adhoc

completed
2026-09-22T22:14:43.551826+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
606.5 s
total steps
267
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls sit in a row across the table. I'm moving the left arm up and forward toward the leftmost bowl to get a clear wrist-camera view and calibrate its position before grasping its rim.
move_to
left_x0.4200left_y-0.1200left_z0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7948, 0.6048, -0.3801, -0.0196, -0.0296, 0.9995, -0.0219, 0.7925, 0.6018, -0.379, -0.0135, -0.02, 0.9967] state[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1801 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2945 right_y=-0.0005 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9967 state[joint_eff]: [-0.4034, -1.5521, 10.1265, 1.7656, -0.0366, 0.1343, -0.0659, -0.3624, -1.3333, 10.2769, 1.9072, -0.1099, 0.0659, -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": {"left_x": 0.42, "left_y": -0.12, "left_z": 0.25, "left_gripper": 1}, "note": "Three bowls sit in a row across the table. I'm moving the left arm up and forward toward the leftmost bowl to get a clear wrist-camera view and calibrate its position before grasping its rim."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe left arm is now just short of the leftmost (white/blue) bowl, whose centre I estimate at left_x≈0.45, left_y≈-0.065. I'm moving to hover over the bowl's left-side rim so the jaws can straddle the rim wall.
move_to
left_x0.4500left_y0.0100left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4225, 1.433, 1.2037, -0.4145, -0.3351, -0.252, 0.9995, -0.0216, 0.7971, 0.6003, -0.3893, -0.0166, -0.0204, 0.9964] state[eef_state]: left_x=0.4134 left_y=-0.1182 left_z=0.2342 left_yaw=-0.0193 left_pitch=-0.0327 left_roll=0.0056 left_gripper=0.9995 right_x=0.2933 right_y=0.0002 right_z=0.1755 right_yaw=0.0032 right_pitch=-0.0164 right_roll=0.0017 right_gripper=0.9964 state[joint_eff]: [-0.3487, -6.9402, 8.6632, 1.619, -0.2076, -0.0073, -0.0659, -0.0752, -1.4974, 7.1726, 1.7998, -0.0415, -0.0366, -0.0415] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": 0.01, "left_z": 0.15}, "note": "The left arm is now just short of the leftmost (white/blue) bowl, whose centre I estimate at left_x\u22480.45, left_y\u2248-0.065. I'm moving to hover over the bowl's left-side rim so the jaws can straddle the rim wall."})
tool
executing move_to over 12 steps (1.2s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteWrist view shows the white bowl just right of the jaw column at the bottom edge, i.e. essentially under the fingertips. Shifting 1.5 cm right and descending to rim height so the open jaws straddle the bowl's left rim wall.
move_to
left_y-0.0050left_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.0116, 1.52, 0.9493, -0.0715, -0.012, -0.0242, 0.9994, -0.0219, 0.7979, 0.6003, -0.3927, -0.0166, -0.0204, 0.9964] state[eef_state]: left_x=0.4428 left_y=0.0109 left_z=0.1462 left_yaw=0.022 left_pitch=-0.0722 left_roll=0.0011 left_gripper=0.9994 right_x=0.2928 right_y=0.0001 right_z=0.1746 right_yaw=0.0028 right_pitch=-0.0206 right_roll=0.0018 right_gripper=0.9964 state[joint_eff]: [0.3214, -6.2701, 6.7624, 1.8828, 0.1929, 0.0855, -0.022, -0.0342, -1.306, 7.0222, 1.7558, -0.0513, -0.0513, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.005, "left_z": 0.04}, "note": "Wrist view shows the white bowl just right of the jaw column at the bottom edge, i.e. essentially under the fingertips. Shifting 1.5 cm right and descending to rim height so the open jaws straddle the bowl's left rim wall."})
tool
executing move_to over 7 steps (0.7s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteGripper is down at rim height beside the white bowl's left wall; closing to pinch the rim and then I'll check the settled opening to see whether I caught the ~0.5 cm wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0334, 1.7466, 0.73, 0.3099, -0.0467, -0.049, 0.9994, -0.0219, 0.7986, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.4339 left_y=-0.0026 left_z=0.0352 left_yaw=0.0201 left_pitch=-0.1358 left_roll=0.0055 left_gripper=0.9994 right_x=0.2928 right_y=0.0 right_z=0.1741 right_yaw=0.0025 right_pitch=-0.0221 right_roll=0.0017 right_gripper=0.9964 state[joint_eff]: [-0.7726, -7.3504, 4.9709, 1.8584, -0.1001, -0.0611, -0.0122, -0.0615, -1.2923, 7.0496, 1.7265, -0.022, -0.0415, -0.0122] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Gripper is down at rim height beside the white bowl's left wall; closing to pinch the rim and then I'll check the settled opening to see whether I caught the ~0.5 cm wall."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe close came back empty (0.028), and the wrist view shows the bowl's left rim edge about 3 cm to the right of the jaws. Reopening and shifting 3 cm right so the rim wall sits between the fingers.
