adhoc

completed
2026-09-22T19:41:34.274913+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
285.1 s
total steps
290
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls in a row (green-left, blue-middle, pink-right). Moving the right arm toward the pink bowl's near-right rim to grasp it and later stack into the middle bowl.
move_to
right_x0.3300right_y0.0700right_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7956, 0.6056, -0.3767, -0.0223, -0.0257, 0.9995, -0.0219, 0.7925, 0.6025, -0.379, -0.0154, -0.0334, 0.9966] state[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.181 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2946 right_y=-0.0001 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9966 state[joint_eff]: [-0.5265, -1.6068, 9.9897, 1.8193, -0.0317, 0.1197, -0.0611, -0.3761, -1.347, 10.1812, 1.9219, -0.1343, 0.149, -0.3639] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.07, "right_z": 0.13}, "note": "Three bowls in a row (green-left, blue-middle, pink-right). Moving the right arm toward the pink bowl's near-right rim to grasp it and later stack into the middle bowl."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent notePink bowl is centred ahead in the right wrist cam. Moving over its right-side rim so the jaws (closing along y) can pinch the bowl wall.
move_to
right_x0.3900right_y0.0120right_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8005, 0.6094, -0.3828, -0.0227, -0.0261, 0.9995, 0.3363, 1.0729, 0.5213, -0.1226, 0.2325, 0.1272, 0.9964] state[eef_state]: left_x=0.2955 left_y=0.0018 left_z=0.1801 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9995 right_x=0.3173 right_y=0.0716 right_z=0.1157 right_yaw=0.0625 right_pitch=-0.0843 right_roll=-0.0247 right_gripper=0.9964 state[joint_eff]: [-0.0752, -1.6205, 6.7624, 1.7705, -0.0806, -0.0659, -0.0122, 0.1436, -3.7812, 6.8034, 1.8779, 0.2711, 0.1636, -0.0415] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.012, "right_z": 0.1}, "note": "Pink bowl is centred ahead in the right wrist cam. Moving over its right-side rim so the jaws (closing along y) can pinch the bowl wall."})
tool
executing move_to over 6 steps (0.6s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe pink bowl's right wall now runs down the jaw column in the wrist cam. Descending so the jaws straddle the wall.
move_to
right_x0.3900right_y0.0120right_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.609, -0.3874, -0.0227, -0.0261, 0.9995, 0.0265, 1.3781, 0.6022, 0.028, 0.0193, -0.0471, 0.9964] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1779 left_yaw=0.0005 left_pitch=-0.016 left_roll=0.0002 left_gripper=0.9995 right_x=0.3671 right_y=0.0099 right_z=0.0747 right_yaw=0.0266 right_pitch=-0.1793 right_roll=-0.0303 right_gripper=0.9964 state[joint_eff]: [-0.0615, -1.5658, 7.0222, 1.746, -0.0317, -0.0073, -0.0122, -0.212, -5.4906, 9.1009, 1.8828, -0.0171, 0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.012, "right_z": 0.025}, "note": "The pink bowl's right wall now runs down the jaw column in the wrist cam. Descending so the jaws straddle the wall."})
tool
executing move_to over 4 steps (0.4s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteJaws straddle the pink bowl's wall near the table. Closing to pinch the wall.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.807, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.0307, 1.618, 0.58, 0.2096, 0.0032, -0.0563, 0.9964] state[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1764 left_yaw=0.0005 left_pitch=-0.0217 left_roll=0.0003 left_gripper=0.9995 right_x=0.3752 right_y=0.0145 right_z=0.0135 right_yaw=0.0499 right_pitch=-0.2598 right_roll=-0.0244 right_gripper=0.9964 state[joint_eff]: [-0.1573, -1.4974, 7.0769, 1.7118, -0.0562, -0.0562, -0.0122, 0.1436, -7.5009, 5.3949, 1.8974, 0.1832, 0.1148, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Jaws straddle the pink bowl's wall near the table. Closing to pinch the wall."})
tool
executing move_to over 10 steps (1.0s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteGripper settled at 0.10 (~1 cm), pinching the pink bowl's wall. Lifting to check the grasp and clear the other bowls.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8074, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.0322, 1.6081, 0.5625, 0.2729, -0.0315, -0.0483, 0.102] state[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1763 left_yaw=0.0005 left_pitch=-0.0221 left_roll=0.0003 left_gripper=0.9995 right_x=0.3808 right_y=0.0214 right_z=0.0219 right_yaw=0.0766 right_pitch=-0.2033 right_roll=0.0051 right_gripper=0.102 state[joint_eff]: [-0.1573, -1.3333, 6.9949, 1.6874, -0.0611, -0.0317, -0.0122, -0.4855, -5.5453, 5.1761, 1.3944, 0.2418, -0.1197, 0.5055] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16}, "note": "Gripper settled at 0.10 (~1 cm), pinching the pink bowl's wall. Lifting to check the grasp and clear the other bowls."})
tool
executing move_to over 9 steps (0.9s)
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 notePink bowl is lifted with the gripper. Carrying it left so it sits above the middle (lavender) bowl.
move_to
right_y0.2100right_x0.3800right_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.0326, 1.3499, 0.8841, -0.342, -0.0349, -0.057, 0.1026] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1755 left_yaw=0.0005 left_pitch=-0.0248 left_roll=0.0004 left_gripper=0.9995 right_x=0.378 right_y=0.0221 right_z=0.1351 right_yaw=0.0852 right_pitch=-0.2382 right_roll=0.003 right_gripper=0.1026 state[joint_eff]: [-0.212, -1.3607, 7.0085, 1.6874, -0.0757, -0.0757, -0.0122, -0.1846, -6.9265, 9.5521, 1.6679, -0.022, 0.0659, 0.0415] approver: 1 step(s) modified (delta_clamped). 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": {"right_y": 0.21, "right_x": 0.38, "right_z": 0.17}, "note": "Pink bowl is lifted with the gripper. Carrying it left so it sits above the middle (lavender) bowl."})
tool
executing move_to over 16 steps (1.6s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteWrist cam shows the lavender bowl still ~10 cm to the left of the held pink bowl. Shifting left to centre the pink bowl over it.
move_to
right_y0.3050right_x0.3600right_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8116, 0.6083, -0.3897, -0.0223, -0.0261, 0.9995, 0.6342, 1.6012, 1.2312, -0.5495, 0.3382, 0.3614, 0.1026] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1751 left_yaw=0.0002 left_pitch=-0.0263 left_roll=0.0002 left_gripper=0.9995 right_x=0.3723 right_y=0.2055 right_z=0.1551 right_yaw=0.1266 right_pitch=-0.2798 right_roll=-0.0166 right_gripper=0.1026 state[joint_eff]: [-0.3624, -0.9094, 7.0632, 1.6825, -0.0122, -0.0415, -0.0122, 0.253, -7.2547, 9.5111, 1.3455, 0.4078, 0.1783, -0.0073] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.305, "right_x": 0.36, "right_z": 0.17}, "note": "Wrist cam shows the lavender bowl still ~10 cm to the left of the held pink bowl. Shifting left to centre the pink bowl over it."})
tool
executing move_to over 9 steps (0.9s)
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 noteThe pink bowl hangs from its left wall, extending ~6 cm to the gripper's right, while the lavender bowl is now centred under the jaws. Shifting 6 cm left so the pink bowl's centre lines up with the lavender bowl.
move_to
right_y0.3650right_x0.3550right_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8597, 1.8309, 1.5379, -0.7296, 0.4385, 0.5262, 0.1026] state[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3541 right_y=0.3016 right_z=0.1576 right_yaw=0.1635 right_pitch=-0.3149 right_roll=-0.0374 right_gripper=0.1026 state[joint_eff]: [-0.1709, -1.3607, 7.2137, 1.6972, -0.0659, -0.0757, -0.0122, 0.0479, -9.1829, 9.4154, 1.199, 0.4957, 0.2564, -0.0122] 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": {"right_y": 0.365, "right_x": 0.355, "right_z": 0.16}, "note": "The pink bowl hangs from its left wall, extending ~6 cm to the gripper's right, while the lavender bowl is now centred under the jaws. Shifting 6 cm left so the pink bowl's centre lines up with the lavender bowl."})
tool
executing move_to over 6 steps (0.6s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteTop view shows the pink bowl never came up (it's still on the table), so the pinch slipped. The lavender bowl's left wall is on the jaw column ahead of the gripper; moving forward and lower to line up a pinch on that wall instead.
move_to
right_x0.3800right_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.9508, 2.0335, 1.8008, -0.86, 0.461, 0.5842, 0.1026] state[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3487 right_y=0.3593 right_z=0.1476 right_yaw=0.1893 right_pitch=-0.3525 right_roll=-0.0643 right_gripper=0.1026 state[joint_eff]: [-0.0479, -1.347, 7.159, 1.6923, -0.0855, -0.0708, -0.0122, 0.1846, -11.1248, 8.7453, 1.0769, 0.442, 0.1636, -0.0122] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_z": 0.09}, "note": "Top view shows the pink bowl never came up (it's still on the table), so the pinch slipped. The lavender bowl's left wall is on the jaw column ahead of the gripper; moving forward and lower to line up a pinch on that wall instead."})
tool
executing move_to over 4 steps (0.4s)
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 noteLavender bowl's left wall runs just left of the jaw column, a few cm beyond the fingertips. Opening the gripper and advancing ~3 cm to put the jaws over that wall.
move_to
right_gripper1.0000right_x0.4000right_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8993, 2.109, 1.7157, -0.725, 0.4362, 0.5446, 0.1026] state[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3699 right_y=0.3513 right_z=0.0933 right_yaw=0.1713 right_pitch=-0.3881 right_roll=-0.0906 right_gripper=0.1026 state[joint_eff]: [-0.0068, -1.2239, 7.0359, 1.7265, -0.0659, -0.0415, -0.0122, -0.2393, -11.8496, 6.2564, 1.2967, 0.232, -0.0171, -0.0122] 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": {"right_gripper": 1.0, "right_x": 0.4, "right_z": 0.08}, "note": "Lavender bowl's left wall runs just left of the jaw column, a few cm beyond the fingertips. Opening the gripper and advancing ~3 cm to put the jaws over that wall."})
tool
executing move_to over 9 steps (0.9s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteArm is at its reach limit (x stalled at 0.37), but the lavender bowl's left wall already runs between the open jaws down to the bottom of the wrist image. Descending to straddle it.
move_to
right_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8944, 2.1368, 1.7008, -0.7284, 0.4294, 0.5274, 0.9954] state[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3676 right_y=0.3462 right_z=0.074 right_yaw=0.168 right_pitch=-0.4278 right_roll=-0.1294 right_gripper=0.9954 state[joint_eff]: [-0.1299, -1.3607, 7.0359, 1.7314, -0.0806, -0.0366, -0.0122, -0.1709, -13.4632, 8.212, 1.0476, 0.2466, 0.0611, -0.2271] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03}, "note": "Arm is at its reach limit (x stalled at 0.37), but the lavender bowl's left wall already runs between the open jaws down to the bottom of the wrist image. Descending to straddle it."})
tool
executing move_to over 3 steps (0.3s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe right arm is stuck at its reach limit over the lavender bowl and won't descend. Retracting it home; I'll use the left arm for the white and lavender bowls.
move_to
right_x0.3000right_y0.0800right_z0.1800right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8944, 2.1368, 1.7008, -0.7284, 0.4294, 0.527, 0.9957] state[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3676 right_y=0.3462 right_z=0.074 right_yaw=0.1682 right_pitch=-0.4278 right_roll=-0.1296 right_gripper=0.9957 state[joint_eff]: [-0.1983, -1.3607, 7.0359, 1.7216, -0.0659, -0.0269, -0.0122, -0.1162, -13.5316, 8.0342, 1.0672, 0.2418, 0.0904, 0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.08, "right_z": 0.18, "right_yaw": 0.0}, "note": "The right arm is stuck at its reach limit over the lavender bowl and won't descend. Retracting it home; I'll use the left arm for the white and lavender bowls."})
tool
executing move_to over 23 steps (2.3s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteWhite bowl is ahead-right of the left gripper. Moving the left arm over the white bowl's left wall to pinch it.
move_to
left_x0.3800left_y-0.0500left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4255, 1.2831, 1.1179, -0.9096, 0.3019, 0.2516, 0.9957] state[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1747 left_yaw=0.0005 left_pitch=-0.0271 left_roll=0.0004 left_gripper=0.9995 right_x=0.3027 right_y=0.0835 right_z=0.1742 right_yaw=-0.0156 right_pitch=-0.4366 right_roll=-0.1338 right_gripper=0.9957 state[joint_eff]: [-0.1573, -1.347, 7.1453, 1.6874, -0.0757, -0.0611, -0.0122, -0.1983, -5.5863, 6.4205, 1.326, 0.0659, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.05, "left_z": 0.1}, "note": "White bowl is ahead-right of the left gripper. Moving the left arm over the white bowl's left wall to pinch it."})
tool
executing move_to over 7 steps (0.7s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteWhite bowl's left wall runs between the open jaws at the bottom of the left wrist image. Descending to straddle the wall at mid height.
move_to
left_x0.3700left_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.223, 1.3418, 0.5514, 0.0727, -0.1734, -0.1326, 0.9995, 0.4232, 1.2873, 1.1179, -0.9184, 0.2874, 0.2352, 0.9957] state[eef_state]: left_x=0.3577 left_y=-0.0462 left_z=0.0768 left_yaw=-0.0168 left_pitch=-0.1385 left_roll=0.021 left_gripper=0.9995 right_x=0.3008 right_y=0.0845 right_z=0.1714 right_yaw=0.0016 right_pitch=-0.455 right_roll=-0.1366 right_gripper=0.9957 state[joint_eff]: [-0.294, -5.8188, 8.4444, 1.917, -0.1587, -0.149, -0.0122, 0.0752, -4.7248, 6.4342, 1.2088, 0.2369, 0.1441, -0.0122] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_z": 0.03}, "note": "White bowl's left wall runs between the open jaws at the bottom of the left wrist image. Descending to straddle the wall at mid height."})
tool
executing move_to over 4 steps (0.4s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteWall still between the jaws; descending a bit further for a deeper pinch.
move_to
left_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2218, 1.4494, 0.5102, 0.1848, -0.1806, -0.1455, 0.9995, 0.4232, 1.2877, 1.1179, -0.918, 0.2863, 0.2344, 0.9957] state[eef_state]: left_x=0.3579 left_y=-0.0445 left_z=0.0449 left_yaw=-0.0013 left_pitch=-0.1731 left_roll=0.0238 left_gripper=0.9995 right_x=0.3008 right_y=0.0847 right_z=0.1712 right_yaw=0.003 right_pitch=-0.4555 right_roll=-0.136 right_gripper=0.9957 state[joint_eff]: [0.1162, -5.8598, 6.0513, 1.8388, 0.0122, 0.1734, -0.0122, -0.0889, -4.5744, 6.4615, 1.0916, 0.105, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02}, "note": "Wall still between the jaws; descending a bit further for a deeper pinch."})
tool
executing move_to over 2 steps (0.2s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteDescent stopped at z≈0.046, so a jaw is probably sitting on the bowl's near rim. Lifting and shifting forward/left so the jaws straddle the side wall rather than the near rim.
move_to
left_z0.0650left_x0.3780left_y-0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2214, 1.4494, 0.5102, 0.1921, -0.1806, -0.1459, 0.9995, 0.4232, 1.2888, 1.1179, -0.9211, 0.2859, 0.234, 0.9957] state[eef_state]: left_x=0.3591 left_y=-0.0446 left_z=0.0462 left_yaw=-0.001 left_pitch=-0.166 left_roll=0.0219 left_gripper=0.9995 right_x=0.3003 right_y=0.0846 right_z=0.1706 right_yaw=0.0027 right_pitch=-0.4595 right_roll=-0.1378 right_gripper=0.9957 state[joint_eff]: [0.2803, -5.8735, 6.2838, 1.7607, -0.0269, 0.1636, -0.0122, -0.0205, -4.6564, 6.4479, 1.1648, 0.1148, -0.0171, -0.0122] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.065, "left_x": 0.378, "left_y": -0.035}, "note": "Descent stopped at z\u22480.046, so a jaw is probably sitting on the bowl's near rim. Lifting and shifting forward/left so the jaws straddle the side wall rather than the near rim."})
tool
executing move_to over 2 steps (0.2s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteLeft arm did not respond to the small move; lifting clearly to unstick it before re-approaching the white bowl.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2214, 1.4494, 0.5102, 0.1921, -0.1806, -0.1459, 0.9995, 0.4232, 1.2888, 1.1179, -0.9207, 0.2855, 0.2337, 0.9957] state[eef_state]: left_x=0.3591 left_y=-0.0446 left_z=0.0462 left_yaw=-0.001 left_pitch=-0.166 left_roll=0.0219 left_gripper=0.9995 right_x=0.3003 right_y=0.0847 right_z=0.1706 right_yaw=0.0033 right_pitch=-0.4593 right_roll=-0.1375 right_gripper=0.9957 state[joint_eff]: [0.1846, -5.8872, 6.065, 1.7216, -0.0024, 0.149, -0.0122, -0.0615, -4.5607, 6.4205, 1.1404, 0.0952, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Left arm did not respond to the small move; lifting clearly to unstick it before re-approaching the white bowl."})
tool
executing move_to over 5 steps (0.5s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteLeft arm has not moved for two commands (readback frozen at z 0.046). Trying a retract toward a comfortable pose to see whether the IK recovers.
move_to
left_x0.3000left_y-0.0300left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2214, 1.4494, 0.5102, 0.1921, -0.1806, -0.1463, 0.9995, 0.4232, 1.2888, 1.1179, -0.9207, 0.2825, 0.2337, 0.9957] state[eef_state]: left_x=0.3591 left_y=-0.0446 left_z=0.0462 left_yaw=-0.0008 left_pitch=-0.166 left_roll=0.0216 left_gripper=0.9995 right_x=0.3002 right_y=0.0852 right_z=0.1704 right_yaw=0.006 right_pitch=-0.4604 right_roll=-0.1347 right_gripper=0.9957 state[joint_eff]: [0.1573, -5.8735, 6.065, 1.7216, 0.0073, 0.1197, -0.0122, -0.1983, -4.5333, 6.4479, 1.116, 0.1441, -0.0317, -0.0122] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.03, "left_z": 0.15}, "note": "Left arm has not moved for two commands (readback frozen at z 0.046). Trying a retract toward a comfortable pose to see whether the IK recovers."})
tool
executing move_to over 7 steps (0.7s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteLeft arm is free again; the earlier stall was likely the jaw resting on the white bowl's near rim. Re-approaching further forward so the jaws straddle the bowl's left side wall at its widest point.
move_to
left_x0.4000left_y-0.0600left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2207, 0.9855, 0.6228, -0.3595, -0.181, -0.1471, 0.9995, 0.4232, 1.2907, 1.1179, -0.9253, 0.279, 0.234, 0.9957] state[eef_state]: left_x=0.3078 left_y=-0.0328 left_z=0.1401 left_yaw=-0.0001 left_pitch=-0.1417 left_roll=0.0158 left_gripper=0.9995 right_x=0.2992 right_y=0.0854 right_z=0.1692 right_yaw=0.0074 right_pitch=-0.4675 right_roll=-0.1343 right_gripper=0.9957 state[joint_eff]: [0.3761, -2.5231, 9.6205, 1.5995, -0.0317, 0.0122, -0.0122, -0.0205, -4.5197, 6.4752, 1.1258, 0.1685, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.06, "left_z": 0.09}, "note": "Left arm is free again; the earlier stall was likely the jaw resting on the white bowl's near rim. Re-approaching further forward so the jaws straddle the bowl's left side wall at its widest point."})
tool
executing move_to over 8 steps (0.8s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteWhite bowl's left wall runs vertically between the open jaws, extending past the bottom of the image. Descending to straddle it.
move_to
left_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2379, 1.4818, 0.7063, -0.0486, -0.1894, -0.1593, 0.9995, 0.4232, 1.2922, 1.1179, -0.9394, 0.2787, 0.2337, 0.9957] state[eef_state]: left_x=0.377 left_y=-0.0535 left_z=0.0676 left_yaw=0.001 left_pitch=-0.2393 left_roll=0.0362 left_gripper=0.9995 right_x=0.2965 right_y=0.0842 right_z=0.1673 right_yaw=0.0047 right_pitch=-0.482 right_roll=-0.1413 right_gripper=0.9957 state[joint_eff]: [-0.7726, -6.6667, 8.5128, 1.6484, -0.188, -0.0855, -0.0122, -0.0889, -4.7111, 6.4068, 1.1746, 0.149, -0.0513, -0.0122] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02}, "note": "White bowl's left wall runs vertically between the open jaws, extending past the bottom of the image. Descending to straddle it."})
tool
executing move_to over 4 steps (0.4s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteJaws are down around the white bowl's left wall. Closing to pinch it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2405, 1.6127, 0.6147, 0.1204, -0.1921, -0.165, 0.9995, 0.4232, 1.2922, 1.1179, -0.9401, 0.2787, 0.2337, 0.9957] state[eef_state]: left_x=0.3681 left_y=-0.0519 left_z=0.0153 left_yaw=0.0073 left_pitch=-0.2905 left_roll=0.0475 left_gripper=0.9995 right_x=0.2964 right_y=0.0841 right_z=0.1672 right_yaw=0.0045 right_pitch=-0.4827 right_roll=-0.1417 right_gripper=0.9957 state[joint_eff]: [-0.0068, -6.9675, 5.5316, 1.8144, -0.0317, 0.0171, -0.0122, -0.0615, -4.4239, 6.3932, 1.0427, 0.0659, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are down around the white bowl's left wall. Closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
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 noteGripper reads 0.10 after closing, same as the failed pink attempt, so the grasp is uncertain. Lifting 5 cm to check whether the white bowl comes with it.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2405, 1.6005, 0.6163, 0.1543, -0.178, -0.1837, 0.102, 0.4232, 1.2922, 1.1179, -0.9432, 0.2787, 0.2337, 0.9957] state[eef_state]: left_x=0.3755 left_y=-0.0562 left_z=0.0252 left_yaw=0.0024 left_pitch=-0.2464 left_roll=0.0118 left_gripper=0.102 right_x=0.2958 right_y=0.0839 right_z=0.1669 right_yaw=0.0039 right_pitch=-0.4855 right_roll=-0.1431 right_gripper=0.9957 state[joint_eff]: [-0.253, -5.5179, 5.559, 1.1941, -0.2564, 0.1392, 0.4176, -0.0342, -4.6017, 6.4068, 1.1062, 0.0806, -0.0415, -0.0122] 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": 0.08}, "note": "Gripper reads 0.10 after closing, same as the failed pink attempt, so the grasp is uncertain. Lifting 5 cm to check whether the white bowl comes with it."})
tool
executing move_to over 4 steps (0.4s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe white bowl stayed fixed in the wrist view while lifting, so it's held. Carrying it ~15 cm right, high enough to clear the lavender bowl, to set it inside.
move_to
left_z0.1600left_y-0.2100left_x0.3800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2405, 1.4849, 0.6979, -0.0551, -0.181, -0.1886, 0.1012, 0.4232, 1.2922, 1.1179, -0.9436, 0.2787, 0.2337, 0.9957] state[eef_state]: left_x=0.3729 left_y=-0.055 left_z=0.0621 left_yaw=0.0085 left_pitch=-0.2577 left_roll=0.0136 left_gripper=0.1012 right_x=0.2957 right_y=0.0838 right_z=0.1668 right_yaw=0.0038 right_pitch=-0.4858 right_roll=-0.1433 right_gripper=0.9957 state[joint_eff]: [-0.3624, -7.5009, 8.6632, 1.4725, -0.0806, -0.0122, -0.0952, -0.1709, -4.6017, 6.3932, 1.0476, 0.1245, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.16, "left_y": -0.21, "left_x": 0.38}, "note": "The white bowl stayed fixed in the wrist view while lifting, so it's held. Carrying it ~15 cm right, high enough to clear the lavender bowl, to set it inside."})
tool
executing move_to over 14 steps (1.4s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteWhite bowl is hanging over the lavender bowl, whose rim peeks out just to the right. Nudging right ~1.5 cm and lowering to nest it.
move_to
left_y-0.2250left_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6868, 1.6566, 1.2659, -0.5816, -0.4366, -0.5468, 0.1011, 0.4232, 1.2922, 1.1179, -0.9466, 0.2787, 0.2333, 0.9957] state[eef_state]: left_x=0.3757 left_y=-0.2069 left_z=0.1472 left_yaw=-0.0133 left_pitch=-0.2796 left_roll=0.0116 left_gripper=0.1011 right_x=0.2951 right_y=0.0836 right_z=0.1665 right_yaw=0.0034 right_pitch=-0.4887 right_roll=-0.1449 right_gripper=0.9957 state[joint_eff]: [-0.335, -7.6376, 8.9915, 1.2821, -0.3736, -0.0024, -0.0269, -0.1436, -4.6017, 6.4068, 1.0769, 0.1001, -0.0562, -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": -0.225, "left_z": 0.07}, "note": "White bowl is hanging over the lavender bowl, whose rim peeks out just to the right. Nudging right ~1.5 cm and lowering to nest it."})
tool
executing move_to over 5 steps (0.5s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
assistant
agent noteDescent stopped at z≈0.065 with the white bowl sitting inside the lavender one (purple rim visible around it). Releasing.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7216, 1.7813, 1.108, -0.3828, -0.4458, -0.5739, 0.1011, 0.4232, 1.2922, 1.1179, -0.9466, 0.2787, 0.231, 0.9957] state[eef_state]: left_x=0.3658 left_y=-0.2156 left_z=0.0647 left_yaw=-0.0088 left_pitch=-0.3386 left_roll=0.056 left_gripper=0.1011 right_x=0.2951 right_y=0.0836 right_z=0.1665 right_yaw=0.0048 right_pitch=-0.4888 right_roll=-0.1462 right_gripper=0.9957 state[joint_eff]: [-0.4718, -8.7863, 6.5573, 1.3993, -0.3687, -0.1001, -0.0122, -0.1299, -4.6154, 6.4068, 1.0867, 0.1099, -0.0513, -0.0122] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Descent stopped at z\u22480.065 with the white bowl sitting inside the lavender one (purple rim visible around it). Releasing."})
tool
executing move_to over 9 steps (0.9s)
step 186
assistant
agent noteWhite bowl released inside the lavender bowl. Lifting the left arm clear and parking it so the right arm can bring the pink bowl over.
move_to
left_z0.2000left_x0.2800left_y0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7258, 1.7935, 1.0973, -0.3241, -0.4473, -0.5922, 0.9947, 0.4232, 1.2922, 1.1179, -0.9466, 0.2787, 0.2306, 0.9957] state[eef_state]: left_x=0.3708 left_y=-0.2221 left_z=0.0631 left_yaw=-0.0095 left_pitch=-0.3102 left_roll=0.0201 left_gripper=0.9947 right_x=0.2951 right_y=0.0836 right_z=0.1665 right_yaw=0.005 right_pitch=-0.4889 right_roll=-0.1464 right_gripper=0.9957 state[joint_eff]: [-0.4718, -9.0051, 6.4479, 1.4237, -0.3541, 0.0269, -0.1099, -0.212, -4.5744, 6.4205, 1.0623, 0.0757, -0.0464, -0.0122] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2, "left_x": 0.28, "left_y": 0.0}, "note": "White bowl released inside the lavender bowl. Lifting the left arm clear and parking it so the right arm can bring the pink bowl over."})
tool
executing move_to over 20 steps (2.0s)
step 206
assistant
agent noteWhite bowl is nested in the lavender bowl; pink bowl sits to its right. Moving the right gripper over the pink bowl's right side to find its wall.
move_to
right_x0.4000right_y0.1200right_z0.1000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0559, 1.0115, 0.9375, -0.8257, -0.0761, -0.0837, 0.9951, 0.4232, 1.2942, 1.1179, -0.9543, 0.2787, 0.2302, 0.9957] state[eef_state]: left_x=0.2823 left_y=0.0012 left_z=0.1848 left_yaw=0.0457 left_pitch=-0.3297 left_roll=0.013 left_gripper=0.9951 right_x=0.2937 right_y=0.0829 right_z=0.1652 right_yaw=0.0031 right_pitch=-0.4976 right_roll=-0.151 right_gripper=0.9957 state[joint_eff]: [0.253, -3.0564, 9.7026, 1.4676, -0.0171, 0.1685, 0.0317, -0.0752, -4.7111, 6.7214, 1.1013, 0.0952, -0.0708, -0.0122] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.12, "right_z": 0.1, "right_pitch": 0.0}, "note": "White bowl is nested in the lavender bowl; pink bowl sits to its right. Moving the right gripper over the pink bowl's right side to find its wall."})
tool
executing move_to over 17 steps (1.7s)
step 223
assistant
agent notePink bowl's right wall runs between the open jaws, slightly toward the right jaw. Shifting ~2 cm right to centre it and descending to straddle the wall.
move_to
right_y0.0950right_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 1.0164, 0.944, -0.8497, -0.0612, -0.0788, 0.9951, 0.4728, 1.5536, 0.7418, 0.0635, 0.4469, 0.1364, 0.9957] state[eef_state]: left_x=0.279 left_y=-0.0013 left_z=0.1823 left_yaw=0.03 left_pitch=-0.3533 left_roll=0.0061 left_gripper=0.9951 right_x=0.3855 right_y=0.1155 right_z=0.0836 right_yaw=0.0166 right_pitch=-0.1027 right_roll=-0.1751 right_gripper=0.9957 state[joint_eff]: [-0.0342, -2.7966, 6.0786, 1.5653, -0.2027, -0.0855, -0.0122, 0.5538, -6.4615, 5.7504, 1.9853, 0.3834, -0.0562, -0.0122] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.095, "right_z": 0.02}, "note": "Pink bowl's right wall runs between the open jaws, slightly toward the right jaw. Shifting ~2 cm right to centre it and descending to straddle the wall."})
tool
executing move_to over 5 steps (0.5s)
step 228
assistant
Reached z=0.019; the pink bowl's right wall (col ~150) is between the jaws. Closing.
