adhoc

completed
2026-09-22T23:23:29.809510+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
456.7 s
total steps
229
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls sit in a row; the left arm's wrist camera shows the white/blue bowl roughly centred ahead of it. Advancing the left arm forward to x=0.38 at safe height to judge the bowl's distance.
move_to
left_x0.3800left_y0.0000left_z0.1800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3813, -0.0223, -0.0257, 0.996, -0.0181, 0.7929, 0.6022, -0.3786, -0.0151, -0.02, 0.9989] state[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1799 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.996 right_x=0.2947 right_y=0.0009 right_z=0.1797 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9989 state[joint_eff]: [-0.6906, -1.5795, 10.0718, 1.7949, -0.0464, 0.105, -0.4322, -0.7043, -1.4564, 10.2359, 1.8926, -0.0806, 0.0366, -0.1245] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": 0.0, "left_z": 0.18, "left_gripper": 1.0}, "note": "Three bowls sit in a row; the left arm's wrist camera shows the white/blue bowl roughly centred ahead of it. Advancing the left arm forward to x=0.38 at safe height to judge the bowl's distance."})
tool
executing move_to over 7 steps (0.7s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent noteThe bowl is still ahead of the fingertips in the wrist view; advancing the left arm to x=0.44 to get over the bowl's rim.
move_to
left_x0.4400left_y0.0000left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 1.1831, 0.7414, -0.2115, -0.0231, -0.0265, 0.996, -0.02, 0.7975, 0.6018, -0.3889, -0.0166, -0.02, 0.9989] state[eef_state]: left_x=0.3634 left_y=0.0005 left_z=0.1561 left_yaw=0.0015 left_pitch=-0.0824 left_roll=0.0015 left_gripper=0.996 right_x=0.2935 right_y=0.0006 right_z=0.1761 right_yaw=-0.0003 right_pitch=-0.0152 right_roll=0.0013 right_gripper=0.9989 state[joint_eff]: [-0.0479, -4.4786, 9.1145, 1.9219, -0.0464, -0.0659, -0.4274, 0.0479, -1.5521, 7.0769, 1.8095, -0.0171, -0.022, -0.0171] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": 0.0, "left_z": 0.15}, "note": "The bowl is still ahead of the fingertips in the wrist view; advancing the left arm to x=0.44 to get over the bowl's rim."})
tool
executing move_to over 6 steps (0.6s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe white bowl is now at the bottom of the left wrist view, just beyond the jaws. Lowering to rim height (z=0.05) and nudging right to line the jaw column up with the bowl rim.
move_to
left_x0.4400left_y-0.0100left_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0189, 1.4925, 0.918, -0.1505, -0.0227, -0.0265, 0.9958, -0.02, 0.8017, 0.5999, -0.3931, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.4224 left_y=-0.0004 left_z=0.129 left_yaw=0.0021 left_pitch=-0.1541 left_roll=0.0028 left_gripper=0.9958 right_x=0.293 right_y=0.0007 right_z=0.1733 right_yaw=-0.0001 right_pitch=-0.0255 right_roll=0.0012 right_gripper=0.9988 state[joint_eff]: [0.0068, -7.0632, 8.8957, 1.6874, -0.0415, 0.0024, -0.0366, -0.1846, -1.5521, 7.3094, 1.7802, -0.0464, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.01, "left_z": 0.05}, "note": "The white bowl is now at the bottom of the left wrist view, just beyond the jaws. Lowering to rim height (z=0.05) and nudging right to line the jaw column up with the bowl rim."})
tool
executing move_to over 6 steps (0.6s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteJaws appear to straddle the white bowl's rim in the wrist view; closing to grip the rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0463, 1.705, 0.8062, 0.1085, -0.0357, -0.0387, 0.9957, -0.02, 0.8032, 0.5999, -0.3931, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.4284 left_y=-0.01 left_z=0.0442 left_yaw=-0.0071 left_pitch=-0.2189 left_roll=0.0048 left_gripper=0.9957 right_x=0.2931 right_y=0.0007 right_z=0.1729 right_yaw=-0.0001 right_pitch=-0.0271 right_roll=0.0012 right_gripper=0.9988 state[joint_eff]: [-0.5675, -7.3641, 5.5726, 1.7265, -0.1343, 0.0317, -0.022, -0.1846, -1.347, 7.0222, 1.7216, -0.0464, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws appear to straddle the white bowl's rim in the wrist view; closing to grip the rim."})
tool
executing move_to over 10 steps (1.0s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteGripper closed to 0.023, which usually means empty; lifting 8 cm to check in the overhead view whether the bowl came with it.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.046, 1.7164, 0.8009, 0.1246, -0.0319, -0.0528, 0.023, -0.02, 0.8043, 0.5999, -0.3931, -0.0166, -0.02, 0.9988] state[eef_state]: left_x=0.4286 left_y=-0.0105 left_z=0.0403 left_yaw=-0.0022 left_pitch=-0.2197 left_roll=-0.0081 left_gripper=0.023 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=-0.0003 right_pitch=-0.0282 right_roll=0.0016 right_gripper=0.9988 state[joint_eff]: [-0.0752, -8.0068, 6.612, 1.1844, -0.1538, 0.0904, 0.8864, -0.1983, -1.2239, 7.0085, 1.6972, -0.0269, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Gripper closed to 0.023, which usually means empty; lifting 8 cm to check in the overhead view whether the bowl came with it."})
tool
executing move_to over 6 steps (0.6s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe close was empty: the bowl sits to the right of the jaws in the wrist view and to the right of the gripper overhead. Shifting the left arm 5 cm toward the bowl (-y) with the gripper reopened.
move_to
left_y-0.0600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.046, 1.5906, 0.9436, -0.1776, -0.0341, -0.0566, 0.0297, -0.02, 0.8043, 0.5999, -0.3927, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.4244 left_y=-0.0099 left_z=0.0952 left_yaw=0.0022 left_pitch=-0.2532 left_roll=-0.0075 left_gripper=0.0297 right_x=0.2932 right_y=0.0006 right_z=0.1726 right_yaw=-0.0001 right_pitch=-0.0278 right_roll=0.0013 right_gripper=0.9988 state[joint_eff]: [-0.0615, -9.0872, 9.265, 1.6239, -0.0366, 0.0024, 1.033, -0.1299, -1.0872, 7.0222, 1.7314, -0.0513, -0.0366, -0.0122] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.06, "left_gripper": 1.0}, "note": "The close was empty: the bowl sits to the right of the jaws in the wrist view and to the right of the gripper overhead. Shifting the left arm 5 cm toward the bowl (-y) with the gripper reopened."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe bowl is now centred in the left wrist view, so its centre is about x=0.45, y=-0.06 in the left arm frame; moving to the bowl's left rim (y≈0) at rim height to pinch the rim wall.
move_to
left_x0.4500left_y-0.0050left_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.202, 1.6058, 0.9497, -0.2134, -0.128, -0.1688, 0.9948, -0.02, 0.8097, 0.598, -0.3962, -0.0166, -0.02, 0.9988] state[eef_state]: left_x=0.415 left_y=-0.0583 left_z=0.0866 left_yaw=-0.0077 left_pitch=-0.2892 left_roll=-0.0069 left_gripper=0.9948 right_x=0.2928 right_y=0.0007 right_z=0.1696 right_yaw=-0.0003 right_pitch=-0.0385 right_roll=0.0018 right_gripper=0.9988 state[joint_eff]: [-0.2803, -6.4479, 7.9658, 1.6532, -0.0855, 0.0611, -0.0562, -0.0889, -1.7162, 7.3915, 1.7802, -0.022, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.005, "left_z": 0.03}, "note": "The bowl is now centred in the left wrist view, so its centre is about x=0.45, y=-0.06 in the left arm frame; moving to the bowl's left rim (y\u22480) at rim height to pinch the rim wall."})
tool
executing move_to over 5 steps (0.5s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteToo close to judge: the bowl fills the wrist view. Rising to z=0.10 to see the whole bowl and the jaw column so I can centre on its body and squeeze the tapered lower wall instead of the wide rim.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0338, 1.8057, 0.9413, -0.0345, -0.0471, -0.0738, 0.9949, -0.02, 0.8116, 0.5961, -0.3969, -0.0166, -0.02, 0.9988] state[eef_state]: left_x=0.4398 left_y=-0.0029 left_z=0.0285 left_yaw=0.0368 left_pitch=-0.3268 left_roll=-0.0043 left_gripper=0.9949 right_x=0.2925 right_y=0.0007 right_z=0.1681 right_yaw=-0.0003 right_pitch=-0.0431 right_roll=0.0019 right_gripper=0.9988 state[joint_eff]: [0.3761, -7.6376, 6.188, 1.2576, 0.1832, 0.0366, -0.0073, -0.1299, -1.4701, 7.2, 1.7265, -0.0806, -0.0269, -0.0122] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.1}, "note": "Too close to judge: the bowl fills the wrist view. Rising to z=0.10 to see the whole bowl and the jaw column so I can centre on its body and squeeze the tapered lower wall instead of the wide rim."})
tool
executing move_to over 5 steps (0.5s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe bowl is centred on the jaw column in the wrist view; descending to 1 cm above the table so the open jaws straddle the bowl's narrow lower body.
move_to
left_z0.0120
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0326, 1.7103, 1.0668, -0.2714, -0.0456, -0.0757, 0.9949, -0.02, 0.8116, 0.5957, -0.3969, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.4392 left_y=-0.0027 left_z=0.0792 left_yaw=0.0381 left_pitch=-0.3429 left_roll=-0.0057 left_gripper=0.9949 right_x=0.2925 right_y=0.0007 right_z=0.1679 right_yaw=-0.0001 right_pitch=-0.0435 right_roll=0.0016 right_gripper=0.9988 state[joint_eff]: [-0.1846, -10.3453, 8.1709, 1.3358, -0.0757, -0.0171, -0.0073, -0.1299, -1.3333, 7.1453, 1.7118, -0.0464, -0.0708, -0.0073] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.012}, "note": "The bowl is centred on the jaw column in the wrist view; descending to 1 cm above the table so the open jaws straddle the bowl's narrow lower body."})
tool
executing move_to over 5 steps (0.5s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteJaws appear to sit outside the bowl's lower wall on both sides; closing to squeeze the bowl body.
move_to
left_gripper0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0326, 1.8114, 0.9524, -0.0582, -0.0521, -0.0753, 0.9948, -0.02, 0.812, 0.5953, -0.3973, -0.0166, -0.02, 0.9988] state[eef_state]: left_x=0.4384 left_y=-0.0015 left_z=0.0265 left_yaw=0.0437 left_pitch=-0.3448 left_roll=0.0002 left_gripper=0.9948 right_x=0.2924 right_y=0.0007 right_z=0.1675 right_yaw=-0.0003 right_pitch=-0.0446 right_roll=0.0019 right_gripper=0.9988 state[joint_eff]: [-0.1709, -5.7368, 4.4513, 1.1062, 0.0855, -0.0317, -0.0171, -0.1573, -1.3333, 7.0632, 1.6923, -0.0708, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.05}, "note": "Jaws appear to sit outside the bowl's lower wall on both sides; closing to squeeze the bowl body."})
tool
executing move_to over 10 steps (1.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe closed jaws ended up inside the bowl, so instead I'll use an expanding grip: opening the jaws low inside the bowl so they wedge against the inner wall.
move_to
left_gripper1.0000left_z0.0150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0326, 1.8206, 0.944, -0.0502, -0.0528, -0.075, 0.0551, -0.02, 0.812, 0.5953, -0.3965, -0.0166, -0.02, 0.9988] state[eef_state]: left_x=0.4363 left_y=-0.0013 left_z=0.0209 left_yaw=0.0445 left_pitch=-0.3542 left_roll=0.0019 left_gripper=0.0551 right_x=0.2925 right_y=0.0007 right_z=0.1677 right_yaw=-0.0003 right_pitch=-0.0438 right_roll=0.0019 right_gripper=0.9988 state[joint_eff]: [-0.0068, -9.4838, 6.3521, 1.2869, -0.0269, -0.0122, -0.0562, -0.3624, -1.306, 7.0222, 1.7314, -0.0855, -0.0122, -0.0073] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.015}, "note": "The closed jaws ended up inside the bowl, so instead I'll use an expanding grip: opening the jaws low inside the bowl so they wedge against the inner wall."})
tool
executing move_to over 10 steps (1.0s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe expanding grip failed (jaws opened fully inside the bowl). Backing off to x=0.36, z=0.14 to get a full view of the bowl and the jaw column so I can measure its rim position for a proper rim pinch.
move_to
left_x0.3600left_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0326, 1.8145, 0.9443, -0.0154, -0.054, -0.0788, 0.994, -0.02, 0.8165, 0.5945, -0.4118, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.4437 left_y=-0.0014 left_z=0.0289 left_yaw=0.0465 left_pitch=-0.3131 left_roll=-0.0031 left_gripper=0.994 right_x=0.2904 right_y=0.0007 right_z=0.163 right_yaw=-0.0001 right_pitch=-0.0644 right_roll=0.002 right_gripper=0.9988 state[joint_eff]: [-0.0479, -6.8855, 5.3812, 0.9402, -0.0708, 0.0757, -0.0708, -0.1436, -1.2513, 7.0632, 1.8339, -0.0659, -0.0464, -0.0122] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_z": 0.14}, "note": "The expanding grip failed (jaws opened fully inside the bowl). Backing off to x=0.36, z=0.14 to get a full view of the bowl and the jaw column so I can measure its rim position for a proper rim pinch."})
tool
executing move_to over 8 steps (0.8s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteFull view: the bowl is centred on the jaw column (so its centre is near y≈0, x≈0.44) and is about 11 cm across. Moving to its right rim (y=-0.056) at rim height so the jaws straddle the rim wall.
move_to
left_x0.4400left_y-0.0560left_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0376, 1.356, 0.9028, -0.4202, -0.0532, -0.0788, 0.9948, -0.02, 0.8177, 0.5945, -0.4152, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3688 left_y=-0.0009 left_z=0.1278 left_yaw=0.0406 left_pitch=-0.301 left_roll=-0.0047 left_gripper=0.9948 right_x=0.29 right_y=0.0007 right_z=0.162 right_yaw=-0.0 right_pitch=-0.069 right_roll=0.0021 right_gripper=0.9988 state[joint_eff]: [-0.4855, -6.2427, 9.5111, 1.5311, -0.1148, -0.1441, 0.0757, -0.0615, -1.306, 6.9812, 1.7021, -0.0464, -0.0806, -0.0122] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.056, "left_z": 0.035}, "note": "Full view: the bowl is centred on the jaw column (so its centre is near y\u22480, x\u22480.44) and is about 11 cm across. Moving to its right rim (y=-0.056) at rim height so the jaws straddle the rim wall."})
tool
executing move_to over 6 steps (0.6s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteWrist view shows the bowl's right rim between the jaws but off-centre (left jaw is inside the bowl); shifting +2 cm in y to put the rim wall exactly on the jaw column.
move_to
left_y-0.0310left_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1844, 1.7782, 0.9211, -0.1303, -0.1333, -0.1848, 0.9949, -0.02, 0.8211, 0.5945, -0.416, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.4131 left_y=-0.0495 left_z=0.0199 left_yaw=0.0324 left_pitch=-0.4036 left_roll=0.0127 left_gripper=0.9949 right_x=0.29 right_y=0.0007 right_z=0.161 right_yaw=-0.0 right_pitch=-0.0732 right_roll=0.0022 right_gripper=0.9988 state[joint_eff]: [-0.6222, -9.0188, 7.8017, 1.4335, -0.3004, -0.0855, -0.0024, -0.1436, -1.6342, 6.9812, 1.663, -0.0806, -0.0562, -0.0122] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.031, "left_z": 0.03}, "note": "Wrist view shows the bowl's right rim between the jaws but off-centre (left jaw is inside the bowl); shifting +2 cm in y to put the rim wall exactly on the jaw column."})
tool
executing move_to over 2 steps (0.2s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe bowl's rim wall now runs through the middle of the jaw gap; closing to pinch the rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1669, 1.7977, 0.9234, -0.1066, -0.1284, -0.1795, 0.9949, -0.02, 0.823, 0.5945, -0.416, -0.0166, -0.02, 0.9988] state[eef_state]: left_x=0.4175 left_y=-0.0438 left_z=0.0161 left_yaw=0.0418 left_pitch=-0.3982 left_roll=0.0101 left_gripper=0.9949 right_x=0.2901 right_y=0.0007 right_z=0.1604 right_yaw=-0.0002 right_pitch=-0.0751 right_roll=0.0025 right_gripper=0.9988 state[joint_eff]: [1.3607, -11.5487, 5.9556, 1.4676, 0.0464, 0.1099, -0.0073, -0.3624, -1.0325, 6.9812, 1.7216, -0.0659, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The bowl's rim wall now runs through the middle of the jaw gap; closing to pinch the rim."})
tool
executing move_to over 10 steps (1.0s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteGripper settled at 0.024 — could be the thin rim. Lifting to 13 cm to see whether the bowl comes up with it.
move_to
left_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1696, 1.7851, 0.9264, -0.0959, -0.1745, -0.1684, 0.0241, -0.02, 0.823, 0.5945, -0.416, -0.0166, -0.02, 0.9988] state[eef_state]: left_x=0.4224 left_y=-0.0376 left_z=0.0247 left_yaw=0.0714 left_pitch=-0.3643 left_roll=0.0506 left_gripper=0.0241 right_x=0.2901 right_y=0.0007 right_z=0.1604 right_yaw=-0.0002 right_pitch=-0.0751 right_roll=0.0025 right_gripper=0.9988 state[joint_eff]: [-0.0068, -6.9812, 5.8735, 0.9548, 0.3736, -0.1148, 1.2039, -0.1299, -1.388, 7.0222, 1.6728, -0.0611, -0.0611, -0.0122] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.13}, "note": "Gripper settled at 0.024 \u2014 could be the thin rim. Lifting to 13 cm to see whether the bowl comes up with it."})
tool
executing move_to over 7 steps (0.7s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe bowl stayed fixed in the wrist view while the arm lifted 8 cm, so it is held by the rim. Carrying it left ~16 cm over the middle bowl for nesting.
move_to
left_x0.4300left_y-0.2000left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1696, 1.6566, 1.1511, -0.4706, -0.1776, -0.1768, 0.034, -0.02, 0.823, 0.5945, -0.416, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.4225 left_y=-0.037 left_z=0.107 left_yaw=0.081 left_pitch=-0.3841 left_roll=0.0536 left_gripper=0.034 right_x=0.2901 right_y=0.0007 right_z=0.1604 right_yaw=-0.0 right_pitch=-0.0751 right_roll=0.0022 right_gripper=0.9988 state[joint_eff]: [-0.0479, -10.2359, 8.9504, 1.2137, -0.1148, 0.0415, 1.033, -0.3624, -1.265, 7.1453, 1.6484, -0.0366, -0.0757, -0.0073] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.2, "left_z": 0.18}, "note": "The bowl stayed fixed in the wrist view while the arm lifted 8 cm, so it is held by the rim. Carrying it left ~16 cm over the middle bowl for nesting."})
tool
executing move_to over 15 steps (1.5s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteAmbiguous whether the bowl is actually held; raising to 30 cm so the overhead camera can show the original bowl position and whether a bowl hangs from the jaws.
move_to
left_z0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5774, 1.9022, 1.7226, -0.9104, -0.366, -0.5312, 0.0375, -0.02, 0.8288, 0.5941, -0.4225, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.4272 left_y=-0.1986 left_z=0.1686 left_yaw=0.0597 left_pitch=-0.4061 left_roll=0.047 left_gripper=0.0375 right_x=0.2894 right_y=0.0007 right_z=0.1575 right_yaw=-0.0 right_pitch=-0.0877 right_roll=0.0025 right_gripper=0.9988 state[joint_eff]: [-0.4034, -9.935, 8.7726, 0.9646, -0.4322, 0.0464, 1.0281, -0.1573, -1.7162, 6.9949, 1.6923, -0.0806, -0.0269, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.3}, "note": "Ambiguous whether the bowl is actually held; raising to 30 cm so the overhead camera can show the original bowl position and whether a bowl hangs from the jaws."})
tool
executing move_to over 9 steps (0.9s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteConfirmed: the pale bowl hangs from the jaws (it stays fixed in the wrist view as the arm moves), and the middle bowl shows at the lower right of the wrist view. Moving 7 cm further toward it to line up for nesting.
move_to
left_y-0.2700left_x0.4200left_z0.2200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5797, 2.1456, 2.5793, -1.4837, -0.3569, -0.5465, 0.0375, -0.02, 0.8307, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.4355 left_y=-0.2071 left_z=0.2868 left_yaw=0.0495 left_pitch=-0.3782 left_roll=0.0049 left_gripper=0.0375 right_x=0.2894 right_y=0.0007 right_z=0.1569 right_yaw=-0.0 right_pitch=-0.09 right_roll=0.0025 right_gripper=0.9988 state[joint_eff]: [0.3077, -10.5778, 7.5966, 1.1013, -0.2369, 0.1245, 1.0281, 0.0068, -1.5385, 7.2, 1.6484, -0.0024, -0.0659, -0.0122] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.27, "left_x": 0.42, "left_z": 0.22}, "note": "Confirmed: the pale bowl hangs from the jaws (it stays fixed in the wrist view as the arm moves), and the middle bowl shows at the lower right of the wrist view. Moving 7 cm further toward it to line up for nesting."})
tool
executing move_to over 6 steps (0.6s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteRe-reading the views: the purple bowl hanging at the bottom of the wrist image is the one we carry (the big pale shape is the arm's own link). Lowering to 12 cm to reduce parallax and bring the target bowl into view.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7189, 2.1056, 2.2112, -1.2644, -0.395, -0.6563, 0.0375, -0.02, 0.8307, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.4122 left_y=-0.2656 left_z=0.2112 left_yaw=0.0335 left_pitch=-0.4384 left_roll=0.0423 left_gripper=0.0375 right_x=0.2894 right_y=0.0007 right_z=0.1569 right_yaw=-0.0 right_pitch=-0.09 right_roll=0.0025 right_gripper=0.9988 state[joint_eff]: [-0.3077, -12.1915, 6.2154, 1.1306, -0.5006, -0.1392, 1.0281, -0.2393, -1.1556, 7.0222, 1.6386, -0.0806, -0.0708, -0.0122] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Re-reading the views: the purple bowl hanging at the bottom of the wrist image is the one we carry (the big pale shape is the arm's own link). Lowering to 12 cm to reduce parallax and bring the target bowl into view."})
tool
executing move_to over 6 steps (0.6s)
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 noteOverhead shows the carried bowl just left of and beyond the middle bowl; nudging 5 cm further toward the table centre to line up above it.
