input": {
        "note": "The white bowl turned out to be centred right under the left wrist camera, not where I estimated. Shifting about 5 cm left so the jaws sit over its left rim.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.365,
          "left_y": -0.068,
          "left_yaw": 0.0,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_011xVBcumyTbbUgTQ9VMVvvn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.347, 1.309, 0.5583, 0.0689, -0.3202, -0.2573, 0.9995, 0.0002, 0.8436, 0.6731, -0.4458, 0.0433, -0.02, 0.9959]\nstate[eef_state]: left_x=0.3553 left_y=-0.0655 left_z=0.0941 left_yaw=0.0392 left_pitch=-0.0727 left_roll=0.0147 left_gripper=0.9995 right_x=0.2975 right_y=-0.004 right_z=0.1844 right_yaw=-0.0392 right_pitch=-0.0457 right_roll=-0.023 right_gripper=0.9959\nstate[joint_eff]: [0.2803, -5.8598, 6.106, 1.8877, -0.0806, 0.0952, -0.0171, -0.1573, -1.5111, 7.1316, 1.7265, -0.0024, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a40b3c4dadad7eaa036289fda658cade601f71c1a55b967d6e1122137415ff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e8eac3b3f0236105bc26cdf206657c660afc28960ff7b81f80efbcc6736308f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db87aab125ad8986b678c6252d606d4a4dd0ab406ad6cdcbb1191b8f48821e1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 3.618 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0494, 0.9995, 0.0006, 0.8402, 0.6781, -0.4244, 0.0494, 0.0013, 0.9958]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0048 left_pitch=-0.0499 left_roll=-0.0062 left_gripper=0.9995 right_x=0.3008 right_y=-0.005 right_z=0.192 right_yaw=-0.0555 right_pitch=-0.0157 right_roll=-0.0074 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -1.0598, 7.0222, 1.7509, -0.0562, -0.0708, -0.0122, -0.0752, -1.9897, 8.2393, 1.6972, -0.1001, -0.0513, 0.0366]",
      "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]: [-0.5537, 1.3159, 0.6395, -0.1032, -0.4221, -0.3683, 0.9995, 0.0002, 0.8436, 0.6739, -0.4446, 0.0433, -0.0185, 0.9959]\nstate[eef_state]: left_x=0.3347 left_y=-0.1176 left_z=0.0985 left_yaw=-0.0209 left_pitch=-0.1279 left_roll=0.032 left_gripper=0.9995 right_x=0.2977 right_y=-0.004 right_z=0.185 right_yaw=-0.04 right_pitch=-0.0438 right_roll=-0.0217 right_gripper=0.9959\nstate[joint_eff]: [-0.3487, -5.1487, 9.2513, 1.7314, -0.3297, -0.1294, -0.0122, -0.0205, -1.7436, 7.5145, 1.8632, 0.0415, 0.1783, -0.0024]",
      "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]: [-0.347, 1.309, 0.5583, 0.0689, -0.3202, -0.2573, 0.9995, 0.0002, 0.8436, 0.6731, -0.4458, 0.0433, -0.02, 0.9959]\nstate[eef_state]: left_x=0.3553 left_y=-0.0655 left_z=0.0941 left_yaw=0.0392 left_pitch=-0.0727 left_roll=0.0147 left_gripper=0.9995 right_x=0.2975 right_y=-0.004 right_z=0.1844 right_yaw=-0.0392 right_pitch=-0.0457 right_roll=-0.023 right_gripper=0.9959\nstate[joint_eff]: [0.2803, -5.8598, 6.106, 1.8877, -0.0806, 0.0952, -0.0171, -0.1573, -1.5111, 7.1316, 1.7265, -0.0024, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a40b3c4dadad7eaa036289fda658cade601f71c1a55b967d6e1122137415ff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e8eac3b3f0236105bc26cdf206657c660afc28960ff7b81f80efbcc6736308f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db87aab125ad8986b678c6252d606d4a4dd0ab406ad6cdcbb1191b8f48821e1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwcKEAgSGAI4AUIIdGhpbmtpbmcSDI2/7w6zpWieWqw1choMTUDYqzTbk72PMy45IjAbNqxWQ5JK00mhQfZQiFzmB9+JYsjTrNWLEKpUk6TvUw7XYrNVCkHUx577+fVJPaMqyAZswb9vmOMQfOAuEAMiGGxYC/SvbRFwV3abdYV9iaB2p3jlWXu17MTOdMcfkJglVtzenkgEo2Qi6LIS+1ZdzbYTm6hL0SKHTz/U6UZo/wuRnImOm4HaPlQd69cnb5uOJDI8JU+1Fgd2ETKEISW5b6swPvLginnpGu2VLAxX7I8c/ibMZtilKMrc6kOJTUEjw++bTKcd75o1q+jqxqlnrGHGAoNTeCdxsAe57Yodv7aQShHhNajeBkxKwaEtCMszsMDSury6sBzxPKtOum4mvzbXMrgs3IjYjS1seOlqAVpv7STVr0tpU03PTds7bSshf2M9rA0iiXbf5tqu/KJUPda9P5WhGSDjqSPIHZfMUzvfAPkKePwlw9WsKD1ii0PgGCBm0vpbWCQwzhj+T6PQet/g5Voc2D2ubsAzAy9awb5JgD55ykrn6k79yCQAYpT+ArVLxEW5Eei30YVsGZ9c+3qan3nEAxN285XPjFsev+T0JF9HSfK2Kr9imKGvTaBCVDOVpoZoIVGQhOshKHYvF/AyZMY+xdNQNps0DwqVWdfog+mPFVQdp5FciWaYF0arItkRLzW8toQO7a/MunYAoFJ3bh/mtzeiU62+fmFUWFxoUgfx26ndw1Kjn5RRL9Xj7cLG+PrwLgU0sadAOMrB3dFuQr5YmEmEhwQ5fSV8zFd+197Zt2WtMHrh8ZoqwAa5k3mzofZPxUGkRG10NE9VyY0KlPXf80vFCoBir/BLqMjEDwsdAcUDah19wS4+nb3K98zl4bfVwaibaj7fzAqdYORbtE59dXmqffZjzIazzSD53S5ep6Vq8bLQ8e8sU5re4cL5WUN1V4BurnIuO95BtCod/7L33lNv6nn3B+gig0d2x5qCY4h3TCNX6N+VLIU/Db1ABwl+T2h73YyVK0IbE40ZoCyotpo137NyuCMzwEjM/OJlczFsPU267RvL0APE6YOj99hRPARZbdjfmCSsdbSUQTKh3NgmbjMyOCKrZeC0tYo5rwVXnzJcsqZQMtncobEPQWqJVxot4PZESSYB87hPP564MNbu3Dxm0F06p3z4vcM73g9nLeAbHm1BZQq3anFypJ3MmdqtrZPicEV6GcHnLvLE2dcp290YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YDj781dxh48ukWnaRGeimt",