agent noteJaws are down straddling the pink bowl's right wall (wall between the jaw tips in the wrist view). Closing to pinch it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 1.0168, 0.944, -0.8528, -0.0673, -0.0784, 0.9951, 0.4107, 1.7023, 0.5953, 0.3336, 0.4046, 0.1036, 0.9957] state[eef_state]: left_x=0.2784 left_y=-0.0002 left_z=0.1818 left_yaw=0.0354 left_pitch=-0.3563 left_roll=0.0118 left_gripper=0.9951 right_x=0.3787 right_y=0.093 right_z=0.0192 right_yaw=0.0046 right_pitch=-0.1411 right_roll=-0.1844 right_gripper=0.9957 state[joint_eff]: [-0.0889, -2.441, 6.7761, 1.3895, -0.0366, -0.0757, -0.0122, -0.6769, -5.012, 4.3556, 1.4969, 0.105, -0.0464, -0.0171] 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
Reached z=0.019; the pink bowl's right wall (col ~150) is between the jaws. Closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "Jaws are down straddling the pink bowl's right wall (wall between the jaw tips in the wrist view). Closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 238
assistant
agent noteGripper settled at 0.034 with the pink wall sitting right on the jaw line — possibly a thin rim pinch. Lifting a few cm to test.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 1.0176, 0.944, -0.8532, -0.0677, -0.0784, 0.9951, 0.4103, 1.7092, 0.5953, 0.4618, 0.3801, 0.102, 0.0341] state[eef_state]: left_x=0.2784 left_y=-0.0001 left_z=0.1816 left_yaw=0.0357 left_pitch=-0.3574 left_roll=0.0123 left_gripper=0.9951 right_x=0.3957 right_y=0.1045 right_z=0.0381 right_yaw=0.0289 right_pitch=-0.0353 right_roll=-0.1242 right_gripper=0.0341 state[joint_eff]: [-0.0615, -2.2359, 6.5709, 1.3602, -0.0415, -0.0708, -0.0122, -0.4855, -5.4632, 4.1641, 0.5739, 0.5104, -0.5299, 0.6178] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08}, "note": "Gripper settled at 0.034 with the pink wall sitting right on the jaw line \u2014 possibly a thin rim pinch. Lifting a few cm to test."})
tool
executing move_to over 3 steps (0.3s)
step 241
assistant
agent notePink bowl stayed fixed in the wrist view while lifting, so it's held by its right wall. Carrying it high and left so its centre sits over the white/lavender stack.
move_to
right_z0.1700right_y0.2400right_x0.3900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 1.0195, 0.944, -0.8536, -0.0677, -0.0784, 0.9951, 0.4118, 1.5963, 0.6338, 0.329, 0.3767, 0.1001, 0.0394] state[eef_state]: left_x=0.2784 left_y=-0.0001 left_z=0.181 left_yaw=0.0358 left_pitch=-0.3597 left_roll=0.0125 left_gripper=0.9951 right_x=0.3957 right_y=0.1058 right_z=0.0706 right_yaw=0.0345 right_pitch=-0.0188 right_roll=-0.1169 right_gripper=0.0394 state[joint_eff]: [-0.212, -2.5915, 6.5846, 1.3504, -0.1099, -0.0269, -0.0122, -0.2667, -6.9949, 8.1299, 1.6532, 0.105, -0.022, 0.9402] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17, "right_y": 0.24, "right_x": 0.39}, "note": "Pink bowl stayed fixed in the wrist view while lifting, so it's held by its right wall. Carrying it high and left so its centre sits over the white/lavender stack."})
tool
executing move_to over 12 steps (1.2s)
step 253
assistant
agent notePink bowl hangs over the white/lavender stack, slightly right of its centre (white rim visible on the left). Nudging left and lowering to nest it.
move_to
right_y0.2550right_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 1.0222, 0.944, -0.8581, -0.0677, -0.0784, 0.9951, 0.7757, 1.6798, 1.1568, -0.2661, 0.617, 0.3313, 0.0407] state[eef_state]: left_x=0.2777 left_y=-0.0001 left_z=0.1797 left_yaw=0.0361 left_pitch=-0.3669 left_roll=0.0132 left_gripper=0.9951 right_x=0.3845 right_y=0.239 right_z=0.1522 right_yaw=0.0834 right_pitch=-0.0555 right_roll=-0.1408 right_gripper=0.0407 state[joint_eff]: [0.0068, -2.4821, 6.5573, 1.3944, -0.0806, -0.0708, -0.0122, 0.1162, -8.0068, 9.5248, 1.5946, 0.4762, 0.2222, 0.8767] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.255, "right_z": 0.09}, "note": "Pink bowl hangs over the white/lavender stack, slightly right of its centre (white rim visible on the left). Nudging left and lowering to nest it."})
tool
executing move_to over 5 steps (0.5s)
step 258
assistant
agent notePink bowl is lined up inside the white bowl's rim (visible around it in the wrist view). Lowering until it seats.
move_to
right_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 1.0229, 0.944, -0.8581, -0.0677, -0.0784, 0.9951, 0.804, 1.8027, 1.0645, -0.1089, 0.63, 0.3489, 0.0436] state[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1795 left_yaw=0.0361 left_pitch=-0.3677 left_roll=0.0133 left_gripper=0.9951 right_x=0.3799 right_y=0.2495 right_z=0.0891 right_yaw=0.0901 right_pitch=-0.0921 right_roll=-0.1715 right_gripper=0.0436 state[joint_eff]: [-0.0752, -2.5504, 6.612, 1.3993, -0.0806, -0.0464, -0.0122, 0.3487, -8.1573, 5.7231, 1.4432, 0.2808, 0.1197, 0.8034] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.05}, "note": "Pink bowl is lined up inside the white bowl's rim (visible around it in the wrist view). Lowering until it seats."})
tool
executing move_to over 3 steps (0.3s)
step 261
assistant
agent noteDescent stalled at z≈0.09, so the pink bowl is sitting in the white bowl. Releasing it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 1.0229, 0.944, -0.8581, -0.0677, -0.0784, 0.9951, 0.8089, 1.8069, 1.0595, -0.0647, 0.6281, 0.3485, 0.0464] state[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1795 left_yaw=0.0361 left_pitch=-0.3677 left_roll=0.0133 left_gripper=0.9951 right_x=0.3824 right_y=0.2556 right_z=0.0917 right_yaw=0.0984 right_pitch=-0.0665 right_roll=-0.1478 right_gripper=0.0464 state[joint_eff]: [-0.0205, -2.4821, 6.7487, 1.3211, -0.0952, -0.0659, -0.0122, -0.1983, -8.1983, 6.1333, 1.5751, 0.3101, 0.0562, 0.5543] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Descent stalled at z\u22480.09, so the pink bowl is sitting in the white bowl. Releasing it."})
tool
executing move_to over 10 steps (1.0s)
step 271
assistant
Released. Lifting the right arm clear to check the stack.
agent notePink bowl released inside the white bowl. Lifting the right arm and moving it away so the top camera can show the stack.
move_to
right_z0.2000right_y0.0500right_x0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 1.0233, 0.944, -0.8581, -0.0677, -0.0784, 0.9951, 0.8089, 1.8122, 1.0561, -0.0711, 0.6209, 0.3424, 0.9953] state[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1794 left_yaw=0.0361 left_pitch=-0.368 left_roll=0.0133 left_gripper=0.9951 right_x=0.3805 right_y=0.2552 right_z=0.0867 right_yaw=0.1062 right_pitch=-0.082 right_roll=-0.1586 right_gripper=0.9953 state[joint_eff]: [-0.0615, -2.4957, 6.5846, 1.3651, -0.0757, -0.0269, -0.0122, -0.0479, -9.4974, 6.4205, 1.4432, 0.2613, 0.0757, -0.0952] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
Released. Lifting the right arm clear to check the stack.
move_to({"targets": {"right_z": 0.2, "right_y": 0.05, "right_x": 0.3}, "note": "Pink bowl released inside the white bowl. Lifting the right arm and moving it away so the top camera can show the stack."})
tool
executing move_to over 18 steps (1.8s)
step 289
assistant
agent noteAll three bowls are now stacked in the middle of the table as one nested stack. The left arm put the white bowl into the lavender bowl, then the right arm put the pink bowl on top. In the final overhead view there's a single stack with the pink bowl on top and no other bowls on the table.
done
hindsight- Bowls (~12 cm across, ~6 cm tall): grab them by a side wall, the one to the arm's left or right. The jaws close along y at yaw 0, so they can't pinch the near or far rim. In the wrist camera, the wall should run top to bottom between the open jaws, then descend to grasp-point z≈0.015–0.02 and close fully. - A pinch on a bowl wall can settle at 0.03–0.10, so don't trust the gripper reading. The reliable check: lift 3–5 cm, and if the bowl looks the same in the wrist camera, it's held. The rule "below 0.04 means empty" was wrong here: 0.034 turned out to be a good pinch. - The top-camera scale was about 2.45 px/cm across the row of bowls (image y≈100). Bowls placed in a row were about 13–15 cm apart. - The right arm couldn't reach table level at right_y≈0.35, x≈0.37: it hit its reach limit and ignored commands. Give the middle bowl to the arm whose grasp point stays closer to its own base. Reach the far wall of a bowl from its own side, e.g. the right arm grasps the right wall and carries the bowl with the grasp point offset about 6 cm from the bowl's centre. - If a descent stops at z≈0.045 above a bowl, a jaw is resting on the rim. Small moves then do nothing; you need a big retract (change x and z) to free the arm. - To place in a stack: carry at z≈0.16, line up using the top camera or the rim showing in the wrist camera, and descend until z stops going down (about 0.065 for the second bowl, 0.09 for the third). Then open. - Wrist pitch drifts toward -0.3 to -0.5 during moves unless you command pitch 0 explicitly. - My first pink grasp (at right_y≈0.01) was outside the bowl: the bowl's centre was at right_y≈0.16, not 0.07. Before grasping, check that the wall is actually between the jaws in the wrist camera.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0563, 1.0248, 0.944, -0.8604, -0.0677, -0.0784, 0.9951, 0.3038, 0.939, 0.7609, -0.4965, 0.2764, -0.0105, 0.9956] state[eef_state]: left_x=0.2774 left_y=-0.0001 left_z=0.1787 left_yaw=0.0363 left_pitch=-0.3718 left_roll=0.0137 left_gripper=0.9951 right_x=0.3028 right_y=0.0482 right_z=0.1909 right_yaw=0.0676 right_pitch=-0.0851 right_roll=-0.1612 right_gripper=0.9956 state[joint_eff]: [-0.0752, -2.6051, 6.5573, 1.3309, -0.0806, -0.0269, -0.0073, -0.0615, -2.2906, 8.9231, 1.6874, 0.0415, -0.022, 0.0269] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
done({"summary": "All three bowls are now stacked in the middle of the table as one nested stack. The left arm put the white bowl into the lavender bowl, then the right arm put the pink bowl on top. In the final overhead view there's a single stack with the pink bowl on top and no other bowls on the table.", "hindsight": "- Bowls (~12 cm across, ~6 cm tall): grab them by a side wall, the one to the arm's left or right. The jaws close along y at yaw 0, so they can't pinch the near or far rim. In the wrist camera, the wall should run top to bottom between the open jaws, then descend to grasp-point z\u22480.015\u20130.02 and close fully.\n- A pinch on a bowl wall can settle at 0.03\u20130.10, so don't trust the gripper reading. The reliable check: lift 3\u20135 cm, and if the bowl looks the same in the wrist camera, it's held. The rule \"below 0.04 means empty\" was wrong here: 0.034 turned out to be a good pinch.\n- The top-camera scale was about 2.45 px/cm across the row of bowls (image y\u2248100). Bowls placed in a row were about 13\u201315 cm apart.\n- The right arm couldn't reach table level at right_y\u22480.35, x\u22480.37: it hit its reach limit and ignored commands. Give the middle bowl to the arm whose grasp point stays closer to its own base. Reach the far wall of a bowl from its own side, e.g. the right arm grasps the right wall and carries the bowl with the grasp point offset about 6 cm from the bowl's centre.\n- If a descent stops at z\u22480.045 above a bowl, a jaw is resting on the rim. Small moves then do nothing; you need a big retract (change x and z) to free the arm.\n- To place in a stack: carry at z\u22480.16, line up using the top camera or the rim showing in the wrist camera, and descend until z stops going down (about 0.065 for the second bowl, 0.09 for the third). Then open.\n- Wrist pitch drifts toward -0.3 to -0.5 during moves unless you command pitch 0 explicitly.\n- My first pink grasp (at right_y\u22480.01) was outside the bowl: the bowl's centre was at right_y\u22480.16, not 0.07. Before grasping, check that the wall is actually between the jaws in the wrist camera."})
tool
done: All three bowls are now stacked in the middle of the table as one nested stack. The left arm put the white bowl into the lavender bowl, then the right arm put the pink bowl on top. In the final overhead view there's a single stack with the pink bowl on top and no other bowls on the table.
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 · 15.61 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6056, -0.3767, -0.0223, -0.0257, 0.9995, -0.0219, 0.7925, 0.6025, -0.379, -0.0154, -0.0334, 0.9966]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.181 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2946 right_y=-0.0001 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.5265, -1.6068, 9.9897, 1.8193, -0.0317, 0.1197, -0.0611, -0.3761, -1.347, 10.1812, 1.9219, -0.1343, 0.149, -0.3639]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:782ba82c9e54ca6c14aa990f3a2af5535cff6d44174d5d20bdeac50b39f5816d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63d643b136b3ec288541772e4e1cec74a6b4f141387f4f17622175cb45868e7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c3f58eedeeb657031d336bc1ec389137e6ba4cd5a770de9e37b8e02bbc128ddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 8.997 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6056, -0.3767, -0.0223, -0.0257, 0.9995, -0.0219, 0.7925, 0.6025, -0.379, -0.0154, -0.0334, 0.9966]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.181 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2946 right_y=-0.0001 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.5265, -1.6068, 9.9897, 1.8193, -0.0317, 0.1197, -0.0611, -0.3761, -1.347, 10.1812, 1.9219, -0.1343, 0.149, -0.3639]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:782ba82c9e54ca6c14aa990f3a2af5535cff6d44174d5d20bdeac50b39f5816d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63d643b136b3ec288541772e4e1cec74a6b4f141387f4f17622175cb45868e7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3f58eedeeb657031d336bc1ec389137e6ba4cd5a770de9e37b8e02bbc128ddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0143sur8x4A9cnpE6pwA6hdm",
      "input": {
        "note": "Three bowls in a row (green-left, blue-middle, pink-right). Moving the right arm toward the pink bowl's near-right rim to grasp it and later stack into the middle bowl.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.07,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0143sur8x4A9cnpE6pwA6hdm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6094, -0.3828, -0.0227, -0.0261, 0.9995, 0.3363, 1.0729, 0.5213, -0.1226, 0.2325, 0.1272, 0.9964]\nstate[eef_state]: left_x=0.2955 left_y=0.0018 left_z=0.1801 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9995 right_x=0.3173 right_y=0.0716 right_z=0.1157 right_yaw=0.0625 right_pitch=-0.0843 right_roll=-0.0247 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.6205, 6.7624, 1.7705, -0.0806, -0.0659, -0.0122, 0.1436, -3.7812, 6.8034, 1.8779, 0.2711, 0.1636, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:107c2541460acd4b926887d5886c522584f96c915a5636c6812a46f8da8b9de6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef373cd45ff91315d5e08153a78359642c5afe4f12eadc829dd4960902e0a639",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e751b7139d56ebec2e3ae6e3fd0fd3801b2773b1c546801077cd40371f16f93c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 5.276 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6056, -0.3767, -0.0223, -0.0257, 0.9995, -0.0219, 0.7925, 0.6025, -0.379, -0.0154, -0.0334, 0.9966]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.181 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2946 right_y=-0.0001 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.5265, -1.6068, 9.9897, 1.8193, -0.0317, 0.1197, -0.0611, -0.3761, -1.347, 10.1812, 1.9219, -0.1343, 0.149, -0.3639]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6094, -0.3828, -0.0227, -0.0261, 0.9995, 0.3363, 1.0729, 0.5213, -0.1226, 0.2325, 0.1272, 0.9964]\nstate[eef_state]: left_x=0.2955 left_y=0.0018 left_z=0.1801 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9995 right_x=0.3173 right_y=0.0716 right_z=0.1157 right_yaw=0.0625 right_pitch=-0.0843 right_roll=-0.0247 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.6205, 6.7624, 1.7705, -0.0806, -0.0659, -0.0122, 0.1436, -3.7812, 6.8034, 1.8779, 0.2711, 0.1636, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:107c2541460acd4b926887d5886c522584f96c915a5636c6812a46f8da8b9de6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef373cd45ff91315d5e08153a78359642c5afe4f12eadc829dd4960902e0a639",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e751b7139d56ebec2e3ae6e3fd0fd3801b2773b1c546801077cd40371f16f93c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UTMcjez1DHNVoDdcFk7DXE",
      "input": {
        "note": "Pink bowl is centred ahead in the right wrist cam. Moving over its right-side rim so the jaws (closing along y) can pinch the bowl wall.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.012,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01UTMcjez1DHNVoDdcFk7DXE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.609, -0.3874, -0.0227, -0.0261, 0.9995, 0.0265, 1.3781, 0.6022, 0.028, 0.0193, -0.0471, 0.9964]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1779 left_yaw=0.0005 left_pitch=-0.016 left_roll=0.0002 left_gripper=0.9995 right_x=0.3671 right_y=0.0099 right_z=0.0747 right_yaw=0.0266 right_pitch=-0.1793 right_roll=-0.0303 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.5658, 7.0222, 1.746, -0.0317, -0.0073, -0.0122, -0.212, -5.4906, 9.1009, 1.8828, -0.0171, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58021a4c4b95478e0bb325d4ff53ced51d3e1099ce9bb110dbe5c41fea4c30ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1972011af0c7f4119d6e7c1b2d6582f1f9fb06d54ca4509b1056ed2b1910d13c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ce6f9cba09a1551c68fe87d60a37d59f4c4eeb6d2154b01aecf1a8f2be8aea2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 3.639 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6056, -0.3767, -0.0223, -0.0257, 0.9995, -0.0219, 0.7925, 0.6025, -0.379, -0.0154, -0.0334, 0.9966]\nstate[eef_state]: left_x=0.2955 left_y=0.0017 left_z=0.181 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2946 right_y=-0.0001 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.5265, -1.6068, 9.9897, 1.8193, -0.0317, 0.1197, -0.0611, -0.3761, -1.347, 10.1812, 1.9219, -0.1343, 0.149, -0.3639]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6094, -0.3828, -0.0227, -0.0261, 0.9995, 0.3363, 1.0729, 0.5213, -0.1226, 0.2325, 0.1272, 0.9964]\nstate[eef_state]: left_x=0.2955 left_y=0.0018 left_z=0.1801 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9995 right_x=0.3173 right_y=0.0716 right_z=0.1157 right_yaw=0.0625 right_pitch=-0.0843 right_roll=-0.0247 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.6205, 6.7624, 1.7705, -0.0806, -0.0659, -0.0122, 0.1436, -3.7812, 6.8034, 1.8779, 0.2711, 0.1636, -0.0415]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.609, -0.3874, -0.0227, -0.0261, 0.9995, 0.0265, 1.3781, 0.6022, 0.028, 0.0193, -0.0471, 0.9964]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1779 left_yaw=0.0005 left_pitch=-0.016 left_roll=0.0002 left_gripper=0.9995 right_x=0.3671 right_y=0.0099 right_z=0.0747 right_yaw=0.0266 right_pitch=-0.1793 right_roll=-0.0303 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.5658, 7.0222, 1.746, -0.0317, -0.0073, -0.0122, -0.212, -5.4906, 9.1009, 1.8828, -0.0171, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58021a4c4b95478e0bb325d4ff53ced51d3e1099ce9bb110dbe5c41fea4c30ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1972011af0c7f4119d6e7c1b2d6582f1f9fb06d54ca4509b1056ed2b1910d13c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ce6f9cba09a1551c68fe87d60a37d59f4c4eeb6d2154b01aecf1a8f2be8aea2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywgKEAgSGAI4AUIIdGhpbmtpbmcSDKH7csOfjm4vixiAHRoMACC8zwQxVIxEdCmEIjCXSY+TewwaojAz1fM0hxSA8d73+tJNajWTIA0xBNatVvkaQpouvlP7Rok6scoVUfYq6Ae4clM9dYchGPF8wqGMieO/y53nBPiGmZJ2sKlSjXY6rsaECHGjXNw7YSjiaJLNOwKL035jdaVfue7p88DWOvjaLwrKwDCzZPMkcnDq3TrMz9t0sRd4vx7qKNa1uPKm1jyBt0UfhJfGOBNyz10aF1oH+9soW8guz9EUE6YXhMUlqyD+6kuT4onedKb6jMc/UGCWrZ/S9X3ItdS9/TAp0E6X4zi40/t9SRfB2bIvzL1pE/RyuGLEXJRsKOuV0yTPwyFXMj0dMAv4WZkc7zqjWVziQwW92kRAvEoT2Da71ZsvH2x51G0TVkOqzwz8bNcPGlgd/t8CVWmcEW0zPVLN1yIC0p+IKvN9iEenaIQdpJjzXyHhwG+43LIO42h9zf51DviMBXajSEiGvOAJFs5A+p7r7AZXVprKK7ww+MADcYouuQq5Z0DZwYmCndQqdhBcmQx/JACWENxIo/bfHswMcgyUFBusJE+4CHX6LkdBrPncT407Bqt6JscKsrRb6KfUCrfRjmaFLqUB2j4BzjI7WVb9mdKbbhn7wcx2Y114VRiIGVR0o15lSQplwHfNVjyBybCyfzDwJoZAWr9O7fwtAZc/3jBPeD3+vsEP2/Rm+2zIPxpo7cBnZy4lsZ37cxvTfDZmxmgcjK+OD0Uw2SFO0/LBBijXeaop3utmBnmQJB00bFunNk3pi8O25egi5fHcv5RJVAAWkkEocFyO9E6rtnUk4uSWjJNDsbVjsjOxUlIJB0bu8AT2szKwx80H6DHN+5tPNrGPtMhYn/M7ElQ9rmansJh+ayirIAwDbIs9fKBg+6jrFe90wbn9CxnxmlNTVC+VaiekktvlRXLUTYD2GNhhQ0hb0HWqRPwf/fsN97ipNl1wlsodv5poUl4I61tLItE7+4oBrXqPgCLAlIc2053OOu5OuLrCpkrnJRMjrclWH93TRBnSffROAktG5e1nfLoxaclavU9bvFVFmeVAT8jcBtFlHTZsQ38p/jG8LH2+g5Bg8nwwCFdzocu18MtyQpTmUzVvAJSM+Ov0Q/V+CsrA7OTcmle3/lC5Opbi4LiL7Hixlc+Seo5o7MTSAhPp0caGEKrJaie12zfD32/ZwdgPlQr1OtGIaOZMtJ3xQ6DszeNZ2G8pfQ30fhsO96uBjbWsCp2cL5dveUObDS3LdbOEgK9ChjkUiCDFNYXjNHA1OHqZQoN2MLt5fow3JNY20daaqNTmBGegShDeobfNbMS47HD2Gbv6ZdOQiIPsjzgIgP4Su+9EBPRDa1/59eddPDMB1sLmEX5YtsTaMhSowxvIrCYzEs2/ONx6H4YjM8jSaw+PJGph3RgEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DzcZ9mc27x8dDimdT6MfzP",
      "input": {