move_to
left_y-0.3100left_x0.4000left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7238, 2.0655, 1.7664, -0.944, -0.3901, -0.6704, 0.0376, -0.02, 0.8314, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.4007 left_y=-0.2597 left_z=0.1086 left_yaw=0.0635 left_pitch=-0.5016 left_roll=0.0964 left_gripper=0.0376 right_x=0.2894 right_y=0.0007 right_z=0.1567 right_yaw=-0.0 right_pitch=-0.0908 right_roll=0.0025 right_gripper=0.9988 state[joint_eff]: [0.0615, -13.2171, 6.8444, 1.0672, -0.232, 0.1441, 0.9499, -0.1846, -1.2239, 6.9675, 1.6728, -0.0317, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_y": -0.31, "left_x": 0.4, "left_z": 0.12}, "note": "Overhead shows the carried bowl just left of and beyond the middle bowl; nudging 5 cm further toward the table centre to line up above it."})
tool
executing move_to over 5 steps (0.5s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteOverhead shows the gripper now directly over the middle bowl; lowering the carried bowl toward its mouth to nest it.
move_to
left_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8032, 2.2158, 2.027, -1.0809, -0.3943, -0.7483, 0.0389, -0.02, 0.8314, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3984 left_y=-0.3099 left_z=0.1134 left_yaw=0.0456 left_pitch=-0.5128 left_roll=0.0796 left_gripper=0.0389 right_x=0.2894 right_y=0.0007 right_z=0.1567 right_yaw=-0.0 right_pitch=-0.0908 right_roll=0.0025 right_gripper=0.9988 state[joint_eff]: [-0.0889, -11.9726, 8.1983, 0.6276, -0.4371, 0.1197, 0.9353, -0.1162, -1.347, 6.9675, 1.6239, -0.0855, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.07}, "note": "Overhead shows the gripper now directly over the middle bowl; lowering the carried bowl toward its mouth to nest it."})
tool
executing move_to over 3 steps (0.3s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent notePositioned over the purple bowl's mouth; opening the jaws to release the carried bowl into it.
move_to
left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8097, 2.2189, 1.8839, -0.9859, -0.3946, -0.7517, 0.0404, -0.02, 0.8345, 0.5941, -0.4229, -0.0166, -0.02, 0.9988] state[eef_state]: left_x=0.3884 left_y=-0.304 left_z=0.0729 left_yaw=0.0642 left_pitch=-0.5457 left_roll=0.123 left_gripper=0.0404 right_x=0.2895 right_y=0.0007 right_z=0.1558 right_yaw=-0.0002 right_pitch=-0.0938 right_roll=0.0029 right_gripper=0.9988 state[joint_eff]: [0.4991, -12.3009, 7.0222, 1.1404, -0.022, -0.0073, 0.8864, -0.1299, -1.6068, 6.9812, 1.6288, -0.0171, -0.0415, -0.0073] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.8}, "note": "Positioned over the purple bowl's mouth; opening the jaws to release the carried bowl into it."})
tool
executing move_to over 8 steps (0.8s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteCorrection: nothing was actually being carried — the grey shape at the left of the wrist view is the left bowl seen edge-on. I am now right above the purple middle bowl; lining the jaws up on its near-left rim at rim height for a pinch grasp.
move_to
left_y-0.2880left_z0.0320
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8082, 2.2276, 1.8587, -0.984, -0.3904, -0.7563, 0.7951, -0.02, 0.8364, 0.5941, -0.4229, -0.0166, -0.0204, 0.9989] state[eef_state]: left_x=0.384 left_y=-0.2993 left_z=0.0609 left_yaw=0.0814 left_pitch=-0.5688 left_roll=0.1467 left_gripper=0.7951 right_x=0.2896 right_y=0.0007 right_z=0.1553 right_yaw=-0.0 right_pitch=-0.0957 right_roll=0.0026 right_gripper=0.9989 state[joint_eff]: [-0.2256, -13.1761, 8.0615, 0.6276, -0.2759, 0.0269, -0.105, -0.1573, -1.4154, 7.0085, 1.6239, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.288, "left_z": 0.032}, "note": "Correction: nothing was actually being carried \u2014 the grey shape at the left of the wrist view is the left bowl seen edge-on. I am now right above the purple middle bowl; lining the jaws up on its near-left rim at rim height for a pinch grasp."})
tool
executing move_to over 2 steps (0.2s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteBoth jaw tips are visible with the purple bowl's rim between them but offset right; shifting 1.5 cm to put the rim wall on the jaw centre line before closing.
move_to
left_y-0.3070left_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8013, 2.2116, 1.7714, -0.9073, -0.3908, -0.7525, 0.796, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.02, 0.9988] state[eef_state]: left_x=0.3825 left_y=-0.293 left_z=0.046 left_yaw=0.0835 left_pitch=-0.5655 left_roll=0.144 left_gripper=0.796 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.0965 right_roll=0.0029 right_gripper=0.9988 state[joint_eff]: [0.8957, -11.9316, 5.7094, 0.7741, -0.2125, 0.149, 0.0757, -0.0479, -1.2923, 7.0906, 1.6435, -0.0659, -0.0317, -0.0171] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.307, "left_z": 0.03}, "note": "Both jaw tips are visible with the purple bowl's rim between them but offset right; shifting 1.5 cm to put the rim wall on the jaw centre line before closing."})
tool
executing move_to over 2 steps (0.2s)
step 169
assistant
agent noteThe jaws are currently in the gap between the grey and purple bowls; shifting ~2.8 cm toward the purple bowl so its near rim sits between the jaw tips.
move_to
left_y-0.3200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8021, 2.2456, 1.7561, -0.8856, -0.3908, -0.7616, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3809 left_y=-0.2919 left_z=0.0271 left_yaw=0.1024 left_pitch=-0.5819 left_roll=0.1649 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0 right_pitch=-0.0965 right_roll=0.0026 right_gripper=0.9988 state[joint_eff]: [-1.3333, -11.0291, 8.2803, 0.5836, -0.2808, -0.1343, -0.0073, -0.2393, -1.4838, 7.2957, 1.619, -0.0659, -0.0806, -0.0122] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.32}, "note": "The jaws are currently in the gap between the grey and purple bowls; shifting ~2.8 cm toward the purple bowl so its near rim sits between the jaw tips."})
tool
executing move_to over 3 steps (0.3s)
step 172
assistant
agent notePurple bowl's rim is just right of the jaw centre; nudging 2.4 cm more so the rim wall lies between the jaw tips.
move_to
left_y-0.3280
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8249, 2.2635, 1.7767, -0.8856, -0.3908, -0.775, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3772 left_y=-0.3038 left_z=0.0249 left_yaw=0.0866 left_pitch=-0.579 left_roll=0.1559 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0 right_pitch=-0.0965 right_roll=0.0026 right_gripper=0.9988 state[joint_eff]: [-0.0068, -11.8496, 8.1709, 0.5836, -0.2711, -0.0415, -0.0122, -0.0889, -1.4564, 7.2137, 1.6239, -0.0562, -0.0806, -0.0122] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.328}, "note": "Purple bowl's rim is just right of the jaw centre; nudging 2.4 cm more so the rim wall lies between the jaw tips."})
tool
executing move_to over 3 steps (0.3s)
step 175
assistant
agent noteThe arm stalled (likely the jaws are touching both bowls); lifting slightly and shifting further onto the purple bowl before descending on its rim.
move_to
left_z0.0600left_y-0.3400left_x0.3850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8249, 2.2635, 1.7767, -0.886, -0.3908, -0.775, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.02, 0.9988] state[eef_state]: left_x=0.3771 left_y=-0.3037 left_z=0.0249 left_yaw=0.0868 left_pitch=-0.5792 left_roll=0.1562 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.0965 right_roll=0.0029 right_gripper=0.9988 state[joint_eff]: [0.0615, -12.0684, 8.3897, 0.5788, -0.3297, -0.0317, -0.0122, -0.0752, -1.5111, 6.9812, 1.6581, -0.0659, -0.022, -0.0122] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.06, "left_y": -0.34, "left_x": 0.385}, "note": "The arm stalled (likely the jaws are touching both bowls); lifting slightly and shifting further onto the purple bowl before descending on its rim."})
tool
executing move_to over 4 steps (0.4s)
step 179
assistant
agent noteThe left arm has stopped tracking entirely, likely wedged between the two bowls; commanding a pure vertical lift to free it.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8246, 2.2635, 1.7767, -0.8856, -0.3908, -0.7753, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.02, 0.9988] state[eef_state]: left_x=0.3773 left_y=-0.3036 left_z=0.0249 left_yaw=0.0872 left_pitch=-0.579 left_roll=0.1557 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.0965 right_roll=0.0029 right_gripper=0.9988 state[joint_eff]: [0.1299, -11.8632, 8.3487, 0.6276, -0.3394, -0.022, -0.0122, -0.1983, -1.5111, 7.0085, 1.6239, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.16}, "note": "The left arm has stopped tracking entirely, likely wedged between the two bowls; commanding a pure vertical lift to free it."})
tool
executing move_to over 9 steps (0.9s)
step 188
assistant
agent noteClear view now: green bowl left, purple bowl right, jaws in the gap. Moving 1.5 cm toward the purple bowl and down to rim height so its near rim sits between the jaws.
move_to
left_y-0.3250left_x0.3850left_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8249, 2.2765, 2.299, -1.3632, -0.3862, -0.7834, 0.7961, -0.02, 0.8379, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3827 left_y=-0.3108 left_z=0.1511 left_yaw=0.0732 left_pitch=-0.5623 left_roll=0.1188 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1549 right_yaw=-0.0 right_pitch=-0.0972 right_roll=0.0027 right_gripper=0.9988 state[joint_eff]: [-0.1983, -11.3573, 7.4598, 0.3785, -0.3004, 0.0269, -0.0122, -0.1026, -1.5248, 7.0222, 1.663, -0.0171, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.325, "left_x": 0.385, "left_z": 0.035}, "note": "Clear view now: green bowl left, purple bowl right, jaws in the gap. Moving 1.5 cm toward the purple bowl and down to rim height so its near rim sits between the jaws."})
tool
executing move_to over 8 steps (0.8s)
step 196
assistant
agent noteThe purple bowl's near rim wall is now between the jaw tips; closing to pinch it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8379, 2.2971, 1.9148, -0.9909, -0.3904, -0.7906, 0.7961, -0.02, 0.8383, 0.5941, -0.4229, -0.0166, -0.02, 0.9988] state[eef_state]: left_x=0.3809 left_y=-0.3174 left_z=0.0449 left_yaw=0.0838 left_pitch=-0.5784 left_roll=0.1486 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1548 right_yaw=-0.0002 right_pitch=-0.0976 right_roll=0.003 right_gripper=0.9988 state[joint_eff]: [-0.5265, -11.7402, 5.9556, 0.6911, -0.232, -0.1587, -0.0122, -0.1162, -1.0872, 6.9949, 1.6532, -0.0806, -0.0024, -0.0122] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The purple bowl's near rim wall is now between the jaw tips; closing to pinch it."})
tool
executing move_to over 8 steps (0.8s)
step 204
assistant
agent noteGripper settled at 0.108 (~1 cm of rim between the jaws), so the purple bowl is gripped; lifting and carrying it over the green bowl at roughly (0.44, -0.04).
move_to
left_x0.4300left_y-0.0500left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8379, 2.2925, 1.911, -0.9787, -0.3901, -0.8059, 0.1077, -0.02, 0.8421, 0.5941, -0.4225, -0.0166, -0.02, 0.9988] state[eef_state]: left_x=0.3823 left_y=-0.319 left_z=0.0465 left_yaw=0.0866 left_pitch=-0.5697 left_roll=0.1284 left_gripper=0.1077 right_x=0.2899 right_y=0.0007 right_z=0.1539 right_yaw=-0.0002 right_pitch=-0.1011 right_roll=0.003 right_gripper=0.9988 state[joint_eff]: [-0.3214, -12.3556, 6.8308, 0.5641, -0.2173, 0.1587, 0.4762, -0.1162, -1.7299, 7.0085, 1.6142, -0.0806, -0.0513, -0.0122] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.05, "left_z": 0.16}, "note": "Gripper settled at 0.108 (~1 cm of rim between the jaws), so the purple bowl is gripped; lifting and carrying it over the green bowl at roughly (0.44, -0.04)."})
tool
executing move_to over 24 steps (2.4s)
step 228
assistant
agent noteOut of call budget with the three bowls still unstacked. I managed one apparently real rim grip (gripper settled at 0.108 ≈ 1 cm of rim) on the purple bowl, but it slipped out during the transport move, and earlier rim pinches closed empty (0.02–0.03).
give_up
hindsightScene: three shallow ~11-13 cm bowls (green ≈ left_x 0.44, left_y -0.03; purple ≈ left_x 0.39, left_y -0.33; pink in front of the right arm, right_y ≈ 0, right_x ≈ 0.42), sitting in a row ~18 cm apart. Key lessons: - These bowls are wider than the 9.5 cm jaw stroke, so you cannot squeeze the body, and the flared rim stops the jaws reaching the narrow base. The only grasp is a rim pinch: one jaw inside, one outside, at z≈0.03-0.045, and the settled gripper reading for a real rim grip is ≈0.10 (1 cm), NOT 0.02-0.03 — anything ≤0.04 is a miss. - A rim grip is fragile: it slipped during a fast 30 cm transport. Lift only a few cm, move slowly/in short segments, and keep the rim deep between the jaws. - The wrist camera is very misleading for bowls: at z<0.1 it is a close-up (field ~25 cm) and an object "centred" there can be 5 cm off. Identify features by colour and use the overhead camera plus arm-frame bookkeeping; the big pale shape at the image edge is often a neighbouring bowl, not the arm. - Verify a "carry" with the overhead camera after moving away, not with the wrist camera: objects near the jaws stay fixed in the wrist frame whether held or not is false—held objects stay fixed, but nearby table objects can look similar for several frames. - The arm can stall completely when the jaws are wedged between two bowls; a pure vertical z lift frees it (combined x/y/z commands did nothing). - y moves of >2 cm are clamped to a couple of steps per call; expect only ~1 cm of actual travel per short call, so command larger deltas than you need.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2134, 1.8637, 1.6077, -0.9897, -0.2058, -0.2234, 0.108, -0.02, 0.8436, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.4247 left_y=-0.0514 left_z=0.1306 left_yaw=0.137 left_pitch=-0.6319 left_roll=0.1472 left_gripper=0.108 right_x=0.2899 right_y=0.0007 right_z=0.1534 right_yaw=0.0 right_pitch=-0.103 right_roll=0.0028 right_gripper=0.9988 state[joint_eff]: [0.294, -12.9709, 9.1829, 0.8864, -0.0562, 0.3541, 0.0171, -0.1983, -1.347, 7.0085, 1.6581, -0.0513, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
give_up({"reason": "Out of call budget with the three bowls still unstacked. I managed one apparently real rim grip (gripper settled at 0.108 \u2248 1 cm of rim) on the purple bowl, but it slipped out during the transport move, and earlier rim pinches closed empty (0.02\u20130.03).", "hindsight": "Scene: three shallow ~11-13 cm bowls (green \u2248 left_x 0.44, left_y -0.03; purple \u2248 left_x 0.39, left_y -0.33; pink in front of the right arm, right_y \u2248 0, right_x \u2248 0.42), sitting in a row ~18 cm apart.\n\nKey lessons:\n- These bowls are wider than the 9.5 cm jaw stroke, so you cannot squeeze the body, and the flared rim stops the jaws reaching the narrow base. The only grasp is a rim pinch: one jaw inside, one outside, at z\u22480.03-0.045, and the settled gripper reading for a real rim grip is \u22480.10 (1 cm), NOT 0.02-0.03 \u2014 anything \u22640.04 is a miss.\n- A rim grip is fragile: it slipped during a fast 30 cm transport. Lift only a few cm, move slowly/in short segments, and keep the rim deep between the jaws.\n- The wrist camera is very misleading for bowls: at z<0.1 it is a close-up (field ~25 cm) and an object \"centred\" there can be 5 cm off. Identify features by colour and use the overhead camera plus arm-frame bookkeeping; the big pale shape at the image edge is often a neighbouring bowl, not the arm.\n- Verify a \"carry\" with the overhead camera after moving away, not with the wrist camera: objects near the jaws stay fixed in the wrist frame whether held or not is false\u2014held objects stay fixed, but nearby table objects can look similar for several frames.\n- The arm can stall completely when the jaws are wedged between two bowls; a pure vertical z lift frees it (combined x/y/z commands did nothing).\n- y moves of >2 cm are clamped to a couple of steps per call; expect only ~1 cm of actual travel per short call, so command larger deltas than you need."})
tool
give_up: Out of call budget with the three bowls still unstacked. I managed one apparently real rim grip (gripper settled at 0.108 ≈ 1 cm of rim) on the purple bowl, but it slipped out during the transport move, and earlier rim pinches closed empty (0.02–0.03).