      "input": {
        "note": "The white bowl's left rim is on the jaw column in the left wrist view. Lowering so the jaws straddle the rim.",
        "targets": {
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01YDj781dxh48ukWnaRGeimt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3481, 1.5764, 0.408, 0.3901, -0.3134, -0.2543, 0.9995, -0.0002, 0.8444, 0.6731, -0.4461, 0.0433, -0.02, 0.9959]\nstate[eef_state]: left_x=0.3415 left_y=-0.0622 left_z=0.007 left_yaw=0.0351 left_pitch=-0.1639 left_roll=0.0493 left_gripper=0.9995 right_x=0.2975 right_y=-0.0041 right_z=0.1841 right_yaw=-0.0396 right_pitch=-0.0469 right_roll=-0.0231 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -6.3932, 4.7248, 1.9609, -0.2173, -0.0513, -0.0122, -0.0479, -1.5658, 6.9949, 1.6825, -0.0073, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ad9b00d0080f4862ada1a5bf13e8a9b9445d3cf042a7ebd5e983e8d9cc23645",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbe9a6fc2392e6d2b36bc26a243217354d7816d95daedb3bc0574a8434ad6c41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bac92acf1e517768e96ef96615e969864a9b9d8fc8cdba5715665baddb79a49b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.604 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5537, 1.3159, 0.6395, -0.1032, -0.4221, -0.3683, 0.9995, 0.0002, 0.8436, 0.6739, -0.4446, 0.0433, -0.0185, 0.9959]\nstate[eef_state]: left_x=0.3347 left_y=-0.1176 left_z=0.0985 left_yaw=-0.0209 left_pitch=-0.1279 left_roll=0.032 left_gripper=0.9995 right_x=0.2977 right_y=-0.004 right_z=0.185 right_yaw=-0.04 right_pitch=-0.0438 right_roll=-0.0217 right_gripper=0.9959\nstate[joint_eff]: [-0.3487, -5.1487, 9.2513, 1.7314, -0.3297, -0.1294, -0.0122, -0.0205, -1.7436, 7.5145, 1.8632, 0.0415, 0.1783, -0.0024]",
      "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]: [-0.347, 1.309, 0.5583, 0.0689, -0.3202, -0.2573, 0.9995, 0.0002, 0.8436, 0.6731, -0.4458, 0.0433, -0.02, 0.9959]\nstate[eef_state]: left_x=0.3553 left_y=-0.0655 left_z=0.0941 left_yaw=0.0392 left_pitch=-0.0727 left_roll=0.0147 left_gripper=0.9995 right_x=0.2975 right_y=-0.004 right_z=0.1844 right_yaw=-0.0392 right_pitch=-0.0457 right_roll=-0.023 right_gripper=0.9959\nstate[joint_eff]: [0.2803, -5.8598, 6.106, 1.8877, -0.0806, 0.0952, -0.0171, -0.1573, -1.5111, 7.1316, 1.7265, -0.0024, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3481, 1.5764, 0.408, 0.3901, -0.3134, -0.2543, 0.9995, -0.0002, 0.8444, 0.6731, -0.4461, 0.0433, -0.02, 0.9959]\nstate[eef_state]: left_x=0.3415 left_y=-0.0622 left_z=0.007 left_yaw=0.0351 left_pitch=-0.1639 left_roll=0.0493 left_gripper=0.9995 right_x=0.2975 right_y=-0.0041 right_z=0.1841 right_yaw=-0.0396 right_pitch=-0.0469 right_roll=-0.0231 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -6.3932, 4.7248, 1.9609, -0.2173, -0.0513, -0.0122, -0.0479, -1.5658, 6.9949, 1.6825, -0.0073, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ad9b00d0080f4862ada1a5bf13e8a9b9445d3cf042a7ebd5e983e8d9cc23645",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbe9a6fc2392e6d2b36bc26a243217354d7816d95daedb3bc0574a8434ad6c41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bac92acf1e517768e96ef96615e969864a9b9d8fc8cdba5715665baddb79a49b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrAcKEAgSGAI4AUIIdGhpbmtpbmcSDH3Jnnw8v9Fmt9zNIBoMSwvui4hwUmhVDS4XIjCR5s6M+ZNGq42JXKBBytsPC5d6VRn12C2LlzzcNAHq2JiPEfcsVNlFG7jCGzPxUkoqyQbd7SDG5L+OMF611VljoMok6K+Ex/QvK32tZajbzYwa9+Oz2smDw8qrAE1XYoulvQEoi3pJbY7Q4y8v78Xk2Hj0ycGcjLPpL0WYhm5Z7NicdVtlA61LOb+P4L1IDCS5wOceAMWlh3gwkUdX9igi4gom+W1K/V1nPquCjKU8ZQEg5IiBYknEccUVxFYmkDw6GuQNlWUrFy4UU1NQOF7nvNlD/k8+WMKCEV5NWyzvZ3luxqJwWbZ0lXTThC1/TKb6uf7S4+SlQVAjvtsKBg8cksv4D7t53qaYh7xr5+L7/r3+t7RecuDFcqm1yJ5WWMD/xlZNipe71auR3U3zku8m/wMYjeiLWWWWaDG0c0zgUTvAuJNvyafJJOfoQFW9FJnO102Vd6+a5ULoJTIxtc2BoScuaezmVL6onR3zBeLMFkGwes/hmL8K9bEx4FguSiSiUd0EHUGtkWB1eTzqbhxlBNCe7Z9uX/aET2ns6X6H+LKbRvT6Xw5PeuA6eUsON27oCy3LLkJIJb9He2GVl3hicFJlflJNA+gdWKes1YZMhvcasAomW2DjscCHJ9Lhw8PiStiFPfY2hJ/g/GQBxRnqI/ZSEpc71OYT/aeoVvOhYGjJPYkwZgE67AjwoSDhQunWZfAKlntmJkng5Rt/NFG5YsxBVPVA084xIBMXl6l0s2WT2SCSIoa+UO5q1Dy8kirtZFfSNGdFz2vCF90MUXVse84CNixVgQ9YpFFYSkgE2flM+EyGPZl64TKPWtKNGAj7ksiIrOK6lsquLhHnMd1+QTey5Wyr/fBEHMuAz6qc8tyXamvDfCVAeutobLAFDt52V2JWZbrMSrsdTfHJndtfrveqxyadx0KJtFXHELwZTa+LDjPBRFcAMDsBtkznTIBalc65v7gku6IDpyK3G5d8KyW2FQgGkD2MstoAiNbL4nmv1UgULv6asJXwp0Pr47tS05juJ6oIAlwC0W2mKHJeYkitzB6KxSx52RffaTJN8YIFA1IJWfEFlmcd83yQ9B1ksNvO/CM12ZmC8wBwqYRBlxSywJVsm9StP7R7UHKprBeG9NSsRRaExZaRotigZhMgQNrHqMU5MGsKQOq9JdOQyGDskVAmisNJme9eGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JZR3PF47EZhgfq3GYJ264H",