        "note": "The pink bowl's right wall now runs down the jaw column in the wrist cam. Descending so the jaws straddle the wall.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.012,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DzcZ9mc27x8dDimdT6MfzP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.807, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.0307, 1.618, 0.58, 0.2096, 0.0032, -0.0563, 0.9964]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1764 left_yaw=0.0005 left_pitch=-0.0217 left_roll=0.0003 left_gripper=0.9995 right_x=0.3752 right_y=0.0145 right_z=0.0135 right_yaw=0.0499 right_pitch=-0.2598 right_roll=-0.0244 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.4974, 7.0769, 1.7118, -0.0562, -0.0562, -0.0122, 0.1436, -7.5009, 5.3949, 1.8974, 0.1832, 0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e4958e948bbaaaa24340819e03940095fe9d122f2ade74c9e8021fa5309a445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c78e8276e1b82e5a27b2a322908a33d6f3e1a1e7e3cc21884dfa829026af7106",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:15b92b519984043ff6df5fd2eef8876a1f6790a951928e9c34393acd70c867a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 5.846 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6094, -0.3828, -0.0227, -0.0261, 0.9995, 0.3363, 1.0729, 0.5213, -0.1226, 0.2325, 0.1272, 0.9964]\nstate[eef_state]: left_x=0.2955 left_y=0.0018 left_z=0.1801 left_yaw=0.0005 left_pitch=-0.0072 left_roll=0.0 left_gripper=0.9995 right_x=0.3173 right_y=0.0716 right_z=0.1157 right_yaw=0.0625 right_pitch=-0.0843 right_roll=-0.0247 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.6205, 6.7624, 1.7705, -0.0806, -0.0659, -0.0122, 0.1436, -3.7812, 6.8034, 1.8779, 0.2711, 0.1636, -0.0415]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.609, -0.3874, -0.0227, -0.0261, 0.9995, 0.0265, 1.3781, 0.6022, 0.028, 0.0193, -0.0471, 0.9964]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1779 left_yaw=0.0005 left_pitch=-0.016 left_roll=0.0002 left_gripper=0.9995 right_x=0.3671 right_y=0.0099 right_z=0.0747 right_yaw=0.0266 right_pitch=-0.1793 right_roll=-0.0303 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.5658, 7.0222, 1.746, -0.0317, -0.0073, -0.0122, -0.212, -5.4906, 9.1009, 1.8828, -0.0171, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.807, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.0307, 1.618, 0.58, 0.2096, 0.0032, -0.0563, 0.9964]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1764 left_yaw=0.0005 left_pitch=-0.0217 left_roll=0.0003 left_gripper=0.9995 right_x=0.3752 right_y=0.0145 right_z=0.0135 right_yaw=0.0499 right_pitch=-0.2598 right_roll=-0.0244 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.4974, 7.0769, 1.7118, -0.0562, -0.0562, -0.0122, 0.1436, -7.5009, 5.3949, 1.8974, 0.1832, 0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e4958e948bbaaaa24340819e03940095fe9d122f2ade74c9e8021fa5309a445",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c78e8276e1b82e5a27b2a322908a33d6f3e1a1e7e3cc21884dfa829026af7106",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15b92b519984043ff6df5fd2eef8876a1f6790a951928e9c34393acd70c867a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wYKEAgSGAI4AUIIdGhpbmtpbmcSDFs2Ww5sxg0Zh4bfLhoM1U5EhSy55xbW2hwtIjCdFZoiZXsv6mvAsT+Bu/hv6VAOq8o0V5LjwlbWTwlmqdp9y2EvLzAkM95EuelO2z4q+AW+kM91En8Uk9TiYnIbko5wQpFthIsXO8B/bCgHD22gqQiF1KH+WvbfmiOSvldOUPZxfwtTvXEKXOsQKXoLu3FKHt8QxUsYk0iImDMxneqbrq7FkSkJ+wz2jQmb30KOUohdz7/6m23s8HvzcGYEk+Gu8VtZRSqUB5+Wm9T8pPEIKq6UC0jb9Zk+2tKxe8tm+bzURhr/1L42d8stMMirR0Xh5jKlGPd6EqADZi9KSesfbxu0Cpb4EiFtAYqBedbvUbH3rxG0EJEf7PLqHLvk2pgsd+Dn07mvXSO4kJy7kKCNkAdx+5ZEv0DRBYcgwYtN3/CiFe38eAAz1s9InTS6eUDC6nEzqlXVZb3ZNB2hhZaFcpvxelTZf5EGTOUcUZESrIByluwCyuYCePxvtH3iqULuB4CctxrPqjAsfgom99YnvxKy031xnV0dgX2DI7CaKYDnVGOxq3oq/PpOsw2CdIejSE81Ji0+/rNEs/EDLABFFK4tyJiXV7n3j/oAquL8zmniS74KJ96qQWrPf1m3VCWMijGUJaIFCzHEdQQkNUgMInW5AE2OO9ZUOTUBfxNCcjOWVMxEjCnXT+kiHDFzegmHgx/0Sab916aCs+v7xfXt9mUSnpnzib9t4a8rcyNYgY5OLmeBeHliQ9L8SlpkkMe1PxKFC0epPYFnfKGdejeVRT2RgEh0oifmI7sS2rJGm3JjTQUN7pZsMYq/ulRzCvLco1cpIcJSX2JWtKJwkkGXlUR3QbnDa4T97ePvFQqZnneQvcWZKGqxULCaGgm7NemlJ5c35OAawuEIqI35n1HOtwksBQVqwytzkE4E05siBwKA38qwmM4dPg0dhZPY5kYJUbEdJodcQDkKUOSB+brMyBwHiLCsHUUyIFoi4reFo/d3RDVkJnwos6sEpnW2KuBoe02UOzPDlE+eDNzawUEgquKcbeeXYd27LfspRRzy0iQ9hXvXKWb60O4WnQUXNKmS5ctXg9DOWGg46y8nrnLs4X5i1GX/tDn1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015zanP47nytf9SGMNqmCS2L",
      "input": {
        "note": "Jaws straddle the pink bowl's wall near the table. Closing to pinch the wall.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015zanP47nytf9SGMNqmCS2L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8074, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.0322, 1.6081, 0.5625, 0.2729, -0.0315, -0.0483, 0.102]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1763 left_yaw=0.0005 left_pitch=-0.0221 left_roll=0.0003 left_gripper=0.9995 right_x=0.3808 right_y=0.0214 right_z=0.0219 right_yaw=0.0766 right_pitch=-0.2033 right_roll=0.0051 right_gripper=0.102\nstate[joint_eff]: [-0.1573, -1.3333, 6.9949, 1.6874, -0.0611, -0.0317, -0.0122, -0.4855, -5.5453, 5.1761, 1.3944, 0.2418, -0.1197, 0.5055]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dc816e892a3bab5fa63c6ab39a38f8c0fbcc20c8f7f703c327e24bcb7ebd192",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98d85158e98db4e943a861c26e1779c97eaa6cd7ea0b9995aadc48103590cf3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f19d51efadef7a4f8bf226a2be9125ac8db0841f1f6075c77f54eafed0fc2f22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 4.028 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.609, -0.3874, -0.0227, -0.0261, 0.9995, 0.0265, 1.3781, 0.6022, 0.028, 0.0193, -0.0471, 0.9964]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1779 left_yaw=0.0005 left_pitch=-0.016 left_roll=0.0002 left_gripper=0.9995 right_x=0.3671 right_y=0.0099 right_z=0.0747 right_yaw=0.0266 right_pitch=-0.1793 right_roll=-0.0303 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.5658, 7.0222, 1.746, -0.0317, -0.0073, -0.0122, -0.212, -5.4906, 9.1009, 1.8828, -0.0171, 0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.807, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.0307, 1.618, 0.58, 0.2096, 0.0032, -0.0563, 0.9964]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1764 left_yaw=0.0005 left_pitch=-0.0217 left_roll=0.0003 left_gripper=0.9995 right_x=0.3752 right_y=0.0145 right_z=0.0135 right_yaw=0.0499 right_pitch=-0.2598 right_roll=-0.0244 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.4974, 7.0769, 1.7118, -0.0562, -0.0562, -0.0122, 0.1436, -7.5009, 5.3949, 1.8974, 0.1832, 0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8074, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.0322, 1.6081, 0.5625, 0.2729, -0.0315, -0.0483, 0.102]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1763 left_yaw=0.0005 left_pitch=-0.0221 left_roll=0.0003 left_gripper=0.9995 right_x=0.3808 right_y=0.0214 right_z=0.0219 right_yaw=0.0766 right_pitch=-0.2033 right_roll=0.0051 right_gripper=0.102\nstate[joint_eff]: [-0.1573, -1.3333, 6.9949, 1.6874, -0.0611, -0.0317, -0.0122, -0.4855, -5.5453, 5.1761, 1.3944, 0.2418, -0.1197, 0.5055]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dc816e892a3bab5fa63c6ab39a38f8c0fbcc20c8f7f703c327e24bcb7ebd192",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98d85158e98db4e943a861c26e1779c97eaa6cd7ea0b9995aadc48103590cf3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f19d51efadef7a4f8bf226a2be9125ac8db0841f1f6075c77f54eafed0fc2f22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrAoKEAgSGAI4AUIIdGhpbmtpbmcSDOyaS2cvOkinQFvJIxoMj4SLQsGbNo3EVi7hIjC21eyM0vRTQbFF4vxk1buB8S2jZBmtYOUzGFfwSARYraIFWcNTsuGmSyPbHbRzmFQqyQmQom5ifrCX7utPKEpLlq6YSqwFWnPbjAlyhA8pDlGploWdWca7wsKsFp4LNxjFgm9r6JNHi13AQkmhNIUtdVizh2p+glLx2f+HnpP0MOZYrufOFsLKCjuptY93owbU0JW/G1K1iNdiSPxGkR+L4pFRzD5HtaNBUjOjyx0+6S20UkaZ8DkJMuPso51b2D4LwqQFi58mRHvMX61yNeQYzUisNIR7hLSH+bX6kiJX+g8czazdImm0kzHIgwtI7I3XiUC3lFNKfp8N5sUjW58cdQnW0CP9Non3eyxFY5wAHf+YAvDr6UTgujJ06YfkhQLHueuXAG2fe6JHwtj2WR4Z1HmWiJWzIqKW03Uo165N034mP3CzmsvD+tB5AcS2IkthkHyMUt+gehXNIgTzAhVIF2epKWhXV2xCFnerXBWZ+YELbvmz8l9b3+1D7T2oZ6Uklh1SXfQuy2i8eGZZdcqPtWB+KAfOuUYEherhuTMltx0pRyKGs4dbwPRnldkf2+v86nNkvgE6++ow5t05CjuZ6pD9rEDm3YvsFmz8xPHLwknJNeohqbHN5GfjwBZDW2IuUSCf0YKbPPAd2WNxoYs44Q0NqUlVL/8W3a8By+0J+TwsNwvyejvjXv2Kpo3F3S/a/xt5byme3BSl/gCeTBAqrR3awXKXtgzg1qiQS0AqFHwrv+tDey51O4b/XasY0mo943gY0CwWVAtYtmDD4YzyX2yhL/80LN6rvB0buSukYc3O0x+ND21t2S/ri7b31y7miGQ0I7EnnOsAP96mXIJaWKRzizYPGsTTSFln0ok8h5JnU5pq8oQu0Bv+GivbCaXsHvwWiUUJ+mLG/isH8Y4Qt8Nklq1xoO+z6ZsRzBINvo4ngfIy0yTQ23zP8u5nGf7SkTgqPHq5TUozoGdg+yHZA/CIjS/jFtcx+90n4clfPt864qmrb6MdQGk9U5OFjmrpT7oCeGa+KsAAIVgsd3s5BYl66NisAYhAoOjcG3PMClbjjSG7u4UETOrRM0hxDBjEKExGqUXcW+h1xZr4HPnYe1i0JuGDwnft4D5nKoPISQJhG153Sf9HjEUqAGANjPMc/2rDjZFOBq8XICfKZuGYaQCtlXIdXaBj6Yz+NO/k/Aq0b/xx2HOSIXot4T/UDZfMN5Y+O84tq1eumElfLDxYAMCRReGbBBdD3SBBtTaFAdbApr0HBFMZPdC2WCaIWiAQ8BwP43CQzpGgc6YNPH6LVoZFqT4P/23Tp+c38WlzuQz4kUbwbGy8PF6LQNuG/DV1/dgemyVWZe9h3i6TJ3eHKOoVXzJwcytXV2J8uczq+8nRc+neqnbeiz8l7dEkFbGUEnqJ/VCD5YTGN8ioS21MXG7YgcY4tfswJMrYX+Xd33ZRb4PiIEGL8mx5IAOE4vWYHUijfxXhf0FoM5gn3Atte1NbGSTXM6eMJ6Xxyc9Aq7NqT907a96HbEysU/ymo3WYoobIvMgGn8mEFJ+g0kEnJoB5vG2TSoZos3qtiK7f2HXjyTbeAxNsbpCGcL8QwMg7oQcBajpxLqPjfBpc+RA02yVySFTjEU85m6tM9tIHNA9Fd0r2a7DslEVwmnwe4qYTdMFLdEFL9dGZcONX0c245P4RYp5e1FHybohVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JQg7v77L3UjPLEJaPz9zRT",
      "input": {
        "note": "Gripper settled at 0.10 (~1 cm), pinching the pink bowl's wall. Lifting to check the grasp and clear the other bowls.",
        "targets": {
          "right_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_01JQg7v77L3UjPLEJaPz9zRT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.0326, 1.3499, 0.8841, -0.342, -0.0349, -0.057, 0.1026]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1755 left_yaw=0.0005 left_pitch=-0.0248 left_roll=0.0004 left_gripper=0.9995 right_x=0.378 right_y=0.0221 right_z=0.1351 right_yaw=0.0852 right_pitch=-0.2382 right_roll=0.003 right_gripper=0.1026\nstate[joint_eff]: [-0.212, -1.3607, 7.0085, 1.6874, -0.0757, -0.0757, -0.0122, -0.1846, -6.9265, 9.5521, 1.6679, -0.022, 0.0659, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4f1ec67aad73b8733335fb394cb9d9d90b277d9abbc85a12c73eb70585f7920",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20b10e5ccc82e91e084b2cfdadf7d7fef8413da3e63fd728f69f905ad35aef7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a6219ef9a18a870d0bbe87e648a6c937b852fd853566c557fcfc1ff8fb01f38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 9.283 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.807, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.0307, 1.618, 0.58, 0.2096, 0.0032, -0.0563, 0.9964]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1764 left_yaw=0.0005 left_pitch=-0.0217 left_roll=0.0003 left_gripper=0.9995 right_x=0.3752 right_y=0.0145 right_z=0.0135 right_yaw=0.0499 right_pitch=-0.2598 right_roll=-0.0244 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.4974, 7.0769, 1.7118, -0.0562, -0.0562, -0.0122, 0.1436, -7.5009, 5.3949, 1.8974, 0.1832, 0.1148, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8074, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.0322, 1.6081, 0.5625, 0.2729, -0.0315, -0.0483, 0.102]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1763 left_yaw=0.0005 left_pitch=-0.0221 left_roll=0.0003 left_gripper=0.9995 right_x=0.3808 right_y=0.0214 right_z=0.0219 right_yaw=0.0766 right_pitch=-0.2033 right_roll=0.0051 right_gripper=0.102\nstate[joint_eff]: [-0.1573, -1.3333, 6.9949, 1.6874, -0.0611, -0.0317, -0.0122, -0.4855, -5.5453, 5.1761, 1.3944, 0.2418, -0.1197, 0.5055]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.0326, 1.3499, 0.8841, -0.342, -0.0349, -0.057, 0.1026]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1755 left_yaw=0.0005 left_pitch=-0.0248 left_roll=0.0004 left_gripper=0.9995 right_x=0.378 right_y=0.0221 right_z=0.1351 right_yaw=0.0852 right_pitch=-0.2382 right_roll=0.003 right_gripper=0.1026\nstate[joint_eff]: [-0.212, -1.3607, 7.0085, 1.6874, -0.0757, -0.0757, -0.0122, -0.1846, -6.9265, 9.5521, 1.6679, -0.022, 0.0659, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4f1ec67aad73b8733335fb394cb9d9d90b277d9abbc85a12c73eb70585f7920",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20b10e5ccc82e91e084b2cfdadf7d7fef8413da3e63fd728f69f905ad35aef7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a6219ef9a18a870d0bbe87e648a6c937b852fd853566c557fcfc1ff8fb01f38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AcKEAgSGAI4AUIIdGhpbmtpbmcSDH6ziOWUPdVDTe0/zBoMUwwCmzNX341ZwdbbIjDzacZwMffmSxu2lEu1GkfcsGkQoR2kEzhiYbly0mC5zQvgThHh+W/58ftXzxWl9McqhQdGAro6tf2FNcwI3Vll1XGsT8bJ2vyeiQe9PiVeBMLCROOsMarfAQi3dDOhNKme65tGpEjVd9yylJ1vZ54Dn07SfcZN0vgj0hW8xjApZ068/p3t4xpafl0z0OdAEr1u+N259RSXorp7TzRXiiFzj5RmZohNnJB2CPcVzYYltjFeKmlcWCcfsuREqh0JUDu+tILrqL9zYc//W78688U7+qitY070i800UJOJEREZeWD2yS9ONx5v+s/tPbs+Z2ffVASFmWn5HTSjJn2i+xWFckP/VDm77xyUqmcj8gOeo6DotlcwNpZb8uba08rCv+rCJl3iPgb12UbEeNElh15+S5AKQjH4mi82h6AuY0oO6WHwDN4jNPYZg5gIAv3MoALoHIImPnVuVDgDJ72P4uTE9tfq04YuzWOB9BBJyWLySMTtT5pXu47K2pnkw93AOxeptK8T0albl+rkpy9ZT3muPz05PDGe3k3UAQwBQ8QCbPqe275hRedAbBFgyP6qtDtFhnp6Bm7ItCpORp2y7Oe/s3KI4tCXnEawPY7BgyhtDBwgi/6OHqkw1j2wsoSu7dcwBdj8gIkFV0Tv74llAc/Lhwcr5upQmlv8waD5WxHSGKfJPnNQ7yQ120K8nxgo6hnqFxF2OoZ1ovxSuKg6hK7WhmfTgfGY8HxIikOHXZUSwyZkO+zWFVrrqVm606dcZ41n3dhvsG8rDWzHleQlP2OyKj1rE9loHNkyEhJdYzPmum8MusjepMzqf2STh9Jppe5xRsjDABShH9T5g/nBRDAqOeqDFE71ZzSz/MZ2wp/OP0EYwj69Q0teaSSb+d5hs7cGsJqNxcVQvRKko7xfFymUN0g8vMpslcfBlT03h3c07g5YkYJQWsM721EVvISeyq8xBMWQi3R9bt4Qy6AWY+L5vDDmX3G/YBWrZloLxfbny/CJnzlNFNnuNJypR7LhFiv2ZDjn1KQYVizaw9ZDOZj9yse0v8qKV4IHOqacLuBFjy/RM76MBN472vB+WhWT2Ukv2NtTRJNLZmitAGJDOzPUos/tx/5/6LM3VuBr82KS4GDibgq1j4XFQkfPBIUZuJHQrglg2uEpbFhIkhBDIOmOl6VLeK9ByYzxxlUtHW1sd85BSGgjLLeUxz3B/psjgK/LmADXUGN7ccN7xqsfck2sCbv5Zu4fDvOiCdtJZgQgZQgNIoWn5jf2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JsxdmXCaACyFLhDhVgwtYA",
      "input": {
        "note": "Pink bowl is lifted with the gripper. Carrying it left so it sits above the middle (lavender) bowl.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.21,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01JsxdmXCaACyFLhDhVgwtYA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6083, -0.3897, -0.0223, -0.0261, 0.9995, 0.6342, 1.6012, 1.2312, -0.5495, 0.3382, 0.3614, 0.1026]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1751 left_yaw=0.0002 left_pitch=-0.0263 left_roll=0.0002 left_gripper=0.9995 right_x=0.3723 right_y=0.2055 right_z=0.1551 right_yaw=0.1266 right_pitch=-0.2798 right_roll=-0.0166 right_gripper=0.1026\nstate[joint_eff]: [-0.3624, -0.9094, 7.0632, 1.6825, -0.0122, -0.0415, -0.0122, 0.253, -7.2547, 9.5111, 1.3455, 0.4078, 0.1783, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:085720f60d2d0b99879a108f67951c5c6fe3c87fe772fcc7df0c77ab0aa280f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48762cb58091b81b6b9ec8f7d4fe94a5d71f5d2de648285297418a0c9288b646",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6045b68f9b1fda3b4adb5991eea0f0590a525789f0049884c46b69e3e55abe42",
        "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 · 10.78 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8074, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.0322, 1.6081, 0.5625, 0.2729, -0.0315, -0.0483, 0.102]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1763 left_yaw=0.0005 left_pitch=-0.0221 left_roll=0.0003 left_gripper=0.9995 right_x=0.3808 right_y=0.0214 right_z=0.0219 right_yaw=0.0766 right_pitch=-0.2033 right_roll=0.0051 right_gripper=0.102\nstate[joint_eff]: [-0.1573, -1.3333, 6.9949, 1.6874, -0.0611, -0.0317, -0.0122, -0.4855, -5.5453, 5.1761, 1.3944, 0.2418, -0.1197, 0.5055]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.0326, 1.3499, 0.8841, -0.342, -0.0349, -0.057, 0.1026]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1755 left_yaw=0.0005 left_pitch=-0.0248 left_roll=0.0004 left_gripper=0.9995 right_x=0.378 right_y=0.0221 right_z=0.1351 right_yaw=0.0852 right_pitch=-0.2382 right_roll=0.003 right_gripper=0.1026\nstate[joint_eff]: [-0.212, -1.3607, 7.0085, 1.6874, -0.0757, -0.0757, -0.0122, -0.1846, -6.9265, 9.5521, 1.6679, -0.022, 0.0659, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6083, -0.3897, -0.0223, -0.0261, 0.9995, 0.6342, 1.6012, 1.2312, -0.5495, 0.3382, 0.3614, 0.1026]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1751 left_yaw=0.0002 left_pitch=-0.0263 left_roll=0.0002 left_gripper=0.9995 right_x=0.3723 right_y=0.2055 right_z=0.1551 right_yaw=0.1266 right_pitch=-0.2798 right_roll=-0.0166 right_gripper=0.1026\nstate[joint_eff]: [-0.3624, -0.9094, 7.0632, 1.6825, -0.0122, -0.0415, -0.0122, 0.253, -7.2547, 9.5111, 1.3455, 0.4078, 0.1783, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:085720f60d2d0b99879a108f67951c5c6fe3c87fe772fcc7df0c77ab0aa280f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48762cb58091b81b6b9ec8f7d4fe94a5d71f5d2de648285297418a0c9288b646",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6045b68f9b1fda3b4adb5991eea0f0590a525789f0049884c46b69e3e55abe42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpxEKEAgSGAI4AUIIdGhpbmtpbmcSDKtu/8sOFkOv6faVdRoMGCfNWEYCvPYQ+1MLIjBwIbZQY3+g9FOlssnke8WpAlZ+GgNvgqoRcrP3LlajAcSBKa71/s/bFEpaxHua/BQqxBDvPFjPJhF9uxvszp73pMgmQzrt9IzgWRC41A+w5QdNTr1T39X5JBL5BYmdARSdYdPdAWNsLoi2w/YuKEDi/dcnaAKyObpcDFQrFPLyzNAnJvyoVSBIAF6xZwoTs/Zsva2F9E4pWj+m8N1qutIkzRrY0pWKaFXjfIXvZlWjsT7r2oTIlWGIpJ0Gvp6VvbGYBPSrhLf/VRrsTRF3lfSaO13fGDLxca4CsWwK4lwvXB4DhaZEyOPdlTsgX4kfWu1fj1MYSq7NK4DscyXX1UWDENiQ/onbGy3zrhjnEm0f6GHSH7tI/AC22QhTwCRmBoMuMrp7gcG5lNeIVtMeO1Pgs+AcaX+qqaXUBNpZgnxrMpZftheaktLcMoYE4vL/+scLo7UStJmAn+SpsRzoUYrRqDtBDsE9zhvg2TylhG5CuNyIE9oRATen/TpTA/mDox/oOmfChAW0klfsuayq8r5HX/nb1BNQKB41ru6Lsn5CcDsHlrumwSc7+5ECl1/VxldrYrSq1sWlWZ0ZDEHYryp23p3yopfH3SbqfoIxX/Ac0+2CINCyAJa4xOoK7mURjWZM0V5IESJiURmXIwv7chpo/AJt6e33ePFbfMPa/WSqD9RKhxxVxpE23sshVvdUfY7dxUEKoxt8oe7nqNmXbD0BR1+Yf+YkQbDw3NrE9bVKhwtguRY75uVJeie4NafOtmETKCVX+OZCf0SYmPCpJtDGgcdaozP2TK/CWaoa/Os78BNmbPDf3mim29TOM8352vz0FYFgPzH4NCHcB757a2DPuRvxhUbeZI44193lOvUgAHq/zRcQNZIjeQkSjdlrw+N0BnVhHgCsdsTZfCMuqfYch04tyhv/ANw8oRr0LHTkxj4RCajwtAmG88A954wLoLjollYVO/7zXawEduL8krbR7cyXuCasziWiOvRDx4A+FRygJPG14AwSUHOgKXCxQntR8rCBZBlVhPVEi6FaRXmiLaiioT+2DebcaZjH/vxC9Q+gU3InM8OYO2lKLDfuHySFCkzEWlyIZijX5g2DtFDvSOaRHQvHq7UXMCwH69ne0oYhdK6Vk0O2amvaTgG45u2MCIJqjue4X8ICkdwTwBuhbUksdXTOUpRMPNdnISLfN4BaNTFVGEYuv4DTE4w4aLq/TrDs05wzHcY4pa0qB+HcHBpm6FNNNcELr8Qh5Jo7peaTOuiQeptOXuO1VAZWiIZ/TIM9lw33GhFmqdtKk4P7KnzG4sFjqxa7JczBFz/2VE7/d6UuCfxJYJ4MVqnFHVm3F5AhNASEEZII/+GH1AAcYOVq69jXDdikUCpl7kyvwqiqS1h/TaXriGm507sI/vKZJqJ+2DWDrE61t52ifXvnC6Ki8PngNHlZMk0oesPFNsMdgExjHQiCsMHGNTqFYuI5QZzq+/zgzsXzgsTcP+vyadqqKdosttaXCxSauF+ewd7/oq1Xv6dhmT0ziT4U14KBtjos8l1woDm8PIuOCaBEP4LokZSA3m92tEzSoHlGZumxgM1dQL7UbpOYQSrbRxjZnil//bnXAmuCqJtP3oN7k5L5QkMQ1nakx8lNu1Tfria03Tvd9fYpoec4Rx1mDe6pKeRN6KjqVGAX33bsXQ4Sqc65m6IKGP+4+2JXBsZWNG/z7toFcd2jgH4ihZ1SB6dnuOTEyoFeNM17qMvwh8IgFQZNqTuzmnbRHIgj7sZ2GoQ+7fGZFQsmcfZZjDeE6UKpcE3spQV3thZkp5vqlYapGI7dtLImJe7SqYEoy0lqZwr2CMTF5qzOEg5bvsItnxjS2QKtpNXjoeZ3yIwY7jlkn+BBAHflmHnQJfYWuAYVbALUZJ2BlTx5hEVbOpBT+HhCfwkb9TQPfZ+fArSKbURth33WNb3EyRbDvGwBZzMEKwzjRVD0hLNLornLOm7Ce2NdQDzqLBAAZDRgu3hRZsjKxtrJA4albekqcxDDQNoftQ0VyR4cGuUXlqw8hDJz4nltQQjUqFmfTOELrA/ngD9ydu4U4gyhUusfSWfNhhpRlmsqlJ6QxBULxm+/zPpQHupTbTQK+Mgrj9S0EyP9JZFtFsqo2Cezi/+cP0yLeK1zkSnVU8Mv9JD7JFwFaRGj2o4pR70QVUT+2aIyVRjRBOXOhDrkiz5UAOqpGggv8rikyjyqIDoDPuKwNcJujFAey8rHVIj8HNwX5o/+tT/E55IssKCK+w7Lbasrr7vKsoKbmdYj37nh15jxQmdbyxHVa3uEL157pq3uQHzd4y75GjO8OswPfmbMkIVdreI36+b2VCyA/vYQTVUU65kAlAKi02AW1iNyMcA2SoFofvUsaie/6Z7txWBoby50SpXnDGkk2sS9j2CCBj2YGYun86yOTBQiZa+I5K+Axp6lcdaeXcJO0dYrwyfUGN1Ba8yYBcXyNlA2YmxTtLdCurc84ZD5Bs53wXv78ngPg9o7yFhd7EISBLNtUw76+any8cVl8lYdYvjSkDXt6+JLh7rMB6fKYg5WS/StWQAX/7cgaSyMDqqhIyRddfrfIYxOMJCnKeW8fZFEp4iCvngnzlr/Oh/R63xC8pW16isrc7GpFHptvyipJvjXXEP2S3lJjRiCYUIPBobsOrpfzc2hC3CkoudNuj7OucXL9qOkJQ5kvTH+PdUaYrhQTCepCsFdXUKGr85+WQfkYzHzbYoIx6J1pFoeLmEpUymi9ph7bwDgRM8NAlO1yapjqje7Wro9w+31ZqGULZ+yN9DWX56PPuigQH+gWX30gZJEb27qMz7GeW5rgEk6RfTE5xHZTAUJ/UJPnYwPh7yoKvtVojcfNY9vy6cpE3xZ6FAGIePhGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GrFjMURz99G6hG1r2QHYhj",
      "input": {
        "note": "Wrist cam shows the lavender bowl still ~10 cm to the left of the held pink bowl. Shifting left to centre the pink bowl over it.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.305,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01GrFjMURz99G6hG1r2QHYhj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8597, 1.8309, 1.5379, -0.7296, 0.4385, 0.5262, 0.1026]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3541 right_y=0.3016 right_z=0.1576 right_yaw=0.1635 right_pitch=-0.3149 right_roll=-0.0374 right_gripper=0.1026\nstate[joint_eff]: [-0.1709, -1.3607, 7.2137, 1.6972, -0.0659, -0.0757, -0.0122, 0.0479, -9.1829, 9.4154, 1.199, 0.4957, 0.2564, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9da464c07a1e90387fcb1edef929ca067f6464b880afa8a5c9095fffde27e7b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5543e0d3731d531a5929515b03733700789f53347b7fdfb917ccaffe03326cfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:089511121212cdb8585feb10e67fa95c0561ae60a1cb6bbb5052d91f806c61d3",
        "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 · 20.76 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.0326, 1.3499, 0.8841, -0.342, -0.0349, -0.057, 0.1026]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1755 left_yaw=0.0005 left_pitch=-0.0248 left_roll=0.0004 left_gripper=0.9995 right_x=0.378 right_y=0.0221 right_z=0.1351 right_yaw=0.0852 right_pitch=-0.2382 right_roll=0.003 right_gripper=0.1026\nstate[joint_eff]: [-0.212, -1.3607, 7.0085, 1.6874, -0.0757, -0.0757, -0.0122, -0.1846, -6.9265, 9.5521, 1.6679, -0.022, 0.0659, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6083, -0.3897, -0.0223, -0.0261, 0.9995, 0.6342, 1.6012, 1.2312, -0.5495, 0.3382, 0.3614, 0.1026]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1751 left_yaw=0.0002 left_pitch=-0.0263 left_roll=0.0002 left_gripper=0.9995 right_x=0.3723 right_y=0.2055 right_z=0.1551 right_yaw=0.1266 right_pitch=-0.2798 right_roll=-0.0166 right_gripper=0.1026\nstate[joint_eff]: [-0.3624, -0.9094, 7.0632, 1.6825, -0.0122, -0.0415, -0.0122, 0.253, -7.2547, 9.5111, 1.3455, 0.4078, 0.1783, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8597, 1.8309, 1.5379, -0.7296, 0.4385, 0.5262, 0.1026]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3541 right_y=0.3016 right_z=0.1576 right_yaw=0.1635 right_pitch=-0.3149 right_roll=-0.0374 right_gripper=0.1026\nstate[joint_eff]: [-0.1709, -1.3607, 7.2137, 1.6972, -0.0659, -0.0757, -0.0122, 0.0479, -9.1829, 9.4154, 1.199, 0.4957, 0.2564, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9da464c07a1e90387fcb1edef929ca067f6464b880afa8a5c9095fffde27e7b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5543e0d3731d531a5929515b03733700789f53347b7fdfb917ccaffe03326cfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:089511121212cdb8585feb10e67fa95c0561ae60a1cb6bbb5052d91f806c61d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TiGH5tRhEiNHJtDvHGE7Ty",
      "input": {
        "note": "The pink bowl hangs from its left wall, extending ~6 cm to the gripper's right, while the lavender bowl is now centred under the jaws. Shifting 6 cm left so the pink bowl's centre lines up with the lavender bowl.",
        "targets": {
          "right_x": 0.355,