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 · 23.85 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3813, -0.0223, -0.0257, 0.996, -0.0181, 0.7929, 0.6022, -0.3786, -0.0151, -0.02, 0.9989]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1799 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.996 right_x=0.2947 right_y=0.0009 right_z=0.1797 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9989\nstate[joint_eff]: [-0.6906, -1.5795, 10.0718, 1.7949, -0.0464, 0.105, -0.4322, -0.7043, -1.4564, 10.2359, 1.8926, -0.0806, 0.0366, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f13f3d9e3db8f35256ccce4ad501af6fcc222fe7ac1f6484f770159c25fca18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0df2b1674056d1a3d7c7fb66464ffab60206f1535f79c4cb87643c534828c3b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bee00f7909cd3abc21cc49f58fa02c2c61e8594f843d58559ab65493a4c1ce34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 12.54 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3813, -0.0223, -0.0257, 0.996, -0.0181, 0.7929, 0.6022, -0.3786, -0.0151, -0.02, 0.9989]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1799 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.996 right_x=0.2947 right_y=0.0009 right_z=0.1797 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9989\nstate[joint_eff]: [-0.6906, -1.5795, 10.0718, 1.7949, -0.0464, 0.105, -0.4322, -0.7043, -1.4564, 10.2359, 1.8926, -0.0806, 0.0366, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f13f3d9e3db8f35256ccce4ad501af6fcc222fe7ac1f6484f770159c25fca18",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0df2b1674056d1a3d7c7fb66464ffab60206f1535f79c4cb87643c534828c3b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bee00f7909cd3abc21cc49f58fa02c2c61e8594f843d58559ab65493a4c1ce34",
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  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012j9cDeGcZnZJDRj2S68SFq",
      "input": {
        "note": "Three bowls sit in a row; the left arm's wrist camera shows the white/blue bowl roughly centred ahead of it. Advancing the left arm forward to x=0.38 at safe height to judge the bowl's distance.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.38,
          "left_y": 0.0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_012j9cDeGcZnZJDRj2S68SFq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 1.1831, 0.7414, -0.2115, -0.0231, -0.0265, 0.996, -0.02, 0.7975, 0.6018, -0.3889, -0.0166, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3634 left_y=0.0005 left_z=0.1561 left_yaw=0.0015 left_pitch=-0.0824 left_roll=0.0015 left_gripper=0.996 right_x=0.2935 right_y=0.0006 right_z=0.1761 right_yaw=-0.0003 right_pitch=-0.0152 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -4.4786, 9.1145, 1.9219, -0.0464, -0.0659, -0.4274, 0.0479, -1.5521, 7.0769, 1.8095, -0.0171, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3730c74a440c5cb9ba528a6abcf7ca989241fbc37a422677c7826092872ca69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b238eec50df60075129bb1b854cdef91d20f57f44c4826cb4760816564bd7d49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:efe67d9e8c264595022db5b2d90defad6f8917e68b843cfbedf362224db6f1a1",
        "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 · 8.757 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3813, -0.0223, -0.0257, 0.996, -0.0181, 0.7929, 0.6022, -0.3786, -0.0151, -0.02, 0.9989]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1799 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.996 right_x=0.2947 right_y=0.0009 right_z=0.1797 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9989\nstate[joint_eff]: [-0.6906, -1.5795, 10.0718, 1.7949, -0.0464, 0.105, -0.4322, -0.7043, -1.4564, 10.2359, 1.8926, -0.0806, 0.0366, -0.1245]",
      "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, 1.1831, 0.7414, -0.2115, -0.0231, -0.0265, 0.996, -0.02, 0.7975, 0.6018, -0.3889, -0.0166, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3634 left_y=0.0005 left_z=0.1561 left_yaw=0.0015 left_pitch=-0.0824 left_roll=0.0015 left_gripper=0.996 right_x=0.2935 right_y=0.0006 right_z=0.1761 right_yaw=-0.0003 right_pitch=-0.0152 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -4.4786, 9.1145, 1.9219, -0.0464, -0.0659, -0.4274, 0.0479, -1.5521, 7.0769, 1.8095, -0.0171, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3730c74a440c5cb9ba528a6abcf7ca989241fbc37a422677c7826092872ca69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b238eec50df60075129bb1b854cdef91d20f57f44c4826cb4760816564bd7d49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efe67d9e8c264595022db5b2d90defad6f8917e68b843cfbedf362224db6f1a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015KbcYXRxMEd8qyJ5wQWK3u",
      "input": {
        "note": "The bowl is still ahead of the fingertips in the wrist view; advancing the left arm to x=0.44 to get over the bowl's rim.",
        "targets": {
          "left_x": 0.44,
          "left_y": 0.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015KbcYXRxMEd8qyJ5wQWK3u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0189, 1.4925, 0.918, -0.1505, -0.0227, -0.0265, 0.9958, -0.02, 0.8017, 0.5999, -0.3931, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4224 left_y=-0.0004 left_z=0.129 left_yaw=0.0021 left_pitch=-0.1541 left_roll=0.0028 left_gripper=0.9958 right_x=0.293 right_y=0.0007 right_z=0.1733 right_yaw=-0.0001 right_pitch=-0.0255 right_roll=0.0012 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -7.0632, 8.8957, 1.6874, -0.0415, 0.0024, -0.0366, -0.1846, -1.5521, 7.3094, 1.7802, -0.0464, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dad45205ebffa02a81aca2520651d9dc239389321bc8cf516a1543b0db135291",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64c98e24c2c254cb1dc77ba50012659509245e89f1bf26b6a8f7b6e8b965fb2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27b53a0d4e7295a4cde22eba591317dbed2a77770ff06d4fb5fb3eb1c566cbc2",
        "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 · 7.366 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3813, -0.0223, -0.0257, 0.996, -0.0181, 0.7929, 0.6022, -0.3786, -0.0151, -0.02, 0.9989]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1799 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.996 right_x=0.2947 right_y=0.0009 right_z=0.1797 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9989\nstate[joint_eff]: [-0.6906, -1.5795, 10.0718, 1.7949, -0.0464, 0.105, -0.4322, -0.7043, -1.4564, 10.2359, 1.8926, -0.0806, 0.0366, -0.1245]",
      "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, 1.1831, 0.7414, -0.2115, -0.0231, -0.0265, 0.996, -0.02, 0.7975, 0.6018, -0.3889, -0.0166, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3634 left_y=0.0005 left_z=0.1561 left_yaw=0.0015 left_pitch=-0.0824 left_roll=0.0015 left_gripper=0.996 right_x=0.2935 right_y=0.0006 right_z=0.1761 right_yaw=-0.0003 right_pitch=-0.0152 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -4.4786, 9.1145, 1.9219, -0.0464, -0.0659, -0.4274, 0.0479, -1.5521, 7.0769, 1.8095, -0.0171, -0.022, -0.0171]",
      "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]: [-0.0189, 1.4925, 0.918, -0.1505, -0.0227, -0.0265, 0.9958, -0.02, 0.8017, 0.5999, -0.3931, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4224 left_y=-0.0004 left_z=0.129 left_yaw=0.0021 left_pitch=-0.1541 left_roll=0.0028 left_gripper=0.9958 right_x=0.293 right_y=0.0007 right_z=0.1733 right_yaw=-0.0001 right_pitch=-0.0255 right_roll=0.0012 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -7.0632, 8.8957, 1.6874, -0.0415, 0.0024, -0.0366, -0.1846, -1.5521, 7.3094, 1.7802, -0.0464, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dad45205ebffa02a81aca2520651d9dc239389321bc8cf516a1543b0db135291",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64c98e24c2c254cb1dc77ba50012659509245e89f1bf26b6a8f7b6e8b965fb2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27b53a0d4e7295a4cde22eba591317dbed2a77770ff06d4fb5fb3eb1c566cbc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzAgKjgEIEhgCKkA8OzimubBoDgUqhCVO9xE+gYAY1X+0nwHlwXDqzASFmRnpdKqrUG4Am8ofQgGPKQEA+Re6ebsNBcEJxDZ3+BbSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAauczNUGEgxBzOynn1fDQYCRkY4aDIOrh/CqUCzpULZkcSIwTReg1tSQaa4irwkzILdCAmQhx/mf7CA/sKFmTqIHHqs1jI4awYP6YIllSH9EzSu/KuoGZ+OgNMykpMZn5mv6jT7i4y+SYG6yEWu8G8JFZA4Kl0gjzKXPO04fGx5YUXX2Q5Z7n/Y0iypraOS9NopNVTp+OP0ur2LDweQnje6jHrESMvYVZhlvd/2K4awOQgqfaeOYIK9uhtLTSRMzUCwZ8mvOFjpWThWZn6cnVl5Rx3SondF6ENxXWg0+458oAoDQeM3YeZrqfANyl0SZK4xdR8wgKSzX+pqS9P3PFf2r+W7n2ZcKqvfBoNBMPvGOs80hCSvRSZvRa5VDDL7JFuul8PZ8aLeiYV5Dtmr30koqncEzVyon3+INQ7TuIaldH+nesFguizJVCpa9gOjni/MLxeosel70cH0YoEvZStd1LewkYkVokMvSzbK5T4AHzdvVXXXZcFUSjeAlUnUQrGRxFAQd1LWZgEAkdhi4C1MIxe+p2OXMil6UQEG+pHeZXOOv1SYe42GtFSWkShqhrpeFhms78fQLc7DGOhqp2Ti7PVyzCkVd8jOEdpv4cRszyEEqBP5PCd8Q7OGeumt8iQzP87oAuTqyuPOlQDghVELAJy6di8jK8ZeT2mxbXM4D3hNzkXMrM8/vp+DYRte6gLGZnSEhJhNsz65i5cetLhlTrd7+tHBIS2Ztvd2iTTGCcuhvMz69toIyzYFaaU7kWNAvbyoyt5wE0j3T1vkRUI2Q2/+s1/nDTw8ImKXXWsIeA8lD05oIkbau6U4uy4JDULcw8w7dinwFoy3FbBdIX0czseK/KBvsV05XOdmfji8g7z4txVgsKbaz723Qtxao7GFGesYY8/Ggjjq128gEO2Mw40Ch44VyOhmBn/Te9nfW6/eYoLD/TK3g+0fEcmfR3bPZ0fEdxMzXo8vNcYjTSQvIxncAxxYO+6N1I3zpMHjNcBQRxGwKEBiAAx1dHiezIvc+S07Nlen18CeDwqvDHMXrL/qOfzOVt1d1/pcNy+WaiJnCkTZvEgCV2AsnpEJ4DxB2VrgzwAD4z4tNBCTvDbpa8ivSLKt83eSxWkdsblqqshyOAYBTmlgHo6m3/2ozWe5PS6xtVRURFqiJ/Q5LwHpdql9uXjQgyXYu48FZIbzXlk0ddhycM6tTlSdZyNvhhO3SWnK4XeNXMyR4qCPv2TBkI2MhBgxdr2DIQE8uBCgK8CIogkTHan9XsGUotuf2KxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JCn6CvwNrU1rJGkVK6aGnU",
      "input": {
        "note": "The white bowl is now at the bottom of the left wrist view, just beyond the jaws. Lowering to rim height (z=0.05) and nudging right to line the jaw column up with the bowl rim.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.01,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01JCn6CvwNrU1rJGkVK6aGnU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0463, 1.705, 0.8062, 0.1085, -0.0357, -0.0387, 0.9957, -0.02, 0.8032, 0.5999, -0.3931, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4284 left_y=-0.01 left_z=0.0442 left_yaw=-0.0071 left_pitch=-0.2189 left_roll=0.0048 left_gripper=0.9957 right_x=0.2931 right_y=0.0007 right_z=0.1729 right_yaw=-0.0001 right_pitch=-0.0271 right_roll=0.0012 right_gripper=0.9988\nstate[joint_eff]: [-0.5675, -7.3641, 5.5726, 1.7265, -0.1343, 0.0317, -0.022, -0.1846, -1.347, 7.0222, 1.7216, -0.0464, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37b1ff437fb8b202425cea90a2a77afb3c1818a3d3c7e1577c75f509f288f76a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12795e3ba63c143346145ed0d55e8b40f300fc63b6a79cd06ac3d5fe343b2b02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e18e75830b42be63399bd32edddb1cb570e26afc2c4269d068df990372da38bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 3.895 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 1.1831, 0.7414, -0.2115, -0.0231, -0.0265, 0.996, -0.02, 0.7975, 0.6018, -0.3889, -0.0166, -0.02, 0.9989]\nstate[eef_state]: left_x=0.3634 left_y=0.0005 left_z=0.1561 left_yaw=0.0015 left_pitch=-0.0824 left_roll=0.0015 left_gripper=0.996 right_x=0.2935 right_y=0.0006 right_z=0.1761 right_yaw=-0.0003 right_pitch=-0.0152 right_roll=0.0013 right_gripper=0.9989\nstate[joint_eff]: [-0.0479, -4.4786, 9.1145, 1.9219, -0.0464, -0.0659, -0.4274, 0.0479, -1.5521, 7.0769, 1.8095, -0.0171, -0.022, -0.0171]",
      "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]: [-0.0189, 1.4925, 0.918, -0.1505, -0.0227, -0.0265, 0.9958, -0.02, 0.8017, 0.5999, -0.3931, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4224 left_y=-0.0004 left_z=0.129 left_yaw=0.0021 left_pitch=-0.1541 left_roll=0.0028 left_gripper=0.9958 right_x=0.293 right_y=0.0007 right_z=0.1733 right_yaw=-0.0001 right_pitch=-0.0255 right_roll=0.0012 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -7.0632, 8.8957, 1.6874, -0.0415, 0.0024, -0.0366, -0.1846, -1.5521, 7.3094, 1.7802, -0.0464, -0.0562, -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]: [-0.0463, 1.705, 0.8062, 0.1085, -0.0357, -0.0387, 0.9957, -0.02, 0.8032, 0.5999, -0.3931, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4284 left_y=-0.01 left_z=0.0442 left_yaw=-0.0071 left_pitch=-0.2189 left_roll=0.0048 left_gripper=0.9957 right_x=0.2931 right_y=0.0007 right_z=0.1729 right_yaw=-0.0001 right_pitch=-0.0271 right_roll=0.0012 right_gripper=0.9988\nstate[joint_eff]: [-0.5675, -7.3641, 5.5726, 1.7265, -0.1343, 0.0317, -0.022, -0.1846, -1.347, 7.0222, 1.7216, -0.0464, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37b1ff437fb8b202425cea90a2a77afb3c1818a3d3c7e1577c75f509f288f76a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12795e3ba63c143346145ed0d55e8b40f300fc63b6a79cd06ac3d5fe343b2b02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e18e75830b42be63399bd32edddb1cb570e26afc2c4269d068df990372da38bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS+AYKjgEIEhgCKkCTYtpIkl/KmVcYJZoaPoB13BGm5w0kay2+WqTED4iaeydbhlKRBNPvmk8PvIh866/VPKMpYj4FgaLomjZzDnhaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbSczNUGEgzoraTKCnHDnP7Cv74aDAfGbkI06ATjGGUa1CIwb4yFbXVJeKSrQ+z0i44cqMTifp72B5Z9CaY3Zd+4eUzjfNWFX/OYT8Cg2xwCYtkiKpYFZjolcRtkII3GQoAkPxBtaZqJWbBWP/h35o2jiKlqaDekmpGtsO7T5MJEPIlEe6Tmo739Q2sGflTstitIKf/uptUNG7ORY/vJb6zIDl3uxseXNWnp9A5cUtMrBEMmsCwHvCem0Bf52hUhWGYoAsv9e3t6ccHdzvJsVM0nbVcQL01DcOits5v7T1CB0hRQqqQu4ZmDPOKycSWesg5Y/uE0aQcDxAsBGKwiR0HqKeIF4lPdGAh8ZxW4ZEAlW5ocsKS+bY3jx1jbPutwG7BOdQ0rISoDW1Ka6SkxWZe70ePwaNgFsrkH+S0gKmVuJk+m9/GUTMLlwnPUIP5uyeVwq15tsLSGiUANbUAYnbvBSJ802hcIFPhftNHZdzWMtOkdffcJzr3J35QmdqJDWmj6YDbZTLJN+gztzBuBf+UAxAZhtN9SCbRvDSpuK9V2sE+uB5yuIC0tlvHXkVwKdU5qw+j/BQeesgv3P0ILXbnOXvcGk2Lq+7a4A+nByNoGMSLdmFgBBw8cS8zzQOKxjwMBEPoHP2b3FuIzk+Q09/9jNGOfBSqapM5KPIgsGb/YVLiHHGJyEYB37nJIxJBzK8+ZdE/GaVc6Pf25/6Q3KPrXsitutCDQ5ziwHPxbj4eJ+foFgdeKHSZ464fyYpsG/rdj0EuXg33oTwW7Fbs9pJGDpQdqHz4e/nvBhP74oyZt4MNLSbacS+BPL9+xqgf7ngLQphiKdyeFJwgr3Sn7DMjEw1fSXzv9Qjwai24zBuWalS3kzYaehHnQ2G7JvGh1Kd18tMQnX3ywJQ5D9QCAMLfibYs/9dzmSWbN9rmpqt5+8Oi1XhsVpYhUN8altHKxBaOwrnb45yt3QtwO8QqDj1kVbS/HX6FfSAu9EQkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HFst5vfbpVNjQmZRVXmrix",
      "input": {
        "note": "Jaws appear to straddle the white bowl's rim in the wrist view; closing to grip the rim.",
        "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_01HFst5vfbpVNjQmZRVXmrix",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 1.7164, 0.8009, 0.1246, -0.0319, -0.0528, 0.023, -0.02, 0.8043, 0.5999, -0.3931, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4286 left_y=-0.0105 left_z=0.0403 left_yaw=-0.0022 left_pitch=-0.2197 left_roll=-0.0081 left_gripper=0.023 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=-0.0003 right_pitch=-0.0282 right_roll=0.0016 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -8.0068, 6.612, 1.1844, -0.1538, 0.0904, 0.8864, -0.1983, -1.2239, 7.0085, 1.6972, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6e32870671cf4cbe103f85d850b8f6460ca69de9690f77c2f545ef2c14d0f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bf72a67e03640d4f9c72807c9cd29e522b326b6a4a42878b66e83932f15ae89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ef425eb6bc75af44345d39c3bd78f1f8e9f9831ff15374bbf80e9522d2b70919",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 16.63 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0189, 1.4925, 0.918, -0.1505, -0.0227, -0.0265, 0.9958, -0.02, 0.8017, 0.5999, -0.3931, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4224 left_y=-0.0004 left_z=0.129 left_yaw=0.0021 left_pitch=-0.1541 left_roll=0.0028 left_gripper=0.9958 right_x=0.293 right_y=0.0007 right_z=0.1733 right_yaw=-0.0001 right_pitch=-0.0255 right_roll=0.0012 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -7.0632, 8.8957, 1.6874, -0.0415, 0.0024, -0.0366, -0.1846, -1.5521, 7.3094, 1.7802, -0.0464, -0.0562, -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]: [-0.0463, 1.705, 0.8062, 0.1085, -0.0357, -0.0387, 0.9957, -0.02, 0.8032, 0.5999, -0.3931, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4284 left_y=-0.01 left_z=0.0442 left_yaw=-0.0071 left_pitch=-0.2189 left_roll=0.0048 left_gripper=0.9957 right_x=0.2931 right_y=0.0007 right_z=0.1729 right_yaw=-0.0001 right_pitch=-0.0271 right_roll=0.0012 right_gripper=0.9988\nstate[joint_eff]: [-0.5675, -7.3641, 5.5726, 1.7265, -0.1343, 0.0317, -0.022, -0.1846, -1.347, 7.0222, 1.7216, -0.0464, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 1.7164, 0.8009, 0.1246, -0.0319, -0.0528, 0.023, -0.02, 0.8043, 0.5999, -0.3931, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4286 left_y=-0.0105 left_z=0.0403 left_yaw=-0.0022 left_pitch=-0.2197 left_roll=-0.0081 left_gripper=0.023 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=-0.0003 right_pitch=-0.0282 right_roll=0.0016 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -8.0068, 6.612, 1.1844, -0.1538, 0.0904, 0.8864, -0.1983, -1.2239, 7.0085, 1.6972, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6e32870671cf4cbe103f85d850b8f6460ca69de9690f77c2f545ef2c14d0f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bf72a67e03640d4f9c72807c9cd29e522b326b6a4a42878b66e83932f15ae89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef425eb6bc75af44345d39c3bd78f1f8e9f9831ff15374bbf80e9522d2b70919",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzAMKjgEIEhgCKkC0x4BDYBgxR3tBAD0TZiJOCBp8bY97xRiQ7ry6dWb/kYlotSmDKlDic9gaEywnP499JzdY643NcWLcH507LoElMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbiczNUGEgwxFIB7iA/CaXCcifcaDEogmhg9g5RZxVpvxyIwzcgLfHWXPBP9MFmUQqn1/x9K53Tcvot2V3+oygSGM2cGMmED5Qzj0Zumjo5Cf2+5KuoBD7h3dYt2nfJ1Lkl/w2RE+v244Dvuw2ot5fLlLeqHevEWshVszgK+Jkf/Df6559UrCVTd33uUd+9X8zN7mrG9fesWt95Sc37zpjbcBZumQmiCz93AFBxx58N3vOCPm7BHxQQeAM8org9ollbeLGpck1I6Ci8H27ZyDOPJaiRVYa7tPzsbWKnze50bNQCmcafhel7O4Wh3kPMAoPETKAoq++WMuQSd3gHbH//k3hfajvDAzXM/KRaRq8HUo/AsgI4vHQGWRouUGyZDs9ow4SesfJpObmXq//aY0R58XkXVfkN4icyGea8e1lWAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EBNrNSWhkFv66z1Fr3hC8J",
      "input": {
        "note": "Gripper closed to 0.023, which usually means empty; lifting 8 cm to check in the overhead view whether the bowl came with it.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01EBNrNSWhkFv66z1Fr3hC8J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 1.5906, 0.9436, -0.1776, -0.0341, -0.0566, 0.0297, -0.02, 0.8043, 0.5999, -0.3927, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4244 left_y=-0.0099 left_z=0.0952 left_yaw=0.0022 left_pitch=-0.2532 left_roll=-0.0075 left_gripper=0.0297 right_x=0.2932 right_y=0.0006 right_z=0.1726 right_yaw=-0.0001 right_pitch=-0.0278 right_roll=0.0013 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -9.0872, 9.265, 1.6239, -0.0366, 0.0024, 1.033, -0.1299, -1.0872, 7.0222, 1.7314, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce22504377b222fe8b4a1213ed9e6971ed965a1d887f8da60f925e2a3d8fe410",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e2340bb0feb6ad2be9e1fb38dcdd7e5f4c2ec139a8b5395838f5eac87382006",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8695a685cb982dedcc7d2da7a1fc04fa5062d47d0a467941abffd041b40ade71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 24.99 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0463, 1.705, 0.8062, 0.1085, -0.0357, -0.0387, 0.9957, -0.02, 0.8032, 0.5999, -0.3931, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4284 left_y=-0.01 left_z=0.0442 left_yaw=-0.0071 left_pitch=-0.2189 left_roll=0.0048 left_gripper=0.9957 right_x=0.2931 right_y=0.0007 right_z=0.1729 right_yaw=-0.0001 right_pitch=-0.0271 right_roll=0.0012 right_gripper=0.9988\nstate[joint_eff]: [-0.5675, -7.3641, 5.5726, 1.7265, -0.1343, 0.0317, -0.022, -0.1846, -1.347, 7.0222, 1.7216, -0.0464, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 1.7164, 0.8009, 0.1246, -0.0319, -0.0528, 0.023, -0.02, 0.8043, 0.5999, -0.3931, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4286 left_y=-0.0105 left_z=0.0403 left_yaw=-0.0022 left_pitch=-0.2197 left_roll=-0.0081 left_gripper=0.023 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=-0.0003 right_pitch=-0.0282 right_roll=0.0016 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -8.0068, 6.612, 1.1844, -0.1538, 0.0904, 0.8864, -0.1983, -1.2239, 7.0085, 1.6972, -0.0269, -0.0171, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 1.5906, 0.9436, -0.1776, -0.0341, -0.0566, 0.0297, -0.02, 0.8043, 0.5999, -0.3927, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4244 left_y=-0.0099 left_z=0.0952 left_yaw=0.0022 left_pitch=-0.2532 left_roll=-0.0075 left_gripper=0.0297 right_x=0.2932 right_y=0.0006 right_z=0.1726 right_yaw=-0.0001 right_pitch=-0.0278 right_roll=0.0013 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -9.0872, 9.265, 1.6239, -0.0366, 0.0024, 1.033, -0.1299, -1.0872, 7.0222, 1.7314, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce22504377b222fe8b4a1213ed9e6971ed965a1d887f8da60f925e2a3d8fe410",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e2340bb0feb6ad2be9e1fb38dcdd7e5f4c2ec139a8b5395838f5eac87382006",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8695a685cb982dedcc7d2da7a1fc04fa5062d47d0a467941abffd041b40ade71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0162Euz4ZotPJqLRdF7TSCd9",