      "input": {
        "note": "The left gripper is down at the white bowl's rim, with the right jaw inside the bowl and the left jaw outside. Closing to pinch the wall.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JZR3PF47EZhgfq3GYJ264H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3519, 1.5536, 0.4236, 0.4847, -0.2993, -0.2882, 0.0379, -0.0002, 0.8444, 0.6731, -0.4461, 0.0433, -0.0204, 0.9959]\nstate[eef_state]: left_x=0.362 left_y=-0.0736 left_z=0.0365 left_yaw=0.0329 left_pitch=-0.0436 left_roll=-0.0361 left_gripper=0.0379 right_x=0.2975 right_y=-0.0041 right_z=0.1841 right_yaw=-0.0394 right_pitch=-0.0469 right_roll=-0.0234 right_gripper=0.9959\nstate[joint_eff]: [-0.0068, -3.3573, 4.1368, 0.6325, -0.2222, 0.2711, 0.9939, -0.1846, -1.5521, 7.2137, 1.6923, 0.0024, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b44a7763259ed57470d9878f3972d04ed78dde5f2f7556e750fdf199bd8fe523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60e779b7db1ec2d1798f851f9ebe4c3dc57df540cc83670daa4c244a1e5e0f42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d476fce187c6963da90d8c98bc09c7c0dd74c00508afe07ef7dda660e20d24f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 7.857 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.347, 1.309, 0.5583, 0.0689, -0.3202, -0.2573, 0.9995, 0.0002, 0.8436, 0.6731, -0.4458, 0.0433, -0.02, 0.9959]\nstate[eef_state]: left_x=0.3553 left_y=-0.0655 left_z=0.0941 left_yaw=0.0392 left_pitch=-0.0727 left_roll=0.0147 left_gripper=0.9995 right_x=0.2975 right_y=-0.004 right_z=0.1844 right_yaw=-0.0392 right_pitch=-0.0457 right_roll=-0.023 right_gripper=0.9959\nstate[joint_eff]: [0.2803, -5.8598, 6.106, 1.8877, -0.0806, 0.0952, -0.0171, -0.1573, -1.5111, 7.1316, 1.7265, -0.0024, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3481, 1.5764, 0.408, 0.3901, -0.3134, -0.2543, 0.9995, -0.0002, 0.8444, 0.6731, -0.4461, 0.0433, -0.02, 0.9959]\nstate[eef_state]: left_x=0.3415 left_y=-0.0622 left_z=0.007 left_yaw=0.0351 left_pitch=-0.1639 left_roll=0.0493 left_gripper=0.9995 right_x=0.2975 right_y=-0.0041 right_z=0.1841 right_yaw=-0.0396 right_pitch=-0.0469 right_roll=-0.0231 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -6.3932, 4.7248, 1.9609, -0.2173, -0.0513, -0.0122, -0.0479, -1.5658, 6.9949, 1.6825, -0.0073, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3519, 1.5536, 0.4236, 0.4847, -0.2993, -0.2882, 0.0379, -0.0002, 0.8444, 0.6731, -0.4461, 0.0433, -0.0204, 0.9959]\nstate[eef_state]: left_x=0.362 left_y=-0.0736 left_z=0.0365 left_yaw=0.0329 left_pitch=-0.0436 left_roll=-0.0361 left_gripper=0.0379 right_x=0.2975 right_y=-0.0041 right_z=0.1841 right_yaw=-0.0394 right_pitch=-0.0469 right_roll=-0.0234 right_gripper=0.9959\nstate[joint_eff]: [-0.0068, -3.3573, 4.1368, 0.6325, -0.2222, 0.2711, 0.9939, -0.1846, -1.5521, 7.2137, 1.6923, 0.0024, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b44a7763259ed57470d9878f3972d04ed78dde5f2f7556e750fdf199bd8fe523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60e779b7db1ec2d1798f851f9ebe4c3dc57df540cc83670daa4c244a1e5e0f42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d476fce187c6963da90d8c98bc09c7c0dd74c00508afe07ef7dda660e20d24f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgcKEAgSGAI4AUIIdGhpbmtpbmcSDCs26l9zfitpFHvGJhoMU3tQ/ECslE71EhOLIjBkV+Zd03ikjiL310DDVwP+xhEn0LQFX29qQspUn8Rrfgyk5wBig41woRfabtIIcxcqswbjRu6BbyuoJPQMd/jUc6w2IdA0C4NXKRlqOSG1rXHmJ1pD7++HKEk+SVZVdrtiWqeIn9GHr95k7rwlXoEhwO/hY0wGOL2YmN1B7+QFTzbJxljV8aJOcGwBMv//OBeEQG2LmqFGTy1ETGyiDA86jmEwsW1Y8ageiZT/9hho1+cYdrNiz3h2jNQ7EMwRA6sCcyUNewJ41wvOpobM4v6IMvXXIc05iB49LQIf4mPpbLQR03mJPL+9daA39iSALe6Wd+FHg5Bcd9fbi8anFD+cW4LdGJsaf0ZmydcpNXLBrJAfM+AcKO3clu1Muok9Lq086eIarDYXD2ocfLWXuvcWzY8HeUf+vn65Z7AO4HevC4Lx5cqPfOfAxYlFJsit1Ifid6QIJPoYUo178VvH5kEv94ZeyywyvjC0sdOhaVyDhpqYAjmyUXTNndE4rtRt5Wz7Sm8Ad8He/kRqcxzhu/54iayzH/mu2MiEmyq8ZKwKq88QjvTZtMEkDmX3NF0A/Nr4aWlUCEBgfpAh0wrQvKkjC8eK+UEcrampsgSR0ipWmphBFdFUNWwCb32BBdaj4Y/a75WatkBbgs6rE9/GVHIqMUw3HTMOrSQy20iDeeZwI1jNRmKfJ41QSPQxZ4IV4llRw1dIkQMHYWPudvtqD/Wm49AokO4Winyuz4xnlr7V4HEGgqWFKWZr2WvhNjAJfY9THN1JI203r6pr9IujiZRXh1qEqaFe7/GfqTHcSE78zqFL3KzJswJLnUfLvp9wgCBLPXI2ZIwObvWQ80rEjVEO1230plhbSCODHFvAoGVgVkx++g4PCkeNTo9sbJe6q3FtTvVA0YUeZEVuucMnEiHgSLIjqsnAxxgEE19u5SUtDTheM/nI0G4iL6XseMvDss96Lwf2V2NQmhIILPRHPDCexjhvUoxKLDj1efYOjlq6BW9x0su/lr5HNBckql1uFPzSRdvC72qRrDM4GxZMfA5ZWrNZYu0YV/mpWWvmHS0+KQu4M6sb0xKKkvvhyeT0ZqcIjcWx78UrnEwS1LXmrl21BPYrRd0gSZ130b1nGUtnEwJebmBtZ3WuabJiWwD7Lw2WkTbexx4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015JTPJaNCkXH1wV1SrD66jC",