          "right_y": 0.365,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TiGH5tRhEiNHJtDvHGE7Ty",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.9508, 2.0335, 1.8008, -0.86, 0.461, 0.5842, 0.1026]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3487 right_y=0.3593 right_z=0.1476 right_yaw=0.1893 right_pitch=-0.3525 right_roll=-0.0643 right_gripper=0.1026\nstate[joint_eff]: [-0.0479, -1.347, 7.159, 1.6923, -0.0855, -0.0708, -0.0122, 0.1846, -11.1248, 8.7453, 1.0769, 0.442, 0.1636, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd51553707c8372673f928d4c8454b6758a4dab3f45361f2b78379bdcf0f21f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:422ef3eee847ec370beb12c4156f2e2859083b5467e6a56b24708d302182fb39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c4601a1f2997cea3dc9ccc4aca3910063ddd4e0208e30ffc853ad657366110a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 6.032 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6083, -0.3897, -0.0223, -0.0261, 0.9995, 0.6342, 1.6012, 1.2312, -0.5495, 0.3382, 0.3614, 0.1026]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1751 left_yaw=0.0002 left_pitch=-0.0263 left_roll=0.0002 left_gripper=0.9995 right_x=0.3723 right_y=0.2055 right_z=0.1551 right_yaw=0.1266 right_pitch=-0.2798 right_roll=-0.0166 right_gripper=0.1026\nstate[joint_eff]: [-0.3624, -0.9094, 7.0632, 1.6825, -0.0122, -0.0415, -0.0122, 0.253, -7.2547, 9.5111, 1.3455, 0.4078, 0.1783, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8597, 1.8309, 1.5379, -0.7296, 0.4385, 0.5262, 0.1026]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3541 right_y=0.3016 right_z=0.1576 right_yaw=0.1635 right_pitch=-0.3149 right_roll=-0.0374 right_gripper=0.1026\nstate[joint_eff]: [-0.1709, -1.3607, 7.2137, 1.6972, -0.0659, -0.0757, -0.0122, 0.0479, -9.1829, 9.4154, 1.199, 0.4957, 0.2564, -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]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.9508, 2.0335, 1.8008, -0.86, 0.461, 0.5842, 0.1026]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3487 right_y=0.3593 right_z=0.1476 right_yaw=0.1893 right_pitch=-0.3525 right_roll=-0.0643 right_gripper=0.1026\nstate[joint_eff]: [-0.0479, -1.347, 7.159, 1.6923, -0.0855, -0.0708, -0.0122, 0.1846, -11.1248, 8.7453, 1.0769, 0.442, 0.1636, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd51553707c8372673f928d4c8454b6758a4dab3f45361f2b78379bdcf0f21f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:422ef3eee847ec370beb12c4156f2e2859083b5467e6a56b24708d302182fb39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4601a1f2997cea3dc9ccc4aca3910063ddd4e0208e30ffc853ad657366110a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MUVSZwFGA5c2mQhQfKSG9V",
      "input": {
        "note": "Top view shows the pink bowl never came up (it's still on the table), so the pinch slipped. The lavender bowl's left wall is on the jaw column ahead of the gripper; moving forward and lower to line up a pinch on that wall instead.",
        "targets": {
          "right_x": 0.38,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01MUVSZwFGA5c2mQhQfKSG9V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8993, 2.109, 1.7157, -0.725, 0.4362, 0.5446, 0.1026]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3699 right_y=0.3513 right_z=0.0933 right_yaw=0.1713 right_pitch=-0.3881 right_roll=-0.0906 right_gripper=0.1026\nstate[joint_eff]: [-0.0068, -1.2239, 7.0359, 1.7265, -0.0659, -0.0415, -0.0122, -0.2393, -11.8496, 6.2564, 1.2967, 0.232, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08b7892f47e8e1b45af6f829aaadd7ae584615646c658a628916f673b4bb36b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b49fc625c43ab76faf92aaf1637f306ff4714b774fdca8d6b6b3749eaf972942",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f944c0ebacecf50aeccace2bc46498d3cdf2749da0220d33068988fd3df55e7",
        "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 · 6.967 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8597, 1.8309, 1.5379, -0.7296, 0.4385, 0.5262, 0.1026]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3541 right_y=0.3016 right_z=0.1576 right_yaw=0.1635 right_pitch=-0.3149 right_roll=-0.0374 right_gripper=0.1026\nstate[joint_eff]: [-0.1709, -1.3607, 7.2137, 1.6972, -0.0659, -0.0757, -0.0122, 0.0479, -9.1829, 9.4154, 1.199, 0.4957, 0.2564, -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]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.9508, 2.0335, 1.8008, -0.86, 0.461, 0.5842, 0.1026]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3487 right_y=0.3593 right_z=0.1476 right_yaw=0.1893 right_pitch=-0.3525 right_roll=-0.0643 right_gripper=0.1026\nstate[joint_eff]: [-0.0479, -1.347, 7.159, 1.6923, -0.0855, -0.0708, -0.0122, 0.1846, -11.1248, 8.7453, 1.0769, 0.442, 0.1636, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8993, 2.109, 1.7157, -0.725, 0.4362, 0.5446, 0.1026]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3699 right_y=0.3513 right_z=0.0933 right_yaw=0.1713 right_pitch=-0.3881 right_roll=-0.0906 right_gripper=0.1026\nstate[joint_eff]: [-0.0068, -1.2239, 7.0359, 1.7265, -0.0659, -0.0415, -0.0122, -0.2393, -11.8496, 6.2564, 1.2967, 0.232, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08b7892f47e8e1b45af6f829aaadd7ae584615646c658a628916f673b4bb36b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b49fc625c43ab76faf92aaf1637f306ff4714b774fdca8d6b6b3749eaf972942",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f944c0ebacecf50aeccace2bc46498d3cdf2749da0220d33068988fd3df55e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8AkKEAgSGAI4AUIIdGhpbmtpbmcSDFjuFs7oGxzKQ6Q0TRoM9RESSPkGNfW/TqFYIjCZz3NIWzRZOSeegIZzt+IASSAPFROptEQNxXLq3twpBzVRjcqYhqUJihZ0c/NPE5EqjQlYpl8nHQ3O2zvxZGf62/fnlkvYkG+cNfBr6hmyrELC/ToSpipQ6LOkF0q/x1KWfNSv5b0+AGN4wBzkA6ppIPx9q1wTlkjJMbqDMV+rXy6dYS7lj4ntEWQ/6tmS+JNuOQ2HIXB+1BPkrreEQ8t98MUWn1jQdnWKQ6yIl8uEpH9RErR1bLzPPxDF7q4W3NUmT/2T6Lf2lR9PUehrcmdetW362vb3i9kaYWVmG03pVf6bk2IVdEQTXPWG5YgnHAcETz1v01AtVEd/XtTO7yNcTxh062jU5A/9iv7RTC9wLGUAV7r3qm9BQtSCKEs69c7FiiqQyAE/KV3zDUUSOBrPY3My6YVlk/2C7YGslYhBjCJDnkUNtT7Wt6yNM1kEHwmK8yEqafZdigo7vgfuBa3xHe7Bk7aPD3fV4HmIKx5eMR9OQkCxszp/4Ox4ANZ6GyXtyCZQZwAXgSMCGFpKOxrkGoVv3rvyyThW/LPyuwWx/+w6WRGO3sFC1B8JnZzEpjCOtXoa8srKaviH5Hfs2aMty80S44YBeek992swkArRQ9qd5BfB0rIIH5S7zS6BaD4wRvjNvMKzEmmQcw/ilTE5AZwsKVSQzhcgy9hzSx74BCOX21S/GnUEQAQ4s9I/qRXa8rrxgpxme1ncw84JNtrcGZorv0Z97GulvEP6wik1l0dAl+VhJ0sC97zOqPNqjaMtu3Ze+qL/3wVrngpc/dJFywwRUxHtKZQWkfK+fzQZC3VOmQOgdcxMFljjaRi+2XZ9P7fhI5YXMfl7PlX5v2eTKYlol5iIUtSR13Okv8cYs4hII4hq8UDx7JaRDxT23WMhj1eWKezR6LPHQMIxysXuPRglcfBUWudKMVpfknVSBJNYx+lWM5L451u4QyVeBZowkSazasmcm52vJGiBySBNB44UIxARgy557FxJhaOipecEclkF9ZvWJIdi9J3PHMl/i2u/eOL/r/+339o6F6GFgUJAeMCRlGe2jLY1W4PkhuMFNpZrz2dO2rZIr1w16xAb4kfEaJtaVQcGGppFOpLyyYuig5EzCUXM/SgDCG+hTv2G86d6cR/AnNjl7tNmF5RzJ2sIYvP9AT7ANIMR4gBElsP3P7Oh8FHgRrxv2T8pXYyRfvGIYFEN87xWRnVbh2BGEtiDY4S3PWGzrJ8BzbPpVtkfqXeHxNYHAGkPuGkxLcPKQ+cOHCHCIgtljXSiPwgAMUhIIZjw1wqfOjcJeJEOWj2Py8w2t2Sl5QxHNefUyaJXtAcvNwuq43drjeH8dIHbXQp6wCkDrzc3edHTXHREebqepIynoTZJkS0dt2uAzxV+NaXTedzbYwfUiwzqf0tOWT92hZ74e6qqrNNLwusojKD6YKymZUX+DWuHHeQMiuTh3o4rGI5Pbxo8WSBhjmUFm0u0PGfxuzlbt5s6c+ydGCUqoaS38USUrJ6tgWRqGQB9gUKnEWCAjwcY/+Pu7UsEmTt2LqwPMAcJl6LBMein+LqrSXlK87EKFauUTOOHcbTCuQrJVAfIEouOkWgchg2uXlFxh/mYswYMhsO4EBPWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X4aQzGwKfUX5qBfQtwAEiN",
      "input": {
        "note": "Lavender bowl's left wall runs just left of the jaw column, a few cm beyond the fingertips. Opening the gripper and advancing ~3 cm to put the jaws over that wall.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01X4aQzGwKfUX5qBfQtwAEiN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8944, 2.1368, 1.7008, -0.7284, 0.4294, 0.5274, 0.9954]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3676 right_y=0.3462 right_z=0.074 right_yaw=0.168 right_pitch=-0.4278 right_roll=-0.1294 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.3607, 7.0359, 1.7314, -0.0806, -0.0366, -0.0122, -0.1709, -13.4632, 8.212, 1.0476, 0.2466, 0.0611, -0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c236b3e70bf9f194ad7c471f9473d04108f1372c9542768cc7384783db13b44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a78bab88f9e7bd5fbf6bb7a1076e747bb7cd660cf697686fe525dddf3ebe777b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:742a36cef4cdb4cdb63f5e0500576be608885faca7875f9297c84149237b7877",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 13.58 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.9508, 2.0335, 1.8008, -0.86, 0.461, 0.5842, 0.1026]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3487 right_y=0.3593 right_z=0.1476 right_yaw=0.1893 right_pitch=-0.3525 right_roll=-0.0643 right_gripper=0.1026\nstate[joint_eff]: [-0.0479, -1.347, 7.159, 1.6923, -0.0855, -0.0708, -0.0122, 0.1846, -11.1248, 8.7453, 1.0769, 0.442, 0.1636, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8993, 2.109, 1.7157, -0.725, 0.4362, 0.5446, 0.1026]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3699 right_y=0.3513 right_z=0.0933 right_yaw=0.1713 right_pitch=-0.3881 right_roll=-0.0906 right_gripper=0.1026\nstate[joint_eff]: [-0.0068, -1.2239, 7.0359, 1.7265, -0.0659, -0.0415, -0.0122, -0.2393, -11.8496, 6.2564, 1.2967, 0.232, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8944, 2.1368, 1.7008, -0.7284, 0.4294, 0.5274, 0.9954]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3676 right_y=0.3462 right_z=0.074 right_yaw=0.168 right_pitch=-0.4278 right_roll=-0.1294 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.3607, 7.0359, 1.7314, -0.0806, -0.0366, -0.0122, -0.1709, -13.4632, 8.212, 1.0476, 0.2466, 0.0611, -0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c236b3e70bf9f194ad7c471f9473d04108f1372c9542768cc7384783db13b44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a78bab88f9e7bd5fbf6bb7a1076e747bb7cd660cf697686fe525dddf3ebe777b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:742a36cef4cdb4cdb63f5e0500576be608885faca7875f9297c84149237b7877",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/QsKEAgSGAI4AUIIdGhpbmtpbmcSDAyxB2vr1h73upz15RoM23zXfF+leJ0f76DrIjCfeOIrxhmctBSGtZg3OVb4y5eGxDsiYCs2GdWZUZo+jp/DLgaQD/53PyO8hLTa6jAqmgu9Oojrm9ZoZxKDRcZiMKQs3R0nxexthuVjyVf/Q00uDOONCFCfcLacQ6Vtn7BDjcYjBKK972GBM/QWlDDQHPq5jnJ7RbTZRIdYQkYIAvyiE0cwok1x1v4HRlAiM+zIyVEcFFrWE6M8cZWOl48aG1Hxufzo5yorToEmwIrfLbnV6X9djI7YeExZMA+j3gutEMwLqyIH9kuh2Hf1grNqMutkhy500T61W7ZtNqF1i92M0h1nAjJMYsjnwCK3468AX+q1eKxiuB0kSf69ef8V0DeER2Xg5/EDGLBVmIrAO0W05q1u8LSg0zIWU3PesoPknLmstiIIqrUYE/lrwEa8XZCErzZoZhWXMQ+7KiEIigRCxe9Qd2Np4FgjU/xMQh+Xs2Y7qQjVpQgR1wN+/RAWMlZof2QrSmc+DxWNMGPVM3kp/Dbuolozpsah7C+JiOIHaPib2sCWbYvYtOqo0Jh79PMiVEBGqjNXO9SZym8datJ9EpoLS3dteBKtd9oQAkvSpLXDgL17iNEdAqAkqHu//QLU6pqaPnhihxYN7xyEKTZKrRTbYOaEEtHejmSXsz9Hy0Z18bndN2OljyEG38nH2O6asYgOKTnHT72PxgMZGhVDaLJ/tFfDpACrYAcbhZ1ddxj1z3UR1O3AldKG2GTRzD8oNPcxxhVE6p2nung27+sM+QcC+PUCn2UWj45p6GT+6LNzEZ9Nyz7hPLxPpqUDEjjNYnXeAApGUP9K9l3JyGQKrH6pDtiD6/ByajfiyKY2vfONsUSt/wpqdR2ZaSe79wyoGV2dmOBL1YAmtVr9m+hRjpFbh/eyo0jMPzcdnyIfWYzWVQTP2dPf0IoWY63hXKGPgBwy6f5iwQa95a5bpVOuCF0To502WOBq6cRle6zkc82IxR6CZd12/DbpeoGTEjaP99q9ZcEWQwsmMsi7KymMHo5af1bO01bO2qzWvVGomD1peO731oHhpubiQ4KdGSXPp69Yso/Ue/QE2XvE6CS8N65HYR7E3iti/sICSQszGOT7/SxcLCZ1vATsDOBBZLOtMzxZOi7QsMfW907f+qXdXbxlL1dAGQaxQlqjKKgt6RrXhU9M6QRsYeFdY47wmWbQGlVbCOVAuAxAM39o5VuQeM6CpHk6g2s6qF+pYrMjEkD4XDwsNOxU1lUKy80aLytPzGvsNFcA5tuyAGre33YZiI7YT5V1JO+BM9lsBmwBy9pY0lsqdI7a944Uuj65B8CiHDBRomQnNhKZtp/ppFLU37LuusLYXttXpPsWrxMoSUT9pQb54TH4XQGjDAAbVFIM37YmZaESrMvQD9rDqMtFmeXc+sW8ZpsJ/smoLCnCGWqvLQcFlBfziv1hqnlkYH+9LcBFu7W8gqDOoDz2KWcbi2yAaSgi+DAQP4I0Qs6DGA4KC5L1lztgMN1HNkdprLwv/JYW8CLYnzOLXGe12V8rdV2v83Q7zZsWY2YO+sC5WbZwhPzAkj1EVxr27UHqLiHLuf9xTxhyo0qgZ5X3xtE8KstmnXt6KT6+WjaFh4Y3ENM6mQOE+nIco4STXyHJUObySoK3Py1FDJc/1buk2gdYDSgwkp/neEU/jsSaF76IDCJioFhAvRhHNSEBpNa3MErlAsvlOIYHqEPJaNhPKpHna0UzIeXndDH7Har3MgoI8AIjbH9hoJQJo/qrRJSPiQ65n4uywuef111GGgmgH2UFLbl3EkxuPbsOM8IgvxcL9aowU6YQezd3YDV6n4f5nYEevHLyEOKSNL77qNtX9KpppIG8M+xa2J5DydW342iCVG9p4S5BgssRixoK7j+7bO+gZIsFdognyKT4U/L/y0oM+zDeVTjxc1d+wD6JduDmQdPCEiZ94fo0BQWPJv5k35Ie6OYhB45/5D5j13kp9zGOEqnAM7D1JQTut68YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NPSXqqV1evkgrRZdTevWW4",
      "input": {
        "note": "Arm is at its reach limit (x stalled at 0.37), but the lavender bowl's left wall already runs between the open jaws down to the bottom of the wrist image. Descending to straddle it.",
        "targets": {
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01NPSXqqV1evkgrRZdTevWW4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8944, 2.1368, 1.7008, -0.7284, 0.4294, 0.527, 0.9957]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3676 right_y=0.3462 right_z=0.074 right_yaw=0.1682 right_pitch=-0.4278 right_roll=-0.1296 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -1.3607, 7.0359, 1.7216, -0.0659, -0.0269, -0.0122, -0.1162, -13.5316, 8.0342, 1.0672, 0.2418, 0.0904, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:397488f743c0b14a604b499910fad0360fc55b4b1f24961b79c6b38ffa7ddf2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44684c1e56965c743f2881c794e1dd69146da42b14cbfe43be2672d1c36d9e40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce41aa5ef01bdd6349b68fcee83ba54026f3f24fe7988db97df715d58766a99e",
        "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 · 8.451 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8993, 2.109, 1.7157, -0.725, 0.4362, 0.5446, 0.1026]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3699 right_y=0.3513 right_z=0.0933 right_yaw=0.1713 right_pitch=-0.3881 right_roll=-0.0906 right_gripper=0.1026\nstate[joint_eff]: [-0.0068, -1.2239, 7.0359, 1.7265, -0.0659, -0.0415, -0.0122, -0.2393, -11.8496, 6.2564, 1.2967, 0.232, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8944, 2.1368, 1.7008, -0.7284, 0.4294, 0.5274, 0.9954]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3676 right_y=0.3462 right_z=0.074 right_yaw=0.168 right_pitch=-0.4278 right_roll=-0.1294 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.3607, 7.0359, 1.7314, -0.0806, -0.0366, -0.0122, -0.1709, -13.4632, 8.212, 1.0476, 0.2466, 0.0611, -0.2271]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8944, 2.1368, 1.7008, -0.7284, 0.4294, 0.527, 0.9957]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3676 right_y=0.3462 right_z=0.074 right_yaw=0.1682 right_pitch=-0.4278 right_roll=-0.1296 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -1.3607, 7.0359, 1.7216, -0.0659, -0.0269, -0.0122, -0.1162, -13.5316, 8.0342, 1.0672, 0.2418, 0.0904, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:397488f743c0b14a604b499910fad0360fc55b4b1f24961b79c6b38ffa7ddf2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44684c1e56965c743f2881c794e1dd69146da42b14cbfe43be2672d1c36d9e40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce41aa5ef01bdd6349b68fcee83ba54026f3f24fe7988db97df715d58766a99e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WEb6ERbSV37APmwvzvAmuK",
      "input": {
        "note": "The right arm is stuck at its reach limit over the lavender bowl and won't descend. Retracting it home; I'll use the left arm for the white and lavender bowls.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.08,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01WEb6ERbSV37APmwvzvAmuK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4255, 1.2831, 1.1179, -0.9096, 0.3019, 0.2516, 0.9957]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1747 left_yaw=0.0005 left_pitch=-0.0271 left_roll=0.0004 left_gripper=0.9995 right_x=0.3027 right_y=0.0835 right_z=0.1742 right_yaw=-0.0156 right_pitch=-0.4366 right_roll=-0.1338 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.347, 7.1453, 1.6874, -0.0757, -0.0611, -0.0122, -0.1983, -5.5863, 6.4205, 1.326, 0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5268d59ee2024ae777b9c21e24468ab8d5712e9041a75822b3febbacce6cf49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00b450a6e80f8ed7a9ffb50057053b1dbaac7ac3bb8c8dad775018c611b88055",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e99c5e01b78c63f88111895b2eed87b6a6b0563ebd6e33983aa0cd529b5cc0ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 4.584 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8944, 2.1368, 1.7008, -0.7284, 0.4294, 0.5274, 0.9954]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3676 right_y=0.3462 right_z=0.074 right_yaw=0.168 right_pitch=-0.4278 right_roll=-0.1294 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -1.3607, 7.0359, 1.7314, -0.0806, -0.0366, -0.0122, -0.1709, -13.4632, 8.212, 1.0476, 0.2466, 0.0611, -0.2271]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8944, 2.1368, 1.7008, -0.7284, 0.4294, 0.527, 0.9957]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3676 right_y=0.3462 right_z=0.074 right_yaw=0.1682 right_pitch=-0.4278 right_roll=-0.1296 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -1.3607, 7.0359, 1.7216, -0.0659, -0.0269, -0.0122, -0.1162, -13.5316, 8.0342, 1.0672, 0.2418, 0.0904, 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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4255, 1.2831, 1.1179, -0.9096, 0.3019, 0.2516, 0.9957]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1747 left_yaw=0.0005 left_pitch=-0.0271 left_roll=0.0004 left_gripper=0.9995 right_x=0.3027 right_y=0.0835 right_z=0.1742 right_yaw=-0.0156 right_pitch=-0.4366 right_roll=-0.1338 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.347, 7.1453, 1.6874, -0.0757, -0.0611, -0.0122, -0.1983, -5.5863, 6.4205, 1.326, 0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5268d59ee2024ae777b9c21e24468ab8d5712e9041a75822b3febbacce6cf49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00b450a6e80f8ed7a9ffb50057053b1dbaac7ac3bb8c8dad775018c611b88055",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e99c5e01b78c63f88111895b2eed87b6a6b0563ebd6e33983aa0cd529b5cc0ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015FCWASW5ZdZU6RDQZ95F3K",
      "input": {
        "note": "White bowl is ahead-right of the left gripper. Moving the left arm over the white bowl's left wall to pinch it.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.05,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015FCWASW5ZdZU6RDQZ95F3K",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.223, 1.3418, 0.5514, 0.0727, -0.1734, -0.1326, 0.9995, 0.4232, 1.2873, 1.1179, -0.9184, 0.2874, 0.2352, 0.9957]\nstate[eef_state]: left_x=0.3577 left_y=-0.0462 left_z=0.0768 left_yaw=-0.0168 left_pitch=-0.1385 left_roll=0.021 left_gripper=0.9995 right_x=0.3008 right_y=0.0845 right_z=0.1714 right_yaw=0.0016 right_pitch=-0.455 right_roll=-0.1366 right_gripper=0.9957\nstate[joint_eff]: [-0.294, -5.8188, 8.4444, 1.917, -0.1587, -0.149, -0.0122, 0.0752, -4.7248, 6.4342, 1.2088, 0.2369, 0.1441, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18990c01586d892c61d85d1044f51c1f1cf4d7063f0c30966bea39d8dc99faef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59f243d3235ef72ba5c703bc6a1c5119d1f229a3e5ff752583bfc00ac76a5f3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d7807e71af2c250a28ae76cf2406219f72fac14da637c2d2503df5789a3d877",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 3.99 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6083, -0.3897, -0.0227, -0.0261, 0.9995, 0.8944, 2.1368, 1.7008, -0.7284, 0.4294, 0.527, 0.9957]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.175 left_yaw=0.0005 left_pitch=-0.0267 left_roll=0.0004 left_gripper=0.9995 right_x=0.3676 right_y=0.3462 right_z=0.074 right_yaw=0.1682 right_pitch=-0.4278 right_roll=-0.1296 right_gripper=0.9957\nstate[joint_eff]: [-0.1983, -1.3607, 7.0359, 1.7216, -0.0659, -0.0269, -0.0122, -0.1162, -13.5316, 8.0342, 1.0672, 0.2418, 0.0904, 0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4255, 1.2831, 1.1179, -0.9096, 0.3019, 0.2516, 0.9957]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1747 left_yaw=0.0005 left_pitch=-0.0271 left_roll=0.0004 left_gripper=0.9995 right_x=0.3027 right_y=0.0835 right_z=0.1742 right_yaw=-0.0156 right_pitch=-0.4366 right_roll=-0.1338 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.347, 7.1453, 1.6874, -0.0757, -0.0611, -0.0122, -0.1983, -5.5863, 6.4205, 1.326, 0.0659, -0.0269, -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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.223, 1.3418, 0.5514, 0.0727, -0.1734, -0.1326, 0.9995, 0.4232, 1.2873, 1.1179, -0.9184, 0.2874, 0.2352, 0.9957]\nstate[eef_state]: left_x=0.3577 left_y=-0.0462 left_z=0.0768 left_yaw=-0.0168 left_pitch=-0.1385 left_roll=0.021 left_gripper=0.9995 right_x=0.3008 right_y=0.0845 right_z=0.1714 right_yaw=0.0016 right_pitch=-0.455 right_roll=-0.1366 right_gripper=0.9957\nstate[joint_eff]: [-0.294, -5.8188, 8.4444, 1.917, -0.1587, -0.149, -0.0122, 0.0752, -4.7248, 6.4342, 1.2088, 0.2369, 0.1441, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18990c01586d892c61d85d1044f51c1f1cf4d7063f0c30966bea39d8dc99faef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59f243d3235ef72ba5c703bc6a1c5119d1f229a3e5ff752583bfc00ac76a5f3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d7807e71af2c250a28ae76cf2406219f72fac14da637c2d2503df5789a3d877",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSigkKEAgSGAI4AUIIdGhpbmtpbmcSDHxd2vNHccd6ormpNBoMv1FmZxdvOOoFe/l1IjCpBKK6tuRVbz+D6gSmIGMvYjSp4KUL136BC5wuATlnGwofDhXmGB9f34CIxwem460qpwinpqIZjNBNo7Jug2lJcS1UPeBZ9zrUUMZSniT20jB/nSs/5cncntkDsC4K4A7EuRWrWacbOjZhTZ1O1/9qhf5JWeQkm9YRVlDn0CbwmbYjZSyPHfwFm2mrIQD1kwfe6aJ0P2NZ9OFaXd8LFsz0N5DnEXJ5jiNr+VSITza0iDf/IIfA9VaKd/LL/WFtK32xNwvBEF2Mtc3XKfDU/rbCec9xFXee//SrfzVGvFEycEKst2sT/dfUQfGa8qTxsb8+KyOIGqpnuJcHAUgNxOApZJpVRXAcVSr5riJHBI89pTw4bsN0x0GE9mFA/v7HM4fgxYX9QGofbhp4mWoNkGwiyEVuITxRl3xAv7eoDJxuf9QgJRkSEdARBsf9tA7n1M8XIQ2QKUhu1SpTgrj/Hvi7+BFf0Rz9yh6M/gb+jnVLa3ppPZ4HEaASnoMMsP28QkE75Ke3vtLD1Vozx0IBUnI5rb8dg2KlL6mfO7CMbtOdOIFVU7BjnAcI24rswFjX6nRBUZRLk+2QnCAGNRD6H8oAwUrnD+7RaYvijEEY6gPGldLC1366RLIUMlU2jpShHZgqz/Ma9M4QqNgudoT4C3w+c/atLZlFTi1Z8ePsqQ7gu5MvjNtbPAnrlMZFqc3qjkfE+Iu2S/Q8qQG/NcC7qSHOj2xDsbWip/aOVKhlJ8cT8ZzWEM9Rv1n72t3TLtdnR0BUqDdhzOvDgUbQ9PJDJduS7FTV+5qeaEBCnHEr8ns4q74/lBSggDl5MELCDq1ZpuZDmOqIOsL2qNaptHZ+8TJ84QNkih3wg32aGizvRLw+SnVE1jr9XWjzVY2oupLVB5059LLqKNJCq1kkUOIoT6v51Dv4I5HVJ0EVj6jSqf4YrsfhZrg5ipfD1SEJr2rk2XjDMC96hYrglihtDGuaH6yL1TLmezk6nDjaB8RY08eItC++N72Eq0STp+OjcVcub/NgT0SjIIw99HxucPZjtDcnO1NQOHSxanVfh+SfL/nUwXoch+HbSzouch0BhSWXFxo5aaRAZeCpJdLEq7WaGdFt3ULrfpOU6M9AS7X3EIdR8yt9r1YPZGMd+o9aX/ttWgdJzAe3evtjTkdINWDQ3oGDGfoyF6EdCw+8pBVRDzqt/ETh6OqezNOKQoV3rW1/wHqSTEK/hmNo7Jw9GoYgoyMBmPYuTJXsm8gsFlm1LjVi8wNScmKZ+yzeze1QHLJgB2360ir1arIGeLskkvxoKor7N+iY1d/D9YwRBQI/dcHBnHSWwj+KTlTTTv9Lhhn1pn7/GZ1GUKu+EOIGO9FChsncKybCn+pv0TBvtj+BGiU7je+bJl6/jP7jY8z0PV8JowCnMRA5y+jdYApbl1TNglq+htRc5FF8YQIUUwpl6rUprgotPOiACUVPEDHc/UueSgB/uhz+6cZWDTTrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SCY8nnkLMWRkP52KA5TWrk",
      "input": {
        "note": "White bowl's left wall runs between the open jaws at the bottom of the left wrist image. Descending to straddle the wall at mid height.",
        "targets": {