      "input": {
        "note": "The close was empty: the bowl sits to the right of the jaws in the wrist view and to the right of the gripper overhead. Shifting the left arm 5 cm toward the bowl (-y) with the gripper reopened.",
        "targets": {
          "left_gripper": 1.0,
          "left_y": -0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0162Euz4ZotPJqLRdF7TSCd9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.202, 1.6058, 0.9497, -0.2134, -0.128, -0.1688, 0.9948, -0.02, 0.8097, 0.598, -0.3962, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.415 left_y=-0.0583 left_z=0.0866 left_yaw=-0.0077 left_pitch=-0.2892 left_roll=-0.0069 left_gripper=0.9948 right_x=0.2928 right_y=0.0007 right_z=0.1696 right_yaw=-0.0003 right_pitch=-0.0385 right_roll=0.0018 right_gripper=0.9988\nstate[joint_eff]: [-0.2803, -6.4479, 7.9658, 1.6532, -0.0855, 0.0611, -0.0562, -0.0889, -1.7162, 7.3915, 1.7802, -0.022, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9bd675b29c78f017f746c10d675b54d4bf1b8b76df64962baf4823f66fbd46c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc2fb719b290c33bfa99c6622d67924d5e68d8276c4a1540ff42c2916fa1212b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ddd1d89d44a30e86f59a0ff56e5c3a36a42457c4bf71637d311a006c1d653ffd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 27.07 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 1.7164, 0.8009, 0.1246, -0.0319, -0.0528, 0.023, -0.02, 0.8043, 0.5999, -0.3931, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4286 left_y=-0.0105 left_z=0.0403 left_yaw=-0.0022 left_pitch=-0.2197 left_roll=-0.0081 left_gripper=0.023 right_x=0.2931 right_y=0.0006 right_z=0.1725 right_yaw=-0.0003 right_pitch=-0.0282 right_roll=0.0016 right_gripper=0.9988\nstate[joint_eff]: [-0.0752, -8.0068, 6.612, 1.1844, -0.1538, 0.0904, 0.8864, -0.1983, -1.2239, 7.0085, 1.6972, -0.0269, -0.0171, -0.0122]\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]: [-0.046, 1.5906, 0.9436, -0.1776, -0.0341, -0.0566, 0.0297, -0.02, 0.8043, 0.5999, -0.3927, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4244 left_y=-0.0099 left_z=0.0952 left_yaw=0.0022 left_pitch=-0.2532 left_roll=-0.0075 left_gripper=0.0297 right_x=0.2932 right_y=0.0006 right_z=0.1726 right_yaw=-0.0001 right_pitch=-0.0278 right_roll=0.0013 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -9.0872, 9.265, 1.6239, -0.0366, 0.0024, 1.033, -0.1299, -1.0872, 7.0222, 1.7314, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.202, 1.6058, 0.9497, -0.2134, -0.128, -0.1688, 0.9948, -0.02, 0.8097, 0.598, -0.3962, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.415 left_y=-0.0583 left_z=0.0866 left_yaw=-0.0077 left_pitch=-0.2892 left_roll=-0.0069 left_gripper=0.9948 right_x=0.2928 right_y=0.0007 right_z=0.1696 right_yaw=-0.0003 right_pitch=-0.0385 right_roll=0.0018 right_gripper=0.9988\nstate[joint_eff]: [-0.2803, -6.4479, 7.9658, 1.6532, -0.0855, 0.0611, -0.0562, -0.0889, -1.7162, 7.3915, 1.7802, -0.022, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9bd675b29c78f017f746c10d675b54d4bf1b8b76df64962baf4823f66fbd46c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc2fb719b290c33bfa99c6622d67924d5e68d8276c4a1540ff42c2916fa1212b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddd1d89d44a30e86f59a0ff56e5c3a36a42457c4bf71637d311a006c1d653ffd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UoXXWDboU4Vd1UYKnujFw9",
      "input": {
        "note": "The bowl is now centred in the left wrist view, so its centre is about x=0.45, y=-0.06 in the left arm frame; moving to the bowl's left rim (y≈0) at rim height to pinch the rim wall.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.005,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01UoXXWDboU4Vd1UYKnujFw9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0338, 1.8057, 0.9413, -0.0345, -0.0471, -0.0738, 0.9949, -0.02, 0.8116, 0.5961, -0.3969, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4398 left_y=-0.0029 left_z=0.0285 left_yaw=0.0368 left_pitch=-0.3268 left_roll=-0.0043 left_gripper=0.9949 right_x=0.2925 right_y=0.0007 right_z=0.1681 right_yaw=-0.0003 right_pitch=-0.0431 right_roll=0.0019 right_gripper=0.9988\nstate[joint_eff]: [0.3761, -7.6376, 6.188, 1.2576, 0.1832, 0.0366, -0.0073, -0.1299, -1.4701, 7.2, 1.7265, -0.0806, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75ebdbb3b010e1f77ef29e612db31583f928b7e395d74e27ca54b91714d8f5bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f3ef9341c7f722b490d3af77b3379b72b15757ecb3fcbe34991b1de4be2c445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69b69a3676e89d485099b5445e894b94a2345c209d20ffaa46e126dab6abc69a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 12.36 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 1.5906, 0.9436, -0.1776, -0.0341, -0.0566, 0.0297, -0.02, 0.8043, 0.5999, -0.3927, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4244 left_y=-0.0099 left_z=0.0952 left_yaw=0.0022 left_pitch=-0.2532 left_roll=-0.0075 left_gripper=0.0297 right_x=0.2932 right_y=0.0006 right_z=0.1726 right_yaw=-0.0001 right_pitch=-0.0278 right_roll=0.0013 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -9.0872, 9.265, 1.6239, -0.0366, 0.0024, 1.033, -0.1299, -1.0872, 7.0222, 1.7314, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.202, 1.6058, 0.9497, -0.2134, -0.128, -0.1688, 0.9948, -0.02, 0.8097, 0.598, -0.3962, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.415 left_y=-0.0583 left_z=0.0866 left_yaw=-0.0077 left_pitch=-0.2892 left_roll=-0.0069 left_gripper=0.9948 right_x=0.2928 right_y=0.0007 right_z=0.1696 right_yaw=-0.0003 right_pitch=-0.0385 right_roll=0.0018 right_gripper=0.9988\nstate[joint_eff]: [-0.2803, -6.4479, 7.9658, 1.6532, -0.0855, 0.0611, -0.0562, -0.0889, -1.7162, 7.3915, 1.7802, -0.022, -0.0269, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0338, 1.8057, 0.9413, -0.0345, -0.0471, -0.0738, 0.9949, -0.02, 0.8116, 0.5961, -0.3969, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4398 left_y=-0.0029 left_z=0.0285 left_yaw=0.0368 left_pitch=-0.3268 left_roll=-0.0043 left_gripper=0.9949 right_x=0.2925 right_y=0.0007 right_z=0.1681 right_yaw=-0.0003 right_pitch=-0.0431 right_roll=0.0019 right_gripper=0.9988\nstate[joint_eff]: [0.3761, -7.6376, 6.188, 1.2576, 0.1832, 0.0366, -0.0073, -0.1299, -1.4701, 7.2, 1.7265, -0.0806, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75ebdbb3b010e1f77ef29e612db31583f928b7e395d74e27ca54b91714d8f5bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f3ef9341c7f722b490d3af77b3379b72b15757ecb3fcbe34991b1de4be2c445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69b69a3676e89d485099b5445e894b94a2345c209d20ffaa46e126dab6abc69a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JXsoi7kJnwqUSNccq9DWKp",
      "input": {
        "note": "Too close to judge: the bowl fills the wrist view. Rising to z=0.10 to see the whole bowl and the jaw column so I can centre on its body and squeeze the tapered lower wall instead of the wide rim.",
        "targets": {
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01JXsoi7kJnwqUSNccq9DWKp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0326, 1.7103, 1.0668, -0.2714, -0.0456, -0.0757, 0.9949, -0.02, 0.8116, 0.5957, -0.3969, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4392 left_y=-0.0027 left_z=0.0792 left_yaw=0.0381 left_pitch=-0.3429 left_roll=-0.0057 left_gripper=0.9949 right_x=0.2925 right_y=0.0007 right_z=0.1679 right_yaw=-0.0001 right_pitch=-0.0435 right_roll=0.0016 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -10.3453, 8.1709, 1.3358, -0.0757, -0.0171, -0.0073, -0.1299, -1.3333, 7.1453, 1.7118, -0.0464, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53292a0a46c99508ff10c0bcf8a7e7e02d337dda641b70e0495456017b70e85d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3631ab45cb2caca83db3fc4a91dedd4eb48f65982204cc5e7fff1756bf7df43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c552eedf36f3e5251130df48fae91cbf4b0ffa7d3ac749bd24edf20fca0422a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 5.258 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.202, 1.6058, 0.9497, -0.2134, -0.128, -0.1688, 0.9948, -0.02, 0.8097, 0.598, -0.3962, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.415 left_y=-0.0583 left_z=0.0866 left_yaw=-0.0077 left_pitch=-0.2892 left_roll=-0.0069 left_gripper=0.9948 right_x=0.2928 right_y=0.0007 right_z=0.1696 right_yaw=-0.0003 right_pitch=-0.0385 right_roll=0.0018 right_gripper=0.9988\nstate[joint_eff]: [-0.2803, -6.4479, 7.9658, 1.6532, -0.0855, 0.0611, -0.0562, -0.0889, -1.7162, 7.3915, 1.7802, -0.022, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0338, 1.8057, 0.9413, -0.0345, -0.0471, -0.0738, 0.9949, -0.02, 0.8116, 0.5961, -0.3969, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4398 left_y=-0.0029 left_z=0.0285 left_yaw=0.0368 left_pitch=-0.3268 left_roll=-0.0043 left_gripper=0.9949 right_x=0.2925 right_y=0.0007 right_z=0.1681 right_yaw=-0.0003 right_pitch=-0.0431 right_roll=0.0019 right_gripper=0.9988\nstate[joint_eff]: [0.3761, -7.6376, 6.188, 1.2576, 0.1832, 0.0366, -0.0073, -0.1299, -1.4701, 7.2, 1.7265, -0.0806, -0.0269, -0.0122]",
      "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]: [-0.0326, 1.7103, 1.0668, -0.2714, -0.0456, -0.0757, 0.9949, -0.02, 0.8116, 0.5957, -0.3969, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4392 left_y=-0.0027 left_z=0.0792 left_yaw=0.0381 left_pitch=-0.3429 left_roll=-0.0057 left_gripper=0.9949 right_x=0.2925 right_y=0.0007 right_z=0.1679 right_yaw=-0.0001 right_pitch=-0.0435 right_roll=0.0016 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -10.3453, 8.1709, 1.3358, -0.0757, -0.0171, -0.0073, -0.1299, -1.3333, 7.1453, 1.7118, -0.0464, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53292a0a46c99508ff10c0bcf8a7e7e02d337dda641b70e0495456017b70e85d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3631ab45cb2caca83db3fc4a91dedd4eb48f65982204cc5e7fff1756bf7df43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c552eedf36f3e5251130df48fae91cbf4b0ffa7d3ac749bd24edf20fca0422a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015ZyCLqbGUdUVFaqFxHs5TW",
      "input": {
        "note": "The bowl is centred on the jaw column in the wrist view; descending to 1 cm above the table so the open jaws straddle the bowl's narrow lower body.",
        "targets": {
          "left_z": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_015ZyCLqbGUdUVFaqFxHs5TW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0326, 1.8114, 0.9524, -0.0582, -0.0521, -0.0753, 0.9948, -0.02, 0.812, 0.5953, -0.3973, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4384 left_y=-0.0015 left_z=0.0265 left_yaw=0.0437 left_pitch=-0.3448 left_roll=0.0002 left_gripper=0.9948 right_x=0.2924 right_y=0.0007 right_z=0.1675 right_yaw=-0.0003 right_pitch=-0.0446 right_roll=0.0019 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -5.7368, 4.4513, 1.1062, 0.0855, -0.0317, -0.0171, -0.1573, -1.3333, 7.0632, 1.6923, -0.0708, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f741f0b5637ba4fb48176d0af18e4d83f5cf2201ae93f589c00311fc5ca85eea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7de04b8c62c630da0206c1ab30685579c84a651145caeeacbfe58abf9b45f043",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b467181bdd0f9910056aac0340a614460c8d4af27df4300f45d981cc4e89e64",
        "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 · 10.37 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0338, 1.8057, 0.9413, -0.0345, -0.0471, -0.0738, 0.9949, -0.02, 0.8116, 0.5961, -0.3969, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4398 left_y=-0.0029 left_z=0.0285 left_yaw=0.0368 left_pitch=-0.3268 left_roll=-0.0043 left_gripper=0.9949 right_x=0.2925 right_y=0.0007 right_z=0.1681 right_yaw=-0.0003 right_pitch=-0.0431 right_roll=0.0019 right_gripper=0.9988\nstate[joint_eff]: [0.3761, -7.6376, 6.188, 1.2576, 0.1832, 0.0366, -0.0073, -0.1299, -1.4701, 7.2, 1.7265, -0.0806, -0.0269, -0.0122]",
      "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]: [-0.0326, 1.7103, 1.0668, -0.2714, -0.0456, -0.0757, 0.9949, -0.02, 0.8116, 0.5957, -0.3969, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4392 left_y=-0.0027 left_z=0.0792 left_yaw=0.0381 left_pitch=-0.3429 left_roll=-0.0057 left_gripper=0.9949 right_x=0.2925 right_y=0.0007 right_z=0.1679 right_yaw=-0.0001 right_pitch=-0.0435 right_roll=0.0016 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -10.3453, 8.1709, 1.3358, -0.0757, -0.0171, -0.0073, -0.1299, -1.3333, 7.1453, 1.7118, -0.0464, -0.0708, -0.0073]",
      "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]: [-0.0326, 1.8114, 0.9524, -0.0582, -0.0521, -0.0753, 0.9948, -0.02, 0.812, 0.5953, -0.3973, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4384 left_y=-0.0015 left_z=0.0265 left_yaw=0.0437 left_pitch=-0.3448 left_roll=0.0002 left_gripper=0.9948 right_x=0.2924 right_y=0.0007 right_z=0.1675 right_yaw=-0.0003 right_pitch=-0.0446 right_roll=0.0019 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -5.7368, 4.4513, 1.1062, 0.0855, -0.0317, -0.0171, -0.1573, -1.3333, 7.0632, 1.6923, -0.0708, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f741f0b5637ba4fb48176d0af18e4d83f5cf2201ae93f589c00311fc5ca85eea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7de04b8c62c630da0206c1ab30685579c84a651145caeeacbfe58abf9b45f043",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b467181bdd0f9910056aac0340a614460c8d4af27df4300f45d981cc4e89e64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoQUKjgEIEhgCKkBPE/yG9Gz6DNcDzKiJAWhABby/9ZogiSDzZLqCP0pPbNxT1WW5d6SOy/+gJwNy1upln+yo71B7PZJo7tlvHgFYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZGdzNUGEgzgJoasbPqbyoBhMysaDNp3J4jPRJdY8jp3LSIwY66c7pBI4Q4VmyF4iF46dg4lDEffPWTZDKXMTtAXGYTtiV3F8sqT+Nw80UqQ2xOEKr8Dh9lV7H300vIWct4L+irRxg4uRn4AG1bkyasboKNHFmho6MYdDazKzf2OwYUiEgz+mIJgSK/EYbc+VB6lL71wm7aCqJgiR7B+rfrSqfpNvQ3mQeiy1P8aQ0019yL4y8KQ6c84YEIvXtV1RXheQUxL3t4MQXUkjokxXxSB6ItQDf4px+O175SvkFR8G38IaRMiY1+W/OxPmGEtFfTWYEPkMKQsnAhLRTph6mqbeGljKrdlJnJM91x3G80QJ1c117N6VTEy8UaXVCgild+YK1qWLa82EWKDsB5Nl/Hff/Q14s+ZJJ/l7SKpeTqH7LipCZgTwoYROpwcwMKY4It4QNbDzN0ssA1DNCYeBFTD8tKmnMYHKH/8EbL4IcmY0/sSkszbpy9Sxp4ZBS/TCDrcdUR28fQ2ZvROPL20F4zjg1KBsrxtU90aILqhYCK7S2Y4eAZB3ixzJYwJ72jPD+lEfMM3DnRAhYf25Oeb0RTe0/4h7cG8qL5QJwo+4xN2cqjG3oTL97b4fAnf7s29feEWY7WRHinb7Slco1CHg9D9+zAmD14ZexXI+88odGKyTJWh1Pc1jYHWVcqyK4S3GQRgJ4rSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UwpDQHyshUg3XAQujE3frt",
      "input": {
        "note": "Jaws appear to sit outside the bowl's lower wall on both sides; closing to squeeze the bowl body.",
        "targets": {
          "left_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UwpDQHyshUg3XAQujE3frt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0326, 1.8206, 0.944, -0.0502, -0.0528, -0.075, 0.0551, -0.02, 0.812, 0.5953, -0.3965, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4363 left_y=-0.0013 left_z=0.0209 left_yaw=0.0445 left_pitch=-0.3542 left_roll=0.0019 left_gripper=0.0551 right_x=0.2925 right_y=0.0007 right_z=0.1677 right_yaw=-0.0003 right_pitch=-0.0438 right_roll=0.0019 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -9.4838, 6.3521, 1.2869, -0.0269, -0.0122, -0.0562, -0.3624, -1.306, 7.0222, 1.7314, -0.0855, -0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:459bc88b0cdb695c1a9f223024f41062a89b9bbaa8e0908e8a0fd9ecc56e09b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c53d8f3ac0c7a96da7d697ca8d0046a7a2a82beafa29d73059c013b0d02357a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b94fa0454c640a84516f34071604a0a6128fdb84052a135df8cc28beeaafa75c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 21.64 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0326, 1.7103, 1.0668, -0.2714, -0.0456, -0.0757, 0.9949, -0.02, 0.8116, 0.5957, -0.3969, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4392 left_y=-0.0027 left_z=0.0792 left_yaw=0.0381 left_pitch=-0.3429 left_roll=-0.0057 left_gripper=0.9949 right_x=0.2925 right_y=0.0007 right_z=0.1679 right_yaw=-0.0001 right_pitch=-0.0435 right_roll=0.0016 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -10.3453, 8.1709, 1.3358, -0.0757, -0.0171, -0.0073, -0.1299, -1.3333, 7.1453, 1.7118, -0.0464, -0.0708, -0.0073]",
      "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]: [-0.0326, 1.8114, 0.9524, -0.0582, -0.0521, -0.0753, 0.9948, -0.02, 0.812, 0.5953, -0.3973, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4384 left_y=-0.0015 left_z=0.0265 left_yaw=0.0437 left_pitch=-0.3448 left_roll=0.0002 left_gripper=0.9948 right_x=0.2924 right_y=0.0007 right_z=0.1675 right_yaw=-0.0003 right_pitch=-0.0446 right_roll=0.0019 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -5.7368, 4.4513, 1.1062, 0.0855, -0.0317, -0.0171, -0.1573, -1.3333, 7.0632, 1.6923, -0.0708, -0.0415, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0326, 1.8206, 0.944, -0.0502, -0.0528, -0.075, 0.0551, -0.02, 0.812, 0.5953, -0.3965, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4363 left_y=-0.0013 left_z=0.0209 left_yaw=0.0445 left_pitch=-0.3542 left_roll=0.0019 left_gripper=0.0551 right_x=0.2925 right_y=0.0007 right_z=0.1677 right_yaw=-0.0003 right_pitch=-0.0438 right_roll=0.0019 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -9.4838, 6.3521, 1.2869, -0.0269, -0.0122, -0.0562, -0.3624, -1.306, 7.0222, 1.7314, -0.0855, -0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:459bc88b0cdb695c1a9f223024f41062a89b9bbaa8e0908e8a0fd9ecc56e09b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c53d8f3ac0c7a96da7d697ca8d0046a7a2a82beafa29d73059c013b0d02357a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b94fa0454c640a84516f34071604a0a6128fdb84052a135df8cc28beeaafa75c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AKXx6WfgJdzPLn6ab2Yxy4",
      "input": {
        "note": "The closed jaws ended up inside the bowl, so instead I'll use an expanding grip: opening the jaws low inside the bowl so they wedge against the inner wall.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AKXx6WfgJdzPLn6ab2Yxy4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0326, 1.8145, 0.9443, -0.0154, -0.054, -0.0788, 0.994, -0.02, 0.8165, 0.5945, -0.4118, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4437 left_y=-0.0014 left_z=0.0289 left_yaw=0.0465 left_pitch=-0.3131 left_roll=-0.0031 left_gripper=0.994 right_x=0.2904 right_y=0.0007 right_z=0.163 right_yaw=-0.0001 right_pitch=-0.0644 right_roll=0.002 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -6.8855, 5.3812, 0.9402, -0.0708, 0.0757, -0.0708, -0.1436, -1.2513, 7.0632, 1.8339, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed02f56fe6c1d3c857407e4c5796fda0665f443e5b6866d09dff3c1c026f07ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98d9f09ae8db2685ce675696d434da5c802155d1dfd0a921247ae5f81baea2a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e659b72d84e9baed1875afa0cbd7dcda5abbada37eb5d3b8c9ab7a17c86c690",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 14.21 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0326, 1.8114, 0.9524, -0.0582, -0.0521, -0.0753, 0.9948, -0.02, 0.812, 0.5953, -0.3973, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4384 left_y=-0.0015 left_z=0.0265 left_yaw=0.0437 left_pitch=-0.3448 left_roll=0.0002 left_gripper=0.9948 right_x=0.2924 right_y=0.0007 right_z=0.1675 right_yaw=-0.0003 right_pitch=-0.0446 right_roll=0.0019 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -5.7368, 4.4513, 1.1062, 0.0855, -0.0317, -0.0171, -0.1573, -1.3333, 7.0632, 1.6923, -0.0708, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0326, 1.8206, 0.944, -0.0502, -0.0528, -0.075, 0.0551, -0.02, 0.812, 0.5953, -0.3965, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4363 left_y=-0.0013 left_z=0.0209 left_yaw=0.0445 left_pitch=-0.3542 left_roll=0.0019 left_gripper=0.0551 right_x=0.2925 right_y=0.0007 right_z=0.1677 right_yaw=-0.0003 right_pitch=-0.0438 right_roll=0.0019 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -9.4838, 6.3521, 1.2869, -0.0269, -0.0122, -0.0562, -0.3624, -1.306, 7.0222, 1.7314, -0.0855, -0.0122, -0.0073]",