      "input": {
        "note": "The jaws have closed on the white bowl's rim, which you can see right at the fingertips. Lifting to carry height and holding the wrist level.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_yaw": 0.0,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_015JTPJaNCkXH1wV1SrD66jC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3519, 1.2114, 0.6907, -0.0994, -0.3038, -0.2501, 0.0417, -0.0002, 0.8482, 0.6731, -0.4458, 0.0433, -0.0204, 0.9959]\nstate[eef_state]: left_x=0.361 left_y=-0.0724 left_z=0.1508 left_yaw=0.0158 left_pitch=-0.0189 left_roll=-0.0114 left_gripper=0.0417 right_x=0.2978 right_y=-0.0041 right_z=0.1832 right_yaw=-0.0394 right_pitch=-0.0503 right_roll=-0.0235 right_gripper=0.9959\nstate[joint_eff]: [-0.2803, -5.4906, 9.306, 1.6728, -0.149, 0.2125, 0.779, -0.0068, -1.7162, 7.1316, 1.6874, -0.022, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7169fac349d9997ecbad2a9353344f9a04ec99be23fb2ffc595cd4471f61343e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b8a9cee0c16f0004934fecfcf77d296da18cefe09aeac641a153a35e23404d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5920c57ded5d49eb4bbf77d48346d4acc70c46cdf36510a28043ea78593e36d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 6.777 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3481, 1.5764, 0.408, 0.3901, -0.3134, -0.2543, 0.9995, -0.0002, 0.8444, 0.6731, -0.4461, 0.0433, -0.02, 0.9959]\nstate[eef_state]: left_x=0.3415 left_y=-0.0622 left_z=0.007 left_yaw=0.0351 left_pitch=-0.1639 left_roll=0.0493 left_gripper=0.9995 right_x=0.2975 right_y=-0.0041 right_z=0.1841 right_yaw=-0.0396 right_pitch=-0.0469 right_roll=-0.0231 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -6.3932, 4.7248, 1.9609, -0.2173, -0.0513, -0.0122, -0.0479, -1.5658, 6.9949, 1.6825, -0.0073, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3519, 1.5536, 0.4236, 0.4847, -0.2993, -0.2882, 0.0379, -0.0002, 0.8444, 0.6731, -0.4461, 0.0433, -0.0204, 0.9959]\nstate[eef_state]: left_x=0.362 left_y=-0.0736 left_z=0.0365 left_yaw=0.0329 left_pitch=-0.0436 left_roll=-0.0361 left_gripper=0.0379 right_x=0.2975 right_y=-0.0041 right_z=0.1841 right_yaw=-0.0394 right_pitch=-0.0469 right_roll=-0.0234 right_gripper=0.9959\nstate[joint_eff]: [-0.0068, -3.3573, 4.1368, 0.6325, -0.2222, 0.2711, 0.9939, -0.1846, -1.5521, 7.2137, 1.6923, 0.0024, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3519, 1.2114, 0.6907, -0.0994, -0.3038, -0.2501, 0.0417, -0.0002, 0.8482, 0.6731, -0.4458, 0.0433, -0.0204, 0.9959]\nstate[eef_state]: left_x=0.361 left_y=-0.0724 left_z=0.1508 left_yaw=0.0158 left_pitch=-0.0189 left_roll=-0.0114 left_gripper=0.0417 right_x=0.2978 right_y=-0.0041 right_z=0.1832 right_yaw=-0.0394 right_pitch=-0.0503 right_roll=-0.0235 right_gripper=0.9959\nstate[joint_eff]: [-0.2803, -5.4906, 9.306, 1.6728, -0.149, 0.2125, 0.779, -0.0068, -1.7162, 7.1316, 1.6874, -0.022, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7169fac349d9997ecbad2a9353344f9a04ec99be23fb2ffc595cd4471f61343e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b8a9cee0c16f0004934fecfcf77d296da18cefe09aeac641a153a35e23404d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5920c57ded5d49eb4bbf77d48346d4acc70c46cdf36510a28043ea78593e36d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WbTCjPbpRCohGcELAv9BhX",
      "input": {
        "note": "The white bowl is lifted; in the overhead view it has come up with the jaws. Carrying it right toward the pink/lavender stack, going part of the way so I can check alignment in the wrist camera.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.375,
          "left_y": -0.27,