          "left_x": 0.37,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SCY8nnkLMWRkP52KA5TWrk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2218, 1.4494, 0.5102, 0.1848, -0.1806, -0.1455, 0.9995, 0.4232, 1.2877, 1.1179, -0.918, 0.2863, 0.2344, 0.9957]\nstate[eef_state]: left_x=0.3579 left_y=-0.0445 left_z=0.0449 left_yaw=-0.0013 left_pitch=-0.1731 left_roll=0.0238 left_gripper=0.9995 right_x=0.3008 right_y=0.0847 right_z=0.1712 right_yaw=0.003 right_pitch=-0.4555 right_roll=-0.136 right_gripper=0.9957\nstate[joint_eff]: [0.1162, -5.8598, 6.0513, 1.8388, 0.0122, 0.1734, -0.0122, -0.0889, -4.5744, 6.4615, 1.0916, 0.105, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ec2203c3d41fbee10bc823544d41e33fd6157379d4c6b813feaf848bfd3140a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e983a4e92d50efe651e4910841b82a02745acc1570c6a719473143aa54e2f495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:167c675343d27dcf0e7c5be2dc336276f6d6dca631f58d34d4d5380b9f93ae9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 8.734 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3893, -0.0227, -0.0261, 0.9995, 0.4255, 1.2831, 1.1179, -0.9096, 0.3019, 0.2516, 0.9957]\nstate[eef_state]: left_x=0.2951 left_y=0.0018 left_z=0.1747 left_yaw=0.0005 left_pitch=-0.0271 left_roll=0.0004 left_gripper=0.9995 right_x=0.3027 right_y=0.0835 right_z=0.1742 right_yaw=-0.0156 right_pitch=-0.4366 right_roll=-0.1338 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.347, 7.1453, 1.6874, -0.0757, -0.0611, -0.0122, -0.1983, -5.5863, 6.4205, 1.326, 0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.223, 1.3418, 0.5514, 0.0727, -0.1734, -0.1326, 0.9995, 0.4232, 1.2873, 1.1179, -0.9184, 0.2874, 0.2352, 0.9957]\nstate[eef_state]: left_x=0.3577 left_y=-0.0462 left_z=0.0768 left_yaw=-0.0168 left_pitch=-0.1385 left_roll=0.021 left_gripper=0.9995 right_x=0.3008 right_y=0.0845 right_z=0.1714 right_yaw=0.0016 right_pitch=-0.455 right_roll=-0.1366 right_gripper=0.9957\nstate[joint_eff]: [-0.294, -5.8188, 8.4444, 1.917, -0.1587, -0.149, -0.0122, 0.0752, -4.7248, 6.4342, 1.2088, 0.2369, 0.1441, -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]: [-0.2218, 1.4494, 0.5102, 0.1848, -0.1806, -0.1455, 0.9995, 0.4232, 1.2877, 1.1179, -0.918, 0.2863, 0.2344, 0.9957]\nstate[eef_state]: left_x=0.3579 left_y=-0.0445 left_z=0.0449 left_yaw=-0.0013 left_pitch=-0.1731 left_roll=0.0238 left_gripper=0.9995 right_x=0.3008 right_y=0.0847 right_z=0.1712 right_yaw=0.003 right_pitch=-0.4555 right_roll=-0.136 right_gripper=0.9957\nstate[joint_eff]: [0.1162, -5.8598, 6.0513, 1.8388, 0.0122, 0.1734, -0.0122, -0.0889, -4.5744, 6.4615, 1.0916, 0.105, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ec2203c3d41fbee10bc823544d41e33fd6157379d4c6b813feaf848bfd3140a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e983a4e92d50efe651e4910841b82a02745acc1570c6a719473143aa54e2f495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:167c675343d27dcf0e7c5be2dc336276f6d6dca631f58d34d4d5380b9f93ae9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwgKEAgSGAI4AUIIdGhpbmtpbmcSDCblDLcpCzGk27dMlBoMKjB1///xwhSpZeL1IjD0d05V0ywrLw62T0YiOQvkXIdBAWLk6LXoqEhcChq/Ubc9m6wzCiDr/gsVXko06jwqzAcsghpqMvSII66V7IguWNIkgFjcWHQKrNaCelzobm8EVLdodDvUFhzZAgQntauqO6PwSM7FAMQPbHuq/CiBiVehT/mQiqCZbga9K1LQpmtERAJVIqakIl6RSUkmfyaNczEu7U0CqMja0TJxtXrZjU0j16kyRSM4A2Dy42wTVixWeAmSvkuDk2R4wypCPWoKWnLQfsizcm8CD/V/ZzV7p7Kmx/gc2hkcQdcGfZRIcF2UFPXrcIW6w4xf1dfXTk3ahhmquvfRR4kq+AMQ9SmoBF8+rDeMKnjt6dF035bJ54KtyEZl9o0+XDT/MCMJGZypCjl3ZgcAyfIh0mCSdFXOMAPBKiGdopwrGhCHxSt6SsM10+A2eki8yFbAzd6wglOiKRbV8CpOwOutZWi8xOCmPaUH81LnGgaR2R8fMONRUpGgVAZaJV/3ykyRs7QIsKMbM9k899iDY9W/it4lv0L8ZSrxFzkoPjacrmoik3F4jWOOnjZDtrXpSByd+tmZLK+2PbpDRmPAIVlJBSOSXcu1F5acxIgTrPlFYReWtSFMsE0SQ6UrkOJ8Z5Nvut1ZD8UpAC/Tuag06lKmzJ2pxlhEjgEGBX0GjMr/23xSiGy/pkVB1FgWLm72+QX+VZKBYoLyy/Bsw+zqyv4Mr7omnOZFwp21VETDaDpMKQG0JCTq3tG2QZFrOoelCLsvoun4vJJTNlooukgwSTbULADf3tfqr7Ks3hFmP5lP7iKnu4CbCAipYaFoWf3KZ806TChRKWBezeX62Fu8Q8AOlWF0Rvfgfr5HGVxjlUYdsRz07Ai02bvmdnjNkxiyxNeLBWpiSbbo+eDCZ7hnUcyEx2X5xG1nA2DJ8gp1a2ODyZLHpRSmJ1kGOEYacDPdO76f7yS/U1WZCx6nK5GApg6sApeHn214dbkIHZb9eCo21JbH3X78q1PPzW9nekxA3pdMihpLoEd23XI1tV73zw3nIZVHOqhrSmZIa+dRcWKmUzbP/CoP1HAzMXYdMZoefmdLlbhXhQJLGQDuHlTuyM1t7gasSKUw4K8CY/1EgHTawlEKUa0betsBsklY0qBBx7Tp9S1VPsNhMilF1ATWW8b6qbAHKfMg5zlMFvBeT9uvROeATqpOdq+Q7P+81ArOs3dpI77HoWjDKzUVItSkdXooD3OgO2/EyunVbe7XUSNKh0lcwvfd5wQE5SfRrv1/HUBpPqQ9d3p02ZimbPssxvrKto222ulSmVtGlooN2B54PY9evywiuBMa6O+Xqb/38zcIQa3QWFmYYUfZT5kxRplAhfzFUfgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015TQDA5f9fPyw3Ucd9eNcXc",
      "input": {
        "note": "Wall still between the jaws; descending a bit further for a deeper pinch.",
        "targets": {
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_015TQDA5f9fPyw3Ucd9eNcXc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2214, 1.4494, 0.5102, 0.1921, -0.1806, -0.1459, 0.9995, 0.4232, 1.2888, 1.1179, -0.9211, 0.2859, 0.234, 0.9957]\nstate[eef_state]: left_x=0.3591 left_y=-0.0446 left_z=0.0462 left_yaw=-0.001 left_pitch=-0.166 left_roll=0.0219 left_gripper=0.9995 right_x=0.3003 right_y=0.0846 right_z=0.1706 right_yaw=0.0027 right_pitch=-0.4595 right_roll=-0.1378 right_gripper=0.9957\nstate[joint_eff]: [0.2803, -5.8735, 6.2838, 1.7607, -0.0269, 0.1636, -0.0122, -0.0205, -4.6564, 6.4479, 1.1648, 0.1148, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09f35361a8f97b9a3f9b7f71f951061de4c473b63cb1e990719b72df210117cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a0215e2bca36722c96d468c0c90ba02485c872d4c9e5e2e7985f228ce3c53d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b9a6f8287f5a2f67e10e9cfe6623db469f46b85ab20416a081da841fa8d3135e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 3.795 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.223, 1.3418, 0.5514, 0.0727, -0.1734, -0.1326, 0.9995, 0.4232, 1.2873, 1.1179, -0.9184, 0.2874, 0.2352, 0.9957]\nstate[eef_state]: left_x=0.3577 left_y=-0.0462 left_z=0.0768 left_yaw=-0.0168 left_pitch=-0.1385 left_roll=0.021 left_gripper=0.9995 right_x=0.3008 right_y=0.0845 right_z=0.1714 right_yaw=0.0016 right_pitch=-0.455 right_roll=-0.1366 right_gripper=0.9957\nstate[joint_eff]: [-0.294, -5.8188, 8.4444, 1.917, -0.1587, -0.149, -0.0122, 0.0752, -4.7248, 6.4342, 1.2088, 0.2369, 0.1441, -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]: [-0.2218, 1.4494, 0.5102, 0.1848, -0.1806, -0.1455, 0.9995, 0.4232, 1.2877, 1.1179, -0.918, 0.2863, 0.2344, 0.9957]\nstate[eef_state]: left_x=0.3579 left_y=-0.0445 left_z=0.0449 left_yaw=-0.0013 left_pitch=-0.1731 left_roll=0.0238 left_gripper=0.9995 right_x=0.3008 right_y=0.0847 right_z=0.1712 right_yaw=0.003 right_pitch=-0.4555 right_roll=-0.136 right_gripper=0.9957\nstate[joint_eff]: [0.1162, -5.8598, 6.0513, 1.8388, 0.0122, 0.1734, -0.0122, -0.0889, -4.5744, 6.4615, 1.0916, 0.105, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2214, 1.4494, 0.5102, 0.1921, -0.1806, -0.1459, 0.9995, 0.4232, 1.2888, 1.1179, -0.9211, 0.2859, 0.234, 0.9957]\nstate[eef_state]: left_x=0.3591 left_y=-0.0446 left_z=0.0462 left_yaw=-0.001 left_pitch=-0.166 left_roll=0.0219 left_gripper=0.9995 right_x=0.3003 right_y=0.0846 right_z=0.1706 right_yaw=0.0027 right_pitch=-0.4595 right_roll=-0.1378 right_gripper=0.9957\nstate[joint_eff]: [0.2803, -5.8735, 6.2838, 1.7607, -0.0269, 0.1636, -0.0122, -0.0205, -4.6564, 6.4479, 1.1648, 0.1148, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09f35361a8f97b9a3f9b7f71f951061de4c473b63cb1e990719b72df210117cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a0215e2bca36722c96d468c0c90ba02485c872d4c9e5e2e7985f228ce3c53d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9a6f8287f5a2f67e10e9cfe6623db469f46b85ab20416a081da841fa8d3135e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B3kAYuvmpHRBexsbcuC2WZ",
      "input": {
        "note": "Descent stopped at z≈0.046, so a jaw is probably sitting on the bowl's near rim. Lifting and shifting forward/left so the jaws straddle the side wall rather than the near rim.",
        "targets": {
          "left_x": 0.378,
          "left_y": -0.035,
          "left_z": 0.065
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01B3kAYuvmpHRBexsbcuC2WZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2214, 1.4494, 0.5102, 0.1921, -0.1806, -0.1459, 0.9995, 0.4232, 1.2888, 1.1179, -0.9207, 0.2855, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3591 left_y=-0.0446 left_z=0.0462 left_yaw=-0.001 left_pitch=-0.166 left_roll=0.0219 left_gripper=0.9995 right_x=0.3003 right_y=0.0847 right_z=0.1706 right_yaw=0.0033 right_pitch=-0.4593 right_roll=-0.1375 right_gripper=0.9957\nstate[joint_eff]: [0.1846, -5.8872, 6.065, 1.7216, -0.0024, 0.149, -0.0122, -0.0615, -4.5607, 6.4205, 1.1404, 0.0952, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc96cd35890b586c950f22657e01035a188b81697f183440603490758bcae397",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:437507292ec00eb59803ecc74143f72fb9ad83f8e2ded76df35dba3f90e1a4cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ab71cbf75b1715d5c3da08bad665b240f0477402dfbdfbd24e93b12a40e323a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 4.027 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2218, 1.4494, 0.5102, 0.1848, -0.1806, -0.1455, 0.9995, 0.4232, 1.2877, 1.1179, -0.918, 0.2863, 0.2344, 0.9957]\nstate[eef_state]: left_x=0.3579 left_y=-0.0445 left_z=0.0449 left_yaw=-0.0013 left_pitch=-0.1731 left_roll=0.0238 left_gripper=0.9995 right_x=0.3008 right_y=0.0847 right_z=0.1712 right_yaw=0.003 right_pitch=-0.4555 right_roll=-0.136 right_gripper=0.9957\nstate[joint_eff]: [0.1162, -5.8598, 6.0513, 1.8388, 0.0122, 0.1734, -0.0122, -0.0889, -4.5744, 6.4615, 1.0916, 0.105, -0.022, -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]: [-0.2214, 1.4494, 0.5102, 0.1921, -0.1806, -0.1459, 0.9995, 0.4232, 1.2888, 1.1179, -0.9211, 0.2859, 0.234, 0.9957]\nstate[eef_state]: left_x=0.3591 left_y=-0.0446 left_z=0.0462 left_yaw=-0.001 left_pitch=-0.166 left_roll=0.0219 left_gripper=0.9995 right_x=0.3003 right_y=0.0846 right_z=0.1706 right_yaw=0.0027 right_pitch=-0.4595 right_roll=-0.1378 right_gripper=0.9957\nstate[joint_eff]: [0.2803, -5.8735, 6.2838, 1.7607, -0.0269, 0.1636, -0.0122, -0.0205, -4.6564, 6.4479, 1.1648, 0.1148, -0.0171, -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]: [-0.2214, 1.4494, 0.5102, 0.1921, -0.1806, -0.1459, 0.9995, 0.4232, 1.2888, 1.1179, -0.9207, 0.2855, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3591 left_y=-0.0446 left_z=0.0462 left_yaw=-0.001 left_pitch=-0.166 left_roll=0.0219 left_gripper=0.9995 right_x=0.3003 right_y=0.0847 right_z=0.1706 right_yaw=0.0033 right_pitch=-0.4593 right_roll=-0.1375 right_gripper=0.9957\nstate[joint_eff]: [0.1846, -5.8872, 6.065, 1.7216, -0.0024, 0.149, -0.0122, -0.0615, -4.5607, 6.4205, 1.1404, 0.0952, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc96cd35890b586c950f22657e01035a188b81697f183440603490758bcae397",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:437507292ec00eb59803ecc74143f72fb9ad83f8e2ded76df35dba3f90e1a4cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ab71cbf75b1715d5c3da08bad665b240f0477402dfbdfbd24e93b12a40e323a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS1wcKEAgSGAI4AUIIdGhpbmtpbmcSDGb160+609aIluqd0BoMqI0ta+hWCgX0d+xCIjB06cVktHkp/WE/Hy1faMxhwzT5k3exs9bEoX5vZUBovqwJAQ/Om89YxPl96Jl5ZSEq9AZ0c2wv/I4qSNr7CDrEegJlO5jx1NdwU++abhwhtRHEY8mxr/CfzIsLyblDZ7udiwHsAPigEdWoVcY7A7VjE0uc+379nPrQRJhcnTOfEAljLWyaq0ZwdgqtdFx5lVZMj/3HX4z3ndTIxEmxCa374PPJasRqUF9pcJDqqrjQ37PH+v14OzuEWFje8wxOezIGhDx50OJwOuHZRLWgU2CuCStcRcCEQQWZvF43mK4mq9G7YJTRCMfs347fyapgchwX7DqIapfiSGNDm6gyEifRyk/Xz5edAXGP7E222tCvxI/k/XBSUSDlhu1B9E6iPSaESdZzQxe+p9z5SDOrNcxfwAC+sGAEqKSgB+hTMzLx99BzMjXHu0D+aZZfy9qPFXhWeO0ZVrawaaQIia9LZ318Pkh0aJhvDbS3/9r3pbmVaeo8lRSJROFtlg13JGAOB58JUeJBTY0wFQpxCY/coPqnDkxGTq3Febw8fUMyVMZSNUOdYRT0lR0/RuPktDGeQ0EdrQfGWeYmGPcncA44GBWCjSPJ1eSgXgobu78omYZyvFF1o13a/Iy7CCa5I5n/mfUDLsUZsrzXtOnLFvmeTwUgzv1BB/QaZh0x5suWZQSqHQyRNFUJL7riEx945PRBv6Fai48zI3r55rt9t5SPhgZ6o4xvdHMZpJnyBQBzVtbqHMEOp8UgMwQSSzkRCiP7p/y7ii45BEAiiSZjTkR8fIUEFc5y8LrQtuX4vLQM1cNwRICxWkjOx9XrgrJhtEbZ0kPGZMjurENrmYod4GiMybh/CutUd8XfXevKgr3jgKSRVFFgFJ2Gx/yfvz3kcMwF7WPE/VpPlPL8AS0JTsdrS38zypDBJ+Xq6iwUwLXO9dez9afyDdaU6BzuwYgYWvVtCBzQpVOfQob1e5FW1xgdPK8myE0bbB2ZcT1Qanop81fM2ZNZZoXJMTqVyEPJHakgP/dEPoLUNAl1pRvtmRJCKKogxA7UJ4Acimg3FoZJJTIM+mZupLEm7otM4HZo7WY0b6PUz4rRqbdwv/T8A9L1VcDe3PwXUa7tvusxXsSq7RPRJQZ5QctXCPy3TWXbAm3CI9wmNy18qyu9o9GQTE6fBxc5KeNEDygT/s0y8Ma8hAVKGkm3NA4w7WrkvXvJjWFOTdRcCYcbp8k4V6qg8m6mxNMe7TFpdwTdfhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C8QsztvdU89pmKAz9rzvCC",
      "input": {
        "note": "Left arm did not respond to the small move; lifting clearly to unstick it before re-approaching the white bowl.",
        "targets": {
          "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_01C8QsztvdU89pmKAz9rzvCC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2214, 1.4494, 0.5102, 0.1921, -0.1806, -0.1463, 0.9995, 0.4232, 1.2888, 1.1179, -0.9207, 0.2825, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3591 left_y=-0.0446 left_z=0.0462 left_yaw=-0.0008 left_pitch=-0.166 left_roll=0.0216 left_gripper=0.9995 right_x=0.3002 right_y=0.0852 right_z=0.1704 right_yaw=0.006 right_pitch=-0.4604 right_roll=-0.1347 right_gripper=0.9957\nstate[joint_eff]: [0.1573, -5.8735, 6.065, 1.7216, 0.0073, 0.1197, -0.0122, -0.1983, -4.5333, 6.4479, 1.116, 0.1441, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e3b5e40dc6cc818e1dda21a0917c79d71dfadc0c2257dd064c919854ecd663c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2a03654bd25a0cd176802263621661fef7615153b6a7eb121db07afa30a6505",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bbe76b722124def36317ce8d417023126f440b27af6799d273ca52de5e76b888",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 11.36 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2214, 1.4494, 0.5102, 0.1921, -0.1806, -0.1459, 0.9995, 0.4232, 1.2888, 1.1179, -0.9211, 0.2859, 0.234, 0.9957]\nstate[eef_state]: left_x=0.3591 left_y=-0.0446 left_z=0.0462 left_yaw=-0.001 left_pitch=-0.166 left_roll=0.0219 left_gripper=0.9995 right_x=0.3003 right_y=0.0846 right_z=0.1706 right_yaw=0.0027 right_pitch=-0.4595 right_roll=-0.1378 right_gripper=0.9957\nstate[joint_eff]: [0.2803, -5.8735, 6.2838, 1.7607, -0.0269, 0.1636, -0.0122, -0.0205, -4.6564, 6.4479, 1.1648, 0.1148, -0.0171, -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]: [-0.2214, 1.4494, 0.5102, 0.1921, -0.1806, -0.1459, 0.9995, 0.4232, 1.2888, 1.1179, -0.9207, 0.2855, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3591 left_y=-0.0446 left_z=0.0462 left_yaw=-0.001 left_pitch=-0.166 left_roll=0.0219 left_gripper=0.9995 right_x=0.3003 right_y=0.0847 right_z=0.1706 right_yaw=0.0033 right_pitch=-0.4593 right_roll=-0.1375 right_gripper=0.9957\nstate[joint_eff]: [0.1846, -5.8872, 6.065, 1.7216, -0.0024, 0.149, -0.0122, -0.0615, -4.5607, 6.4205, 1.1404, 0.0952, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2214, 1.4494, 0.5102, 0.1921, -0.1806, -0.1463, 0.9995, 0.4232, 1.2888, 1.1179, -0.9207, 0.2825, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3591 left_y=-0.0446 left_z=0.0462 left_yaw=-0.0008 left_pitch=-0.166 left_roll=0.0216 left_gripper=0.9995 right_x=0.3002 right_y=0.0852 right_z=0.1704 right_yaw=0.006 right_pitch=-0.4604 right_roll=-0.1347 right_gripper=0.9957\nstate[joint_eff]: [0.1573, -5.8735, 6.065, 1.7216, 0.0073, 0.1197, -0.0122, -0.1983, -4.5333, 6.4479, 1.116, 0.1441, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e3b5e40dc6cc818e1dda21a0917c79d71dfadc0c2257dd064c919854ecd663c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2a03654bd25a0cd176802263621661fef7615153b6a7eb121db07afa30a6505",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbe76b722124def36317ce8d417023126f440b27af6799d273ca52de5e76b888",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiwgKEAgSGAI4AUIIdGhpbmtpbmcSDMSkEuoEu32MusePkxoMVCGMXGYmhrXpGJCCIjDrM5p0GrcES2IIEIZTR0d2a1CW2yCoNfZIu1LDXy6J4/uewnR3LXrEsVA8YYJOPFUqqAc5qa2uTHg6cmhXk15gLha6SMkriQ39ejMu7TVLz7I/nS/8kbjUMP4FJ66+xDnmvFfa0yosNyQ6ilO+XGoed3Py/03z7aAXHI5ifx1jnLQILD4b0DpAgIrPqahp4sKvzpKLai1nGr6UFdhqQrDYIJApFaFC5/VyFTn7B0wLal4GJTh126ChiB0KApmNtDCrTt8+pRvv/zFRj2fv8FZYXPLQ3vFB8yZkFGRvXtuyzRMYLD+yZvg1xPnTH35CYIpXa2MU5csxcpAgG6Zeqi9+vd9DfY96YHsL1XyZsk66E4dC6u8S/QTaiJKBoU2Zl+M1+N5sw/6pMZZvaKmAGxLNjMF+NpXLq7rfqZvBOj6wQgh6BvSvJFZbIAFK+PuAAn5QMDx1m+3x3Yjtn9lK/Ei7OjTnvmvmc5H84bb6MFaFdGkMmZk4hjPz7/zmiCC8zs16ePCiVTdNZ/KHrCpExBXQE04+DwmMzOaJAtiathZl8+/T9hUwv7Rtgn04wGwxzvp8vTy911JqCRPY/ieyWVrzehJfz0/I8xxtX4GLzUrtX9qGwWkzAVilmQEVb1h1aQ366w7KrVlfI/i8jTvr6+TbkWNmU+1hZeFt9k+8dcSpt+qeQcKecdb6vCshf0+EijXNDwn5KWmScSCEhttJfvzmiK8DulXbgogTzPjrYgpizMmrOBkiD2sSowhbGc7uoB4I8JkUsqBBoCUpStTqtsUzjzaFcfdo0t3oNlKBviYyR4moGfb7VyxPaS1vSWRd/0b8Zqk6thwajEfAqeTNCNyYFoGThJzJPcFvKFfyT2rldJmHfH/nvvNjNSwS1GFtqIdiXAkDOEcnoumq4IwzTig6odIgj5p5Q8rjpfgi01TJPGMqYnibCwcDtGh9KRX66Ors9D+mDzu7ksF8jsjQ/yObV4EucdthrbEyj64YEwKiucD0EQM3BX5S7TxCWMoEPyJM5Pd/OjW9APNILzyI9gWL8PN8yDab6PR2LD3oTPmzxRp4WV5J9HJB5ebTPzq+IyivCTghDqpqNQ0WqqfEeFlml8QMGIee14wg9T9VOZOyfG8Kh2ezDUIdQJGDnhwEVB+UydmbD7DtbRtb9RBVk/+04TH3ImnJkDrtqm5VYaeshUrLf4F1WVCj+NMaVUpBQFTFhwMosv66XkooOqVWYXeke5+kICsPVyV7AIL+sLWeawlB3/8eHWSJDRgZpzow+61e002LykX9H3OqZFRiSd5mM527UmuLAGo9WUgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XB82AHCxxVQti3Z5CcSnuH",
      "input": {
        "note": "Left arm has not moved for two commands (readback frozen at z 0.046). Trying a retract toward a comfortable pose to see whether the IK recovers.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.03,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01XB82AHCxxVQti3Z5CcSnuH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2207, 0.9855, 0.6228, -0.3595, -0.181, -0.1471, 0.9995, 0.4232, 1.2907, 1.1179, -0.9253, 0.279, 0.234, 0.9957]\nstate[eef_state]: left_x=0.3078 left_y=-0.0328 left_z=0.1401 left_yaw=-0.0001 left_pitch=-0.1417 left_roll=0.0158 left_gripper=0.9995 right_x=0.2992 right_y=0.0854 right_z=0.1692 right_yaw=0.0074 right_pitch=-0.4675 right_roll=-0.1343 right_gripper=0.9957\nstate[joint_eff]: [0.3761, -2.5231, 9.6205, 1.5995, -0.0317, 0.0122, -0.0122, -0.0205, -4.5197, 6.4752, 1.1258, 0.1685, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:452ffdb51921277d0c96c4535f8091b5802d3ccceba82901d3f5afdc33661c6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db85f65a8f84ae5214720f57083f0bcfa41ecac08001660b619a804dc6809043",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3a68497d9b726f80fc948d85186a2d9067941abb3ac2437045ab14df66d504b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 4.165 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2214, 1.4494, 0.5102, 0.1921, -0.1806, -0.1459, 0.9995, 0.4232, 1.2888, 1.1179, -0.9207, 0.2855, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3591 left_y=-0.0446 left_z=0.0462 left_yaw=-0.001 left_pitch=-0.166 left_roll=0.0219 left_gripper=0.9995 right_x=0.3003 right_y=0.0847 right_z=0.1706 right_yaw=0.0033 right_pitch=-0.4593 right_roll=-0.1375 right_gripper=0.9957\nstate[joint_eff]: [0.1846, -5.8872, 6.065, 1.7216, -0.0024, 0.149, -0.0122, -0.0615, -4.5607, 6.4205, 1.1404, 0.0952, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.2214, 1.4494, 0.5102, 0.1921, -0.1806, -0.1463, 0.9995, 0.4232, 1.2888, 1.1179, -0.9207, 0.2825, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3591 left_y=-0.0446 left_z=0.0462 left_yaw=-0.0008 left_pitch=-0.166 left_roll=0.0216 left_gripper=0.9995 right_x=0.3002 right_y=0.0852 right_z=0.1704 right_yaw=0.006 right_pitch=-0.4604 right_roll=-0.1347 right_gripper=0.9957\nstate[joint_eff]: [0.1573, -5.8735, 6.065, 1.7216, 0.0073, 0.1197, -0.0122, -0.1983, -4.5333, 6.4479, 1.116, 0.1441, -0.0317, -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]: [-0.2207, 0.9855, 0.6228, -0.3595, -0.181, -0.1471, 0.9995, 0.4232, 1.2907, 1.1179, -0.9253, 0.279, 0.234, 0.9957]\nstate[eef_state]: left_x=0.3078 left_y=-0.0328 left_z=0.1401 left_yaw=-0.0001 left_pitch=-0.1417 left_roll=0.0158 left_gripper=0.9995 right_x=0.2992 right_y=0.0854 right_z=0.1692 right_yaw=0.0074 right_pitch=-0.4675 right_roll=-0.1343 right_gripper=0.9957\nstate[joint_eff]: [0.3761, -2.5231, 9.6205, 1.5995, -0.0317, 0.0122, -0.0122, -0.0205, -4.5197, 6.4752, 1.1258, 0.1685, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:452ffdb51921277d0c96c4535f8091b5802d3ccceba82901d3f5afdc33661c6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db85f65a8f84ae5214720f57083f0bcfa41ecac08001660b619a804dc6809043",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3a68497d9b726f80fc948d85186a2d9067941abb3ac2437045ab14df66d504b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BamqPwpTLsAPyUAAvcUG5h",
      "input": {
        "note": "Left arm is free again; the earlier stall was likely the jaw resting on the white bowl's near rim. Re-approaching further forward so the jaws straddle the bowl's left side wall at its widest point.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.06,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01BamqPwpTLsAPyUAAvcUG5h",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2379, 1.4818, 0.7063, -0.0486, -0.1894, -0.1593, 0.9995, 0.4232, 1.2922, 1.1179, -0.9394, 0.2787, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.377 left_y=-0.0535 left_z=0.0676 left_yaw=0.001 left_pitch=-0.2393 left_roll=0.0362 left_gripper=0.9995 right_x=0.2965 right_y=0.0842 right_z=0.1673 right_yaw=0.0047 right_pitch=-0.482 right_roll=-0.1413 right_gripper=0.9957\nstate[joint_eff]: [-0.7726, -6.6667, 8.5128, 1.6484, -0.188, -0.0855, -0.0122, -0.0889, -4.7111, 6.4068, 1.1746, 0.149, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09069d20159fba41912e68094c30e169b3695dd397828630de5673b1837b4268",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e67c447428727c03043b74d8a926fdc37f93b0752f1a21861fff8d49749813d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6473c8dc479fc25778f86ac10a2c5eb5a7d3939d5acdcaf51480bda1f230d41",