      "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]: [-0.0326, 1.8145, 0.9443, -0.0154, -0.054, -0.0788, 0.994, -0.02, 0.8165, 0.5945, -0.4118, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4437 left_y=-0.0014 left_z=0.0289 left_yaw=0.0465 left_pitch=-0.3131 left_roll=-0.0031 left_gripper=0.994 right_x=0.2904 right_y=0.0007 right_z=0.163 right_yaw=-0.0001 right_pitch=-0.0644 right_roll=0.002 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -6.8855, 5.3812, 0.9402, -0.0708, 0.0757, -0.0708, -0.1436, -1.2513, 7.0632, 1.8339, -0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed02f56fe6c1d3c857407e4c5796fda0665f443e5b6866d09dff3c1c026f07ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98d9f09ae8db2685ce675696d434da5c802155d1dfd0a921247ae5f81baea2a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e659b72d84e9baed1875afa0cbd7dcda5abbada37eb5d3b8c9ab7a17c86c690",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SqPMzyKVdgg3PeEA5Ws4Lp",
      "input": {
        "note": "The expanding grip failed (jaws opened fully inside the bowl). Backing off to x=0.36, z=0.14 to get a full view of the bowl and the jaw column so I can measure its rim position for a proper rim pinch.",
        "targets": {
          "left_x": 0.36,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01SqPMzyKVdgg3PeEA5Ws4Lp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0376, 1.356, 0.9028, -0.4202, -0.0532, -0.0788, 0.9948, -0.02, 0.8177, 0.5945, -0.4152, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3688 left_y=-0.0009 left_z=0.1278 left_yaw=0.0406 left_pitch=-0.301 left_roll=-0.0047 left_gripper=0.9948 right_x=0.29 right_y=0.0007 right_z=0.162 right_yaw=-0.0 right_pitch=-0.069 right_roll=0.0021 right_gripper=0.9988\nstate[joint_eff]: [-0.4855, -6.2427, 9.5111, 1.5311, -0.1148, -0.1441, 0.0757, -0.0615, -1.306, 6.9812, 1.7021, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:298a4b0deb2c7f48ad3bf9e7f57ce69d724650a70132bddf1c6778e875de81ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18e80620575b58b1fdc1942369507599c288aa5c88abbc74bad137d0b50a3d28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ec4bbcf926aa73899b902975f0f5a80daeef07250484d98d796e51e0b37899a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 15.22 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0326, 1.8206, 0.944, -0.0502, -0.0528, -0.075, 0.0551, -0.02, 0.812, 0.5953, -0.3965, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4363 left_y=-0.0013 left_z=0.0209 left_yaw=0.0445 left_pitch=-0.3542 left_roll=0.0019 left_gripper=0.0551 right_x=0.2925 right_y=0.0007 right_z=0.1677 right_yaw=-0.0003 right_pitch=-0.0438 right_roll=0.0019 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -9.4838, 6.3521, 1.2869, -0.0269, -0.0122, -0.0562, -0.3624, -1.306, 7.0222, 1.7314, -0.0855, -0.0122, -0.0073]",
      "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]: [-0.0326, 1.8145, 0.9443, -0.0154, -0.054, -0.0788, 0.994, -0.02, 0.8165, 0.5945, -0.4118, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4437 left_y=-0.0014 left_z=0.0289 left_yaw=0.0465 left_pitch=-0.3131 left_roll=-0.0031 left_gripper=0.994 right_x=0.2904 right_y=0.0007 right_z=0.163 right_yaw=-0.0001 right_pitch=-0.0644 right_roll=0.002 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -6.8855, 5.3812, 0.9402, -0.0708, 0.0757, -0.0708, -0.1436, -1.2513, 7.0632, 1.8339, -0.0659, -0.0464, -0.0122]",
      "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]: [-0.0376, 1.356, 0.9028, -0.4202, -0.0532, -0.0788, 0.9948, -0.02, 0.8177, 0.5945, -0.4152, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3688 left_y=-0.0009 left_z=0.1278 left_yaw=0.0406 left_pitch=-0.301 left_roll=-0.0047 left_gripper=0.9948 right_x=0.29 right_y=0.0007 right_z=0.162 right_yaw=-0.0 right_pitch=-0.069 right_roll=0.0021 right_gripper=0.9988\nstate[joint_eff]: [-0.4855, -6.2427, 9.5111, 1.5311, -0.1148, -0.1441, 0.0757, -0.0615, -1.306, 6.9812, 1.7021, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:298a4b0deb2c7f48ad3bf9e7f57ce69d724650a70132bddf1c6778e875de81ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18e80620575b58b1fdc1942369507599c288aa5c88abbc74bad137d0b50a3d28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ec4bbcf926aa73899b902975f0f5a80daeef07250484d98d796e51e0b37899a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UX84c1E1Gc2ncizTaLivVf",
      "input": {
        "note": "Full view: the bowl is centred on the jaw column (so its centre is near y≈0, x≈0.44) and is about 11 cm across. Moving to its right rim (y=-0.056) at rim height so the jaws straddle the rim wall.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.056,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01UX84c1E1Gc2ncizTaLivVf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1844, 1.7782, 0.9211, -0.1303, -0.1333, -0.1848, 0.9949, -0.02, 0.8211, 0.5945, -0.416, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4131 left_y=-0.0495 left_z=0.0199 left_yaw=0.0324 left_pitch=-0.4036 left_roll=0.0127 left_gripper=0.9949 right_x=0.29 right_y=0.0007 right_z=0.161 right_yaw=-0.0 right_pitch=-0.0732 right_roll=0.0022 right_gripper=0.9988\nstate[joint_eff]: [-0.6222, -9.0188, 7.8017, 1.4335, -0.3004, -0.0855, -0.0024, -0.1436, -1.6342, 6.9812, 1.663, -0.0806, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cf4dc1e9c47728c6e7a1a23d9f6a5a164070c92eccd4bfb131efbfcb71efce9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19a9f52fa12c8259c3a242c7bc27b7ecf97f885919e4afe6f40a00ef6436a317",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d445501f64bd526b74071dfe922533c12d4039a6ce568092954337abcaf0a620",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 4.977 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0326, 1.8145, 0.9443, -0.0154, -0.054, -0.0788, 0.994, -0.02, 0.8165, 0.5945, -0.4118, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4437 left_y=-0.0014 left_z=0.0289 left_yaw=0.0465 left_pitch=-0.3131 left_roll=-0.0031 left_gripper=0.994 right_x=0.2904 right_y=0.0007 right_z=0.163 right_yaw=-0.0001 right_pitch=-0.0644 right_roll=0.002 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -6.8855, 5.3812, 0.9402, -0.0708, 0.0757, -0.0708, -0.1436, -1.2513, 7.0632, 1.8339, -0.0659, -0.0464, -0.0122]",
      "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]: [-0.0376, 1.356, 0.9028, -0.4202, -0.0532, -0.0788, 0.9948, -0.02, 0.8177, 0.5945, -0.4152, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3688 left_y=-0.0009 left_z=0.1278 left_yaw=0.0406 left_pitch=-0.301 left_roll=-0.0047 left_gripper=0.9948 right_x=0.29 right_y=0.0007 right_z=0.162 right_yaw=-0.0 right_pitch=-0.069 right_roll=0.0021 right_gripper=0.9988\nstate[joint_eff]: [-0.4855, -6.2427, 9.5111, 1.5311, -0.1148, -0.1441, 0.0757, -0.0615, -1.306, 6.9812, 1.7021, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1844, 1.7782, 0.9211, -0.1303, -0.1333, -0.1848, 0.9949, -0.02, 0.8211, 0.5945, -0.416, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4131 left_y=-0.0495 left_z=0.0199 left_yaw=0.0324 left_pitch=-0.4036 left_roll=0.0127 left_gripper=0.9949 right_x=0.29 right_y=0.0007 right_z=0.161 right_yaw=-0.0 right_pitch=-0.0732 right_roll=0.0022 right_gripper=0.9988\nstate[joint_eff]: [-0.6222, -9.0188, 7.8017, 1.4335, -0.3004, -0.0855, -0.0024, -0.1436, -1.6342, 6.9812, 1.663, -0.0806, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cf4dc1e9c47728c6e7a1a23d9f6a5a164070c92eccd4bfb131efbfcb71efce9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19a9f52fa12c8259c3a242c7bc27b7ecf97f885919e4afe6f40a00ef6436a317",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d445501f64bd526b74071dfe922533c12d4039a6ce568092954337abcaf0a620",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DrQaqKV6qemrdzH7xTSoCD",
      "input": {
        "note": "Wrist view shows the bowl's right rim between the jaws but off-centre (left jaw is inside the bowl); shifting +2 cm in y to put the rim wall exactly on the jaw column.",
        "targets": {
          "left_y": -0.031,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01DrQaqKV6qemrdzH7xTSoCD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1669, 1.7977, 0.9234, -0.1066, -0.1284, -0.1795, 0.9949, -0.02, 0.823, 0.5945, -0.416, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4175 left_y=-0.0438 left_z=0.0161 left_yaw=0.0418 left_pitch=-0.3982 left_roll=0.0101 left_gripper=0.9949 right_x=0.2901 right_y=0.0007 right_z=0.1604 right_yaw=-0.0002 right_pitch=-0.0751 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [1.3607, -11.5487, 5.9556, 1.4676, 0.0464, 0.1099, -0.0073, -0.3624, -1.0325, 6.9812, 1.7216, -0.0659, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8003da830981e4f78a9ea9540734aaefb0d72305c9f65b3701ffce0d8426e2b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a6d7097efa8ebd4d698bc9b14421f3b2e8c9d594d572460f20fbb2c98012069",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:995c4b8a00aebe30f99b9ae95a005f5c7c1104847f60aa4382ba6f078cac72bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 3.681 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0376, 1.356, 0.9028, -0.4202, -0.0532, -0.0788, 0.9948, -0.02, 0.8177, 0.5945, -0.4152, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3688 left_y=-0.0009 left_z=0.1278 left_yaw=0.0406 left_pitch=-0.301 left_roll=-0.0047 left_gripper=0.9948 right_x=0.29 right_y=0.0007 right_z=0.162 right_yaw=-0.0 right_pitch=-0.069 right_roll=0.0021 right_gripper=0.9988\nstate[joint_eff]: [-0.4855, -6.2427, 9.5111, 1.5311, -0.1148, -0.1441, 0.0757, -0.0615, -1.306, 6.9812, 1.7021, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1844, 1.7782, 0.9211, -0.1303, -0.1333, -0.1848, 0.9949, -0.02, 0.8211, 0.5945, -0.416, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4131 left_y=-0.0495 left_z=0.0199 left_yaw=0.0324 left_pitch=-0.4036 left_roll=0.0127 left_gripper=0.9949 right_x=0.29 right_y=0.0007 right_z=0.161 right_yaw=-0.0 right_pitch=-0.0732 right_roll=0.0022 right_gripper=0.9988\nstate[joint_eff]: [-0.6222, -9.0188, 7.8017, 1.4335, -0.3004, -0.0855, -0.0024, -0.1436, -1.6342, 6.9812, 1.663, -0.0806, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1669, 1.7977, 0.9234, -0.1066, -0.1284, -0.1795, 0.9949, -0.02, 0.823, 0.5945, -0.416, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4175 left_y=-0.0438 left_z=0.0161 left_yaw=0.0418 left_pitch=-0.3982 left_roll=0.0101 left_gripper=0.9949 right_x=0.2901 right_y=0.0007 right_z=0.1604 right_yaw=-0.0002 right_pitch=-0.0751 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [1.3607, -11.5487, 5.9556, 1.4676, 0.0464, 0.1099, -0.0073, -0.3624, -1.0325, 6.9812, 1.7216, -0.0659, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8003da830981e4f78a9ea9540734aaefb0d72305c9f65b3701ffce0d8426e2b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a6d7097efa8ebd4d698bc9b14421f3b2e8c9d594d572460f20fbb2c98012069",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:995c4b8a00aebe30f99b9ae95a005f5c7c1104847f60aa4382ba6f078cac72bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkwQKjgEIEhgCKkB2AkTEIXZeOGsWoBmh2Yke0GXq9/l1/zyJTmu9QYqqR7cpjaLD3YTeKBj14De2T3R2aFQKGzlmSieKm7HT6EUMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdedzNUGEgxJVKNhbvhp4TjRTb4aDEtCSh9dmCY6jUqk8CIwUfl0ZZOt6jVx+9kxd62Rq+Hq8aN3kKgPBFOfN617epTD+B4IEjFav40ke7/2wCl1KrECVJscwgKzU86h17CT5ClCiyVIAXSy132HVCH3w02aPkCKPWm4kKhmagEOTEF7Wh6AHhmb+UvHCBs3PnKAD5lVR79qsnSarmznSZErBsbAaA5WZlsj0wtKha+j01m4iI4jJTV34pH6/blr+g7qRlsZDc1tBTPmIG/7ngz4Huza5eTWSMMJ2xR4rdVmF/IJdTzZUcXpCu6URvsnYvFldC540lFhkcTNxZ9D7cK6yMaLnZwdtHHNOLZDGk9G5v1JncqDJEavsvHzWGczaEtokVayp6wZnPxRQOTHdjeL2Fjn2bFgjV4ZJJicekOl/tSAfiYo/994s4KSEX1ky/Oygy646bp1L1eLA6yGdX/RrohENLlSSGEgh53vzW6frHnK/FgRlmBgw8p+LwhsZzLSOVR2dx8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014bkJrR9kKA6HovQBLvHxzK",
      "input": {
        "note": "The bowl's rim wall now runs through the middle of the jaw gap; closing to pinch the rim.",
        "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_014bkJrR9kKA6HovQBLvHxzK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1696, 1.7851, 0.9264, -0.0959, -0.1745, -0.1684, 0.0241, -0.02, 0.823, 0.5945, -0.416, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4224 left_y=-0.0376 left_z=0.0247 left_yaw=0.0714 left_pitch=-0.3643 left_roll=0.0506 left_gripper=0.0241 right_x=0.2901 right_y=0.0007 right_z=0.1604 right_yaw=-0.0002 right_pitch=-0.0751 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -6.9812, 5.8735, 0.9548, 0.3736, -0.1148, 1.2039, -0.1299, -1.388, 7.0222, 1.6728, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e677dc075ff62b6bc5c400cd46efbec55dd6bac62f6c8198fe725976945ae4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:264f67ebe61f7cf9ad24e29174a134cbff7325015ca419b9ac6ccdb78277f43e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dbdc6f5db15fd6b6ef36340713d23850f64c9ba7f79c58d88676d528ccf41685",
        "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 · 11.22 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1844, 1.7782, 0.9211, -0.1303, -0.1333, -0.1848, 0.9949, -0.02, 0.8211, 0.5945, -0.416, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4131 left_y=-0.0495 left_z=0.0199 left_yaw=0.0324 left_pitch=-0.4036 left_roll=0.0127 left_gripper=0.9949 right_x=0.29 right_y=0.0007 right_z=0.161 right_yaw=-0.0 right_pitch=-0.0732 right_roll=0.0022 right_gripper=0.9988\nstate[joint_eff]: [-0.6222, -9.0188, 7.8017, 1.4335, -0.3004, -0.0855, -0.0024, -0.1436, -1.6342, 6.9812, 1.663, -0.0806, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1669, 1.7977, 0.9234, -0.1066, -0.1284, -0.1795, 0.9949, -0.02, 0.823, 0.5945, -0.416, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4175 left_y=-0.0438 left_z=0.0161 left_yaw=0.0418 left_pitch=-0.3982 left_roll=0.0101 left_gripper=0.9949 right_x=0.2901 right_y=0.0007 right_z=0.1604 right_yaw=-0.0002 right_pitch=-0.0751 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [1.3607, -11.5487, 5.9556, 1.4676, 0.0464, 0.1099, -0.0073, -0.3624, -1.0325, 6.9812, 1.7216, -0.0659, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1696, 1.7851, 0.9264, -0.0959, -0.1745, -0.1684, 0.0241, -0.02, 0.823, 0.5945, -0.416, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4224 left_y=-0.0376 left_z=0.0247 left_yaw=0.0714 left_pitch=-0.3643 left_roll=0.0506 left_gripper=0.0241 right_x=0.2901 right_y=0.0007 right_z=0.1604 right_yaw=-0.0002 right_pitch=-0.0751 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -6.9812, 5.8735, 0.9548, 0.3736, -0.1148, 1.2039, -0.1299, -1.388, 7.0222, 1.6728, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e677dc075ff62b6bc5c400cd46efbec55dd6bac62f6c8198fe725976945ae4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:264f67ebe61f7cf9ad24e29174a134cbff7325015ca419b9ac6ccdb78277f43e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbdc6f5db15fd6b6ef36340713d23850f64c9ba7f79c58d88676d528ccf41685",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgAMKjgEIEhgCKkA3UXLPEufPXCR1FGcdzls2aGW9oatOh/QEkkxiGF89zaChOgHaGQpf4+q8U/iqn7CMvpsjlMCTUA9viuMSeSQZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdudzNUGEgyrxQYHxbRMHs0zkg8aDPFr/2pnKb9uzXsSGSIw/GZ3DXKam2pbu6Ss7Ha8ye1au8CfbELwt+W9niAUs8PGCwxgsxpUD4Ui7WyEq4pnKp4Bfd6y5c26Rdc70tRtuRUGok93IRj9AOQryZ5m7EiA9zOwCPciIPLPotsop/BS7bikfN+Mu1VPcvfGzX3Z7ExnK7v0shbjaMR/tTtS30r0BIKbR01oa+cJSHRstW/OKgtV11sn8BDoVczUYMfb/44cdqE0kL4Wy1ynybdRGm6pNlcVop996nIRc5unBuFeV41YsLMvzAe1/oH+wMoZ//UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NuWRr17kWL64HMwj5kdGx5",
      "input": {
        "note": "Gripper settled at 0.024 — could be the thin rim. Lifting to 13 cm to see whether the bowl comes up with it.",
        "targets": {
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01NuWRr17kWL64HMwj5kdGx5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1696, 1.6566, 1.1511, -0.4706, -0.1776, -0.1768, 0.034, -0.02, 0.823, 0.5945, -0.416, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4225 left_y=-0.037 left_z=0.107 left_yaw=0.081 left_pitch=-0.3841 left_roll=0.0536 left_gripper=0.034 right_x=0.2901 right_y=0.0007 right_z=0.1604 right_yaw=-0.0 right_pitch=-0.0751 right_roll=0.0022 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -10.2359, 8.9504, 1.2137, -0.1148, 0.0415, 1.033, -0.3624, -1.265, 7.1453, 1.6484, -0.0366, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:847a46766ba7117dfba7f362d30a00f0aec280b112457e3363954606c6550623",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4940fb98c7b2e18b872874d264877c4169e19686a63b74f79ed2065c9a5d0d48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c12d2e3bde85d7bd83dad3b726c4e32bd01094b44eee6ace8d2c748937f194e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 15.6 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1669, 1.7977, 0.9234, -0.1066, -0.1284, -0.1795, 0.9949, -0.02, 0.823, 0.5945, -0.416, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4175 left_y=-0.0438 left_z=0.0161 left_yaw=0.0418 left_pitch=-0.3982 left_roll=0.0101 left_gripper=0.9949 right_x=0.2901 right_y=0.0007 right_z=0.1604 right_yaw=-0.0002 right_pitch=-0.0751 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [1.3607, -11.5487, 5.9556, 1.4676, 0.0464, 0.1099, -0.0073, -0.3624, -1.0325, 6.9812, 1.7216, -0.0659, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1696, 1.7851, 0.9264, -0.0959, -0.1745, -0.1684, 0.0241, -0.02, 0.823, 0.5945, -0.416, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4224 left_y=-0.0376 left_z=0.0247 left_yaw=0.0714 left_pitch=-0.3643 left_roll=0.0506 left_gripper=0.0241 right_x=0.2901 right_y=0.0007 right_z=0.1604 right_yaw=-0.0002 right_pitch=-0.0751 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -6.9812, 5.8735, 0.9548, 0.3736, -0.1148, 1.2039, -0.1299, -1.388, 7.0222, 1.6728, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1696, 1.6566, 1.1511, -0.4706, -0.1776, -0.1768, 0.034, -0.02, 0.823, 0.5945, -0.416, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4225 left_y=-0.037 left_z=0.107 left_yaw=0.081 left_pitch=-0.3841 left_roll=0.0536 left_gripper=0.034 right_x=0.2901 right_y=0.0007 right_z=0.1604 right_yaw=-0.0 right_pitch=-0.0751 right_roll=0.0022 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -10.2359, 8.9504, 1.2137, -0.1148, 0.0415, 1.033, -0.3624, -1.265, 7.1453, 1.6484, -0.0366, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:847a46766ba7117dfba7f362d30a00f0aec280b112457e3363954606c6550623",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4940fb98c7b2e18b872874d264877c4169e19686a63b74f79ed2065c9a5d0d48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c12d2e3bde85d7bd83dad3b726c4e32bd01094b44eee6ace8d2c748937f194e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UrscAf9jf4u1ST9kq1Nzfr",
      "input": {