          "left_yaw": 0.0,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01WbTCjPbpRCohGcELAv9BhX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8753, 1.7046, 1.1946, -0.3199, -0.6857, -0.6044, 0.0432, -0.0002, 0.8494, 0.6727, -0.45, 0.0433, -0.0204, 0.9959]\nstate[eef_state]: left_x=0.3693 left_y=-0.2623 left_z=0.1539 left_yaw=-0.0162 left_pitch=-0.0394 left_roll=0.022 left_gripper=0.0432 right_x=0.2972 right_y=-0.0041 right_z=0.1818 right_yaw=-0.0394 right_pitch=-0.056 right_roll=-0.0237 right_gripper=0.9959\nstate[joint_eff]: [-0.3761, -8.4444, 9.3607, 1.3504, -0.5739, -0.0806, 0.8132, -0.2393, -1.6479, 6.9949, 1.746, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61c5ac6438c2eb89534eadffb591b33efba156a2bdb62851fb1538decd000c3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e351dfa44a9918c6c361cfd428e6d6ed8f4f931f4cbbb648b6117de3f2671cfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd71e091f770cb1f54604d3226646f23b88ddf5efd6c5007dffa131cab2fe1b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 6.063 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3519, 1.5536, 0.4236, 0.4847, -0.2993, -0.2882, 0.0379, -0.0002, 0.8444, 0.6731, -0.4461, 0.0433, -0.0204, 0.9959]\nstate[eef_state]: left_x=0.362 left_y=-0.0736 left_z=0.0365 left_yaw=0.0329 left_pitch=-0.0436 left_roll=-0.0361 left_gripper=0.0379 right_x=0.2975 right_y=-0.0041 right_z=0.1841 right_yaw=-0.0394 right_pitch=-0.0469 right_roll=-0.0234 right_gripper=0.9959\nstate[joint_eff]: [-0.0068, -3.3573, 4.1368, 0.6325, -0.2222, 0.2711, 0.9939, -0.1846, -1.5521, 7.2137, 1.6923, 0.0024, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3519, 1.2114, 0.6907, -0.0994, -0.3038, -0.2501, 0.0417, -0.0002, 0.8482, 0.6731, -0.4458, 0.0433, -0.0204, 0.9959]\nstate[eef_state]: left_x=0.361 left_y=-0.0724 left_z=0.1508 left_yaw=0.0158 left_pitch=-0.0189 left_roll=-0.0114 left_gripper=0.0417 right_x=0.2978 right_y=-0.0041 right_z=0.1832 right_yaw=-0.0394 right_pitch=-0.0503 right_roll=-0.0235 right_gripper=0.9959\nstate[joint_eff]: [-0.2803, -5.4906, 9.306, 1.6728, -0.149, 0.2125, 0.779, -0.0068, -1.7162, 7.1316, 1.6874, -0.022, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8753, 1.7046, 1.1946, -0.3199, -0.6857, -0.6044, 0.0432, -0.0002, 0.8494, 0.6727, -0.45, 0.0433, -0.0204, 0.9959]\nstate[eef_state]: left_x=0.3693 left_y=-0.2623 left_z=0.1539 left_yaw=-0.0162 left_pitch=-0.0394 left_roll=0.022 left_gripper=0.0432 right_x=0.2972 right_y=-0.0041 right_z=0.1818 right_yaw=-0.0394 right_pitch=-0.056 right_roll=-0.0237 right_gripper=0.9959\nstate[joint_eff]: [-0.3761, -8.4444, 9.3607, 1.3504, -0.5739, -0.0806, 0.8132, -0.2393, -1.6479, 6.9949, 1.746, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61c5ac6438c2eb89534eadffb591b33efba156a2bdb62851fb1538decd000c3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e351dfa44a9918c6c361cfd428e6d6ed8f4f931f4cbbb648b6117de3f2671cfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd71e091f770cb1f54604d3226646f23b88ddf5efd6c5007dffa131cab2fe1b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmgsKEAgSGAI4AUIIdGhpbmtpbmcSDFYxVUvSkmPXCy3e4RoMeurH4WUplPaoJStOIjC9y20BE71Yz6WOnSwJNa00fyTQgwaOVVJJN7AccaFHLQUQO2JW4wzTJSj/jVtOTocqtwr0Yj+XB5oPng5mKDJUIsO8AudN+SApBdJtyyedfnR58g2JB60/wlzsYPIkMFxtixLOCwTaWauH/zN8K85JGpMM3hfT1bNHV+Wdh6x/bO8navwH80IriLARWyqCxSHrbcOt6dxNBxzp0WQ0Lia3k0+n1DHyehsiJx6LZ+ivMYaE4i6Hl614f2Q/bHrG2dd/OADd50VL4HzVtNkgYnPpUR17Mn3HdXa9QaLp+ZQvhry8BUaEk0lmH93lDkKr933+l/m7D7++kZm/wTekuqR+rg4Dt01Dv4QMFLI8W/UlhfKr/m8870tf99JU2XZxlKw57hhMqUXi2Xx+J1eQ9GFNM42WlrO4/vYSAztppYzzYG2c57dT1Nr8X6d+HKiawoVgQwx8To4vFNqt8zfF19VLHXbP70F4IdiqkRdMmdIbrWOGh0+u9r0VLv9vgWNuxkZIxghDkdDM8PGkGDDf0SO75szw0kE/vqtQ9KCsUI+KvpYSMHkyUilGqgCGWPTODzFdpCfTbYIR6SKRu3FR6V275HISV4M3I+PjkaFYbUiMehDSu2IhoHC8EetMRNNRMqJpQnIowY77i02NySOyyAxmS4fain3l425/0zKYGx7W1oQOw8X43hFmatbPT3Ppe/IVpqqcfw0hG/FDc8mtddNVqJGanpclzs/o5MbFGGLs1BNHq8Vj0ETilTyJ7C6Nl3ZBydr7sLfHobFPJaUmoinZN2j9usyuB3Y4TZwS2GHHFDpt/8HNV7uu9EMRzNJbkiQrbrW+yx0EB545MUQ4ybLFlf8xnXJOL9fUeHCQj8iJVIDxcjo+jRRTvsB5BCpnJj5oeEzW2WSm+twZgHm4fn39kNFTq/MystsFri18/+kj13x2G9N2OhrPN0CYYk+q3ENdf+bzJtMhLonzhmDpG2TbzJgmgLAgZJNf81tEPxA1Jm6s+2MvXvkWe/cKR0eTuWdapu4uQemet/GN7DTg4GVzYSAFmPjSau/GWKSAhlo09iqVLXtezJO6AUPMGOfz1Z9yB1W0IaiZTnmh5+hC738D9he4M2yKpZSzTu8bhNNjPsdBrDhCyxlc3Z43olf6pa0YRPIgX7cTKA9Ijjt8QtgG8wDe8lzbAxU52Un7gqOwH3MLYUREcOIQJchEVcx3ke14g9j4cxrql4RRSIGDb2HQLGIK3qJVN8KVG/pg6zMbolbgzSZR8bEs+oC1iftwHadKPkBPLpnp95T6CNsaUUBsHIJtNMc3AmjFnvHvSkBIVwUr1dCsoMZNpbbKhpVzNYC6vGP8+CTIMCa3S6HC+aHu1a6HaO517fohtRv0UbxIxf6ILu/bk9rc+9KeM6WRjzuVACfkMYyJNXGBOEowAYMmjPqsuxxweopMLYAuCKTKc+ysYYsbIoA9NSTD7NAoW09+kCLdufmgwvAXbOA/paCZj75OFV3qW7Q0BS8x4tStCLIjV6C/o7uZUUig7j8fa22uqv95X6E7ac6RlbDYfJgc85L++6C6n3C7yrHlH/UzD5C6eM3Vod5ScJoWzDqiLDRlE3qwf7o1KnD8sxkXWZyZcrOPCO616HKoPBCUefGBikkngNcYTXhmCD42UdScL0rVygASnkx/IJjivpANBFsa9XaHeJYJCXMKQXUf+NUfWBldGyHhX/d4K1BIb6AKPEZYwk/OLp5m/PubeMJ/Cl0hglD7DLkkdWKv4CKBuCCZftiMDBPG+HtUsPSjBz5IUQw6R/VL499NA8kpqiofoJ/L3RpF9N3z4mr7uxfz3pCvdz5MNWiynQtZ9WIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DCJNWS1oPfgdLzRqwpBUaL",