        "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 · 3.932 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2214, 1.4494, 0.5102, 0.1921, -0.1806, -0.1463, 0.9995, 0.4232, 1.2888, 1.1179, -0.9207, 0.2825, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3591 left_y=-0.0446 left_z=0.0462 left_yaw=-0.0008 left_pitch=-0.166 left_roll=0.0216 left_gripper=0.9995 right_x=0.3002 right_y=0.0852 right_z=0.1704 right_yaw=0.006 right_pitch=-0.4604 right_roll=-0.1347 right_gripper=0.9957\nstate[joint_eff]: [0.1573, -5.8735, 6.065, 1.7216, 0.0073, 0.1197, -0.0122, -0.1983, -4.5333, 6.4479, 1.116, 0.1441, -0.0317, -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]: [-0.2207, 0.9855, 0.6228, -0.3595, -0.181, -0.1471, 0.9995, 0.4232, 1.2907, 1.1179, -0.9253, 0.279, 0.234, 0.9957]\nstate[eef_state]: left_x=0.3078 left_y=-0.0328 left_z=0.1401 left_yaw=-0.0001 left_pitch=-0.1417 left_roll=0.0158 left_gripper=0.9995 right_x=0.2992 right_y=0.0854 right_z=0.1692 right_yaw=0.0074 right_pitch=-0.4675 right_roll=-0.1343 right_gripper=0.9957\nstate[joint_eff]: [0.3761, -2.5231, 9.6205, 1.5995, -0.0317, 0.0122, -0.0122, -0.0205, -4.5197, 6.4752, 1.1258, 0.1685, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2379, 1.4818, 0.7063, -0.0486, -0.1894, -0.1593, 0.9995, 0.4232, 1.2922, 1.1179, -0.9394, 0.2787, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.377 left_y=-0.0535 left_z=0.0676 left_yaw=0.001 left_pitch=-0.2393 left_roll=0.0362 left_gripper=0.9995 right_x=0.2965 right_y=0.0842 right_z=0.1673 right_yaw=0.0047 right_pitch=-0.482 right_roll=-0.1413 right_gripper=0.9957\nstate[joint_eff]: [-0.7726, -6.6667, 8.5128, 1.6484, -0.188, -0.0855, -0.0122, -0.0889, -4.7111, 6.4068, 1.1746, 0.149, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09069d20159fba41912e68094c30e169b3695dd397828630de5673b1837b4268",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e67c447428727c03043b74d8a926fdc37f93b0752f1a21861fff8d49749813d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6473c8dc479fc25778f86ac10a2c5eb5a7d3939d5acdcaf51480bda1f230d41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AgKEAgSGAI4AUIIdGhpbmtpbmcSDDfMbVFeBGFaKlIKARoMX2NRFGlM1GekqSb7IjADhBxBHArWOXeBNeICDjUuS3sW82FNN+DUP/R6tYMR7rPmVpyO5M1pnv6jJJ/66BUq8Qe3DmGK/5LrD6li8cnKU3QbbJhwrevYlBsyZwGKfgumaVjGrIehQF9aigNjhoB4T5NuFiQrAb7O+e4qCHCbUTl9140tHSWLQeUhyoLUPXqcPoJJtaFvCQarGO13GvttuffJqF3Whz1AYSgmAhzdacxpscqvBxHWVfmXa0izxL5BAO6uvnmsds5Ee2+KCMV77ML9IjKpTPWx+Q5ufxJKnMMkREvJUtkCYdumkrDeb/mL3L7nrZJoBrQTZjDLWsy7hyBDZo4UDXibCM5ln1UirGD7H6RwU9lDfZeZMete4q/aXeO/B8En8EksSD9SqMLbthEpLjqCg69YuoX8IS1m7pcl7SMsCBfB0DEI5W5+jp5vbqsrdSKgZ0Vbve1fjVYyhe0xfPSYOsnth91l3bdv+K8zYyhG5YgGb9oNdz6g+y3bdnoDNoc2QyYLrVsWaBOJS3fkZZpmRBAC7R9NkFT8igxmY19fqZH+Ok1FWF1Je2XkGmPygvAkwMoa3coqkJfRlI94FkermKW8H1lhK18Mm8/4W9nF+IB4jaRdcVvjTWpypTProjT9E2RELycg/sx8twA8SZxxxQBHnJUYrzPLzvUZBUExscPQLmLnfpu9RUu6Mz0oqi/zSw1Dq0BkQlW7LnIl8AC0eMM7rmnvwUeSFifG+FqjrC3ZNuZA8IrCMG9W6a/pgk0k4rtj/6WyBWYJQo3g1D3XmIpEslOPcVqTYdrA6tHJ5xDp2WY2MiQ2QUPPmry3UHqOQEk8Lw/w0bg0a7zgofUGEj2S20E7GyNNLdYnoxGm5CRySa/CXYdnLF6fhOiYtY0M/sogm09n7OSvkg0wt54MmkPBOrzKKWON3KpoycegDYDOjNBtR3XBQKqCUkqFRylXiJwOzuw6O9KNCaeQYJzghM6Yita96J1b51Anw8xVl464SRzvdam6II2c3ydeOU3ngT2M3WCxbqSX6JiMA3qNberhJqCgkWkWX1Kj5rDr1tIBunfaBVtAvxt/4u2iRt0sAObVapIuXmIHGCC/XwcnzEPTCrE8wq1p/zmq6bUtMN6oSDybnpeat9x9ykcwLE5LjGPbzTIzK6qxw3n6HX2Z7uPRrgDXSZ2dxzorG/kzeEewdP9GrCfQZtB01bkFrKLK2UJyeYqJMp0mke38Yu2o3f3+EWMTy3yTdrcfkEhYcBUKZ7mrIKbbTW6rr5ETSXhwHYfNijxv+zeRwCOuy1KpaiUCv6gw+Oi/+ilwr3VEt9mDjKtsaQ3uKeimPHaB81dplNfBvDV/mO+08wwQUwq0zUlZUeHv8nx5N3P6i+ghauHBO0rh3fU5pmdu/GSaVmuu1ciEiVyDaVqGXjVOGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sg3XDgfaAWUn2cFYucxFSU",
      "input": {
        "note": "White bowl's left wall runs vertically between the open jaws, extending past the bottom of the image. Descending to straddle it.",
        "targets": {
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Sg3XDgfaAWUn2cFYucxFSU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2405, 1.6127, 0.6147, 0.1204, -0.1921, -0.165, 0.9995, 0.4232, 1.2922, 1.1179, -0.9401, 0.2787, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3681 left_y=-0.0519 left_z=0.0153 left_yaw=0.0073 left_pitch=-0.2905 left_roll=0.0475 left_gripper=0.9995 right_x=0.2964 right_y=0.0841 right_z=0.1672 right_yaw=0.0045 right_pitch=-0.4827 right_roll=-0.1417 right_gripper=0.9957\nstate[joint_eff]: [-0.0068, -6.9675, 5.5316, 1.8144, -0.0317, 0.0171, -0.0122, -0.0615, -4.4239, 6.3932, 1.0427, 0.0659, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a32a890d4619997f233ff58d0fafb3efee22bb90f3bbbf01d46ca394050d563",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ba32df1dd25888d7a20e5c4ee7f5f85992848ce309d4f28eec2e69e8d3d1bca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:95d1c963421e08eecb04329c6a6bd416807921313ce31311437a294e0305c4ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 5.18 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2207, 0.9855, 0.6228, -0.3595, -0.181, -0.1471, 0.9995, 0.4232, 1.2907, 1.1179, -0.9253, 0.279, 0.234, 0.9957]\nstate[eef_state]: left_x=0.3078 left_y=-0.0328 left_z=0.1401 left_yaw=-0.0001 left_pitch=-0.1417 left_roll=0.0158 left_gripper=0.9995 right_x=0.2992 right_y=0.0854 right_z=0.1692 right_yaw=0.0074 right_pitch=-0.4675 right_roll=-0.1343 right_gripper=0.9957\nstate[joint_eff]: [0.3761, -2.5231, 9.6205, 1.5995, -0.0317, 0.0122, -0.0122, -0.0205, -4.5197, 6.4752, 1.1258, 0.1685, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2379, 1.4818, 0.7063, -0.0486, -0.1894, -0.1593, 0.9995, 0.4232, 1.2922, 1.1179, -0.9394, 0.2787, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.377 left_y=-0.0535 left_z=0.0676 left_yaw=0.001 left_pitch=-0.2393 left_roll=0.0362 left_gripper=0.9995 right_x=0.2965 right_y=0.0842 right_z=0.1673 right_yaw=0.0047 right_pitch=-0.482 right_roll=-0.1413 right_gripper=0.9957\nstate[joint_eff]: [-0.7726, -6.6667, 8.5128, 1.6484, -0.188, -0.0855, -0.0122, -0.0889, -4.7111, 6.4068, 1.1746, 0.149, -0.0513, -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]: [-0.2405, 1.6127, 0.6147, 0.1204, -0.1921, -0.165, 0.9995, 0.4232, 1.2922, 1.1179, -0.9401, 0.2787, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3681 left_y=-0.0519 left_z=0.0153 left_yaw=0.0073 left_pitch=-0.2905 left_roll=0.0475 left_gripper=0.9995 right_x=0.2964 right_y=0.0841 right_z=0.1672 right_yaw=0.0045 right_pitch=-0.4827 right_roll=-0.1417 right_gripper=0.9957\nstate[joint_eff]: [-0.0068, -6.9675, 5.5316, 1.8144, -0.0317, 0.0171, -0.0122, -0.0615, -4.4239, 6.3932, 1.0427, 0.0659, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a32a890d4619997f233ff58d0fafb3efee22bb90f3bbbf01d46ca394050d563",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ba32df1dd25888d7a20e5c4ee7f5f85992848ce309d4f28eec2e69e8d3d1bca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95d1c963421e08eecb04329c6a6bd416807921313ce31311437a294e0305c4ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+AYKEAgSGAI4AUIIdGhpbmtpbmcSDN8SOFc1EuwYnwdLYRoMLvhkvBWIRx7792LHIjAX2ZAC8UY1JoYb5dZXp2eYxl1G75phCH1a9wC0VhKxLrsQw6A4QbNA4N/+ig43FkgqlQYoLJxJ2qsBHaYtYHiKDAFcgQs3mTB/C4tBIqXG5vvVhwTEhUMRKs6LVT2qYZ4s1NkPUqay+84wZ1TZ/94oFxB29frWW28CwLHtExkR/W42QwVZzDDDXxJlYyw25szLKPdaUecReucXkefgTG/4aZm47QwJJW1T0BMkMFm246Yl/dj3TQXKTIB9MZx+0lTtU1S6NZu5i6t4aMkm3ekdE7Uu2AcW1qQB0eWxgUH42M3ltQr/AaDv1YoH1hislJVqN5gemMTGNqKCLwP6nbvFlmcPYafS2k3++CS5rC34NCuWtTBixgJIJHC7xhb5A6VWeV+xpPFKAXbbwz69ll1NWrGzhj29y0uMV2JxVF22NDdptq7tnJ1vOo/PTulAtVazr9giANs2sLzCJNWfuVu3503VKZxCITTfzo3QhaOZRF5qglMTE+KtqF99Ae5qijg+XqF7qab/qqztSqUbI7OCL2Q4xT+6gsHxteTjEOZy7Th8QEUMF4iSSKMbDTcodmOWW0uHXFb+aJjz7KMl0eFKVMHVdcYEkjx9kik5PaDHcBcZn13K+x27CWsJFM0uweDrLv05xpLI4BGRXcR4uquwNbdjUyk7yK4XTsmkwCdaCk752QvN5ucVxu/P1afWieKQK5KyAaAPlhp+gW+Cu8JzEy0Lj4m5d37BE1v+l93VeUngRUztjT+eqp/PUBeZ0rUdX3zWKwwO4LJPE01ETsUwfRRp1vz3V2Q1TFF3Ue1jQ4FYaBq3O50aExYOXrlk1sdAl9IyfghTuqjDNrS/vz2J4BgbfWCm1CAwtueDX66iiCHtbcqhXC11+kY+i0OlwcbkTpKm3QkEe6aGTikR7gOND00kdnMLQJUT7wBma7CzsEb+DWBL2+le+Tj426pN1PjId3tyE4ZFCugY/BWYpjidMfrxQcReQbxSHKusoRYInJROGdRiE2WP4xoJrL060CpuvNsod4Dbblpq2u3JmDGPX5E5bXL6A0+jelryzg6ROp6lcFen/3dosJ5kuOFNOBazLXOHUjB82PvqdL+tY2+iC02VvvKnRTMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PdERx9jR1jxZwXkrybcTgP",
      "input": {
        "note": "Jaws are down around the white bowl's left wall. Closing to pinch it.",
        "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_01PdERx9jR1jxZwXkrybcTgP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2405, 1.6005, 0.6163, 0.1543, -0.178, -0.1837, 0.102, 0.4232, 1.2922, 1.1179, -0.9432, 0.2787, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3755 left_y=-0.0562 left_z=0.0252 left_yaw=0.0024 left_pitch=-0.2464 left_roll=0.0118 left_gripper=0.102 right_x=0.2958 right_y=0.0839 right_z=0.1669 right_yaw=0.0039 right_pitch=-0.4855 right_roll=-0.1431 right_gripper=0.9957\nstate[joint_eff]: [-0.253, -5.5179, 5.559, 1.1941, -0.2564, 0.1392, 0.4176, -0.0342, -4.6017, 6.4068, 1.1062, 0.0806, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c13b5cbc0f8c6b98dee30e2a05a5b062e8aec489c80e3f81430fa16301bca4b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6934264a2b577a22b21db65ca3ced171cd83a27f9bc10d96706ed18badaeda1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2c351e1a022f87b4f76470c5e63487c067fa789b95b3b53ac97242a36c97863c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 9.008 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2379, 1.4818, 0.7063, -0.0486, -0.1894, -0.1593, 0.9995, 0.4232, 1.2922, 1.1179, -0.9394, 0.2787, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.377 left_y=-0.0535 left_z=0.0676 left_yaw=0.001 left_pitch=-0.2393 left_roll=0.0362 left_gripper=0.9995 right_x=0.2965 right_y=0.0842 right_z=0.1673 right_yaw=0.0047 right_pitch=-0.482 right_roll=-0.1413 right_gripper=0.9957\nstate[joint_eff]: [-0.7726, -6.6667, 8.5128, 1.6484, -0.188, -0.0855, -0.0122, -0.0889, -4.7111, 6.4068, 1.1746, 0.149, -0.0513, -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]: [-0.2405, 1.6127, 0.6147, 0.1204, -0.1921, -0.165, 0.9995, 0.4232, 1.2922, 1.1179, -0.9401, 0.2787, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3681 left_y=-0.0519 left_z=0.0153 left_yaw=0.0073 left_pitch=-0.2905 left_roll=0.0475 left_gripper=0.9995 right_x=0.2964 right_y=0.0841 right_z=0.1672 right_yaw=0.0045 right_pitch=-0.4827 right_roll=-0.1417 right_gripper=0.9957\nstate[joint_eff]: [-0.0068, -6.9675, 5.5316, 1.8144, -0.0317, 0.0171, -0.0122, -0.0615, -4.4239, 6.3932, 1.0427, 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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2405, 1.6005, 0.6163, 0.1543, -0.178, -0.1837, 0.102, 0.4232, 1.2922, 1.1179, -0.9432, 0.2787, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3755 left_y=-0.0562 left_z=0.0252 left_yaw=0.0024 left_pitch=-0.2464 left_roll=0.0118 left_gripper=0.102 right_x=0.2958 right_y=0.0839 right_z=0.1669 right_yaw=0.0039 right_pitch=-0.4855 right_roll=-0.1431 right_gripper=0.9957\nstate[joint_eff]: [-0.253, -5.5179, 5.559, 1.1941, -0.2564, 0.1392, 0.4176, -0.0342, -4.6017, 6.4068, 1.1062, 0.0806, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c13b5cbc0f8c6b98dee30e2a05a5b062e8aec489c80e3f81430fa16301bca4b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6934264a2b577a22b21db65ca3ced171cd83a27f9bc10d96706ed18badaeda1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c351e1a022f87b4f76470c5e63487c067fa789b95b3b53ac97242a36c97863c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrgoKEAgSGAI4AUIIdGhpbmtpbmcSDBkVLS2+BlWFRdjBSBoMr1LcK31F4MlF2C2LIjBsK/Eugb+XSEmt06pFTNP2d6lGSRcxsf84t/No1EwRWtzSXAs/Z9mdqvbeRNULFPYqywnDtVb+nUEqmTjy+ZcZe6px5iUel22z+jAa0VEmadH8qiB6SDJftVc3Jxca5JaJVeZOOg+0wfeCKgkamaBrmLUZmc2Bn1D3rQQJaZxzdoDaTVBXCpRP4FpNkE0igV/5ckdQiemvnW97O71tAxIZ2m8xwjdz8qH5dOtihN1/ydmtnK8K9N88eOhgBkbkZ/LB44IY3OxmZWIk+UvHahpBjXRPRI/QcK50mNBX2bkUlv8PmJKpTGG5cfFF8/bOg2o8Q4SD1PyGrkk4Nmw3e7bDHkk0q9vYFaLmlOdkA9fczP1erpm3ju/VPMH6wFffGWfKfzlCfOpVeSgiLrGzdaJ19Vtv+0BYTzfE185Tqvy9qfjao1TitHztj5wDbotUXzSsKZiD6vTzePcVH4n2FwXSWHfqJmbARM3ogQYPCk/md75zjW8DT6eXSs8GZGj33pj5JTiY9WfRh8jazM4Dx5giKzQLx2DIknftfHyQq/DhoCaefHRzES8Sp/WWLvVQHu1Jg6s0lc6stJCe2OGg2owVP5IcrEuZjpch6V00C79khJoWOrrArbHvbdCA3nsAtIy6ETIrWCuxQem8D1pnX89msHUpZxgZNr+AyW7XMkhOJuxBo/9pDzZ/caluMGHsCWwoWNFLKzcCad5vEZquLoAJh7A6Gdc/7jgAjmm00RJOWm1S+ij7rPTlEkB32SqWWp9Bz5pG2Sol7IvMMCHWNCNwQVXP3TnIh8EzFsLllOoSnYQZeO54h25vBseE1JuhDqohu95ui8bznLS9RSLrprKH++W6q2059MAu4Yn/Ot1+NSCeyaIaMkKEDqxnxp8KpPh0EQo688sKyLRLSkROy6g2NeehnuhKwCGeV4SHObDORDplj2QxG6gWBUzP/Z9r2izaGBoslQ0vFX+prQhjTiq9Ydu/L2N9P74D0DPFS+iluARl7tRT/f87lapnLlhfLLMGl23IwvvyjDr5LzCUNZdFjyITH+aXJuaSymZFSzo+rB9+YqrWLIiVzkIgn7vrt3/GiRNvMQS6ussU9HzHDCbaIUyaODgae01evxqZX0DEJFgNPn5YE61++4EKYbkjel0gxexRQa9lsLnFixG5U6f5RJ8UtpyTGu6Wz6xmEZYwT9nF7LrMp+BwwEVmEOO3xQPzSPxUZMtAcyjE0XFP9TdwAaIDXSHA4lrrYxFm7aYh8lLIMK7ZTLwuwR2g8K0E/G0SzMZF+CmWeJYQxWHoJOfx5NmoLaqeADkzTJ31/Mv3nyrydSIXZKy2AghifECEuJKhsE8xGVkc+Kg1i2CJvvKTEzoufL1yxZ/9/PmhmRIu6k2soFVMJTgHXpYxLNJLUxKTvd3RysO/h160aSHZWQo0Dh+o0c0UAtJxzGx8bIKZoCM8bDez8iHwumPwOyx7RAY4UU65kCRqaTVehJ2nMW2J17cAAcnc03HUxDmTmhL/fABcsJAJRvp/oH9NGvZzK7inQ4EdYoCqix0MKThSsOeTPCEYPxl+gLfhED+m9i1JvtjWqyFCvyJVGscvQL1lzMpRaseYFPrPYqt/p9hO7oLS/CYLSM/b7nWhZtBbS1Kv+657lPuUs25Qy1TNSvC5/1klgu61f1wgCYScGACBUWcYvRQdcInHiSHt+YM0phkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019PXqMqArzNu23uGyJJ74Zd",
      "input": {
        "note": "Gripper reads 0.10 after closing, same as the failed pink attempt, so the grasp is uncertain. Lifting 5 cm to check whether the white bowl comes with it.",
        "targets": {
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019PXqMqArzNu23uGyJJ74Zd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2405, 1.4849, 0.6979, -0.0551, -0.181, -0.1886, 0.1012, 0.4232, 1.2922, 1.1179, -0.9436, 0.2787, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3729 left_y=-0.055 left_z=0.0621 left_yaw=0.0085 left_pitch=-0.2577 left_roll=0.0136 left_gripper=0.1012 right_x=0.2957 right_y=0.0838 right_z=0.1668 right_yaw=0.0038 right_pitch=-0.4858 right_roll=-0.1433 right_gripper=0.9957\nstate[joint_eff]: [-0.3624, -7.5009, 8.6632, 1.4725, -0.0806, -0.0122, -0.0952, -0.1709, -4.6017, 6.3932, 1.0476, 0.1245, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4b6ab690e130b0835e8a67c897ca14492cf9fb52c801527debadab8e00320ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9495a0e3376b0a9c4dbc8698c63faee53d0bfe5e25de122dcc4713fa6ab3e84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41f69073b2140b0a3222d6b536e8f1da3824a83e252275563e814927e0ad9253",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 5.556 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2405, 1.6127, 0.6147, 0.1204, -0.1921, -0.165, 0.9995, 0.4232, 1.2922, 1.1179, -0.9401, 0.2787, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3681 left_y=-0.0519 left_z=0.0153 left_yaw=0.0073 left_pitch=-0.2905 left_roll=0.0475 left_gripper=0.9995 right_x=0.2964 right_y=0.0841 right_z=0.1672 right_yaw=0.0045 right_pitch=-0.4827 right_roll=-0.1417 right_gripper=0.9957\nstate[joint_eff]: [-0.0068, -6.9675, 5.5316, 1.8144, -0.0317, 0.0171, -0.0122, -0.0615, -4.4239, 6.3932, 1.0427, 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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2405, 1.6005, 0.6163, 0.1543, -0.178, -0.1837, 0.102, 0.4232, 1.2922, 1.1179, -0.9432, 0.2787, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3755 left_y=-0.0562 left_z=0.0252 left_yaw=0.0024 left_pitch=-0.2464 left_roll=0.0118 left_gripper=0.102 right_x=0.2958 right_y=0.0839 right_z=0.1669 right_yaw=0.0039 right_pitch=-0.4855 right_roll=-0.1431 right_gripper=0.9957\nstate[joint_eff]: [-0.253, -5.5179, 5.559, 1.1941, -0.2564, 0.1392, 0.4176, -0.0342, -4.6017, 6.4068, 1.1062, 0.0806, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2405, 1.4849, 0.6979, -0.0551, -0.181, -0.1886, 0.1012, 0.4232, 1.2922, 1.1179, -0.9436, 0.2787, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3729 left_y=-0.055 left_z=0.0621 left_yaw=0.0085 left_pitch=-0.2577 left_roll=0.0136 left_gripper=0.1012 right_x=0.2957 right_y=0.0838 right_z=0.1668 right_yaw=0.0038 right_pitch=-0.4858 right_roll=-0.1433 right_gripper=0.9957\nstate[joint_eff]: [-0.3624, -7.5009, 8.6632, 1.4725, -0.0806, -0.0122, -0.0952, -0.1709, -4.6017, 6.3932, 1.0476, 0.1245, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4b6ab690e130b0835e8a67c897ca14492cf9fb52c801527debadab8e00320ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9495a0e3376b0a9c4dbc8698c63faee53d0bfe5e25de122dcc4713fa6ab3e84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41f69073b2140b0a3222d6b536e8f1da3824a83e252275563e814927e0ad9253",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BvaM3sy1aPnUBLdX7jdHd6",
      "input": {
        "note": "The white bowl stayed fixed in the wrist view while lifting, so it's held. Carrying it ~15 cm right, high enough to clear the lavender bowl, to set it inside.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.21,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01BvaM3sy1aPnUBLdX7jdHd6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6868, 1.6566, 1.2659, -0.5816, -0.4366, -0.5468, 0.1011, 0.4232, 1.2922, 1.1179, -0.9466, 0.2787, 0.2333, 0.9957]\nstate[eef_state]: left_x=0.3757 left_y=-0.2069 left_z=0.1472 left_yaw=-0.0133 left_pitch=-0.2796 left_roll=0.0116 left_gripper=0.1011 right_x=0.2951 right_y=0.0836 right_z=0.1665 right_yaw=0.0034 right_pitch=-0.4887 right_roll=-0.1449 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -7.6376, 8.9915, 1.2821, -0.3736, -0.0024, -0.0269, -0.1436, -4.6017, 6.4068, 1.0769, 0.1001, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0633fd8e663c0d532ff73eed31cb11492aeccfe0ce817b7d3758611b58e19bfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0242f71d0b5e7d34633abbb3d3884a78f1b98784074da58819e38cecb5139660",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6db4c9675fdd6dcfd54eddf47841ce3bf46029d0dbdeb82d84e4db1913d8f12b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 3.71 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2405, 1.6005, 0.6163, 0.1543, -0.178, -0.1837, 0.102, 0.4232, 1.2922, 1.1179, -0.9432, 0.2787, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3755 left_y=-0.0562 left_z=0.0252 left_yaw=0.0024 left_pitch=-0.2464 left_roll=0.0118 left_gripper=0.102 right_x=0.2958 right_y=0.0839 right_z=0.1669 right_yaw=0.0039 right_pitch=-0.4855 right_roll=-0.1431 right_gripper=0.9957\nstate[joint_eff]: [-0.253, -5.5179, 5.559, 1.1941, -0.2564, 0.1392, 0.4176, -0.0342, -4.6017, 6.4068, 1.1062, 0.0806, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2405, 1.4849, 0.6979, -0.0551, -0.181, -0.1886, 0.1012, 0.4232, 1.2922, 1.1179, -0.9436, 0.2787, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3729 left_y=-0.055 left_z=0.0621 left_yaw=0.0085 left_pitch=-0.2577 left_roll=0.0136 left_gripper=0.1012 right_x=0.2957 right_y=0.0838 right_z=0.1668 right_yaw=0.0038 right_pitch=-0.4858 right_roll=-0.1433 right_gripper=0.9957\nstate[joint_eff]: [-0.3624, -7.5009, 8.6632, 1.4725, -0.0806, -0.0122, -0.0952, -0.1709, -4.6017, 6.3932, 1.0476, 0.1245, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6868, 1.6566, 1.2659, -0.5816, -0.4366, -0.5468, 0.1011, 0.4232, 1.2922, 1.1179, -0.9466, 0.2787, 0.2333, 0.9957]\nstate[eef_state]: left_x=0.3757 left_y=-0.2069 left_z=0.1472 left_yaw=-0.0133 left_pitch=-0.2796 left_roll=0.0116 left_gripper=0.1011 right_x=0.2951 right_y=0.0836 right_z=0.1665 right_yaw=0.0034 right_pitch=-0.4887 right_roll=-0.1449 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -7.6376, 8.9915, 1.2821, -0.3736, -0.0024, -0.0269, -0.1436, -4.6017, 6.4068, 1.0769, 0.1001, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0633fd8e663c0d532ff73eed31cb11492aeccfe0ce817b7d3758611b58e19bfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0242f71d0b5e7d34633abbb3d3884a78f1b98784074da58819e38cecb5139660",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6db4c9675fdd6dcfd54eddf47841ce3bf46029d0dbdeb82d84e4db1913d8f12b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwwoKEAgSGAI4AUIIdGhpbmtpbmcSDGhGyHT6aK3FkiZWuBoMDDM5BWsfRESVOWCWIjCXYxdAuHUnIORqhEotB3IjqVw/eNCEePPjvL6DVPhkD/Yoyz65WVg0q3CB6tx/tFsq4Akt3s4LWyxX0jEE9N8lt1t8dfv1pDP05nIHiHwF/EQtodtWaQj2RPFjsUasGBsuFpTt0DWoFO42U2IBN7jR6UVmBDLBKwLe9rQ5+k2JSex43bbf48xWNhLAglWz+RqYBG/1EmfLnRHj1CSbTRB7hNSBeSk01eyAvJtLR95hCI75TZuqzhEExpzMjfpTtLrn7i51mCfxkh3fAaF++1lltSzHYW4PjzjLNzyWgmgX4XAHHi4JzDw5OQSuohxZRe9D7VQOoSyxJjyDgNMCw9OJlUly3jZ1fQuA2gdDiaXj3JWZl7L9lQhVuShDJ79NuliaGHkFK/otlTmSOJspuQBypYGjYGnM+6UikLfxaIfWq0vQyoyGZSmDvrdXwL7aLr2qouVBuir6RjChOLnSBImantUgXcUhc0lgqn+fEHbv4+Hac/6QLpQD9LY5CPntpAEYittMPF9nA24t9JO0gRWulSTvh2mlwLWYyX/dk2tjdRG8mf9COp3m1RfxEDaKd8BhGuJEYIf0s/L4OWSgvUEN/WbcMMJaGAEsX6nI3UfRGmw5E3EG/idVEcHXWFWC3rfof1PiwN9h0Tv7YNyaqIktpaziF6HrnoNNzCBZ03Sy4eqwFKW9MSOnTHc+u4DKw/APyYTggdX/6IWWtXMRF/b/dlJIqIpSfsh/YJHY5k389yljf/hkdOX0RSyDk1IHFDmDVLNBsdC4MObciHgCg8dZ4bWDluRHaM0Y6PRZwvJVLUi/3RRJmwB13AB5dnYNQMRV3ZPzRTH1m5ykXVHBcvzpwSQLsz9UbAXKgk8B+grY7hLtMkNKtJgQsVzXm9OFwlj8itYuZ7shJOqWviya4C+RBqDG114Z1Z7zGjYiLKqVzdiF5yxwlzvsAaZWt49t4cXiz4SlzzHJ1u/SiYx5Szp9Y6tYrgkGlPIdyYISTStJ1pUuolgA87DopbranP6RhjElR2NqKs2OQ2RYKT2krGf2EsayjieBvMrXLHECvNXzXjhMpMas+flm/z7Y+RFyLsDCu6uLiXQE+VxMDfjonUK6dbMuT5adD1cIXvwRIvkTgyJFRd07FzPXuqcoN5jYRi2T7hXtaSHMMvnycUB9UrjiOsfVL02I1Z5TOdQ5IgKczGPXsiTxL8Yfq+XhTXGlZFo1zab/Hn4/H5U5c9p6Cu3Hiz4/caUsIVUj/8zpKGufxJimtf271PmxDBWS19O9GacLfzBF2C5hyemN3/Z8zqEVwiMVXSxK1CUyUqxq5D1SukDj9IteV3gHr/Xdsk3cR2JX638qtOJGwL6kW5VDkFXIgGYcq4/2Ll9bhmTZNKOoNp0RpWC73L0UEO0qvaxqeAG1s9MbwYTkRuKe5c9N/s31/vxflg+Xg+4nTaBadBqO3qA12urvir7SO4GamfSw1XzruyRDT2cBSYwAYnPdRL0Mq1JE+z2PzpZ1KGxhWE0keUYmEQ+3B39zLIyIKbCuis3pVrAKo1YV56z57iaY5hkFAneO/OFViCugeCstTT+K+jXLo6ffSPyhhJlTrvXWCCwwAgH1qLXBmmmdBmKdSdJyslD1PIgS3i2/BSO4/0mmxPBo1AgwGMgE//WqK1c6/6bc8TaKDZq/ggQdaAyXPtFkhzZwhZjsCU6aQjO7NqMGeQI9QE/xVgr7cbf4NSXAovmae/MYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kp6EwEs2X6rkZxFDc84eHC",
      "input": {
        "note": "White bowl is hanging over the lavender bowl, whose rim peeks out just to the right. Nudging right ~1.5 cm and lowering to nest it.",
        "targets": {