        "note": "The bowl stayed fixed in the wrist view while the arm lifted 8 cm, so it is held by the rim. Carrying it left ~16 cm over the middle bowl for nesting.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.2,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01UrscAf9jf4u1ST9kq1Nzfr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5774, 1.9022, 1.7226, -0.9104, -0.366, -0.5312, 0.0375, -0.02, 0.8288, 0.5941, -0.4225, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4272 left_y=-0.1986 left_z=0.1686 left_yaw=0.0597 left_pitch=-0.4061 left_roll=0.047 left_gripper=0.0375 right_x=0.2894 right_y=0.0007 right_z=0.1575 right_yaw=-0.0 right_pitch=-0.0877 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.4034, -9.935, 8.7726, 0.9646, -0.4322, 0.0464, 1.0281, -0.1573, -1.7162, 6.9949, 1.6923, -0.0806, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:874239cd3adf525fb37cb31202d1465a3924f77154c3eac8107bd16b161db68b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f38c9126320f586fb914babf92ec71c7e0c57204d62e95f1b57505c5e407274b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77314ed1458ed0dfa909be0b77e7d5f3c9c5387b2a58444433edae9683af080b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 18.53 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1696, 1.7851, 0.9264, -0.0959, -0.1745, -0.1684, 0.0241, -0.02, 0.823, 0.5945, -0.416, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.4224 left_y=-0.0376 left_z=0.0247 left_yaw=0.0714 left_pitch=-0.3643 left_roll=0.0506 left_gripper=0.0241 right_x=0.2901 right_y=0.0007 right_z=0.1604 right_yaw=-0.0002 right_pitch=-0.0751 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -6.9812, 5.8735, 0.9548, 0.3736, -0.1148, 1.2039, -0.1299, -1.388, 7.0222, 1.6728, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1696, 1.6566, 1.1511, -0.4706, -0.1776, -0.1768, 0.034, -0.02, 0.823, 0.5945, -0.416, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4225 left_y=-0.037 left_z=0.107 left_yaw=0.081 left_pitch=-0.3841 left_roll=0.0536 left_gripper=0.034 right_x=0.2901 right_y=0.0007 right_z=0.1604 right_yaw=-0.0 right_pitch=-0.0751 right_roll=0.0022 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -10.2359, 8.9504, 1.2137, -0.1148, 0.0415, 1.033, -0.3624, -1.265, 7.1453, 1.6484, -0.0366, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5774, 1.9022, 1.7226, -0.9104, -0.366, -0.5312, 0.0375, -0.02, 0.8288, 0.5941, -0.4225, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4272 left_y=-0.1986 left_z=0.1686 left_yaw=0.0597 left_pitch=-0.4061 left_roll=0.047 left_gripper=0.0375 right_x=0.2894 right_y=0.0007 right_z=0.1575 right_yaw=-0.0 right_pitch=-0.0877 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.4034, -9.935, 8.7726, 0.9646, -0.4322, 0.0464, 1.0281, -0.1573, -1.7162, 6.9949, 1.6923, -0.0806, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:874239cd3adf525fb37cb31202d1465a3924f77154c3eac8107bd16b161db68b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f38c9126320f586fb914babf92ec71c7e0c57204d62e95f1b57505c5e407274b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77314ed1458ed0dfa909be0b77e7d5f3c9c5387b2a58444433edae9683af080b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XJVjtghY4z1TdfaiSbAB5y",
      "input": {
        "note": "Ambiguous whether the bowl is actually held; raising to 30 cm so the overhead camera can show the original bowl position and whether a bowl hangs from the jaws.",
        "targets": {
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01XJVjtghY4z1TdfaiSbAB5y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5797, 2.1456, 2.5793, -1.4837, -0.3569, -0.5465, 0.0375, -0.02, 0.8307, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4355 left_y=-0.2071 left_z=0.2868 left_yaw=0.0495 left_pitch=-0.3782 left_roll=0.0049 left_gripper=0.0375 right_x=0.2894 right_y=0.0007 right_z=0.1569 right_yaw=-0.0 right_pitch=-0.09 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [0.3077, -10.5778, 7.5966, 1.1013, -0.2369, 0.1245, 1.0281, 0.0068, -1.5385, 7.2, 1.6484, -0.0024, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef21ae47ab6cf043a2d894699d5c969bcb3f01c98c5226dd32526ef37fbf4eb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a2fa114d7646ff7934876767af1fc89c989ceaec896a8989deef85ad1e704ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:337d61eb2de7185dc9a4988ac4f8eae1c188d92e796ebdc57c7639b59295205e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 17.18 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1696, 1.6566, 1.1511, -0.4706, -0.1776, -0.1768, 0.034, -0.02, 0.823, 0.5945, -0.416, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4225 left_y=-0.037 left_z=0.107 left_yaw=0.081 left_pitch=-0.3841 left_roll=0.0536 left_gripper=0.034 right_x=0.2901 right_y=0.0007 right_z=0.1604 right_yaw=-0.0 right_pitch=-0.0751 right_roll=0.0022 right_gripper=0.9988\nstate[joint_eff]: [-0.0479, -10.2359, 8.9504, 1.2137, -0.1148, 0.0415, 1.033, -0.3624, -1.265, 7.1453, 1.6484, -0.0366, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5774, 1.9022, 1.7226, -0.9104, -0.366, -0.5312, 0.0375, -0.02, 0.8288, 0.5941, -0.4225, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4272 left_y=-0.1986 left_z=0.1686 left_yaw=0.0597 left_pitch=-0.4061 left_roll=0.047 left_gripper=0.0375 right_x=0.2894 right_y=0.0007 right_z=0.1575 right_yaw=-0.0 right_pitch=-0.0877 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.4034, -9.935, 8.7726, 0.9646, -0.4322, 0.0464, 1.0281, -0.1573, -1.7162, 6.9949, 1.6923, -0.0806, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5797, 2.1456, 2.5793, -1.4837, -0.3569, -0.5465, 0.0375, -0.02, 0.8307, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4355 left_y=-0.2071 left_z=0.2868 left_yaw=0.0495 left_pitch=-0.3782 left_roll=0.0049 left_gripper=0.0375 right_x=0.2894 right_y=0.0007 right_z=0.1569 right_yaw=-0.0 right_pitch=-0.09 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [0.3077, -10.5778, 7.5966, 1.1013, -0.2369, 0.1245, 1.0281, 0.0068, -1.5385, 7.2, 1.6484, -0.0024, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef21ae47ab6cf043a2d894699d5c969bcb3f01c98c5226dd32526ef37fbf4eb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a2fa114d7646ff7934876767af1fc89c989ceaec896a8989deef85ad1e704ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:337d61eb2de7185dc9a4988ac4f8eae1c188d92e796ebdc57c7639b59295205e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ctr5taYx9jm7hgJM48AbYL",
      "input": {
        "note": "Confirmed: the pale bowl hangs from the jaws (it stays fixed in the wrist view as the arm moves), and the middle bowl shows at the lower right of the wrist view. Moving 7 cm further toward it to line up for nesting.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.27,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Ctr5taYx9jm7hgJM48AbYL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7189, 2.1056, 2.2112, -1.2644, -0.395, -0.6563, 0.0375, -0.02, 0.8307, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4122 left_y=-0.2656 left_z=0.2112 left_yaw=0.0335 left_pitch=-0.4384 left_roll=0.0423 left_gripper=0.0375 right_x=0.2894 right_y=0.0007 right_z=0.1569 right_yaw=-0.0 right_pitch=-0.09 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.3077, -12.1915, 6.2154, 1.1306, -0.5006, -0.1392, 1.0281, -0.2393, -1.1556, 7.0222, 1.6386, -0.0806, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b4e3556ad93c70e187ffaf7fe79c3f0533e5514b82a99608c0d69812f0d6ce6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3df4740ac8af230e0acd49337ef3448adf1530ed75c417840c0380ea0098ecfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5dd55a9f643e7bdf78a6c7f42e0ab9e7a78a204c19f264b4d7fc1bf3454eb032",
        "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 · 14.33 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5774, 1.9022, 1.7226, -0.9104, -0.366, -0.5312, 0.0375, -0.02, 0.8288, 0.5941, -0.4225, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4272 left_y=-0.1986 left_z=0.1686 left_yaw=0.0597 left_pitch=-0.4061 left_roll=0.047 left_gripper=0.0375 right_x=0.2894 right_y=0.0007 right_z=0.1575 right_yaw=-0.0 right_pitch=-0.0877 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.4034, -9.935, 8.7726, 0.9646, -0.4322, 0.0464, 1.0281, -0.1573, -1.7162, 6.9949, 1.6923, -0.0806, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5797, 2.1456, 2.5793, -1.4837, -0.3569, -0.5465, 0.0375, -0.02, 0.8307, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4355 left_y=-0.2071 left_z=0.2868 left_yaw=0.0495 left_pitch=-0.3782 left_roll=0.0049 left_gripper=0.0375 right_x=0.2894 right_y=0.0007 right_z=0.1569 right_yaw=-0.0 right_pitch=-0.09 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [0.3077, -10.5778, 7.5966, 1.1013, -0.2369, 0.1245, 1.0281, 0.0068, -1.5385, 7.2, 1.6484, -0.0024, -0.0659, -0.0122]",
      "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]: [-0.7189, 2.1056, 2.2112, -1.2644, -0.395, -0.6563, 0.0375, -0.02, 0.8307, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4122 left_y=-0.2656 left_z=0.2112 left_yaw=0.0335 left_pitch=-0.4384 left_roll=0.0423 left_gripper=0.0375 right_x=0.2894 right_y=0.0007 right_z=0.1569 right_yaw=-0.0 right_pitch=-0.09 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.3077, -12.1915, 6.2154, 1.1306, -0.5006, -0.1392, 1.0281, -0.2393, -1.1556, 7.0222, 1.6386, -0.0806, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b4e3556ad93c70e187ffaf7fe79c3f0533e5514b82a99608c0d69812f0d6ce6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3df4740ac8af230e0acd49337ef3448adf1530ed75c417840c0380ea0098ecfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dd55a9f643e7bdf78a6c7f42e0ab9e7a78a204c19f264b4d7fc1bf3454eb032",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FYDKpQKp4m1q3JeVDywz1m",
      "input": {
        "note": "Re-reading the views: the purple bowl hanging at the bottom of the wrist image is the one we carry (the big pale shape is the arm's own link). Lowering to 12 cm to reduce parallax and bring the target bowl into view.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01FYDKpQKp4m1q3JeVDywz1m",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7238, 2.0655, 1.7664, -0.944, -0.3901, -0.6704, 0.0376, -0.02, 0.8314, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4007 left_y=-0.2597 left_z=0.1086 left_yaw=0.0635 left_pitch=-0.5016 left_roll=0.0964 left_gripper=0.0376 right_x=0.2894 right_y=0.0007 right_z=0.1567 right_yaw=-0.0 right_pitch=-0.0908 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -13.2171, 6.8444, 1.0672, -0.232, 0.1441, 0.9499, -0.1846, -1.2239, 6.9675, 1.6728, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d58bed584bd2308e3d0bb265c9a5f364866e140a75c7cd44de5338c12f10ab7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a71a49de04a17944991e008571d17b4802ed0ed25e5750082f9c09196dab5457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05b5642135fefb1a9cf07e0de4bde8e52e6dd6e036356adf4ad49f61212cabd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 7.895 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5797, 2.1456, 2.5793, -1.4837, -0.3569, -0.5465, 0.0375, -0.02, 0.8307, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4355 left_y=-0.2071 left_z=0.2868 left_yaw=0.0495 left_pitch=-0.3782 left_roll=0.0049 left_gripper=0.0375 right_x=0.2894 right_y=0.0007 right_z=0.1569 right_yaw=-0.0 right_pitch=-0.09 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [0.3077, -10.5778, 7.5966, 1.1013, -0.2369, 0.1245, 1.0281, 0.0068, -1.5385, 7.2, 1.6484, -0.0024, -0.0659, -0.0122]",
      "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]: [-0.7189, 2.1056, 2.2112, -1.2644, -0.395, -0.6563, 0.0375, -0.02, 0.8307, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4122 left_y=-0.2656 left_z=0.2112 left_yaw=0.0335 left_pitch=-0.4384 left_roll=0.0423 left_gripper=0.0375 right_x=0.2894 right_y=0.0007 right_z=0.1569 right_yaw=-0.0 right_pitch=-0.09 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.3077, -12.1915, 6.2154, 1.1306, -0.5006, -0.1392, 1.0281, -0.2393, -1.1556, 7.0222, 1.6386, -0.0806, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7238, 2.0655, 1.7664, -0.944, -0.3901, -0.6704, 0.0376, -0.02, 0.8314, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4007 left_y=-0.2597 left_z=0.1086 left_yaw=0.0635 left_pitch=-0.5016 left_roll=0.0964 left_gripper=0.0376 right_x=0.2894 right_y=0.0007 right_z=0.1567 right_yaw=-0.0 right_pitch=-0.0908 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -13.2171, 6.8444, 1.0672, -0.232, 0.1441, 0.9499, -0.1846, -1.2239, 6.9675, 1.6728, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d58bed584bd2308e3d0bb265c9a5f364866e140a75c7cd44de5338c12f10ab7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a71a49de04a17944991e008571d17b4802ed0ed25e5750082f9c09196dab5457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05b5642135fefb1a9cf07e0de4bde8e52e6dd6e036356adf4ad49f61212cabd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISkw4KjgEIEhgCKkD8k9aNtmYNhVie1qP54JRDdZQAx8GSPqUksK4MJQvqBOw7ACvAS/YdXjRMXAdOkSjCN/g9xIx5IG7CduGMEdJsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAayezNUGEgzulsmEjlkUkTmrzWkaDAfiQn15sS2ORYdlKyIwc7ec0XuVX+W3fQ0Z5hEgJRQ0WUnWdZEXTT7rJaBOCR/iWjDiKvNyW/Uc4hW3lwOfKrEMGIVp/3i1GJWlUVmkWMlLKumORPx3gAeH9a2NfmsgNtXQo+dWW+bAiidv6c2v08Lq4zviYAv95SyljCjy0cZFXF1UqGHFJw1U1a/bNzu8KN1Iu5FVFopK+8nWpnX1JAPrqNXn7jz/hcDXXZirPSo94DeixwULOEfAnnoGffMLwLFRelz/phgBLR+WH8SAgJVwRJwEkMZPpHgK7uzkGDs5VU6cagLrzgXBaoYRTJe8nU2LYl1vg7Q0Ur1Y81A3ml0DgKKDW31OzoTWWd+e/CM2XQgxQ+TZ1ch2eqM/aa7a0xtzxaUiBZeP2Ev2BGpzG/R9GKy32KUBv7Od3lzV+olBuszl77LoQNE6fvQCDoir46u56QZyShedFtfGrJmRuO7nmhHKhdGxqoRPcg6LSzxZSG6HvvOnY+RF6RB2EQEl8qAdNM1eLVr6JzY/51RXB+c2JLXLfQoLAr2L6DH7MqyHEIdwSWe0GQUwdlsVlxAc2FGeADXDt0O/GlcOsKKq7u0InPCJ71wLD584TxWnEEQuFpLO6hBx1iOnAMYwWFcuwTNRs0jIKOfZPZM312xlHaqdikTlbJOjrJHfggV7d6Pe1ftaXPKDRNbYBWrYY8GWIovS2Giw9aSWT95D+NGZB6agN+7g1zB6pSCRMdY5FbgfSSuubNbXIBYj9PbxnIdooYDbEEqMYiIKqwnk1JBz64AUCP6JQQXF1OMT+w2DpHmWK78w0htzoliCX5EC2fXts48Ifdjtryefu/fh/LRdqY1rjoZwjRlujT5tKASxOm5PtAGj5tsfXGDqB5N//dlo82+jrzSgYqEHe52VYRk7zkOXtT9l7ooLHynkDSKgC+ZEY7rvtgVHwGZ3Cq/qlLW/1PgkF6YW1IIN+sEukpekwpsElBAxyqV6swpMz2n6MkvpgX0TvlYdErWlaVAxJERrYm6Q+I2LKNglpUVpFLux4NX4q8aqxhjBAmkUEv8vzrzNeoWnulOaY5bxOP5om8DsEiYfhlYaf0wrUJ7HqG8CkFt3mZXqfyIdLq1PF7YYdTmKtEWr1nJrmlaCVPgqAOMH8wjxKoN8hliX4oMbzyUMyEFEBUydSrgZpraswE5UIZScBNv0Zxk6Gq6h2yEIV1TYwCyFXBG7SQCC3flgjNZh1G2VzJphIZBZA3vdPFTxYWQHi7V3zUuBTQxSrD7d21uP4KEXeDWCDwwdClx7EvKhSE2S3mGegJfLzJ6VqkVKPeplnCJP4rZxKaY3SofifPrArih6GramenmTaihyk8I7BJEbbN4XsIl7QxjQSVObQZELZ21ou41jp1gKWIXCe0F8mMA2xjnPN7/LXjhA2zlOhiZFHmT9d1GhpDLEevYYx0SWO3o3XI/r/tdJT+Awo3TuWBNMboSQA40J6a/bJly7BVTJMFocEpkbR35VWSh2bl079noDH4yZSpzxqLomXT94VNEI1VpMZkhfW5n4ubO2TbyI4oMYaZyy9b6RCnC6iIi9CTLdvdvNs3Y2XROqWr0kyh8v4JOltVo846Ra+tfpgHqrxFqGLKYThmcwSp3JnTIoQyeJ7QPo4qaYGd/RcNjSgrD0OJ+m8/MVSJCUFXaxwqS4Jizuix67MjFaqlvVGOuLWnBngIYNhkF8b4btJ+GaXkteHmfl27yvldo560r1m+POxnCCGntQGCj9oL/1Pj7jKbt2CUnAq4KQN4slufED0II8QLVMb9uN/XOXDPbxZNfy5OXPmZGSbaHOw5KBAMsyH+PZtRx6Qb8wbjRVT/El9Wm2LG0QvmSgyId/VOJ/hv8DctcyTI3i1ld3Klab3a8y4TANgfCQOpyblEzpj0uRoUaMwPGrKERgOSD0jcVcLLoVAMcqOh8oF2lhhSf2PAS0I3vbCZvTH3wnRG1YqaV/KZDTtc7odwkaJNUg6PZQ0ezZErXB4BNsUkGGhoMkbu9SI6xIjp/iGJeEsnR4MUyPJz7yi0Y/7B1LeP/km1zCZi3egPVE7h7fa3mdcIV2iKXrNsWATDLqgrdoOYD3OlMpoH/rRu3CbTLS/PlUgMvkFsUe1K7Sxmy7nzi12xcE67E2IaFfalZRAZl8+xOrOOaWU0+pBWyo+iC/huuFjzx7N6liqRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B4izL4AYzgcq1CavNFR8Yu",
      "input": {
        "note": "Overhead shows the carried bowl just left of and beyond the middle bowl; nudging 5 cm further toward the table centre to line up above it.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.31,
          "left_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_01B4izL4AYzgcq1CavNFR8Yu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8032, 2.2158, 2.027, -1.0809, -0.3943, -0.7483, 0.0389, -0.02, 0.8314, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3984 left_y=-0.3099 left_z=0.1134 left_yaw=0.0456 left_pitch=-0.5128 left_roll=0.0796 left_gripper=0.0389 right_x=0.2894 right_y=0.0007 right_z=0.1567 right_yaw=-0.0 right_pitch=-0.0908 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -11.9726, 8.1983, 0.6276, -0.4371, 0.1197, 0.9353, -0.1162, -1.347, 6.9675, 1.6239, -0.0855, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d44cd609d5780ac6bbd911d6c2bb48637250410a7456e843d31b6992972d6984",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:614e048dc0a5326ba682b6bd20c37f6038d24d65275e26360953acb55275419a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:369d8345ecbbbc0ff3f57c44979f428f35bf677498164ea00a3eafb9778ec2f8",
        "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 · 14.01 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7189, 2.1056, 2.2112, -1.2644, -0.395, -0.6563, 0.0375, -0.02, 0.8307, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4122 left_y=-0.2656 left_z=0.2112 left_yaw=0.0335 left_pitch=-0.4384 left_roll=0.0423 left_gripper=0.0375 right_x=0.2894 right_y=0.0007 right_z=0.1569 right_yaw=-0.0 right_pitch=-0.09 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.3077, -12.1915, 6.2154, 1.1306, -0.5006, -0.1392, 1.0281, -0.2393, -1.1556, 7.0222, 1.6386, -0.0806, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7238, 2.0655, 1.7664, -0.944, -0.3901, -0.6704, 0.0376, -0.02, 0.8314, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4007 left_y=-0.2597 left_z=0.1086 left_yaw=0.0635 left_pitch=-0.5016 left_roll=0.0964 left_gripper=0.0376 right_x=0.2894 right_y=0.0007 right_z=0.1567 right_yaw=-0.0 right_pitch=-0.0908 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -13.2171, 6.8444, 1.0672, -0.232, 0.1441, 0.9499, -0.1846, -1.2239, 6.9675, 1.6728, -0.0317, -0.0415, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8032, 2.2158, 2.027, -1.0809, -0.3943, -0.7483, 0.0389, -0.02, 0.8314, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3984 left_y=-0.3099 left_z=0.1134 left_yaw=0.0456 left_pitch=-0.5128 left_roll=0.0796 left_gripper=0.0389 right_x=0.2894 right_y=0.0007 right_z=0.1567 right_yaw=-0.0 right_pitch=-0.0908 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -11.9726, 8.1983, 0.6276, -0.4371, 0.1197, 0.9353, -0.1162, -1.347, 6.9675, 1.6239, -0.0855, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d44cd609d5780ac6bbd911d6c2bb48637250410a7456e843d31b6992972d6984",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:614e048dc0a5326ba682b6bd20c37f6038d24d65275e26360953acb55275419a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:369d8345ecbbbc0ff3f57c44979f428f35bf677498164ea00a3eafb9778ec2f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8QgKjgEIEhgCKkCoHbI/uWB5Z6Cq6/w02N6GYuomCwK/OQV7lCdQhFWQvFCKYe5k65DjIKVC9dPZRx6dCVYBVDjI1PrfkuGU5aA5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbWezNUGEgyf924ByO23Yrn8NNkaDDpAU20ctDrzva6ajSIwpbAJ6w7pHPrUJzxHVW83QqsptvvB8mSrtw5m2qmDwYSiZoi9SS2SLMT1eIhRIISHKo8HHaQOdFfyBy2Ulo6s9RqTKirkLn6axdCHPu5fv6jeLXF4gsVJdvQTspTQCXnTQdKtT+RnY0EiWrnThrPwzuIIFe4VTN5W5C32MgaWMNpLb8UuCY0qyEC+pCtmw6INTKCvsa2gOVxvqLxRA76zPoYODJTE9NuEVH5N6fm3xA7lpFTpp8qldb7OT9GOhJ7AYbwkmHXE9ThDMVVHVx/gFmVgUKxMu9UPjjo7OlrqmWBf/lmqKtLgTQYZF/X6i+k2LVdfbgEXUkQKSad8qwtgllKWUDkRyXHOL6iPKR9r01Y9ZR08+xjLOeLachJsaUB9NOH6HJs6fp2IjSobv54yixgtTfz//b0gFBTZBAazgikXX8nhtAePskNbe3wzm8C40t910o+3DGjjcuZHhDpKYgdgeK0F6GQlhjVhvqoaJCsctONSOlKk6Vg2bQSlS2Y4wa2axBpc66gfzLfEP4gdkCwjaSZkAf9qNrYRDAxl8G101NT5da16KsQ2zAj/5vlC7ExTsSTs7GyODsgNE2fCYw8o00eb4uDMiI+BM4OKtN7QWkhjNrND9EXHEGmx5rnUYvHEpGuDcDBx3+X4ZibYk0mmnD+MNu/biWj/Fl9xzxLVzGoCTgX+/SatJqJKySDfdxyUhCgS37ZIqeHWJYNSAD57QLe9cQ3LuU2Qn9zp1+4zSbZdFWosmLoCS7WZru1ah2eJZUaTFTLgkXAVn2wCXYQsx1zC2sLepLeO1XZhENke4qypOJ1he+d2ReuDgH9rQJuRJhAAavw5bLBvaoJa6bRooDN0QHreADUjXNiASKJ6+Rn+hfY3kMogYZAd4t3UyTlH90Vtey+duQB5yxPPLoJGGyYqWPxrRjVp6PmxXF8Rl4QegfBwxbAHT1T3+LERveUU9faJwsaUr+Xsby6bA9f9dcyC7gdwPQB3sJ5pK0wjbCAi25I249t4dKzuszP5T/xyaTqTaipuUXTijefjGJ+tfAaRh99jEaMZ6YcHNL7WukkNiW3OgnLxjJJFcTpJPvT/sG59+lbsX/sX7L224S8LXv/5rqkxqXrkkO1r1XuGVQv91lR20g9EMaLOc7OW4+QJ5BtlIBWT+ypRBcihP3Tw642jvWr+6N39WyG5uKbQfDQhZY3/t1XviYiFFvvFAoSTWkEP45YKn1Mq63ed7RFtQpcipqpZrpN6lCm0CGPdeK++bK45BaNGqEFeYEYR1zUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013DGE4muTanWYsqSNMWX69X",
      "input": {
        "note": "Overhead shows the gripper now directly over the middle bowl; lowering the carried bowl toward its mouth to nest it.",
        "targets": {
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013DGE4muTanWYsqSNMWX69X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8097, 2.2189, 1.8839, -0.9859, -0.3946, -0.7517, 0.0404, -0.02, 0.8345, 0.5941, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3884 left_y=-0.304 left_z=0.0729 left_yaw=0.0642 left_pitch=-0.5457 left_roll=0.123 left_gripper=0.0404 right_x=0.2895 right_y=0.0007 right_z=0.1558 right_yaw=-0.0002 right_pitch=-0.0938 right_roll=0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.4991, -12.3009, 7.0222, 1.1404, -0.022, -0.0073, 0.8864, -0.1299, -1.6068, 6.9812, 1.6288, -0.0171, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:332d2c1864ad2e5762193d4a1a26f9022ffaba6598371bf5aefb1524deb79c4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1db833217e425d8ac745c53b123fc128c125441a3ce4e8a96221f984475206c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75f43fab9ad7bfee6a25c6e2fc3d586eb993dbbd98290ffbbfeb328c2ff51d80",