      "input": {
        "note": "In the overhead view the white bowl is now almost over the pink/lavender stack, and the pink rim shows near the jaws in the wrist view. Lowering and nudging slightly right to nest it.",
        "targets": {
          "left_y": -0.28,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DCJNWS1oPfgdLzRqwpBUaL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8982, 1.8179, 1.1313, -0.1989, -0.6983, -0.6281, 0.0452, -0.0002, 0.8494, 0.6727, -0.4644, 0.0433, -0.0231, 0.9959]\nstate[eef_state]: left_x=0.3671 left_y=-0.2728 left_z=0.1002 left_yaw=-0.0155 left_pitch=-0.0673 left_roll=0.0516 left_gripper=0.0452 right_x=0.2951 right_y=-0.0041 right_z=0.1789 right_yaw=-0.038 right_pitch=-0.0705 right_roll=-0.0264 right_gripper=0.9959\nstate[joint_eff]: [-0.6906, -9.6205, 6.3521, 1.3944, -0.4274, -0.0317, 0.6813, -0.1983, -1.5658, 6.9812, 1.8046, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cf14c7b9fa8be31f7476f3661e989f6daf5dedf32519c6467c8fbc20837d282",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5478e2be96eca690296dd1686832bedff329e62b2d755901c8c21457669b26a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72772edcc96d7cb42f28265575665bfb2e46ac920b62522c65fc99d249f5b54b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 4.064 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3519, 1.2114, 0.6907, -0.0994, -0.3038, -0.2501, 0.0417, -0.0002, 0.8482, 0.6731, -0.4458, 0.0433, -0.0204, 0.9959]\nstate[eef_state]: left_x=0.361 left_y=-0.0724 left_z=0.1508 left_yaw=0.0158 left_pitch=-0.0189 left_roll=-0.0114 left_gripper=0.0417 right_x=0.2978 right_y=-0.0041 right_z=0.1832 right_yaw=-0.0394 right_pitch=-0.0503 right_roll=-0.0235 right_gripper=0.9959\nstate[joint_eff]: [-0.2803, -5.4906, 9.306, 1.6728, -0.149, 0.2125, 0.779, -0.0068, -1.7162, 7.1316, 1.6874, -0.022, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.8753, 1.7046, 1.1946, -0.3199, -0.6857, -0.6044, 0.0432, -0.0002, 0.8494, 0.6727, -0.45, 0.0433, -0.0204, 0.9959]\nstate[eef_state]: left_x=0.3693 left_y=-0.2623 left_z=0.1539 left_yaw=-0.0162 left_pitch=-0.0394 left_roll=0.022 left_gripper=0.0432 right_x=0.2972 right_y=-0.0041 right_z=0.1818 right_yaw=-0.0394 right_pitch=-0.056 right_roll=-0.0237 right_gripper=0.9959\nstate[joint_eff]: [-0.3761, -8.4444, 9.3607, 1.3504, -0.5739, -0.0806, 0.8132, -0.2393, -1.6479, 6.9949, 1.746, -0.0464, -0.0513, -0.0122]",
      "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]: [-0.8982, 1.8179, 1.1313, -0.1989, -0.6983, -0.6281, 0.0452, -0.0002, 0.8494, 0.6727, -0.4644, 0.0433, -0.0231, 0.9959]\nstate[eef_state]: left_x=0.3671 left_y=-0.2728 left_z=0.1002 left_yaw=-0.0155 left_pitch=-0.0673 left_roll=0.0516 left_gripper=0.0452 right_x=0.2951 right_y=-0.0041 right_z=0.1789 right_yaw=-0.038 right_pitch=-0.0705 right_roll=-0.0264 right_gripper=0.9959\nstate[joint_eff]: [-0.6906, -9.6205, 6.3521, 1.3944, -0.4274, -0.0317, 0.6813, -0.1983, -1.5658, 6.9812, 1.8046, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cf14c7b9fa8be31f7476f3661e989f6daf5dedf32519c6467c8fbc20837d282",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5478e2be96eca690296dd1686832bedff329e62b2d755901c8c21457669b26a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72772edcc96d7cb42f28265575665bfb2e46ac920b62522c65fc99d249f5b54b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015EcSRd9qx8zgh7iy2adKCM",
      "input": {
        "note": "In the wrist view the pink rim sticks out past the white bowl's left edge, so the white bowl is sitting a bit too far right. Shifting 2 cm left and lowering.",
        "targets": {