          "left_y": -0.225,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Kp6EwEs2X6rkZxFDc84eHC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7216, 1.7813, 1.108, -0.3828, -0.4458, -0.5739, 0.1011, 0.4232, 1.2922, 1.1179, -0.9466, 0.2787, 0.231, 0.9957]\nstate[eef_state]: left_x=0.3658 left_y=-0.2156 left_z=0.0647 left_yaw=-0.0088 left_pitch=-0.3386 left_roll=0.056 left_gripper=0.1011 right_x=0.2951 right_y=0.0836 right_z=0.1665 right_yaw=0.0048 right_pitch=-0.4888 right_roll=-0.1462 right_gripper=0.9957\nstate[joint_eff]: [-0.4718, -8.7863, 6.5573, 1.3993, -0.3687, -0.1001, -0.0122, -0.1299, -4.6154, 6.4068, 1.0867, 0.1099, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f252159eb57afed8783166352fc5fde5ce0d3d58a096765a682507cb53ee922",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a2205e32bbcfcb35896c5f8215470bc79f5af9df92f77a193aecb9bd9a72f78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e3e900f33f019b99e87e11c290e0141443002e3bc012b02d0050a33ebcce0297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 9.025 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2405, 1.4849, 0.6979, -0.0551, -0.181, -0.1886, 0.1012, 0.4232, 1.2922, 1.1179, -0.9436, 0.2787, 0.2337, 0.9957]\nstate[eef_state]: left_x=0.3729 left_y=-0.055 left_z=0.0621 left_yaw=0.0085 left_pitch=-0.2577 left_roll=0.0136 left_gripper=0.1012 right_x=0.2957 right_y=0.0838 right_z=0.1668 right_yaw=0.0038 right_pitch=-0.4858 right_roll=-0.1433 right_gripper=0.9957\nstate[joint_eff]: [-0.3624, -7.5009, 8.6632, 1.4725, -0.0806, -0.0122, -0.0952, -0.1709, -4.6017, 6.3932, 1.0476, 0.1245, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6868, 1.6566, 1.2659, -0.5816, -0.4366, -0.5468, 0.1011, 0.4232, 1.2922, 1.1179, -0.9466, 0.2787, 0.2333, 0.9957]\nstate[eef_state]: left_x=0.3757 left_y=-0.2069 left_z=0.1472 left_yaw=-0.0133 left_pitch=-0.2796 left_roll=0.0116 left_gripper=0.1011 right_x=0.2951 right_y=0.0836 right_z=0.1665 right_yaw=0.0034 right_pitch=-0.4887 right_roll=-0.1449 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -7.6376, 8.9915, 1.2821, -0.3736, -0.0024, -0.0269, -0.1436, -4.6017, 6.4068, 1.0769, 0.1001, -0.0562, -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]: [-0.7216, 1.7813, 1.108, -0.3828, -0.4458, -0.5739, 0.1011, 0.4232, 1.2922, 1.1179, -0.9466, 0.2787, 0.231, 0.9957]\nstate[eef_state]: left_x=0.3658 left_y=-0.2156 left_z=0.0647 left_yaw=-0.0088 left_pitch=-0.3386 left_roll=0.056 left_gripper=0.1011 right_x=0.2951 right_y=0.0836 right_z=0.1665 right_yaw=0.0048 right_pitch=-0.4888 right_roll=-0.1462 right_gripper=0.9957\nstate[joint_eff]: [-0.4718, -8.7863, 6.5573, 1.3993, -0.3687, -0.1001, -0.0122, -0.1299, -4.6154, 6.4068, 1.0867, 0.1099, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f252159eb57afed8783166352fc5fde5ce0d3d58a096765a682507cb53ee922",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a2205e32bbcfcb35896c5f8215470bc79f5af9df92f77a193aecb9bd9a72f78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3e900f33f019b99e87e11c290e0141443002e3bc012b02d0050a33ebcce0297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpwcKEAgSGAI4AUIIdGhpbmtpbmcSDAbMX0Pz+vMhD1v4gRoMiko8k0pQkK36SSI/IjBJUi0veL+QHawrZ0mAT94ghVpWZbOV5Be5EZMcTedmbgUJsT0ZMAYgCBnBa1aEJykqxAa85kJ1HZDnH2iET7AIqns9yiO6mBFBTAFRutxIXe1ZPm0L38qQ9evGKJzzxwHH7VcO7ZibjpCMemFPcEzEG5aJi0Z+DOuzSwQ8B0YazchSkPxR8d1bUkq8JfjpOmhV+tTCwRvMWv75thLk7YOidxFwHMmBwMruxZb+PTUWivmFpaX5UaiO/QLSeQC53JiN0/StVrOwCNllLk4eCkUwh1PzWD9wUDIz92Q78g3gvFw7662lpfJpLIefOLncX817lpORdFEbC1LDmjJqyJRVd/MH+ZO12SlgiqqOBLX97g2D0kkCTfJDHal3N1rqI3OJJ7OoqxDm+prULqpuS3YKnR6XDw1xhoMCEX5TtmkiorI8bpi5Ji43jQOUgnJPrt/jvC6MPlNbub2XK6M7z5EJu/2o55NzkfT2aBOYtIPY1+71gc0/H14e3NYbH1fmSnrHlC1mzMhHdZXuwMNHO1u+wNrcbUP6m2xhljYMYQG9Fgca4A59f70OqNtIvtFEPo9n92PL1MalhY2+MYjfn9WXOBNlQK+zS9lds6rplZpJpKOfsfl2xWCXkyZlXMc2fCxDp8JCTvqwCtlG4/oKAub8DbDtrcU/hXmPenHJk6gkKp+6EhV0a/0qM6TD7Ccq6+741aXVwqpBM+m4MUFpBuxE74EIU2OL/yBlWsvqskyXUUEeYHvihT7GhQaxLKiMSTNXCAB7y0OiE2k6uo73v2EJ7V04JJeIUc/PN7XMyoVVbtHJnlRimHbgjyHCkBNwpyPpgrZNrYowZQ36Jj3VBi0uV48S9Ou5HZ7gdW5ljNVFw18rDixqxH3QBFbiGtc4oHown8mvn1tp0NiURQbFO3bkDMk266wrWpC2u0/Vkkxu36YJsQ96UR1eSVqNnielnsKF6aFjGktmNa/GOyq0vGogBufMokWG4QWlpzWfKPCRIKnHRSUNHT+Vr0joRZJlWMiFkJWK4G27QVzP2rNcnCr2VzFyLoULk7mLa9C2kkI6B4Db8RgXfKlPoWMkdSIq5T63x3w8BE/OV70llmHaDWf0AkLHi+rzGolk0lZHnlOx3pK3ZIK1b/zwmGZ2qrjTOchFd1VGHdIlUATNh837V8rK6MPHU4XBVRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KAdMnTnbHyngutRvH12xtY",
      "input": {
        "note": "Descent stopped at z≈0.065 with the white bowl sitting inside the lavender one (purple rim visible around it). Releasing.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01KAdMnTnbHyngutRvH12xtY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7258, 1.7935, 1.0973, -0.3241, -0.4473, -0.5922, 0.9947, 0.4232, 1.2922, 1.1179, -0.9466, 0.2787, 0.2306, 0.9957]\nstate[eef_state]: left_x=0.3708 left_y=-0.2221 left_z=0.0631 left_yaw=-0.0095 left_pitch=-0.3102 left_roll=0.0201 left_gripper=0.9947 right_x=0.2951 right_y=0.0836 right_z=0.1665 right_yaw=0.005 right_pitch=-0.4889 right_roll=-0.1464 right_gripper=0.9957\nstate[joint_eff]: [-0.4718, -9.0051, 6.4479, 1.4237, -0.3541, 0.0269, -0.1099, -0.212, -4.5744, 6.4205, 1.0623, 0.0757, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38b08a9375cf8040bf6ee765aa130778ba7ef4d098004f2d4c862e09d450a4b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12c71adb151c5251464608c34d76de8d71ce84ed6fde7278f89ef390b48465c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:863426e0c36ab5dcc998d7a3cae11d29da956252ae14adb821b5db13ef8eb8a1",
        "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 · 7.27 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6868, 1.6566, 1.2659, -0.5816, -0.4366, -0.5468, 0.1011, 0.4232, 1.2922, 1.1179, -0.9466, 0.2787, 0.2333, 0.9957]\nstate[eef_state]: left_x=0.3757 left_y=-0.2069 left_z=0.1472 left_yaw=-0.0133 left_pitch=-0.2796 left_roll=0.0116 left_gripper=0.1011 right_x=0.2951 right_y=0.0836 right_z=0.1665 right_yaw=0.0034 right_pitch=-0.4887 right_roll=-0.1449 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -7.6376, 8.9915, 1.2821, -0.3736, -0.0024, -0.0269, -0.1436, -4.6017, 6.4068, 1.0769, 0.1001, -0.0562, -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]: [-0.7216, 1.7813, 1.108, -0.3828, -0.4458, -0.5739, 0.1011, 0.4232, 1.2922, 1.1179, -0.9466, 0.2787, 0.231, 0.9957]\nstate[eef_state]: left_x=0.3658 left_y=-0.2156 left_z=0.0647 left_yaw=-0.0088 left_pitch=-0.3386 left_roll=0.056 left_gripper=0.1011 right_x=0.2951 right_y=0.0836 right_z=0.1665 right_yaw=0.0048 right_pitch=-0.4888 right_roll=-0.1462 right_gripper=0.9957\nstate[joint_eff]: [-0.4718, -8.7863, 6.5573, 1.3993, -0.3687, -0.1001, -0.0122, -0.1299, -4.6154, 6.4068, 1.0867, 0.1099, -0.0513, -0.0122]",
      "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]: [-0.7258, 1.7935, 1.0973, -0.3241, -0.4473, -0.5922, 0.9947, 0.4232, 1.2922, 1.1179, -0.9466, 0.2787, 0.2306, 0.9957]\nstate[eef_state]: left_x=0.3708 left_y=-0.2221 left_z=0.0631 left_yaw=-0.0095 left_pitch=-0.3102 left_roll=0.0201 left_gripper=0.9947 right_x=0.2951 right_y=0.0836 right_z=0.1665 right_yaw=0.005 right_pitch=-0.4889 right_roll=-0.1464 right_gripper=0.9957\nstate[joint_eff]: [-0.4718, -9.0051, 6.4479, 1.4237, -0.3541, 0.0269, -0.1099, -0.212, -4.5744, 6.4205, 1.0623, 0.0757, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38b08a9375cf8040bf6ee765aa130778ba7ef4d098004f2d4c862e09d450a4b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12c71adb151c5251464608c34d76de8d71ce84ed6fde7278f89ef390b48465c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:863426e0c36ab5dcc998d7a3cae11d29da956252ae14adb821b5db13ef8eb8a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S5vLN3KQxXezwZFTtGPaQK",
      "input": {
        "note": "White bowl released inside the lavender bowl. Lifting the left arm clear and parking it so the right arm can bring the pink bowl over.",
        "targets": {
          "left_x": 0.28,
          "left_y": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01S5vLN3KQxXezwZFTtGPaQK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0559, 1.0115, 0.9375, -0.8257, -0.0761, -0.0837, 0.9951, 0.4232, 1.2942, 1.1179, -0.9543, 0.2787, 0.2302, 0.9957]\nstate[eef_state]: left_x=0.2823 left_y=0.0012 left_z=0.1848 left_yaw=0.0457 left_pitch=-0.3297 left_roll=0.013 left_gripper=0.9951 right_x=0.2937 right_y=0.0829 right_z=0.1652 right_yaw=0.0031 right_pitch=-0.4976 right_roll=-0.151 right_gripper=0.9957\nstate[joint_eff]: [0.253, -3.0564, 9.7026, 1.4676, -0.0171, 0.1685, 0.0317, -0.0752, -4.7111, 6.7214, 1.1013, 0.0952, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e07e9fe74f034a63ae3f4eae6a0e462d956b121aaa75a424f0fddb48550b790",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6636d45603a3dad825021301942d8b5d4dbdec9629740c390699b01b66d50374",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b66b52d031bf79dd8134ee9adf180f481da99017c6ffb9a3be6a7063c5c835fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 6.855 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7216, 1.7813, 1.108, -0.3828, -0.4458, -0.5739, 0.1011, 0.4232, 1.2922, 1.1179, -0.9466, 0.2787, 0.231, 0.9957]\nstate[eef_state]: left_x=0.3658 left_y=-0.2156 left_z=0.0647 left_yaw=-0.0088 left_pitch=-0.3386 left_roll=0.056 left_gripper=0.1011 right_x=0.2951 right_y=0.0836 right_z=0.1665 right_yaw=0.0048 right_pitch=-0.4888 right_roll=-0.1462 right_gripper=0.9957\nstate[joint_eff]: [-0.4718, -8.7863, 6.5573, 1.3993, -0.3687, -0.1001, -0.0122, -0.1299, -4.6154, 6.4068, 1.0867, 0.1099, -0.0513, -0.0122]",
      "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]: [-0.7258, 1.7935, 1.0973, -0.3241, -0.4473, -0.5922, 0.9947, 0.4232, 1.2922, 1.1179, -0.9466, 0.2787, 0.2306, 0.9957]\nstate[eef_state]: left_x=0.3708 left_y=-0.2221 left_z=0.0631 left_yaw=-0.0095 left_pitch=-0.3102 left_roll=0.0201 left_gripper=0.9947 right_x=0.2951 right_y=0.0836 right_z=0.1665 right_yaw=0.005 right_pitch=-0.4889 right_roll=-0.1464 right_gripper=0.9957\nstate[joint_eff]: [-0.4718, -9.0051, 6.4479, 1.4237, -0.3541, 0.0269, -0.1099, -0.212, -4.5744, 6.4205, 1.0623, 0.0757, -0.0464, -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]: [-0.0559, 1.0115, 0.9375, -0.8257, -0.0761, -0.0837, 0.9951, 0.4232, 1.2942, 1.1179, -0.9543, 0.2787, 0.2302, 0.9957]\nstate[eef_state]: left_x=0.2823 left_y=0.0012 left_z=0.1848 left_yaw=0.0457 left_pitch=-0.3297 left_roll=0.013 left_gripper=0.9951 right_x=0.2937 right_y=0.0829 right_z=0.1652 right_yaw=0.0031 right_pitch=-0.4976 right_roll=-0.151 right_gripper=0.9957\nstate[joint_eff]: [0.253, -3.0564, 9.7026, 1.4676, -0.0171, 0.1685, 0.0317, -0.0752, -4.7111, 6.7214, 1.1013, 0.0952, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e07e9fe74f034a63ae3f4eae6a0e462d956b121aaa75a424f0fddb48550b790",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6636d45603a3dad825021301942d8b5d4dbdec9629740c390699b01b66d50374",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b66b52d031bf79dd8134ee9adf180f481da99017c6ffb9a3be6a7063c5c835fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GCkdHNJXuGHt4XuY6QTVB4",
      "input": {
        "note": "White bowl is nested in the lavender bowl; pink bowl sits to its right. Moving the right gripper over the pink bowl's right side to find its wall.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.4,
          "right_y": 0.12,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01GCkdHNJXuGHt4XuY6QTVB4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0164, 0.944, -0.8497, -0.0612, -0.0788, 0.9951, 0.4728, 1.5536, 0.7418, 0.0635, 0.4469, 0.1364, 0.9957]\nstate[eef_state]: left_x=0.279 left_y=-0.0013 left_z=0.1823 left_yaw=0.03 left_pitch=-0.3533 left_roll=0.0061 left_gripper=0.9951 right_x=0.3855 right_y=0.1155 right_z=0.0836 right_yaw=0.0166 right_pitch=-0.1027 right_roll=-0.1751 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -2.7966, 6.0786, 1.5653, -0.2027, -0.0855, -0.0122, 0.5538, -6.4615, 5.7504, 1.9853, 0.3834, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46b191648ce877af022707d0ebcfb03ceb1d62778ed1ebd8e69034aff12d0a80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55d162472cd8fa50607f938f40a0594c2c515ae67adf1a211d52ac64ab5b7865",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a21d5d43455cfd17773d0711522476fd26e308fd0e6ea8fb9e1cfaf3395c921c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 3.429 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7258, 1.7935, 1.0973, -0.3241, -0.4473, -0.5922, 0.9947, 0.4232, 1.2922, 1.1179, -0.9466, 0.2787, 0.2306, 0.9957]\nstate[eef_state]: left_x=0.3708 left_y=-0.2221 left_z=0.0631 left_yaw=-0.0095 left_pitch=-0.3102 left_roll=0.0201 left_gripper=0.9947 right_x=0.2951 right_y=0.0836 right_z=0.1665 right_yaw=0.005 right_pitch=-0.4889 right_roll=-0.1464 right_gripper=0.9957\nstate[joint_eff]: [-0.4718, -9.0051, 6.4479, 1.4237, -0.3541, 0.0269, -0.1099, -0.212, -4.5744, 6.4205, 1.0623, 0.0757, -0.0464, -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]: [-0.0559, 1.0115, 0.9375, -0.8257, -0.0761, -0.0837, 0.9951, 0.4232, 1.2942, 1.1179, -0.9543, 0.2787, 0.2302, 0.9957]\nstate[eef_state]: left_x=0.2823 left_y=0.0012 left_z=0.1848 left_yaw=0.0457 left_pitch=-0.3297 left_roll=0.013 left_gripper=0.9951 right_x=0.2937 right_y=0.0829 right_z=0.1652 right_yaw=0.0031 right_pitch=-0.4976 right_roll=-0.151 right_gripper=0.9957\nstate[joint_eff]: [0.253, -3.0564, 9.7026, 1.4676, -0.0171, 0.1685, 0.0317, -0.0752, -4.7111, 6.7214, 1.1013, 0.0952, -0.0708, -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]: [-0.0563, 1.0164, 0.944, -0.8497, -0.0612, -0.0788, 0.9951, 0.4728, 1.5536, 0.7418, 0.0635, 0.4469, 0.1364, 0.9957]\nstate[eef_state]: left_x=0.279 left_y=-0.0013 left_z=0.1823 left_yaw=0.03 left_pitch=-0.3533 left_roll=0.0061 left_gripper=0.9951 right_x=0.3855 right_y=0.1155 right_z=0.0836 right_yaw=0.0166 right_pitch=-0.1027 right_roll=-0.1751 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -2.7966, 6.0786, 1.5653, -0.2027, -0.0855, -0.0122, 0.5538, -6.4615, 5.7504, 1.9853, 0.3834, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46b191648ce877af022707d0ebcfb03ceb1d62778ed1ebd8e69034aff12d0a80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55d162472cd8fa50607f938f40a0594c2c515ae67adf1a211d52ac64ab5b7865",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a21d5d43455cfd17773d0711522476fd26e308fd0e6ea8fb9e1cfaf3395c921c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CDfhnxcG5U121Nm2PyN4jm",
      "input": {
        "note": "Pink bowl's right wall runs between the open jaws, slightly toward the right jaw. Shifting ~2 cm right to centre it and descending to straddle the wall.",
        "targets": {
          "right_y": 0.095,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01CDfhnxcG5U121Nm2PyN4jm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0168, 0.944, -0.8528, -0.0673, -0.0784, 0.9951, 0.4107, 1.7023, 0.5953, 0.3336, 0.4046, 0.1036, 0.9957]\nstate[eef_state]: left_x=0.2784 left_y=-0.0002 left_z=0.1818 left_yaw=0.0354 left_pitch=-0.3563 left_roll=0.0118 left_gripper=0.9951 right_x=0.3787 right_y=0.093 right_z=0.0192 right_yaw=0.0046 right_pitch=-0.1411 right_roll=-0.1844 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -2.441, 6.7761, 1.3895, -0.0366, -0.0757, -0.0122, -0.6769, -5.012, 4.3556, 1.4969, 0.105, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fbd0430ec6d9e4b2ed113ba42a69c1930bd3064416327428aba8612c178c426",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9b6b780dcfe2078782f9b8f76a57e45df3dfba459aa8e1770bbad28fda8c6c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb583d07d8d4f424af4e8d2902f8e5ca5badf5215a127ae4134cc5d31cd7159c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 4.861 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0559, 1.0115, 0.9375, -0.8257, -0.0761, -0.0837, 0.9951, 0.4232, 1.2942, 1.1179, -0.9543, 0.2787, 0.2302, 0.9957]\nstate[eef_state]: left_x=0.2823 left_y=0.0012 left_z=0.1848 left_yaw=0.0457 left_pitch=-0.3297 left_roll=0.013 left_gripper=0.9951 right_x=0.2937 right_y=0.0829 right_z=0.1652 right_yaw=0.0031 right_pitch=-0.4976 right_roll=-0.151 right_gripper=0.9957\nstate[joint_eff]: [0.253, -3.0564, 9.7026, 1.4676, -0.0171, 0.1685, 0.0317, -0.0752, -4.7111, 6.7214, 1.1013, 0.0952, -0.0708, -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]: [-0.0563, 1.0164, 0.944, -0.8497, -0.0612, -0.0788, 0.9951, 0.4728, 1.5536, 0.7418, 0.0635, 0.4469, 0.1364, 0.9957]\nstate[eef_state]: left_x=0.279 left_y=-0.0013 left_z=0.1823 left_yaw=0.03 left_pitch=-0.3533 left_roll=0.0061 left_gripper=0.9951 right_x=0.3855 right_y=0.1155 right_z=0.0836 right_yaw=0.0166 right_pitch=-0.1027 right_roll=-0.1751 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -2.7966, 6.0786, 1.5653, -0.2027, -0.0855, -0.0122, 0.5538, -6.4615, 5.7504, 1.9853, 0.3834, -0.0562, -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]: [-0.0563, 1.0168, 0.944, -0.8528, -0.0673, -0.0784, 0.9951, 0.4107, 1.7023, 0.5953, 0.3336, 0.4046, 0.1036, 0.9957]\nstate[eef_state]: left_x=0.2784 left_y=-0.0002 left_z=0.1818 left_yaw=0.0354 left_pitch=-0.3563 left_roll=0.0118 left_gripper=0.9951 right_x=0.3787 right_y=0.093 right_z=0.0192 right_yaw=0.0046 right_pitch=-0.1411 right_roll=-0.1844 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -2.441, 6.7761, 1.3895, -0.0366, -0.0757, -0.0122, -0.6769, -5.012, 4.3556, 1.4969, 0.105, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fbd0430ec6d9e4b2ed113ba42a69c1930bd3064416327428aba8612c178c426",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9b6b780dcfe2078782f9b8f76a57e45df3dfba459aa8e1770bbad28fda8c6c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb583d07d8d4f424af4e8d2902f8e5ca5badf5215a127ae4134cc5d31cd7159c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Reached z=0.019; the pink bowl's right wall (col ~150) is between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Aw5b5ZhMQTaV46khPdQA9v",
      "input": {
        "note": "Jaws are down straddling the pink bowl's right wall (wall between the jaw tips in the wrist view). Closing to pinch it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Aw5b5ZhMQTaV46khPdQA9v",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0176, 0.944, -0.8532, -0.0677, -0.0784, 0.9951, 0.4103, 1.7092, 0.5953, 0.4618, 0.3801, 0.102, 0.0341]\nstate[eef_state]: left_x=0.2784 left_y=-0.0001 left_z=0.1816 left_yaw=0.0357 left_pitch=-0.3574 left_roll=0.0123 left_gripper=0.9951 right_x=0.3957 right_y=0.1045 right_z=0.0381 right_yaw=0.0289 right_pitch=-0.0353 right_roll=-0.1242 right_gripper=0.0341\nstate[joint_eff]: [-0.0615, -2.2359, 6.5709, 1.3602, -0.0415, -0.0708, -0.0122, -0.4855, -5.4632, 4.1641, 0.5739, 0.5104, -0.5299, 0.6178]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8c9f8a5dab43b0cc587bd49d407b85271b18ab8452ebdab78922a4140fee313",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6188566d9569ff74f8788d4c1d1403282c97de08835ee8f9cdb7c9080cae1ac4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0eb4e489e54710404788acd3ade1d3ec7e93095ecb16043518edd1770ec31900",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 6.549 s
model
claude-opus-5-5
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]: [-0.0563, 1.0164, 0.944, -0.8497, -0.0612, -0.0788, 0.9951, 0.4728, 1.5536, 0.7418, 0.0635, 0.4469, 0.1364, 0.9957]\nstate[eef_state]: left_x=0.279 left_y=-0.0013 left_z=0.1823 left_yaw=0.03 left_pitch=-0.3533 left_roll=0.0061 left_gripper=0.9951 right_x=0.3855 right_y=0.1155 right_z=0.0836 right_yaw=0.0166 right_pitch=-0.1027 right_roll=-0.1751 right_gripper=0.9957\nstate[joint_eff]: [-0.0342, -2.7966, 6.0786, 1.5653, -0.2027, -0.0855, -0.0122, 0.5538, -6.4615, 5.7504, 1.9853, 0.3834, -0.0562, -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]: [-0.0563, 1.0168, 0.944, -0.8528, -0.0673, -0.0784, 0.9951, 0.4107, 1.7023, 0.5953, 0.3336, 0.4046, 0.1036, 0.9957]\nstate[eef_state]: left_x=0.2784 left_y=-0.0002 left_z=0.1818 left_yaw=0.0354 left_pitch=-0.3563 left_roll=0.0118 left_gripper=0.9951 right_x=0.3787 right_y=0.093 right_z=0.0192 right_yaw=0.0046 right_pitch=-0.1411 right_roll=-0.1844 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -2.441, 6.7761, 1.3895, -0.0366, -0.0757, -0.0122, -0.6769, -5.012, 4.3556, 1.4969, 0.105, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0176, 0.944, -0.8532, -0.0677, -0.0784, 0.9951, 0.4103, 1.7092, 0.5953, 0.4618, 0.3801, 0.102, 0.0341]\nstate[eef_state]: left_x=0.2784 left_y=-0.0001 left_z=0.1816 left_yaw=0.0357 left_pitch=-0.3574 left_roll=0.0123 left_gripper=0.9951 right_x=0.3957 right_y=0.1045 right_z=0.0381 right_yaw=0.0289 right_pitch=-0.0353 right_roll=-0.1242 right_gripper=0.0341\nstate[joint_eff]: [-0.0615, -2.2359, 6.5709, 1.3602, -0.0415, -0.0708, -0.0122, -0.4855, -5.4632, 4.1641, 0.5739, 0.5104, -0.5299, 0.6178]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8c9f8a5dab43b0cc587bd49d407b85271b18ab8452ebdab78922a4140fee313",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6188566d9569ff74f8788d4c1d1403282c97de08835ee8f9cdb7c9080cae1ac4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eb4e489e54710404788acd3ade1d3ec7e93095ecb16043518edd1770ec31900",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSsgkKEAgSGAI4AUIIdGhpbmtpbmcSDDaAytpD0jSwPDAsdhoM/3kib0oTtrb9OtHPIjAwemCEDYMBjWvPs3yARioEj3dUnT1t/KrnAg8IJ3ybrZlu/j7z+F3TqZAmro2fhioqzwhlpZyVsuKIyErY4sq2cECu2WUv+Qzcd9KJWrrNd6n+OSPMlb/A3yP86im3VtV3utL0OnXvP3cLyUkZ6A2s3ZBENZORBnWQ2MJlgQPtfhZfJgQgoy7QaklxfQlXzBvyT2UaHwxizpphF2qWtjcoJK3+82SKSdtZQEGsvqvQ9PXCKdUK/MrEI1UIh1uVEQ2G6CKsmO/T5yvGPnkEt0H7k+96fb2Q0g9JUEak3pnFsQzToD4U8bnazQ7IpwDh4VmyytVhiTYiRED9SRvDOUCdKuEcnNwTYMUyWeZ8gAgjWueGiQX4jd5eZm+Ss2M/pcfb33C/ieuGPJWU6S3j/2if1ogKeOFQbpwS5L5HRnbwegIv+dVhzv/Hk0wK3N6xHO0CihITj5CyDSA3rYu3nbuF5sqUlnYVrwR+XJ7WT0dcaKXcObpK2lrUeOK0CvocKBsOjYYXUTniA+6+FTwSK/EZLu46/GVk9IiTRuu0WxUGG8VmoKGygZQKDdm3LLC6qTGMAWoA1jBt5572ZJajUlCv+AMSIgns12iP8CbKqBmupUD0F9UE3yVmh347aom7TIcT4ghr/DbaeHNhZvEDBlytAznUgHaVG3KW4j+eiA6iLAd1lCP4kmDVEDprLOwVqMxiMGGYfG/mBQj6K+6EMXLuWUOR1inFJB0bcZuXWakGJ865jRHfeHKUxPwOH2W3dk/kBvYncXZz1Z4c/lMEuCl3+JW03jAJrSnoPIKPAVVvUVJrS+RwZeKj4t1nEaSe3lP9GeDbh4ReUzJj24o/aIIsAcMjQ+dFJ1o6TtfdNWtvAINRv6H15n+UVgPxyMqpVIccV+7K0eaQy6r0NOULjF5cAqZAJlpJn/BS+Lbqooa93X4Gwq/Atygrr5cPkHjQ1Vy5we2ozRmTIo36uCo0kWbd7pnvQPibHM8AVjgVHAFgHTfyXPO2kGjc4bjVb+5qKN39xoCyprVMQ8RNHVVkuUyJrjRRnvA/CRqzbO+stS12/pwDYRMdtYNPNWZ2XnRC5naOQJzpX+RxIJzyVaj4dfbmTyYjxowzU7nIlz8eiVQZ+svyWQWp7A/Xx1DM5sDtvyBC8ebHeWXTZLVxsYVZ/ITdytUPpWOUBjEj8ooXkkok4nyoqnSyF2lbs3oIbqjnr/sK//SpoOrTWGPvxtG9Q151M+0iabqTUuDy+bNcpNyXibxCNrUwRb7uF7z5OWKg7M+mkcw7oHuEGcVqnWMloTt0ZfJONspGj/2ED41TO7LnlmI5aGDiGhmsNqth8zTiEq4P473MBvaMw0nKd9rBC7VrszOMlF1aVsPtVjsNW5gLrwjsmoptqA5EqFLP/9C13wP7P21B/m144eX0uo5a/D2nJX0bSHsWc+n9kaPnptn8k/2ROwkIXm2RPrHmj7WOjQRFAs2SANNB4QEWjyJmfrSqJEmXaJ1QPe6eN0jsvoNKCJk7ZI4gGpiGm3FuYvXwAjuB5BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01565ycLA1cubtF2UymUjc7u",
      "input": {
        "note": "Gripper settled at 0.034 with the pink wall sitting right on the jaw line — possibly a thin rim pinch. Lifting a few cm to test.",
        "targets": {
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01565ycLA1cubtF2UymUjc7u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0195, 0.944, -0.8536, -0.0677, -0.0784, 0.9951, 0.4118, 1.5963, 0.6338, 0.329, 0.3767, 0.1001, 0.0394]\nstate[eef_state]: left_x=0.2784 left_y=-0.0001 left_z=0.181 left_yaw=0.0358 left_pitch=-0.3597 left_roll=0.0125 left_gripper=0.9951 right_x=0.3957 right_y=0.1058 right_z=0.0706 right_yaw=0.0345 right_pitch=-0.0188 right_roll=-0.1169 right_gripper=0.0394\nstate[joint_eff]: [-0.212, -2.5915, 6.5846, 1.3504, -0.1099, -0.0269, -0.0122, -0.2667, -6.9949, 8.1299, 1.6532, 0.105, -0.022, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bddbe87e9de72cb30f5d96bb19e4bd51f68ddc0da8bc9aaac8858a2e835f2329",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1d85dc9903072d52a08c5bdbde99001f5442f46b5f78f383583b44fc7f1bb9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:defce9fe059cfe72d5e3fecb539c4c7954a7e76f36f6a596a858f425e3a884ba",
        "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 · 4.563 s
model
claude-opus-5-5