        "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 · 24.12 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7238, 2.0655, 1.7664, -0.944, -0.3901, -0.6704, 0.0376, -0.02, 0.8314, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4007 left_y=-0.2597 left_z=0.1086 left_yaw=0.0635 left_pitch=-0.5016 left_roll=0.0964 left_gripper=0.0376 right_x=0.2894 right_y=0.0007 right_z=0.1567 right_yaw=-0.0 right_pitch=-0.0908 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -13.2171, 6.8444, 1.0672, -0.232, 0.1441, 0.9499, -0.1846, -1.2239, 6.9675, 1.6728, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8032, 2.2158, 2.027, -1.0809, -0.3943, -0.7483, 0.0389, -0.02, 0.8314, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3984 left_y=-0.3099 left_z=0.1134 left_yaw=0.0456 left_pitch=-0.5128 left_roll=0.0796 left_gripper=0.0389 right_x=0.2894 right_y=0.0007 right_z=0.1567 right_yaw=-0.0 right_pitch=-0.0908 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -11.9726, 8.1983, 0.6276, -0.4371, 0.1197, 0.9353, -0.1162, -1.347, 6.9675, 1.6239, -0.0855, -0.0708, -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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8097, 2.2189, 1.8839, -0.9859, -0.3946, -0.7517, 0.0404, -0.02, 0.8345, 0.5941, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3884 left_y=-0.304 left_z=0.0729 left_yaw=0.0642 left_pitch=-0.5457 left_roll=0.123 left_gripper=0.0404 right_x=0.2895 right_y=0.0007 right_z=0.1558 right_yaw=-0.0002 right_pitch=-0.0938 right_roll=0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.4991, -12.3009, 7.0222, 1.1404, -0.022, -0.0073, 0.8864, -0.1299, -1.6068, 6.9812, 1.6288, -0.0171, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:332d2c1864ad2e5762193d4a1a26f9022ffaba6598371bf5aefb1524deb79c4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1db833217e425d8ac745c53b123fc128c125441a3ce4e8a96221f984475206c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75f43fab9ad7bfee6a25c6e2fc3d586eb993dbbd98290ffbbfeb328c2ff51d80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012HeexhiwEE4H6vzt3zAmSh",
      "input": {
        "note": "Positioned over the purple bowl's mouth; opening the jaws to release the carried bowl into it.",
        "targets": {
          "left_gripper": 0.8
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_012HeexhiwEE4H6vzt3zAmSh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8082, 2.2276, 1.8587, -0.984, -0.3904, -0.7563, 0.7951, -0.02, 0.8364, 0.5941, -0.4229, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.384 left_y=-0.2993 left_z=0.0609 left_yaw=0.0814 left_pitch=-0.5688 left_roll=0.1467 left_gripper=0.7951 right_x=0.2896 right_y=0.0007 right_z=0.1553 right_yaw=-0.0 right_pitch=-0.0957 right_roll=0.0026 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -13.1761, 8.0615, 0.6276, -0.2759, 0.0269, -0.105, -0.1573, -1.4154, 7.0085, 1.6239, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3deff1568b6bfc320e9ba09eeb72ad54a828859933f2d9713ea12cd79baa42fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:301aaacf8e79e1c491ff8f807463bafd742a3af0b6ec325dcd225394afaf1244",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:708a1ce6317db97ae3598bab9718543dde855c1bc02630512e6a016e246c203e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 7.48 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8032, 2.2158, 2.027, -1.0809, -0.3943, -0.7483, 0.0389, -0.02, 0.8314, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3984 left_y=-0.3099 left_z=0.1134 left_yaw=0.0456 left_pitch=-0.5128 left_roll=0.0796 left_gripper=0.0389 right_x=0.2894 right_y=0.0007 right_z=0.1567 right_yaw=-0.0 right_pitch=-0.0908 right_roll=0.0025 right_gripper=0.9988\nstate[joint_eff]: [-0.0889, -11.9726, 8.1983, 0.6276, -0.4371, 0.1197, 0.9353, -0.1162, -1.347, 6.9675, 1.6239, -0.0855, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8097, 2.2189, 1.8839, -0.9859, -0.3946, -0.7517, 0.0404, -0.02, 0.8345, 0.5941, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3884 left_y=-0.304 left_z=0.0729 left_yaw=0.0642 left_pitch=-0.5457 left_roll=0.123 left_gripper=0.0404 right_x=0.2895 right_y=0.0007 right_z=0.1558 right_yaw=-0.0002 right_pitch=-0.0938 right_roll=0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.4991, -12.3009, 7.0222, 1.1404, -0.022, -0.0073, 0.8864, -0.1299, -1.6068, 6.9812, 1.6288, -0.0171, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8082, 2.2276, 1.8587, -0.984, -0.3904, -0.7563, 0.7951, -0.02, 0.8364, 0.5941, -0.4229, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.384 left_y=-0.2993 left_z=0.0609 left_yaw=0.0814 left_pitch=-0.5688 left_roll=0.1467 left_gripper=0.7951 right_x=0.2896 right_y=0.0007 right_z=0.1553 right_yaw=-0.0 right_pitch=-0.0957 right_roll=0.0026 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -13.1761, 8.0615, 0.6276, -0.2759, 0.0269, -0.105, -0.1573, -1.4154, 7.0085, 1.6239, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3deff1568b6bfc320e9ba09eeb72ad54a828859933f2d9713ea12cd79baa42fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:301aaacf8e79e1c491ff8f807463bafd742a3af0b6ec325dcd225394afaf1244",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:708a1ce6317db97ae3598bab9718543dde855c1bc02630512e6a016e246c203e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017e1rCHaF3aiQJmGtY6PTJ4",
      "input": {
        "note": "Correction: nothing was actually being carried — the grey shape at the left of the wrist view is the left bowl seen edge-on. I am now right above the purple middle bowl; lining the jaws up on its near-left rim at rim height for a pinch grasp.",
        "targets": {
          "left_y": -0.288,
          "left_z": 0.032
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_017e1rCHaF3aiQJmGtY6PTJ4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8013, 2.2116, 1.7714, -0.9073, -0.3908, -0.7525, 0.796, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3825 left_y=-0.293 left_z=0.046 left_yaw=0.0835 left_pitch=-0.5655 left_roll=0.144 left_gripper=0.796 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.0965 right_roll=0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.8957, -11.9316, 5.7094, 0.7741, -0.2125, 0.149, 0.0757, -0.0479, -1.2923, 7.0906, 1.6435, -0.0659, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2196d566502aa8a9643c077df207b907faef649c685a893619085971657cdfc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea183cb0819fa955ff870e0b6c624c43ac51b40f10ec4ba7e78a6e432ecfb836",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:76aae4a8e72e3b20cf44c487cd53ec886f0d3a70fb4739b072fc473d91be13ed",
        "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 · 8.741 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8097, 2.2189, 1.8839, -0.9859, -0.3946, -0.7517, 0.0404, -0.02, 0.8345, 0.5941, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3884 left_y=-0.304 left_z=0.0729 left_yaw=0.0642 left_pitch=-0.5457 left_roll=0.123 left_gripper=0.0404 right_x=0.2895 right_y=0.0007 right_z=0.1558 right_yaw=-0.0002 right_pitch=-0.0938 right_roll=0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.4991, -12.3009, 7.0222, 1.1404, -0.022, -0.0073, 0.8864, -0.1299, -1.6068, 6.9812, 1.6288, -0.0171, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8082, 2.2276, 1.8587, -0.984, -0.3904, -0.7563, 0.7951, -0.02, 0.8364, 0.5941, -0.4229, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.384 left_y=-0.2993 left_z=0.0609 left_yaw=0.0814 left_pitch=-0.5688 left_roll=0.1467 left_gripper=0.7951 right_x=0.2896 right_y=0.0007 right_z=0.1553 right_yaw=-0.0 right_pitch=-0.0957 right_roll=0.0026 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -13.1761, 8.0615, 0.6276, -0.2759, 0.0269, -0.105, -0.1573, -1.4154, 7.0085, 1.6239, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8013, 2.2116, 1.7714, -0.9073, -0.3908, -0.7525, 0.796, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3825 left_y=-0.293 left_z=0.046 left_yaw=0.0835 left_pitch=-0.5655 left_roll=0.144 left_gripper=0.796 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.0965 right_roll=0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.8957, -11.9316, 5.7094, 0.7741, -0.2125, 0.149, 0.0757, -0.0479, -1.2923, 7.0906, 1.6435, -0.0659, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2196d566502aa8a9643c077df207b907faef649c685a893619085971657cdfc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea183cb0819fa955ff870e0b6c624c43ac51b40f10ec4ba7e78a6e432ecfb836",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76aae4a8e72e3b20cf44c487cd53ec886f0d3a70fb4739b072fc473d91be13ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISywYKjgEIEhgCKkBEp/13Rj5mUGUw8/0L0dowZD12Do3dN+WfuMtQx3ejmRNpAsJukUQlnU+snhAwxwGwKySHnFiHIHrkI5hsAxXBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeOezNUGEgzofi2Ns6JXRi7wMlQaDHjqcIdvPHiQelmMwyIw0O+lHoYX5GC3lKqWI6OySBc9xHohd4BHYP18Zti/ibchk/EnQ3f43kbng/d6nNv7KukE/QlH9+KGQKn9K5BdQbcW4A+Z4skrwLJJkx3SvljbqtqX/6frEYGuucnI1mbIXIiaZCmqGH8N2wI2aX+xVaHEnLulBlv5QT/9/p94lHUKRAYq5iVDaQnALAlaJp/bbwBL+Xmzi9xNGJ4wmKIxaAQ6/Dfre0kSegUR0p6sSHVizq+1wY2QndGdsbRjV9LlbEKkCxc2zFN6vYKqnHuIKcPsH+3ULmr/vjxwtAO8S4XDqSGF/i8jOgiI2LcLtgSuYQdyH8h7xKvmkRdMfKDE4KNWbXkdK4ut2yFVnm8I5vp37iKXQfKQgP5E3u+RVYDCA5Npxj7zjYmasgmGf9e9gGCtQbmcaSg87iXn6Nuv4N/m5nqyVGcWyLmCw5DfcqvM+wMyyvEWFzk6lz8oJ3qOoi1115K2t+0YnfG/gnM0xU+QS8G4Xj2mATQ3ys5lSdv4Ijc7/qo53L4iDGeXaDMMd9sYnrE98gSCkcri5QI6fmkupLFfGASMZp0aABmprud2bchkID4tbyFdKpGjPQtkBFpahN1pYTHulpKi0wBH8wLgJ3lfZqW4iZNjFkwAucCCiNSrmULnnS99Hzzwb22CXfxuzLhKysRng/HSzNZr8oJo02g17ZiI0HLO37YGvtQNa8FG5OhlDuukJAGjlOLe7EMd6sv6Bdfat8e7Famop8JubWJ5OXHncytSBZEmp+PSdYCpCA2GjjxKLA0G8Ey+gPWau06puDEey3dmFssq5VvWbg9iQ2N0t2j/BHzAAk/8HbHus4FlfT1J3q0mUxaVcFXLhn/6B8uE/V9eEkZxIxK9zjFzT8n/dr6AGO4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V6UvW2hW7S73JKsmMmBxP1",
      "input": {
        "note": "Both jaw tips are visible with the purple bowl's rim between them but offset right; shifting 1.5 cm to put the rim wall on the jaw centre line before closing.",
        "targets": {
          "left_y": -0.307,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01V6UvW2hW7S73JKsmMmBxP1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8021, 2.2456, 1.7561, -0.8856, -0.3908, -0.7616, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3809 left_y=-0.2919 left_z=0.0271 left_yaw=0.1024 left_pitch=-0.5819 left_roll=0.1649 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0 right_pitch=-0.0965 right_roll=0.0026 right_gripper=0.9988\nstate[joint_eff]: [-1.3333, -11.0291, 8.2803, 0.5836, -0.2808, -0.1343, -0.0073, -0.2393, -1.4838, 7.2957, 1.619, -0.0659, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba11be41d2e62ffd2a6fc76311fb40fafa34f184bba4eb57e269d3d0342e1468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1be8c97f2d1c229582b42d62de61058cc649a41be00cfba1ee4e6e05050c6899",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:45e6fef3756c8825e5bfa3860425b78e62585e745ddc1ca2a842d7ff9ba7ebac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 10.92 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8082, 2.2276, 1.8587, -0.984, -0.3904, -0.7563, 0.7951, -0.02, 0.8364, 0.5941, -0.4229, -0.0166, -0.0204, 0.9989]\nstate[eef_state]: left_x=0.384 left_y=-0.2993 left_z=0.0609 left_yaw=0.0814 left_pitch=-0.5688 left_roll=0.1467 left_gripper=0.7951 right_x=0.2896 right_y=0.0007 right_z=0.1553 right_yaw=-0.0 right_pitch=-0.0957 right_roll=0.0026 right_gripper=0.9989\nstate[joint_eff]: [-0.2256, -13.1761, 8.0615, 0.6276, -0.2759, 0.0269, -0.105, -0.1573, -1.4154, 7.0085, 1.6239, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8013, 2.2116, 1.7714, -0.9073, -0.3908, -0.7525, 0.796, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3825 left_y=-0.293 left_z=0.046 left_yaw=0.0835 left_pitch=-0.5655 left_roll=0.144 left_gripper=0.796 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.0965 right_roll=0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.8957, -11.9316, 5.7094, 0.7741, -0.2125, 0.149, 0.0757, -0.0479, -1.2923, 7.0906, 1.6435, -0.0659, -0.0317, -0.0171]",
      "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]: [-0.8021, 2.2456, 1.7561, -0.8856, -0.3908, -0.7616, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3809 left_y=-0.2919 left_z=0.0271 left_yaw=0.1024 left_pitch=-0.5819 left_roll=0.1649 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0 right_pitch=-0.0965 right_roll=0.0026 right_gripper=0.9988\nstate[joint_eff]: [-1.3333, -11.0291, 8.2803, 0.5836, -0.2808, -0.1343, -0.0073, -0.2393, -1.4838, 7.2957, 1.619, -0.0659, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba11be41d2e62ffd2a6fc76311fb40fafa34f184bba4eb57e269d3d0342e1468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1be8c97f2d1c229582b42d62de61058cc649a41be00cfba1ee4e6e05050c6899",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45e6fef3756c8825e5bfa3860425b78e62585e745ddc1ca2a842d7ff9ba7ebac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqQgKjgEIEhgCKkBitCcGWqJnia6xxV/PU7lTUjENAGrP3l7XY3X2AasAxQfyBqF64VTU9qCQmmakcvpLcOcAtmR3qVQR6LARA8YEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeyezNUGEgxeDlZxg/uz75T7GVUaDKmTIYlO27KwHuP0xyIwsf0p9ynbyYeFulUZD5Rjg8DLeEtLiMbz7f+mr9RIU1AHe+9J4DoQI3RlTdoaEzyPKscGDx5fFexednmOYCzJDJ05Cf70iBhaSyj75YywYPoZc0VuJin20Sr1gL7Ovjtp/1EzgAtb87NGWefTsl9BethTnCNTFToj6VctweL31jz0knzMTQYh6gZJewQMW166HqRMgG3cdRqJ5VMuUPcWVMyUvCbLnB0pw8d7D3DQCJYyd5ake6mF1b4PUN9rVvXgYSXmmD3HLXI54sO1A453pjwkcVxBuEvo3o4SCqK06xVObr+Ozf5EsfdGrpebJdOpX1IFEEokF1HERaGTsxMeGaCyiR84cVX1elWxK74mU9s1HhpSk83eamuNy/o8jkTJjiThDZmNEwx9qGj8EU0AVCaEcTCDJAi/ltwDAQHVOy81TwLadHYR8c81MCsd1c04+EFhZfgJFdC1CSG7MvMgIIu2l3u7h1VLnIf9kluZWAKUzjbuuzGdW6Un3pkwXLslb3UvG9uP6vp85Gc9BYvXiXH89jmfDqZvvyPZs2O4L2jqPFcukrzWq8MyRup+BQm4OLcMI/GwS6sSF/L3hRXLVXrYBD6eJfuGXKCoyI2ndUBSXdkySo+04SH+ORkst+c8Nm287liV+luRm5Kq0KRzWkFnIG4mTfO917x03h9xObqBpTFaSbVby3Zs83Vl8RewTya1y1cnjKkkYyIGuNYspf/efFkvhLuSNrzqVIEym/YYMtsQGY5qK0ORKCcKvBUkH0Tc74/ViTqI/aobnZLPsc+UvK94kkxc4RhmXhv5AcMOJ3ELwWc+GgMEC4U8Y8bzpxOcDuCpSkgNnWdPfYCLwW6jK/pqWG9CuQBH3CSjq0jG5j1kaUMFBEQWABQHSS8TC1g8P6lH5ugKAvTIVOL+kUsfGu4+NNLaJh1D3xD7rwVWYHUtLst+hnCu/BxBHq71uiXpcd6cD5nYTJrjM8ptxEaFa8lgAWpSxO9TsaFP56Xt/qBiDyRn73e12GmmUiVZqlP0dgs7Zo63pZtZ6fOQUEAoL5s0w7sd/lFZkpTFxNvkbWl/bQq1UrleoIao1flvb5EGrZBNcA7AdJEIZgDPaOngB5lZoYk6pDdwCVOhhDIiUclrTeiNhkXuR0eqLNUd+zsmSY5cD8AuahtkcIetnrNXUxcy2QPCmgMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XdzKKFXFwgayvyHgLVTUKU",
      "input": {
        "note": "The jaws are currently in the gap between the grey and purple bowls; shifting ~2.8 cm toward the purple bowl so its near rim sits between the jaw tips.",
        "targets": {
          "left_y": -0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01XdzKKFXFwgayvyHgLVTUKU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8249, 2.2635, 1.7767, -0.8856, -0.3908, -0.775, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3772 left_y=-0.3038 left_z=0.0249 left_yaw=0.0866 left_pitch=-0.579 left_roll=0.1559 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0 right_pitch=-0.0965 right_roll=0.0026 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -11.8496, 8.1709, 0.5836, -0.2711, -0.0415, -0.0122, -0.0889, -1.4564, 7.2137, 1.6239, -0.0562, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:955105f611b20c049ad2e24bfaa9610d0fab28d3fd95b02187608ab2a368b093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04133f0fdfd8705964acf5405df457e6ea6777136c978eb0c0dfbe08dd6e00d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c4316264e53ba2490dca0209a10185f77f86cf3d278c1509688012345ef42c48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 7.7 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8013, 2.2116, 1.7714, -0.9073, -0.3908, -0.7525, 0.796, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3825 left_y=-0.293 left_z=0.046 left_yaw=0.0835 left_pitch=-0.5655 left_roll=0.144 left_gripper=0.796 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.0965 right_roll=0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.8957, -11.9316, 5.7094, 0.7741, -0.2125, 0.149, 0.0757, -0.0479, -1.2923, 7.0906, 1.6435, -0.0659, -0.0317, -0.0171]",
      "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]: [-0.8021, 2.2456, 1.7561, -0.8856, -0.3908, -0.7616, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3809 left_y=-0.2919 left_z=0.0271 left_yaw=0.1024 left_pitch=-0.5819 left_roll=0.1649 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0 right_pitch=-0.0965 right_roll=0.0026 right_gripper=0.9988\nstate[joint_eff]: [-1.3333, -11.0291, 8.2803, 0.5836, -0.2808, -0.1343, -0.0073, -0.2393, -1.4838, 7.2957, 1.619, -0.0659, -0.0806, -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]: [-0.8249, 2.2635, 1.7767, -0.8856, -0.3908, -0.775, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3772 left_y=-0.3038 left_z=0.0249 left_yaw=0.0866 left_pitch=-0.579 left_roll=0.1559 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0 right_pitch=-0.0965 right_roll=0.0026 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -11.8496, 8.1709, 0.5836, -0.2711, -0.0415, -0.0122, -0.0889, -1.4564, 7.2137, 1.6239, -0.0562, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:955105f611b20c049ad2e24bfaa9610d0fab28d3fd95b02187608ab2a368b093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04133f0fdfd8705964acf5405df457e6ea6777136c978eb0c0dfbe08dd6e00d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4316264e53ba2490dca0209a10185f77f86cf3d278c1509688012345ef42c48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QoKjgEIEhgCKkCnKuoUZjcBwOTAiMWm09E/7z4cb0r3GODejkpsCYDYrKNboYlaJ/Gu5Z5fcr4/cwKGT0aPaMggfipeIL557VtmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfeezNUGEgyHYL5CPmLgTC8BZT0aDE5tQbFymfM2rrduaCIw5Pu2DZ/pT3VwK0osalQLZ3iQhbTTVnt0MiwOGnlNfRXUmw74YC6s93/nmfaxO5SMKvsIh6wFc9J9uZ/65JVWmXSnhgZcOh3tyrEagDoMyJsvJ061/ZURPvZ5R3OTlWhYwEQu0GGqM4YtePLy1p/y9T9DJxH8apo7+cHXr+9GbxLD2mGoUTO5S7g5LsTgGUhodYDlM1on/AuZ17eMQTM01ZKqUBpEsAOFVsO4IwRh0JL8pYUCZfNdS4ZY9WtM2dacEQ0gifmwtbvrCjzFD9W17Mb81mZcca5KphDgnTdMpZTQHIMOw1cG3LAhQQXGZyoo5bjJGmSbhH8XXpZugB9heilu8EK1ukpVmBOnTCNxKLNorndTDNzMp0v6U1UE0t9JOTEwHSS/EOgimx6+lksmRqYmuPHyfxSkRx9o7/DCP1c1uGDxrQUph4VKCBesiWMuaUnri3pHDJjPT9MplaL9DVqfSpFyYlEbZenpBM5KWD+VSUyV72HwCBN2Z7xKrNH6RwYR6L3rdWzw9WP3WDx3aIcNrhqXxzN+l33C8oDNm2FuSSwhGh8AnnFVlAWOKt1/24RaQrydFD4PMFmudAcLNLBI8SOUbUpgZwCVisLfWMeaEIhvFQYSspzEBAXyynN2QdDrCLuvbozWAuoCJpsxytGnK/6WzVDr+s2Cyu+3JqPRk0ntvjVlMHLMpODfYVTt8aCuHConVcVJSsH8XnDvpD2ZkYUSnQkFkNz01yDY7Z8T+E1hHoajeVfPbeL+KaJzbsOLITKowuvN26wMTtn31BC1OzhXwNNSh36wWUaA8QXgopuvuJQdUG/BzxzTgvjrsyvjNl0GmvjvGBuGZwcF4C6QH+8gef6atu21tkDaGMBVCdLXCbYFzEbIp9rngU/hBnKUpzo1AUkNm1ZYrl0Tpocf9qjwguEU4E24G/iea6clmIcH9LazTLxht34edDKJAL7k0113/85p7m0VAQmxD2sfBpqSNtp6kdZcH/QIKAaYlrot9GyKqei37bWAmYcYeBfGJCtat9/aD6tV/dASrqMivLFuFc7e9NJBaFpUHOHJ3ozOWXREIsoHrBz7SqYJ255Nle2wT8q6ph0h6o6mSHyUHWLowvWBUBqr+iCXbALwwpkyu3W+8DOaW2DLCZ7YlokCO0RzdqchNRI9g9foYjWvcTWqjoH8Nev5wv0pjx99nujblFP991fWDBxUweLJh7JFRPVRBHCwsVKFBNXqxU+xCOolTJ07PgtrzxXbKGCknxgI092XmtMqQmQTvo4M1lrrc5pdrs9NJ7ELViI40wlLyKYvq3rdM8h6zvsZpWWRuBvmu7A6v6lLWNctV2iaTzjnvqOfpu7sRoq+3cr44FvIcBUoXonx2W0+xHWqeifSUp3jd3sSY9GFqwYVzU/FZuzjM7BQXWEHy+7GsKHYqhRi57Oa2XfBoYDjNm34Qr+ImEoiRkpmb6YKSSpPdeO83kmwG2furaw+a6esi/oDAGq0JWC51+bmOsm8t5FfvjKry5ZFChQsv38NLk4N6MNlCkFCvZCQs1MvrlxU7vTTzQMGBK7u7sjcZWlm5t+dF2dhlbJsaLnuSxUZRgoQCBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TRvo8TpDUej1Sza5A2CT3y",
      "input": {
        "note": "Purple bowl's rim is just right of the jaw centre; nudging 2.4 cm more so the rim wall lies between the jaw tips.",
        "targets": {
          "left_y": -0.328