          "left_y": -0.255,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_015EcSRd9qx8zgh7iy2adKCM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9035, 1.8423, 1.1183, -0.1673, -0.6975, -0.6369, 0.0452, 0.0002, 0.8494, 0.6727, -0.4679, 0.0433, -0.0231, 0.9959]\nstate[eef_state]: left_x=0.3662 left_y=-0.2757 left_z=0.0893 left_yaw=-0.0163 left_pitch=-0.0711 left_roll=0.0486 left_gripper=0.0452 right_x=0.2946 right_y=-0.004 right_z=0.1783 right_yaw=-0.0376 right_pitch=-0.074 right_roll=-0.0266 right_gripper=0.9959\nstate[joint_eff]: [-0.4444, -10.0718, 6.4752, 1.58, -0.4225, -0.0415, 0.7009, -0.0479, -1.5248, 6.9402, 1.6825, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a74c98c1f4dfbdd7bf4e4ec4a3f1292205965aa8920dce711ffe6af1d2aa175b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fcc540da32852f1220bce75371d2e191de885ccc6303e73f334e3c88c2c8e79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92c97e852163fe1ed50ff28ff59a48df479c72805aa5deaa641e5c21749d554c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 4.722 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8753, 1.7046, 1.1946, -0.3199, -0.6857, -0.6044, 0.0432, -0.0002, 0.8494, 0.6727, -0.45, 0.0433, -0.0204, 0.9959]\nstate[eef_state]: left_x=0.3693 left_y=-0.2623 left_z=0.1539 left_yaw=-0.0162 left_pitch=-0.0394 left_roll=0.022 left_gripper=0.0432 right_x=0.2972 right_y=-0.0041 right_z=0.1818 right_yaw=-0.0394 right_pitch=-0.056 right_roll=-0.0237 right_gripper=0.9959\nstate[joint_eff]: [-0.3761, -8.4444, 9.3607, 1.3504, -0.5739, -0.0806, 0.8132, -0.2393, -1.6479, 6.9949, 1.746, -0.0464, -0.0513, -0.0122]",
      "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]: [-0.8982, 1.8179, 1.1313, -0.1989, -0.6983, -0.6281, 0.0452, -0.0002, 0.8494, 0.6727, -0.4644, 0.0433, -0.0231, 0.9959]\nstate[eef_state]: left_x=0.3671 left_y=-0.2728 left_z=0.1002 left_yaw=-0.0155 left_pitch=-0.0673 left_roll=0.0516 left_gripper=0.0452 right_x=0.2951 right_y=-0.0041 right_z=0.1789 right_yaw=-0.038 right_pitch=-0.0705 right_roll=-0.0264 right_gripper=0.9959\nstate[joint_eff]: [-0.6906, -9.6205, 6.3521, 1.3944, -0.4274, -0.0317, 0.6813, -0.1983, -1.5658, 6.9812, 1.8046, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9035, 1.8423, 1.1183, -0.1673, -0.6975, -0.6369, 0.0452, 0.0002, 0.8494, 0.6727, -0.4679, 0.0433, -0.0231, 0.9959]\nstate[eef_state]: left_x=0.3662 left_y=-0.2757 left_z=0.0893 left_yaw=-0.0163 left_pitch=-0.0711 left_roll=0.0486 left_gripper=0.0452 right_x=0.2946 right_y=-0.004 right_z=0.1783 right_yaw=-0.0376 right_pitch=-0.074 right_roll=-0.0266 right_gripper=0.9959\nstate[joint_eff]: [-0.4444, -10.0718, 6.4752, 1.58, -0.4225, -0.0415, 0.7009, -0.0479, -1.5248, 6.9402, 1.6825, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a74c98c1f4dfbdd7bf4e4ec4a3f1292205965aa8920dce711ffe6af1d2aa175b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fcc540da32852f1220bce75371d2e191de885ccc6303e73f334e3c88c2c8e79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92c97e852163fe1ed50ff28ff59a48df479c72805aa5deaa641e5c21749d554c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4gcKEAgSGAI4AUIIdGhpbmtpbmcSDLaJd0/Cc1t+biCyqBoMy2ksfOPmcsVKu68VIjCYezBo73Iqtce057B4GhNgkaL8yj72XafGkwSiVU70VXU1R7ZwcxSrL8Iwiqx4AUsq/wYnRPW6CCMMzb2SlSFmv8DJ/aEkI4NPCd/rX5ySYlGTYb6mdFHCF7i5Y5Sr6HEMzRxuiIav8iPZuQYltWx/ygy28/Tbog4usf9Lr0XV1J8VE9E/ZEufIvx4bR62h7/y1mIdqEqoPL1gc4rY3Cj9/2WD2Q5oPkYgA22VQt+OFeJu2u0hMcDOS8GWng31vlfMWQH81SF46A3L5HtsF2ZkFNh14H2woqRIAn8n4W4vi9cB+xHG5T3WFMtNYB49Y0JM2EKuJxDbXdfCQOHPXXzFjH9PvG87TX/NhvbvDQk8HYNvVWL47Kdo5gKrhbx+Dp+1aPLzpKO1sqD5Yt+rn+gYVodCzDTTl9jDVN6Hsz/Gy5MhAJrU4BR8ZxxA8XXwI3bHJ4jCPNTQ9BWeLvwJecXX6Lo6oWcG6+dhzRQcV0dzL7jEuS1cFYeTSAP7iDdMcEI0mnrJ4B7ctUOPEa2G1ewAsdk9QCSJfe7qLomFpbvzRB9TszYzfb3rQFW1svZ3ldd92bptMWm+QKj5Ja6UE1Jegj499LZG2dq/5bBSjUgiQXub+VnCSlnPbSQQ9igTw/+Zc0XzuhmLLQ70m672uC3gm99g7JEYbdWwtkza9oCeF1Uf6cYreAX0eEf3SFMQyQ9Emaob/EMXIpGNV08dvZK3/yIsOmZLa55XJP5P9m6A9K0WO+9yxlt166YZsqX2dNU0FcFuD4tZgqpRyPDFb9xxl7m9gk3/gHOeEmiQXf8B7nB8ej1cvW+WQ6eOUPz3Js5/ttUNYWo9O0L4x9ZGMsI8fJNiCe6Q8tabYCvLdIdA2DS8WkjtolGZTxutdyKVrfBWgR9YHkBvxuTFb0j35S+ZconLj6aS8slNHTXRK45qM5QAgrLEj++sSRUoGtThVoToAJ2z89pZ8i+W8D0TScNDeMgGB2GWTsTpnsATYT1W5XcY4vuQHOuMAsCKE2b1es3m9Q0Tr9HWevnsrlN1p3Tb1kR3R8ITT/55sMpywVK301tUog3peGzwJwejzrUDlzeC1FbF90zDAg/5uMLTFLWJ4pGcNlb1HS+CDy1nfNc9IfudPBe917gZFQK0wb6bd52BJFvFQNdxVV/CE1uC//x19tAcWTBe7ELyzthLD5Cwtp8VuM0tHbNw8E4e4oPWkGaWD2bhvxETGYJdSq7WHRKZREyjApcglruOL0q80XOOmoFeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PWdxPiG9ed6HKPH7XzsV81",
      "input": {