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]: [-0.0563, 1.0168, 0.944, -0.8528, -0.0673, -0.0784, 0.9951, 0.4107, 1.7023, 0.5953, 0.3336, 0.4046, 0.1036, 0.9957]\nstate[eef_state]: left_x=0.2784 left_y=-0.0002 left_z=0.1818 left_yaw=0.0354 left_pitch=-0.3563 left_roll=0.0118 left_gripper=0.9951 right_x=0.3787 right_y=0.093 right_z=0.0192 right_yaw=0.0046 right_pitch=-0.1411 right_roll=-0.1844 right_gripper=0.9957\nstate[joint_eff]: [-0.0889, -2.441, 6.7761, 1.3895, -0.0366, -0.0757, -0.0122, -0.6769, -5.012, 4.3556, 1.4969, 0.105, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0563, 1.0176, 0.944, -0.8532, -0.0677, -0.0784, 0.9951, 0.4103, 1.7092, 0.5953, 0.4618, 0.3801, 0.102, 0.0341]\nstate[eef_state]: left_x=0.2784 left_y=-0.0001 left_z=0.1816 left_yaw=0.0357 left_pitch=-0.3574 left_roll=0.0123 left_gripper=0.9951 right_x=0.3957 right_y=0.1045 right_z=0.0381 right_yaw=0.0289 right_pitch=-0.0353 right_roll=-0.1242 right_gripper=0.0341\nstate[joint_eff]: [-0.0615, -2.2359, 6.5709, 1.3602, -0.0415, -0.0708, -0.0122, -0.4855, -5.4632, 4.1641, 0.5739, 0.5104, -0.5299, 0.6178]",
      "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]: [-0.0563, 1.0195, 0.944, -0.8536, -0.0677, -0.0784, 0.9951, 0.4118, 1.5963, 0.6338, 0.329, 0.3767, 0.1001, 0.0394]\nstate[eef_state]: left_x=0.2784 left_y=-0.0001 left_z=0.181 left_yaw=0.0358 left_pitch=-0.3597 left_roll=0.0125 left_gripper=0.9951 right_x=0.3957 right_y=0.1058 right_z=0.0706 right_yaw=0.0345 right_pitch=-0.0188 right_roll=-0.1169 right_gripper=0.0394\nstate[joint_eff]: [-0.212, -2.5915, 6.5846, 1.3504, -0.1099, -0.0269, -0.0122, -0.2667, -6.9949, 8.1299, 1.6532, 0.105, -0.022, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bddbe87e9de72cb30f5d96bb19e4bd51f68ddc0da8bc9aaac8858a2e835f2329",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1d85dc9903072d52a08c5bdbde99001f5442f46b5f78f383583b44fc7f1bb9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:defce9fe059cfe72d5e3fecb539c4c7954a7e76f36f6a596a858f425e3a884ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxwsKEAgSGAI4AUIIdGhpbmtpbmcSDLNeghS/lh8zmgoJaBoM2D+FWe+q8lUy3rosIjAm1tND1V9prX5VIAGrcAcc7ZfsjxyoCiZSGR5pcnS4EyKKR1x+F/YAZxRRbojtKekq5Aoyl7l0W8rmvgMlRAqCp7xyHxbYiJCwo0JB9VXwrYogYOvAhN1l/og9ZIilKNBpNztTy0U9Mn+VxR3I8AvGiZewqAEfcwcf8qdyEl/JY51Z111md+nyjSRfe5ucYdYy9y2e29bC58o+jAYyfDq3ZKaO3KmMgSsj+3KeMNn/tOE1Kv20Hia+n+Pa7VUUczYmBLPCQPE9aR0L/rp/nBNHkh4dDRYyCxcpEIUATcyEbewARmX06NsJhvlBknzS8RdJsIKQe8GjevzGtiWapoBlDdK7Waoo+IWELieYnOPKoL+Lyk2U4JbuOFxra0+WVnH/xetFVuJb2dzYKQeKKi79lxTLPZKCZHoEkNyqyn0sZQm4FJhp+l/3EXhZRGilXgPgXFLo2KJnOZHOcKiSjzdRClWXxuTr0YX0OXELIE3C52eEI700XIIcogMp3KIFdSkVT+Fb5Ng87VejPMsyJjPM9sY9Omdup0xy9NQvfAya1bNKtG6zgbxPKMUbJ5rFf7j7PoXsGjw8IDP3y7CLL6IFZu8D2pKhT5DN+EBRh4NPkidg2Ea93Ia96hc3iFnl6xzQIaWh1wjPKhRw0KBL9W8a3qn6W46j7s4Y7FviAGLbhN8IylvC7NusXPQwbbQUKaBUWorO9B9ru8MvTpXPpANxax6pVjP37IVPAmjjInkN88LSCGO2wF7YshDRSpx8H60WQggV7zHAFhgEqClSQ9hWvu72/kYz1b9ab3ulkfmP8kMz0b+WL0p4zW0gE3uWXn4ZYUEqVJeCZ9O6bBRfCcsAqy+qNRiyw38k/kjZPDFmEKnrZMqJ45otMR0XnvjvAdCumn0eicxwSag0ExySfvYxdQrgxO5dsV9z9BpIGXk4ZXF3j9YvQfNQ1x4nT8A7DnBVooH+uqE2oi5fO4asdEg8D01WCv0HWDHVjxp/e+TnmlKVwtiycpwjyD3Osv7d1rqfqTPZsiEKjb2M063gx4d5V4SXKbHb8g5ywKmfgES722Zw43XVnNuFtNZmHciaqcqbOciP32WZNurPRRCEZliXPDbHAJGxpVTfbu5/FxP44r76VQqj+yfrCgMwa3j/JHHoM6w+VjTL0OuTgEqMTtyQGU3GGakuHkHPE1YYtw8gLn3zKXHjxnQEk+w0X2mP1jxg082BKPO+rOHvi+hsm8jxM9XRtZnRVoSKKcxtqEICNe9jUZ6cYUhdfkkW4JRpF2LlziBtul8WuWOBc/zzx2r4b05vBaV1bSJukoBaA+ZbdMj2s2da/QEJEvaL4KbYbgsCyhHfWoPLjofYfho+h/AZzuWQ/ji+JYoRnYSoscd/M0wdUzrcPKoummQF4FtSMqBFR1CUlG+qp28zRWJcIVbqF7k2VbR3QM62HhrvmI6VUTuUxCKv9poD5yI0BbrSQZxgbsIWazj83lgCvSRYlBsjgmIefjgBuNOUnshCXbXDxM8u2esujalW/2Oacm9o6XbBpdHHffTY7FrfuD6AI138dQEkOFFGUN2dwGZ8kzMmS1Nuf0BOQYUdbUSHFVCxpu3/zKr7bb/CmD19p8hSMLDk+6PkBSaT7/CxOWbobuz4FL50YobHzuaR4X1Ku41zXiMZ9YW1+tzcsayZO1kOmW8OQX/Yaugb90iKsKb7lDaMB66c5Nt+p7/V0xHqnpnb/40/b9spoy7+gn5Nf+reM+57BymmWZ43yF9zrvZh+7/OEYfnyXcVmekacGxsJqu/kPoahQlttgRtzsuG4yW1ga8sPSurpRYuuG8pb1xgnKuqYYA8i0IX5OKHfk4YETSxUR0kDZCwmhFzRMjr77D+s6rFDEUTD8ai9R/6TXtasyKOg5uLBxBFlvcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bnfhz3dGpYWUDZ7CkQS7Ko",
      "input": {
        "note": "Pink bowl stayed fixed in the wrist view while lifting, so it's held by its right wall. Carrying it high and left so its centre sits over the white/lavender stack.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.24,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Bnfhz3dGpYWUDZ7CkQS7Ko",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0222, 0.944, -0.8581, -0.0677, -0.0784, 0.9951, 0.7757, 1.6798, 1.1568, -0.2661, 0.617, 0.3313, 0.0407]\nstate[eef_state]: left_x=0.2777 left_y=-0.0001 left_z=0.1797 left_yaw=0.0361 left_pitch=-0.3669 left_roll=0.0132 left_gripper=0.9951 right_x=0.3845 right_y=0.239 right_z=0.1522 right_yaw=0.0834 right_pitch=-0.0555 right_roll=-0.1408 right_gripper=0.0407\nstate[joint_eff]: [0.0068, -2.4821, 6.5573, 1.3944, -0.0806, -0.0708, -0.0122, 0.1162, -8.0068, 9.5248, 1.5946, 0.4762, 0.2222, 0.8767]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb16ed7e83c7ed773c117dfa13ff29d683760d1e5e1b7cc5574c0fabb2bad756",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a019b1f5d02840661e6d9462f36716338e68d568ce11800da7a69986726a039",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a414f07cfdf3a738fef7e87fac059a4f6efbf1b6966ab045dec41298ac887d5",
        "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 · 3.652 s
model
claude-opus-5-5
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]: [-0.0563, 1.0176, 0.944, -0.8532, -0.0677, -0.0784, 0.9951, 0.4103, 1.7092, 0.5953, 0.4618, 0.3801, 0.102, 0.0341]\nstate[eef_state]: left_x=0.2784 left_y=-0.0001 left_z=0.1816 left_yaw=0.0357 left_pitch=-0.3574 left_roll=0.0123 left_gripper=0.9951 right_x=0.3957 right_y=0.1045 right_z=0.0381 right_yaw=0.0289 right_pitch=-0.0353 right_roll=-0.1242 right_gripper=0.0341\nstate[joint_eff]: [-0.0615, -2.2359, 6.5709, 1.3602, -0.0415, -0.0708, -0.0122, -0.4855, -5.4632, 4.1641, 0.5739, 0.5104, -0.5299, 0.6178]",
      "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]: [-0.0563, 1.0195, 0.944, -0.8536, -0.0677, -0.0784, 0.9951, 0.4118, 1.5963, 0.6338, 0.329, 0.3767, 0.1001, 0.0394]\nstate[eef_state]: left_x=0.2784 left_y=-0.0001 left_z=0.181 left_yaw=0.0358 left_pitch=-0.3597 left_roll=0.0125 left_gripper=0.9951 right_x=0.3957 right_y=0.1058 right_z=0.0706 right_yaw=0.0345 right_pitch=-0.0188 right_roll=-0.1169 right_gripper=0.0394\nstate[joint_eff]: [-0.212, -2.5915, 6.5846, 1.3504, -0.1099, -0.0269, -0.0122, -0.2667, -6.9949, 8.1299, 1.6532, 0.105, -0.022, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0222, 0.944, -0.8581, -0.0677, -0.0784, 0.9951, 0.7757, 1.6798, 1.1568, -0.2661, 0.617, 0.3313, 0.0407]\nstate[eef_state]: left_x=0.2777 left_y=-0.0001 left_z=0.1797 left_yaw=0.0361 left_pitch=-0.3669 left_roll=0.0132 left_gripper=0.9951 right_x=0.3845 right_y=0.239 right_z=0.1522 right_yaw=0.0834 right_pitch=-0.0555 right_roll=-0.1408 right_gripper=0.0407\nstate[joint_eff]: [0.0068, -2.4821, 6.5573, 1.3944, -0.0806, -0.0708, -0.0122, 0.1162, -8.0068, 9.5248, 1.5946, 0.4762, 0.2222, 0.8767]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb16ed7e83c7ed773c117dfa13ff29d683760d1e5e1b7cc5574c0fabb2bad756",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a019b1f5d02840661e6d9462f36716338e68d568ce11800da7a69986726a039",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a414f07cfdf3a738fef7e87fac059a4f6efbf1b6966ab045dec41298ac887d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlAgKEAgSGAI4AUIIdGhpbmtpbmcSDEEWBd+qXChu5SKcehoMqH9JwWxAxi4rGHbsIjBr5+/qB4njV6zNV3Z7z+4D0FotFzowQw0DLg0/TwnmPCBxMm0cOOgODSNyEX98tJsqsQfk+9/IJZfwjUF2MBn+liKj4CKRQYpyJr1YezS3LsSJfynI+zTOIHSQTKNxkPI8OevziQHo1I9Rpwuu9M1NNC0uWadjfmWum919IeJateBcTa9qv/MFAkWsUxqU6bhpB/V4NsOLu69lUxAIwClLqzfVt8oNK3LbH3INeG3YR3xDvl8ipO0uR7oGWLBO5jlSqdYML3xIiIrYbJ3VUlm+1VvuwUkYqLZQzG0vFUMpa8wmivB65AanqljNH3XJxJT4+r+XkNh7Ti8K3zRWsF3r1EP9X4o+zN7F/DOazyK10hsfNBnhrYoF6tD1XZdRR6yZ9apk4Ui2YNxofuI3ltCYgrACbH0i2QCiwb1hKwi82tSriGO5OaqYgo8dmoCM76lNQLDgA2NwPlqwKbtZRXM1Ej8H/Io49FQr9DpqBLoz3cxIvX4mi3fSBxryroTvIFVrEv9x2iMnytKGUQaDGiacl+f+xiGIKUWuHSXFz0otC9Zamx1XgAvYkq+QOaR8aSCTuXz/7Cr4uwg4961WzkqgWBEzKDbeLZuFuEhijlmzkTOUoShLxW6sgXfj3AMqIv74Xe1fellUmElGqKG1/xQHvXKm78Z7cYcBEOKqhkZGUC2js8MeF5cMJ+6R85XOXPwAMhm4ihiYiKoIbtCn1bkjqax/6bra0MPPJEdJBJ2bVwDD5jdt+W7kkz3Jn5+Sgpx3D3wPyEjBVJy4gQm3ti+pW3cWU63+SSPy6kca5Rgm/GASih7/8ffGcQqTL4PNt2HD9A8taiAvSoxC1Xd2HaIgPo74Qj4YurXEOlDa9yRTeatFk+nBe548cnmpfhBMeFujXYm3IkN2d7VmkBjlqZm98El72LvyfNUUQbi1p7Xi6aJYXBY95H3wml8X3juSEoNWOB7rxBdqiXR9xtdhbyZFtvIETCDVlN6J25kX85TxwJy0eo59lN5QXZRTnLhHx0sfw8aXWy0ZmBav82gG5k4UCedEdDwr7yvDt3+TOVhYLROkB6Ut65AepH2/Scx1TePLoV/jW37jq+tLOgaFVSuSuq2YjPzVNC0pBEM+iU4E7LS8GA+IwkZjwA0lBN4XZnbaF3/DZf+otIlenKW9zhP6OV+/D6CJ6gbjJ4EX/+0+pAQ0Fr0RCvKSZkgKCFglcAA1PyX29VyuL8WFRXoNbVQcXR+hWwFSMTASxmfERz+Ff/D67xIolfYW7JPIVwh4BwFLY3BsWVGnpvQXwZyyJBgrMD3FYBalNHes1vuxvRtRYrtD6J4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KMuLmtMe6AEj7ze8RYCFd1",
      "input": {
        "note": "Pink bowl hangs over the white/lavender stack, slightly right of its centre (white rim visible on the left). Nudging left and lowering to nest it.",
        "targets": {
          "right_y": 0.255,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01KMuLmtMe6AEj7ze8RYCFd1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0229, 0.944, -0.8581, -0.0677, -0.0784, 0.9951, 0.804, 1.8027, 1.0645, -0.1089, 0.63, 0.3489, 0.0436]\nstate[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1795 left_yaw=0.0361 left_pitch=-0.3677 left_roll=0.0133 left_gripper=0.9951 right_x=0.3799 right_y=0.2495 right_z=0.0891 right_yaw=0.0901 right_pitch=-0.0921 right_roll=-0.1715 right_gripper=0.0436\nstate[joint_eff]: [-0.0752, -2.5504, 6.612, 1.3993, -0.0806, -0.0464, -0.0122, 0.3487, -8.1573, 5.7231, 1.4432, 0.2808, 0.1197, 0.8034]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:992128b6b440fc2e7262a00c011b4de8d3dc23761e1718990e2133246327aba5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25f55d8e0f9e43b9ace370be2777ebba59a133c00ef6d0920a5b6d0302b33ab8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b57255d842eb05589d3b4602bd395d8946abd7d6a3f356797e61eb559bfce730",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 3.59 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0195, 0.944, -0.8536, -0.0677, -0.0784, 0.9951, 0.4118, 1.5963, 0.6338, 0.329, 0.3767, 0.1001, 0.0394]\nstate[eef_state]: left_x=0.2784 left_y=-0.0001 left_z=0.181 left_yaw=0.0358 left_pitch=-0.3597 left_roll=0.0125 left_gripper=0.9951 right_x=0.3957 right_y=0.1058 right_z=0.0706 right_yaw=0.0345 right_pitch=-0.0188 right_roll=-0.1169 right_gripper=0.0394\nstate[joint_eff]: [-0.212, -2.5915, 6.5846, 1.3504, -0.1099, -0.0269, -0.0122, -0.2667, -6.9949, 8.1299, 1.6532, 0.105, -0.022, 0.9402]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0222, 0.944, -0.8581, -0.0677, -0.0784, 0.9951, 0.7757, 1.6798, 1.1568, -0.2661, 0.617, 0.3313, 0.0407]\nstate[eef_state]: left_x=0.2777 left_y=-0.0001 left_z=0.1797 left_yaw=0.0361 left_pitch=-0.3669 left_roll=0.0132 left_gripper=0.9951 right_x=0.3845 right_y=0.239 right_z=0.1522 right_yaw=0.0834 right_pitch=-0.0555 right_roll=-0.1408 right_gripper=0.0407\nstate[joint_eff]: [0.0068, -2.4821, 6.5573, 1.3944, -0.0806, -0.0708, -0.0122, 0.1162, -8.0068, 9.5248, 1.5946, 0.4762, 0.2222, 0.8767]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0229, 0.944, -0.8581, -0.0677, -0.0784, 0.9951, 0.804, 1.8027, 1.0645, -0.1089, 0.63, 0.3489, 0.0436]\nstate[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1795 left_yaw=0.0361 left_pitch=-0.3677 left_roll=0.0133 left_gripper=0.9951 right_x=0.3799 right_y=0.2495 right_z=0.0891 right_yaw=0.0901 right_pitch=-0.0921 right_roll=-0.1715 right_gripper=0.0436\nstate[joint_eff]: [-0.0752, -2.5504, 6.612, 1.3993, -0.0806, -0.0464, -0.0122, 0.3487, -8.1573, 5.7231, 1.4432, 0.2808, 0.1197, 0.8034]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:992128b6b440fc2e7262a00c011b4de8d3dc23761e1718990e2133246327aba5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25f55d8e0f9e43b9ace370be2777ebba59a133c00ef6d0920a5b6d0302b33ab8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b57255d842eb05589d3b4602bd395d8946abd7d6a3f356797e61eb559bfce730",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwcKEAgSGAI4AUIIdGhpbmtpbmcSDCWIIAxOm5jno9MhkRoMG6j5MK8YYOJh8OpdIjA/LRJrscrRRcHPmm6wzqToy0wiseLawgdYdsPyT8/OiBmCmSkfw9KcgkxvdgHb7PQquAYED9mQ/h3aoB8FgNnmYQc5PDmv5bTxvaKYnCXgWCXmIS+aTd9lyHi/yYQ2BTJnGYv/ljU9OBBKJao0ZIvDeYwAZz67Sq/zqACvbA+vywwb4VXFqWoIZzi6u2OrmRpbWEd/krbLL9Q+XgklP1sXIy2yOfx39UQiQGWFgX14SmdPEJ6YAsWPZICIKe3RRRVQsJIBMz0fZXhXR7lHDqUniR1SgmrdUaIh2Cdf+/3Hh6PNJYPlmX2Py6HekZkh/bpvTPOdtYLK+luc7RpCaVefWB/24R2mjEf8c/rWDlw26CcwtTNaV7BCBczdAWkXBeGz8mz8wFsMtVHLH8lCegpg0puyF4+bVCzO7uQwYbNAQIklWfF1XTws9pEAW35nxJC/tZwgVUXiFIz+22lMmt2SpX0eLz7F55etyCapllmRU2LLLjuYh3Uqbf7H1EGPwgIQbBIAYy5Vh5Rtt75wOk2UErfhsT4Gw3qk0mES8QfP7wSKCDmF9FiWtFba5ncrw0IE+OT2S/vd/kER3LSPr0uC84gZD60j1ZthqbfNNAFG7BHjt9IshzibGvExLuejqLrzoC+daezvv4DBunpc6mNVEabHSk4hocaJGOV6rsRya6yQeildIjQpAEOGayEXsKv0G/Uqan9LQSZ+0jd6DuCZIMohCVPJQWZIx6QYO1sRDt8V//FvcctIo0xV4v4zRaAnBYU6KUIkj2ZXgMiFe0tpUnC33DzlyIekphON5cU4VoIR7oJDa+rfNGXvNvELAYMb3WxSUt4IYH3LjnU60PeOfbb9ncUXBUuAymGuRME8xDwFVNDjlcP+OIPVJKqR3onB8WVUY/EfrUutsp82j1uP5+itw2CP12tYaD1wQs9tgnsKQSjS672lNmFiVKwZZDcIB41pFLmkdgAZXSj1Qd56uNqc5Mv7wnEt+jgYCO6C+iPcFCvF5uywHw++lzyOATRfjXqPiyR5DpiX9IaNuCpmJh8LZkjKDNcFFwjxD4SsNAN1B93KPHUqWL2oiB5ph1YOYsU1/ua2nWPdPGUuiYSOV2m7ERckUgPnVsVLK4xluDclxTdn1XQ/Y/uqVN2bpNCYZ70mjPe7XtfsKhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012iwcXTEYwiafj6gufhPSfS",
      "input": {
        "note": "Pink bowl is lined up inside the white bowl's rim (visible around it in the wrist view). Lowering until it seats.",
        "targets": {
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_012iwcXTEYwiafj6gufhPSfS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0229, 0.944, -0.8581, -0.0677, -0.0784, 0.9951, 0.8089, 1.8069, 1.0595, -0.0647, 0.6281, 0.3485, 0.0464]\nstate[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1795 left_yaw=0.0361 left_pitch=-0.3677 left_roll=0.0133 left_gripper=0.9951 right_x=0.3824 right_y=0.2556 right_z=0.0917 right_yaw=0.0984 right_pitch=-0.0665 right_roll=-0.1478 right_gripper=0.0464\nstate[joint_eff]: [-0.0205, -2.4821, 6.7487, 1.3211, -0.0952, -0.0659, -0.0122, -0.1983, -8.1983, 6.1333, 1.5751, 0.3101, 0.0562, 0.5543]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0464ad0971b78b6bdfb4a42b8f3fde1a213f25bedc0e9df098cbde45dad5e533",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8435a23ede677488ec8ee80c3f24448fccd3553599616269409b7c6832302ff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd259000a1980708dc1d3a18cd840175ac0884e1f78ba89ae5b70dc228c828f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 3.519 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0222, 0.944, -0.8581, -0.0677, -0.0784, 0.9951, 0.7757, 1.6798, 1.1568, -0.2661, 0.617, 0.3313, 0.0407]\nstate[eef_state]: left_x=0.2777 left_y=-0.0001 left_z=0.1797 left_yaw=0.0361 left_pitch=-0.3669 left_roll=0.0132 left_gripper=0.9951 right_x=0.3845 right_y=0.239 right_z=0.1522 right_yaw=0.0834 right_pitch=-0.0555 right_roll=-0.1408 right_gripper=0.0407\nstate[joint_eff]: [0.0068, -2.4821, 6.5573, 1.3944, -0.0806, -0.0708, -0.0122, 0.1162, -8.0068, 9.5248, 1.5946, 0.4762, 0.2222, 0.8767]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0229, 0.944, -0.8581, -0.0677, -0.0784, 0.9951, 0.804, 1.8027, 1.0645, -0.1089, 0.63, 0.3489, 0.0436]\nstate[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1795 left_yaw=0.0361 left_pitch=-0.3677 left_roll=0.0133 left_gripper=0.9951 right_x=0.3799 right_y=0.2495 right_z=0.0891 right_yaw=0.0901 right_pitch=-0.0921 right_roll=-0.1715 right_gripper=0.0436\nstate[joint_eff]: [-0.0752, -2.5504, 6.612, 1.3993, -0.0806, -0.0464, -0.0122, 0.3487, -8.1573, 5.7231, 1.4432, 0.2808, 0.1197, 0.8034]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0229, 0.944, -0.8581, -0.0677, -0.0784, 0.9951, 0.8089, 1.8069, 1.0595, -0.0647, 0.6281, 0.3485, 0.0464]\nstate[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1795 left_yaw=0.0361 left_pitch=-0.3677 left_roll=0.0133 left_gripper=0.9951 right_x=0.3824 right_y=0.2556 right_z=0.0917 right_yaw=0.0984 right_pitch=-0.0665 right_roll=-0.1478 right_gripper=0.0464\nstate[joint_eff]: [-0.0205, -2.4821, 6.7487, 1.3211, -0.0952, -0.0659, -0.0122, -0.1983, -8.1983, 6.1333, 1.5751, 0.3101, 0.0562, 0.5543]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0464ad0971b78b6bdfb4a42b8f3fde1a213f25bedc0e9df098cbde45dad5e533",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8435a23ede677488ec8ee80c3f24448fccd3553599616269409b7c6832302ff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd259000a1980708dc1d3a18cd840175ac0884e1f78ba89ae5b70dc228c828f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS6gYKEAgSGAI4AUIIdGhpbmtpbmcSDPjnSiFOnOOLV8jejxoM4+8RiwiC96GTl9enIjCQEHbj0qfqcuBf4dHEZF4GZfjInaD1bbO96x2j0gZ5AKIFjgGOrO7kDglNOPiuxIsqhwa2v0Eyzc7H+FPf3Rl9PpkCXrn+avCoS/cg2IsIGdfczcypI+5H5DH6TIYkvDNCkXk6prMhz1mCvmRD+5o/9LsYo5mZQzxuKS6ODVV9UO8Oc6OLyootlY5ZnkzIHG3H3TnVsaBvbAFTTIEFe0Sj3fuYx140cML/tlTFyZnUgB5boCH5ukRSxGeYeZdpS2+S7CybUik+4qye6WHqxfuiL6Y2im2DyHqPl+OGXs1fhDvKTmcwWPlLL2W9B8JswkZQ86kSOLZ/eTR4X8X3MTx0sYYZccVGQJymIGIzS1epycTz6fUQTvVMnvw5jwd0XzQPi7MPcj6dYWjWtux+B60Z05V5ERmGW2fwaSoTiqaCzotJy/uGQbLkaCP2CGIazjVPTPxhqvuhGi7pr5spwumKkqT1dvjVEZ9lM665YFuak6I6/2ooL1qOP39vaeMcmWb4tn6SuwbkcBWKTTeC+H0sPMuqzBj/2dEvwcZfIufWYi40wDilBIrDvOMvw1V/SMqnKNYarP6dVEW+nToJB0Gm0o4nQSzMCJ0asQfm63TUGls0WxmXGX+qLeyHM7oMbu0Q4qT0T8ognSG7rTSh3CE0cTJUggobRa6fN5kHswMspyxCN6XnFiyCtxI8lbw5ltMNXDGkxILWW9o03vM+E92LGWIbUZzA5UMnLpAkQPdEl4GxtsC0i2CF7fS1Prg/9M+32pbKXRTjaNx570P3aGea5ARwjzfxY0RE131TYv5J0/AjSuxwnxCCbbnVnV+BXnlnn6Xnr3V7za9doaa+/gU0FJG/f6er+EvsTV4yBQEVKiL64n7Y0yo2PswvBLz18nbyW+1wn2TMNRQiEFmEn/okZlHsq7GhiXTAFVol0357+4qzRaqyHIP4SJhzg1TBTtloWwtL6zvkV+jG3/wX/q9MmuZjLdrnOuCkkj7aD3MG1SKjWgLz2QuPsEmqYOKZ7Ss3/ft73w4sq3OVoYlV1ScRfP7zt/pIIrhWJnahk2obMx8MC2LI1EuRxnn3AvJy9QKiFS4B4YlcOgFDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017pvUrGeo1Y7cTQ71qFPkwb",
      "input": {
        "note": "Descent stalled at z≈0.09, so the pink bowl is sitting in the white bowl. Releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017pvUrGeo1Y7cTQ71qFPkwb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0233, 0.944, -0.8581, -0.0677, -0.0784, 0.9951, 0.8089, 1.8122, 1.0561, -0.0711, 0.6209, 0.3424, 0.9953]\nstate[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1794 left_yaw=0.0361 left_pitch=-0.368 left_roll=0.0133 left_gripper=0.9951 right_x=0.3805 right_y=0.2552 right_z=0.0867 right_yaw=0.1062 right_pitch=-0.082 right_roll=-0.1586 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -2.4957, 6.5846, 1.3651, -0.0757, -0.0269, -0.0122, -0.0479, -9.4974, 6.4205, 1.4432, 0.2613, 0.0757, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a944e073a74eceef764f25299ab868b8ed03a3140b0af7d83ad5875b182e43b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:512f47faa80b3f25dad4c5493f3d74ac2d0bb2b923065b603fc55dd991683836",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66022fb302b51c87ea0f109af883e873e3a7a4e3129adff1858256df88a6ceef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 10.49 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0229, 0.944, -0.8581, -0.0677, -0.0784, 0.9951, 0.804, 1.8027, 1.0645, -0.1089, 0.63, 0.3489, 0.0436]\nstate[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1795 left_yaw=0.0361 left_pitch=-0.3677 left_roll=0.0133 left_gripper=0.9951 right_x=0.3799 right_y=0.2495 right_z=0.0891 right_yaw=0.0901 right_pitch=-0.0921 right_roll=-0.1715 right_gripper=0.0436\nstate[joint_eff]: [-0.0752, -2.5504, 6.612, 1.3993, -0.0806, -0.0464, -0.0122, 0.3487, -8.1573, 5.7231, 1.4432, 0.2808, 0.1197, 0.8034]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0229, 0.944, -0.8581, -0.0677, -0.0784, 0.9951, 0.8089, 1.8069, 1.0595, -0.0647, 0.6281, 0.3485, 0.0464]\nstate[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1795 left_yaw=0.0361 left_pitch=-0.3677 left_roll=0.0133 left_gripper=0.9951 right_x=0.3824 right_y=0.2556 right_z=0.0917 right_yaw=0.0984 right_pitch=-0.0665 right_roll=-0.1478 right_gripper=0.0464\nstate[joint_eff]: [-0.0205, -2.4821, 6.7487, 1.3211, -0.0952, -0.0659, -0.0122, -0.1983, -8.1983, 6.1333, 1.5751, 0.3101, 0.0562, 0.5543]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0233, 0.944, -0.8581, -0.0677, -0.0784, 0.9951, 0.8089, 1.8122, 1.0561, -0.0711, 0.6209, 0.3424, 0.9953]\nstate[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1794 left_yaw=0.0361 left_pitch=-0.368 left_roll=0.0133 left_gripper=0.9951 right_x=0.3805 right_y=0.2552 right_z=0.0867 right_yaw=0.1062 right_pitch=-0.082 right_roll=-0.1586 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -2.4957, 6.5846, 1.3651, -0.0757, -0.0269, -0.0122, -0.0479, -9.4974, 6.4205, 1.4432, 0.2613, 0.0757, -0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a944e073a74eceef764f25299ab868b8ed03a3140b0af7d83ad5875b182e43b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:512f47faa80b3f25dad4c5493f3d74ac2d0bb2b923065b603fc55dd991683836",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66022fb302b51c87ea0f109af883e873e3a7a4e3129adff1858256df88a6ceef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "text": "Released. Lifting the right arm clear to check the stack.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0129m9uJ2QG7fTH5EjQ4k2zA",
      "input": {
        "note": "Pink bowl released inside the white bowl. Lifting the right arm and moving it away so the top camera can show the stack.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_0129m9uJ2QG7fTH5EjQ4k2zA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0563, 1.0248, 0.944, -0.8604, -0.0677, -0.0784, 0.9951, 0.3038, 0.939, 0.7609, -0.4965, 0.2764, -0.0105, 0.9956]\nstate[eef_state]: left_x=0.2774 left_y=-0.0001 left_z=0.1787 left_yaw=0.0363 left_pitch=-0.3718 left_roll=0.0137 left_gripper=0.9951 right_x=0.3028 right_y=0.0482 right_z=0.1909 right_yaw=0.0676 right_pitch=-0.0851 right_roll=-0.1612 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -2.6051, 6.5573, 1.3309, -0.0806, -0.0269, -0.0073, -0.0615, -2.2906, 8.9231, 1.6874, 0.0415, -0.022, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98c0be63cf7fc0761426c92a543f00906a1beeb98c8e4f477a9c0bc8a3af1ec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eac26ecc6a3c0181a3c378dc2b70dbdeded2c2192d662c8473361a899dbe2dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4cd182572280fd63654a87b1722b13f3d175f1a716613e21f1967d099f09fa01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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