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TRvo8TpDUej1Sza5A2CT3y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8249, 2.2635, 1.7767, -0.886, -0.3908, -0.775, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3771 left_y=-0.3037 left_z=0.0249 left_yaw=0.0868 left_pitch=-0.5792 left_roll=0.1562 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.0965 right_roll=0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -12.0684, 8.3897, 0.5788, -0.3297, -0.0317, -0.0122, -0.0752, -1.5111, 6.9812, 1.6581, -0.0659, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b215c7b068a03c974e270e939a64179173a7e0b55ce86c077486bd53734a32be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ece356ca7b8355b52fb37e8dbea7cfbead12989696e69ebfd5b303ad2f359b57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b54c00ab5751a48542ea184e10de3f742014d73c8f3e778c5799a811c396561",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 6.989 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8021, 2.2456, 1.7561, -0.8856, -0.3908, -0.7616, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3809 left_y=-0.2919 left_z=0.0271 left_yaw=0.1024 left_pitch=-0.5819 left_roll=0.1649 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0 right_pitch=-0.0965 right_roll=0.0026 right_gripper=0.9988\nstate[joint_eff]: [-1.3333, -11.0291, 8.2803, 0.5836, -0.2808, -0.1343, -0.0073, -0.2393, -1.4838, 7.2957, 1.619, -0.0659, -0.0806, -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]: [-0.8249, 2.2635, 1.7767, -0.8856, -0.3908, -0.775, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3772 left_y=-0.3038 left_z=0.0249 left_yaw=0.0866 left_pitch=-0.579 left_roll=0.1559 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0 right_pitch=-0.0965 right_roll=0.0026 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -11.8496, 8.1709, 0.5836, -0.2711, -0.0415, -0.0122, -0.0889, -1.4564, 7.2137, 1.6239, -0.0562, -0.0806, -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]: [-0.8249, 2.2635, 1.7767, -0.886, -0.3908, -0.775, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3771 left_y=-0.3037 left_z=0.0249 left_yaw=0.0868 left_pitch=-0.5792 left_roll=0.1562 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.0965 right_roll=0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -12.0684, 8.3897, 0.5788, -0.3297, -0.0317, -0.0122, -0.0752, -1.5111, 6.9812, 1.6581, -0.0659, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b215c7b068a03c974e270e939a64179173a7e0b55ce86c077486bd53734a32be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ece356ca7b8355b52fb37e8dbea7cfbead12989696e69ebfd5b303ad2f359b57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b54c00ab5751a48542ea184e10de3f742014d73c8f3e778c5799a811c396561",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpQgKjgEIEhgCKkCvwLGFzr0WWNZMzbQYfWPrv+NQpWmfCOfYbNofrtz26a/b4EVvgqdO3XxZvMbJaMc0jUB8Vo3O/GtrqgfxZ7xmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf+ezNUGEgz7QeRmEKLejicf60oaDBHYk/oJ1uKHEh9nbiIw+1P16hyob0uQ1YwkYs2mOfLP9+2PvYuuMtmsDOyYEq+/rc3LGoBZqxQanzWoIp2rKsMGP8M4wNslDTzoMhFMHTxjM7CTcDhOHmNstcSRXevMKkC3c++qBaKe4T2+sgM8TWijL4alL0WeQhdHKsQTVvu3Oe2Z2thnlkkQGh/l0lygyJqNZ/ZHpisp8M/FtSgArNu7OGQ3Rw2Y7avYWDfVzqlUuda5522cdoqocU+lv7RRcfKem7OwnRdNss6mnRWRgnX8X8D17twz6H215jih0QXz77audC8k1nF0HkiReEtq109j5Xa45Ko3BLZdsiGuqacoYIVIGDNdu6uZUGfdF2iL1NscuQFh3GtgvJNIyGNb1GpuqB/GtNtEYJIkBn35koHjtXZ3TSb4EZyLq3b/AnOE9ZeJxzI4IbTiX/cfMIWlguvXXRh1nHocBCeJQMPgQHk5lhBaJOQjxdG7X5hR30C8jXBk13zyE9z0bsAphyWLBxRuIZQhQJmjl0YDaLHLQgWtgAcOoRy1GjitqOaNWTuWgXWxe2MyzQgH39CdmbQKvaWTckN+BWq77UrPtNxl7VgpCEr6KWTdO6eN/2t3CoJOwncciqoHiKy39EgBgTYKXFnB1lbQQ8GDgnKp50OLcwD2H7SbL8bYqoHm2ufFVmWY8YJfYG4IdfCKRodihda5ZhUS3C1CspNDOCbdQaNyeMBsSANkcVTBetzsvT9pqZyAKrtXvzo/ENkg65T8LlBhc9GRfNKMdsqs/umjjFr3EsRZOQHlmnco+he2oCScTIXqgH7ITK0dO99E+e2qWK8TqwX2SRRGGmwgfMrnBLarbLWymrvRLjrC//j2tlOjAEYuARjK+Hm3To9n0HcbsRM8birxcynRAlGMN2RNzzsC7mAnFshq8CbITi+hgLuLBokzSINrQiG+SXp1lh045ET95XDDJrLgz1N/T2I/PmKYfM+vVcXMP3G4oGkvmCxGQjYtgNi2JV+QIu0qXnXv4zczcCMn8DbuAggkfcxLpdWcG7OVrtIi77ggg8npTm5na2imT9w6l/Eejgp5+TLK5Gb10semRdMztZuLFvA13Y+oaaGVpJjyr/tMgNBx8UfhPBdDp/tms4QWv+U2GXjioVdCmA7Ab9+JjQH5MxI0BtVOFbHsotDZKe5OWqKbwRitO9YglJ7LnBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QrB49awp71oACfaiQeaJoE",
      "input": {
        "note": "The arm stalled (likely the jaws are touching both bowls); lifting slightly and shifting further onto the purple bowl before descending on its rim.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.34,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QrB49awp71oACfaiQeaJoE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8246, 2.2635, 1.7767, -0.8856, -0.3908, -0.7753, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3773 left_y=-0.3036 left_z=0.0249 left_yaw=0.0872 left_pitch=-0.579 left_roll=0.1557 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.0965 right_roll=0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.1299, -11.8632, 8.3487, 0.6276, -0.3394, -0.022, -0.0122, -0.1983, -1.5111, 7.0085, 1.6239, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43c9e7d7ab42917945e7517fcf58c97a0995c9536118e1397a27a59dd936a583",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:860fba414629cb4a6072bad4f3eb2c5c8a3cf6789269d14cf58bb31c62211058",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:338288f7741f4ae2e8df51b541a356401bc571c66988bb95339071b3b2d2e99e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 9.729 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8249, 2.2635, 1.7767, -0.8856, -0.3908, -0.775, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3772 left_y=-0.3038 left_z=0.0249 left_yaw=0.0866 left_pitch=-0.579 left_roll=0.1559 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0 right_pitch=-0.0965 right_roll=0.0026 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -11.8496, 8.1709, 0.5836, -0.2711, -0.0415, -0.0122, -0.0889, -1.4564, 7.2137, 1.6239, -0.0562, -0.0806, -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]: [-0.8249, 2.2635, 1.7767, -0.886, -0.3908, -0.775, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3771 left_y=-0.3037 left_z=0.0249 left_yaw=0.0868 left_pitch=-0.5792 left_roll=0.1562 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.0965 right_roll=0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -12.0684, 8.3897, 0.5788, -0.3297, -0.0317, -0.0122, -0.0752, -1.5111, 6.9812, 1.6581, -0.0659, -0.022, -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]: [-0.8246, 2.2635, 1.7767, -0.8856, -0.3908, -0.7753, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3773 left_y=-0.3036 left_z=0.0249 left_yaw=0.0872 left_pitch=-0.579 left_roll=0.1557 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.0965 right_roll=0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.1299, -11.8632, 8.3487, 0.6276, -0.3394, -0.022, -0.0122, -0.1983, -1.5111, 7.0085, 1.6239, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43c9e7d7ab42917945e7517fcf58c97a0995c9536118e1397a27a59dd936a583",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:860fba414629cb4a6072bad4f3eb2c5c8a3cf6789269d14cf58bb31c62211058",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:338288f7741f4ae2e8df51b541a356401bc571c66988bb95339071b3b2d2e99e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISswgKjgEIEhgCKkAqItA/PkRNRFr2CXbYVJ84gDyvuyOhCKSolFU+IzFk3T+JISa9bBVqLogiJgmgdBwKtrXBqg4OK7T6D26k1k73Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYefzNUGEgyffKR6HTNdeXRPub4aDBLDpfsK7Cj9UIZ05SIwHKn269bMdDT+1aB6qGC+bFsGjGvKTyDqMFkJJSxd0U7PHvFC1R7tRJ9n34AsXYwmKtEGwETuU5StAmbkr3UgeIOk2POJoq8zE4iP0xm628qSxYsgQfQRacV3G3l/2OpJ6r8vkNmflY8mdJN1HvDqB+J0zi21lKmVBi6Q6WFotmaf4fGHCgofdKpIPloB1grbFRnnOKQb5oyxQ18xiiCFdTFy5J3znN51rJynouFS80jnkeY0BJ5DySrtQ9B0a0taTTDxKzg+lg7R6HBLqjnqpSJ/guUxiVP7cr45ZuvdNMTCONB47a3HQsyuMHRaYLaDqQND5WcJ/A8dtR1VoQBEaxOj4E3EcsTbtU39vvc4P2ZrALPuzyo/r39JV+VWNUA7zS9ld69LXztMwRoRKNcXcCT5JPPzjwdlC9i7a132oxXypqEMf4U/FxKiX+Z75xVZ5vfAgo6TO3vTVuJIUYrQAwKua4XZWJY1ttqKgqPOfeCXVsubgkSqfdLnRgpvuPD6aQVuRMlHG9inyHwdi/gtSzsdzcCHlVgJdZrF4v1B+HAVNwvHKuEmx6qxSGiHBeoeQZD3EfrhZ2U1U3U0/WypyR3Vvv9TfUM85iP6RB4jKyjVerSjYmeS1O40kGv+uo9jZSNx/nEXozUkiicqgy8BKMXwrYhr9lHsIUMOXAsA0UwGs8VeqmjizRMADGA3ze7BFZe8fLf4GeIoS2O1MIoHcT4NDg9QpDZgWRwytAB9poMTs4aQyLHADPECbEHVPh+8n06GBYd0RYbQpYYWRFRza4kj1BdEudA1+RyubzFhmQI6y1MojPbobse+D0egCVJv2QpkxjJThGJynsg8m1JGrfvnY45dRTEVSraDmv2TyOJvwEWKmr4jnP0BwiiiCKGHslGd2ACMuMbJF6EBfeUcOGgsE0tEKKa3HOraoOtzZ68434wrb0G7iWnCQlAwbIN2bMaAu+Iew91JGwVzYTED6brSlL3LGEWKq3LSI+UW6TwLrj+8jyyALnnFeixYxTcj0MV6namYaEDmZCASMizfHQwe9CHyTAIIed1KBljRizzD2+fGM3yGMmGvZ4+Z5/ivBBC2xYGjc6n8QstKayRbVV3D3v4pix9QO5X+lidpKzU8qU8hIyUKteMCB7F6OnCMmvM+7QGCyPwnw5kdNt0YjCzokZ+3kIV7rrxTUFX/QipUyLuPGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Fs8Rqeiop9YJ736tyScBa",
      "input": {
        "note": "The left arm has stopped tracking entirely, likely wedged between the two bowls; commanding a pure vertical lift to free it.",
        "targets": {
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_011Fs8Rqeiop9YJ736tyScBa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8249, 2.2765, 2.299, -1.3632, -0.3862, -0.7834, 0.7961, -0.02, 0.8379, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3827 left_y=-0.3108 left_z=0.1511 left_yaw=0.0732 left_pitch=-0.5623 left_roll=0.1188 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1549 right_yaw=-0.0 right_pitch=-0.0972 right_roll=0.0027 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -11.3573, 7.4598, 0.3785, -0.3004, 0.0269, -0.0122, -0.1026, -1.5248, 7.0222, 1.663, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1640518b789f1bbc2fb8c91ed3dd0ccf2eb0798f65b3a90ad31835c6cdcab8c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40d0f51e2a6b5e88afc178d2079f5c7307022a1cdf88f57846d6498c8f90a851",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d1400f0c286dbcfabd2f602fabf4ebaf071784bc17fb8ab24058a183d3d4229",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 5.685 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8249, 2.2635, 1.7767, -0.886, -0.3908, -0.775, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3771 left_y=-0.3037 left_z=0.0249 left_yaw=0.0868 left_pitch=-0.5792 left_roll=0.1562 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.0965 right_roll=0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.0615, -12.0684, 8.3897, 0.5788, -0.3297, -0.0317, -0.0122, -0.0752, -1.5111, 6.9812, 1.6581, -0.0659, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8246, 2.2635, 1.7767, -0.8856, -0.3908, -0.7753, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3773 left_y=-0.3036 left_z=0.0249 left_yaw=0.0872 left_pitch=-0.579 left_roll=0.1557 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.0965 right_roll=0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.1299, -11.8632, 8.3487, 0.6276, -0.3394, -0.022, -0.0122, -0.1983, -1.5111, 7.0085, 1.6239, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8249, 2.2765, 2.299, -1.3632, -0.3862, -0.7834, 0.7961, -0.02, 0.8379, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3827 left_y=-0.3108 left_z=0.1511 left_yaw=0.0732 left_pitch=-0.5623 left_roll=0.1188 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1549 right_yaw=-0.0 right_pitch=-0.0972 right_roll=0.0027 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -11.3573, 7.4598, 0.3785, -0.3004, 0.0269, -0.0122, -0.1026, -1.5248, 7.0222, 1.663, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1640518b789f1bbc2fb8c91ed3dd0ccf2eb0798f65b3a90ad31835c6cdcab8c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40d0f51e2a6b5e88afc178d2079f5c7307022a1cdf88f57846d6498c8f90a851",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d1400f0c286dbcfabd2f602fabf4ebaf071784bc17fb8ab24058a183d3d4229",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlwkKjgEIEhgCKkAcUvMSTx+WTpjvLAUUNSbg5ynN5DXFEMszWWVF8LqXxfz+qNeZz79QYzLegfg3be6zbhJaOEuZS1UWQM0TuV4EMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZGfzNUGEgwdxRLR6kAxj250iMQaDDZaPo4lsvMOwlwuYyIw3rpsDlbFQGUaMMdCWbnJMjCoY5JY35b25WYYO2ewMWzvg6PSg+h9XEfjzgLDfqWWKrUHF5j7clN4tP0jhmSbD4acPgbdnEJbBnTVADEYX2017ZW/rnqyTENrIqOwljoPhCth3yqDtFUR7Cts+SGbE/hMV17bH/3/ffTX5RklUHCF1JqIkwgXBm8FOBQJFlqRRQdRzHoVHRYksLy7oUqovcOLedKlotKS/9WYCf/lj6KlM23qaIWztLprehejTQmvRl4wihOi17O3NXA3Ot4JpmYi8i2OdJcfcZ9tqQoHYfs3TSSyXeIgL1B1jrNnheW2rUCGV6yJAgi6ACgZ5gSOirrCLUXt4MsLW1/mHghsP1T62jx7afAdKxx5mduYpmCOK3ToQpSqFm9sDrR0GHmsAxai5fzlVBMVetx8K8vYXZYtpCLhTZSTxucJfBSIbbzYEiaHm1X10SK4JyF7bC5Lb3AoVFi9ArI/HCk0DaqPnhq9OCVmifBp3nmcpm5at2mtcYto+GhqGRAemG7sn1GpSaSSLQBxwIol8Gk0HYWosU9OyFaa85xKOLx+4uuLzsDVJBNVKbaqHIi28YTYgax/DZAQ7e4JD/LmSU5CBFUykoiImqHv+/0wkQNic6WGpyFrM98qsaQ5UofwZvAg5D84RUZX8xaClM6lWO+WQ6ZZ17tGvSn6XhampLLVEdGG4AboQuAnNRwq1poMDcSERQRDU5sMypl5qr8Yz3CoEO0vT2W5lhDbgT4/0it0EbU8Apb3nWT1Wg0aw3UpY51m4+h5zTGLbXfi1yNVHNBbmCZp5nv2qQRpFba92Yc2R9GM97K56QbqXlEJ3jT8aqpToQZJdaIBrQN7c9vsaK5W5sSABEa+yLT1M9Qa3/exWPbVmFog7Umbm2tm+CZsTlbAgSrWL3HNUGwKahS4w7M7jFsiQ5nSwh1J/xyXZmP9g1FhGiB2N0lLKApydlDQkD2v0OO2+k9VM0UXm3mS4fkAkl5OMEhhRGLgSkW1CxVa/18JEhkJcEMZjTMdOSnqNS6jwlto0VhD5t482xWEcUhxPXglAr1+Pkk+tg9O9I1C2UQIKoB0n9hjfxwrBAUTggEl2/RXb6pBtYShnqtqpDb7k7MEUnJo4OA47Xp/ubebeMfcKaEgP/MFr4jkYBYijZiULEOPB+I3PhfuJn2yKqnCfQhYoZaa6KfyXKvu2roUvVQizK41/RLsNYK2d9erT3Baqw9K/JmashmpWW9IB2rX7RQlsCSqt3limsJiY4cPJ7zUBmWjqbBKgAtFPjPhTtboEqmkBdk3HQ38a/egjhy4EBUiNBvLPfxckfqUMBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cx2PLw8iJWJX1xfybvRryF",
      "input": {
        "note": "Clear view now: green bowl left, purple bowl right, jaws in the gap. Moving 1.5 cm toward the purple bowl and down to rim height so its near rim sits between the jaws.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.325,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Cx2PLw8iJWJX1xfybvRryF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8379, 2.2971, 1.9148, -0.9909, -0.3904, -0.7906, 0.7961, -0.02, 0.8383, 0.5941, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3809 left_y=-0.3174 left_z=0.0449 left_yaw=0.0838 left_pitch=-0.5784 left_roll=0.1486 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1548 right_yaw=-0.0002 right_pitch=-0.0976 right_roll=0.003 right_gripper=0.9988\nstate[joint_eff]: [-0.5265, -11.7402, 5.9556, 0.6911, -0.232, -0.1587, -0.0122, -0.1162, -1.0872, 6.9949, 1.6532, -0.0806, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9766e9da98ac82b68bee3a3b713dbd93c539bb5916516f4f01512a3a89d8ba0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21100f0818b3dd1158f839f418d6c9a525dc7f03bfdfecdcb2c7355cd3dba898",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:edaf9ec1968aaf63109f2d42df3149e11d66190d2720b2b04e42862ab350a2d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 15.24 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8246, 2.2635, 1.7767, -0.8856, -0.3908, -0.7753, 0.7961, -0.02, 0.8371, 0.5941, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3773 left_y=-0.3036 left_z=0.0249 left_yaw=0.0872 left_pitch=-0.579 left_roll=0.1557 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.0965 right_roll=0.0029 right_gripper=0.9988\nstate[joint_eff]: [0.1299, -11.8632, 8.3487, 0.6276, -0.3394, -0.022, -0.0122, -0.1983, -1.5111, 7.0085, 1.6239, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8249, 2.2765, 2.299, -1.3632, -0.3862, -0.7834, 0.7961, -0.02, 0.8379, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3827 left_y=-0.3108 left_z=0.1511 left_yaw=0.0732 left_pitch=-0.5623 left_roll=0.1188 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1549 right_yaw=-0.0 right_pitch=-0.0972 right_roll=0.0027 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -11.3573, 7.4598, 0.3785, -0.3004, 0.0269, -0.0122, -0.1026, -1.5248, 7.0222, 1.663, -0.0171, -0.0562, -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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8379, 2.2971, 1.9148, -0.9909, -0.3904, -0.7906, 0.7961, -0.02, 0.8383, 0.5941, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3809 left_y=-0.3174 left_z=0.0449 left_yaw=0.0838 left_pitch=-0.5784 left_roll=0.1486 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1548 right_yaw=-0.0002 right_pitch=-0.0976 right_roll=0.003 right_gripper=0.9988\nstate[joint_eff]: [-0.5265, -11.7402, 5.9556, 0.6911, -0.232, -0.1587, -0.0122, -0.1162, -1.0872, 6.9949, 1.6532, -0.0806, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9766e9da98ac82b68bee3a3b713dbd93c539bb5916516f4f01512a3a89d8ba0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21100f0818b3dd1158f839f418d6c9a525dc7f03bfdfecdcb2c7355cd3dba898",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edaf9ec1968aaf63109f2d42df3149e11d66190d2720b2b04e42862ab350a2d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9gMKjgEIEhgCKkAsBefOxSQR6V/c/qNp+nEegjfjbG2/W+5Be71dq1XK5E5+7sNwhmZeSCcj+6ugxkSSKICV52sQcPe34sZy2zS3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZifzNUGEgzuD8rX/G5/araj6/AaDIpTm+cm7ejnl2mCJCIw2XkT0gwVhpe7+kSbmXK+fkEDAf3xJw8uefKLBBOI7VQHZLuEF3GIwyrjiKGipc0dKpQCX7Sk70Vi7IDUGYZmx9oLQ0FYLO3q982QMCe3c6iapXBhXZbhM/7MVYhgos4+MG1ZXJqa4vIVFXS9jv9E2L1r0psHL/DIQ7mekdyNnKnYXHsP7yVvFbJ40LYrIJWqMaNoFPzoF4Z4X2ZSplN/0xhrbgDDqe8Xc0JRQIYF9SIwMPFimTVreWF87Heb++xzNp3e8x/L+sYyMzisfXX0wFj/y/gOGi5j1Yr+KW3bWV3PLTpI/BiRjrlBP5g+64soO5DC2Sa0/stiHw8LfMNROTLl0xWcTyT8qu4stvPAc715dzIj/XSMfXszVpg/ZMPECfENBSxtymWXYHqhnAJXy21lGL9Ddqlih2+uChcU+pwAwjWuToUjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WNMhnNerv4Xf7XtK7yck3d",
      "input": {
        "note": "The purple bowl's near rim wall is now between the jaw tips; closing to pinch it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01WNMhnNerv4Xf7XtK7yck3d",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8379, 2.2925, 1.911, -0.9787, -0.3901, -0.8059, 0.1077, -0.02, 0.8421, 0.5941, -0.4225, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3823 left_y=-0.319 left_z=0.0465 left_yaw=0.0866 left_pitch=-0.5697 left_roll=0.1284 left_gripper=0.1077 right_x=0.2899 right_y=0.0007 right_z=0.1539 right_yaw=-0.0002 right_pitch=-0.1011 right_roll=0.003 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -12.3556, 6.8308, 0.5641, -0.2173, 0.1587, 0.4762, -0.1162, -1.7299, 7.0085, 1.6142, -0.0806, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:924fb05f7889166c6190d6115901f8448d9fd114a1f2c16d92c984294a7b1662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ce963bcb64637658be94a347c9fd7b8328547d74ea19fbb9b2d5286087249db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2c86799100abec8718fe8888a05d387a0391a59dda53ad4b59744a4f49d7c07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 20.27 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8249, 2.2765, 2.299, -1.3632, -0.3862, -0.7834, 0.7961, -0.02, 0.8379, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3827 left_y=-0.3108 left_z=0.1511 left_yaw=0.0732 left_pitch=-0.5623 left_roll=0.1188 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1549 right_yaw=-0.0 right_pitch=-0.0972 right_roll=0.0027 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -11.3573, 7.4598, 0.3785, -0.3004, 0.0269, -0.0122, -0.1026, -1.5248, 7.0222, 1.663, -0.0171, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8379, 2.2971, 1.9148, -0.9909, -0.3904, -0.7906, 0.7961, -0.02, 0.8383, 0.5941, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3809 left_y=-0.3174 left_z=0.0449 left_yaw=0.0838 left_pitch=-0.5784 left_roll=0.1486 left_gripper=0.7961 right_x=0.2897 right_y=0.0007 right_z=0.1548 right_yaw=-0.0002 right_pitch=-0.0976 right_roll=0.003 right_gripper=0.9988\nstate[joint_eff]: [-0.5265, -11.7402, 5.9556, 0.6911, -0.232, -0.1587, -0.0122, -0.1162, -1.0872, 6.9949, 1.6532, -0.0806, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8379, 2.2925, 1.911, -0.9787, -0.3901, -0.8059, 0.1077, -0.02, 0.8421, 0.5941, -0.4225, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3823 left_y=-0.319 left_z=0.0465 left_yaw=0.0866 left_pitch=-0.5697 left_roll=0.1284 left_gripper=0.1077 right_x=0.2899 right_y=0.0007 right_z=0.1539 right_yaw=-0.0002 right_pitch=-0.1011 right_roll=0.003 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -12.3556, 6.8308, 0.5641, -0.2173, 0.1587, 0.4762, -0.1162, -1.7299, 7.0085, 1.6142, -0.0806, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:924fb05f7889166c6190d6115901f8448d9fd114a1f2c16d92c984294a7b1662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ce963bcb64637658be94a347c9fd7b8328547d74ea19fbb9b2d5286087249db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2c86799100abec8718fe8888a05d387a0391a59dda53ad4b59744a4f49d7c07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016jtJ1nTkK2ZsvSRy7ypcCW",
      "input": {
        "note": "Gripper settled at 0.108 (~1 cm of rim between the jaws), so the purple bowl is gripped; lifting and carrying it over the green bowl at roughly (0.44, -0.04).",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.05,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_016jtJ1nTkK2ZsvSRy7ypcCW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2134, 1.8637, 1.6077, -0.9897, -0.2058, -0.2234, 0.108, -0.02, 0.8436, 0.5941, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.4247 left_y=-0.0514 left_z=0.1306 left_yaw=0.137 left_pitch=-0.6319 left_roll=0.1472 left_gripper=0.108 right_x=0.2899 right_y=0.0007 right_z=0.1534 right_yaw=0.0 right_pitch=-0.103 right_roll=0.0028 right_gripper=0.9988\nstate[joint_eff]: [0.294, -12.9709, 9.1829, 0.8864, -0.0562, 0.3541, 0.0171, -0.1983, -1.347, 7.0085, 1.6581, -0.0513, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a167a14ec1d7f4c1c41097c16023937ed676c31bf2c35590490cbc30a67bb9be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03a6330e326585cfb6d175a1312a147d677e08101580070c4f7e1979c7f17f5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb1feb8bd0f70265fe66eb5fe1ff6edaa3fa6282d1d9798ceb59a2cc484e0ed8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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