        "note": "The arm has stopped lowering at about z=0.09, so the white bowl looks to be resting on the stack, with just a sliver of pink showing. Releasing it onto the stack.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PWdxPiG9ed6HKPH7XzsV81",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9035, 1.8423, 1.1183, -0.1627, -0.6968, -0.6445, 0.9952, -0.0002, 0.8494, 0.6727, -0.4713, 0.0433, -0.0235, 0.9959]\nstate[eef_state]: left_x=0.3666 left_y=-0.2764 left_z=0.0898 left_yaw=-0.013 left_pitch=-0.0685 left_roll=0.0385 left_gripper=0.9952 right_x=0.2941 right_y=-0.0041 right_z=0.1776 right_yaw=-0.0378 right_pitch=-0.0774 right_roll=-0.027 right_gripper=0.9959\nstate[joint_eff]: [-0.1436, -9.0598, 6.106, 1.2821, -0.3834, 0.0317, -0.1148, -0.1436, -1.5521, 6.9538, 1.7167, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:200e66563340e82ad80e46ab7655d19c376abc7ea19aa0a49d9eb83b4396923e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ed747226595b856b365b490bec843557968fe1ddef07acb3bed3a178921f000",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ef34d462ca58212cec7efc9b87228d9303db2bb2ce4c2b75553522bd8c3f2749",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 8.978 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8982, 1.8179, 1.1313, -0.1989, -0.6983, -0.6281, 0.0452, -0.0002, 0.8494, 0.6727, -0.4644, 0.0433, -0.0231, 0.9959]\nstate[eef_state]: left_x=0.3671 left_y=-0.2728 left_z=0.1002 left_yaw=-0.0155 left_pitch=-0.0673 left_roll=0.0516 left_gripper=0.0452 right_x=0.2951 right_y=-0.0041 right_z=0.1789 right_yaw=-0.038 right_pitch=-0.0705 right_roll=-0.0264 right_gripper=0.9959\nstate[joint_eff]: [-0.6906, -9.6205, 6.3521, 1.3944, -0.4274, -0.0317, 0.6813, -0.1983, -1.5658, 6.9812, 1.8046, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9035, 1.8423, 1.1183, -0.1673, -0.6975, -0.6369, 0.0452, 0.0002, 0.8494, 0.6727, -0.4679, 0.0433, -0.0231, 0.9959]\nstate[eef_state]: left_x=0.3662 left_y=-0.2757 left_z=0.0893 left_yaw=-0.0163 left_pitch=-0.0711 left_roll=0.0486 left_gripper=0.0452 right_x=0.2946 right_y=-0.004 right_z=0.1783 right_yaw=-0.0376 right_pitch=-0.074 right_roll=-0.0266 right_gripper=0.9959\nstate[joint_eff]: [-0.4444, -10.0718, 6.4752, 1.58, -0.4225, -0.0415, 0.7009, -0.0479, -1.5248, 6.9402, 1.6825, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9035, 1.8423, 1.1183, -0.1627, -0.6968, -0.6445, 0.9952, -0.0002, 0.8494, 0.6727, -0.4713, 0.0433, -0.0235, 0.9959]\nstate[eef_state]: left_x=0.3666 left_y=-0.2764 left_z=0.0898 left_yaw=-0.013 left_pitch=-0.0685 left_roll=0.0385 left_gripper=0.9952 right_x=0.2941 right_y=-0.0041 right_z=0.1776 right_yaw=-0.0378 right_pitch=-0.0774 right_roll=-0.027 right_gripper=0.9959\nstate[joint_eff]: [-0.1436, -9.0598, 6.106, 1.2821, -0.3834, 0.0317, -0.1148, -0.1436, -1.5521, 6.9538, 1.7167, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:200e66563340e82ad80e46ab7655d19c376abc7ea19aa0a49d9eb83b4396923e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ed747226595b856b365b490bec843557968fe1ddef07acb3bed3a178921f000",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef34d462ca58212cec7efc9b87228d9303db2bb2ce4c2b75553522bd8c3f2749",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "text": "Released. Lifting the left arm clear and parking it to check the stack.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EQ4EDXHa8KJ9JKdRPnXe17",
      "input": {
        "note": "The white bowl is released and sits under the open jaws, with no pink showing around it now. Moving the left arm back home so the overhead camera can see the stack.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.3,
          "left_y": 0.0,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_01EQ4EDXHa8KJ9JKdRPnXe17",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 0.8391, 0.6666, -0.416, -0.1017, -0.0998, 0.9957, 0.0002, 0.8505, 0.6727, -0.4747, 0.0433, -0.0238, 0.9959]\nstate[eef_state]: left_x=0.3006 left_y=0.0046 left_z=0.1892 left_yaw=0.0617 left_pitch=-0.0161 left_roll=-0.0051 left_gripper=0.9957 right_x=0.2936 right_y=-0.004 right_z=0.1766 right_yaw=-0.0372 right_pitch=-0.082 right_roll=-0.0275 right_gripper=0.9959\nstate[joint_eff]: [0.1983, -1.9487, 9.0462, 1.7851, -0.0024, 0.1001, 0.0464, -0.1026, -1.5111, 6.9538, 1.6679, -0.0073, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12f227e2f308482f922b36f19c77f39cb7ea0f0f527c0d77c7ee0c4169b5b848",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:074324644d561d090d458fce192c774a0aa53ad32e9b6d6966bdc94c04565cb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f44b4f49c01f7b5df5520ab6bcfe8c8bc58dd0b1ffa05121a41e034566aabe9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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