move_to
left_gripper1.0000left_y-0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0368, 1.7466, 0.7197, 0.3305, -0.041, -0.0673, 0.0277, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964] state[eef_state]: left_x=0.4337 left_y=-0.0051 left_z=0.0353 left_yaw=0.0217 left_pitch=-0.1257 left_roll=-0.0129 left_gripper=0.0277 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0028 right_pitch=-0.0221 right_roll=0.0019 right_gripper=0.9964 state[joint_eff]: [0.212, -7.4325, 6.5162, 1.3602, -0.105, 0.2759, 1.8291, -0.0889, -1.2376, 7.0359, 1.7363, -0.0611, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_y": -0.035}, "note": "The close came back empty (0.028), and the wrist view shows the bowl's left rim edge about 3 cm to the right of the jaws. Reopening and shifting 3 cm right so the rim wall sits between the fingers."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe bowl's left rim now appears to run between the two fingers in the wrist view; closing to pinch the rim wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1314, 1.7466, 0.7216, 0.3176, -0.107, -0.1287, 0.9944, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964] state[eef_state]: left_x=0.4307 left_y=-0.0343 left_z=0.0341 left_yaw=0.0165 left_pitch=-0.1326 left_roll=-0.0164 left_gripper=0.9944 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0032 right_pitch=-0.0221 right_roll=0.0019 right_gripper=0.9964 state[joint_eff]: [-0.6632, -7.1726, 6.3248, 1.6239, -0.1636, 0.0513, -0.0513, -0.0889, -1.2376, 7.1726, 1.7705, -0.0611, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The bowl's left rim now appears to run between the two fingers in the wrist view; closing to pinch the rim wall."})
tool
executing move_to over 10 steps (1.0s)
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 noteGripper settled at 0.038, which is borderline between empty and a thin rim. Lifting 8 cm to see in the overhead view whether the bowl comes with it.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1341, 1.7428, 0.7216, 0.3325, -0.1024, -0.1417, 0.038, -0.0216, 0.7986, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.4332 left_y=-0.0366 left_z=0.0385 left_yaw=0.0167 left_pitch=-0.1147 left_roll=-0.0322 left_gripper=0.038 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0028 right_pitch=-0.0221 right_roll=0.0017 right_gripper=0.9964 state[joint_eff]: [0.1026, -7.0496, 5.641, 1.2674, -0.0855, 0.3785, 1.3211, -0.1846, -1.2923, 7.0359, 1.7216, -0.0464, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Gripper settled at 0.038, which is borderline between empty and a thin rim. Lifting 8 cm to see in the overhead view whether the bowl comes with it."})
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 noteThe bowl did not lift, so that close was empty or slipped. Reopening and repositioning 1.5 cm left (between my two previous tries) at rim height for another pinch attempt on the bowl's left rim wall.
move_to
left_gripper1.0000left_y-0.0200left_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1341, 1.5772, 0.8516, 0.0132, -0.1059, -0.1471, 0.041, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.02, 0.9964] state[eef_state]: left_x=0.43 left_y=-0.0356 left_z=0.0978 left_yaw=0.023 left_pitch=-0.1378 left_roll=-0.0305 left_gripper=0.041 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=0.003 right_pitch=-0.0259 right_roll=0.0023 right_gripper=0.9964 state[joint_eff]: [-0.1026, -9.0188, 9.2103, 1.6142, -0.0513, -0.0073, 0.9402, -0.0479, -1.4291, 7.1316, 1.7216, -0.0171, -0.022, -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": {"left_gripper": 1.0, "left_y": -0.02, "left_z": 0.05}, "note": "The bowl did not lift, so that close was empty or slipped. Reopening and repositioning 1.5 cm left (between my two previous tries) at rim height for another pinch attempt on the bowl's left rim wall."})
tool
executing move_to over 10 steps (1.0s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteJaws now appear to straddle the bowl's left rim in the wrist view; closing firmly on the rim wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0872, 1.6802, 0.7498, 0.1925, -0.0769, -0.1242, 0.9946, -0.0219, 0.8028, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.4254 left_y=-0.02 left_z=0.0483 left_yaw=0.0333 left_pitch=-0.1655 left_roll=-0.0288 left_gripper=0.9946 right_x=0.293 right_y=0.0 right_z=0.173 right_yaw=0.0025 right_pitch=-0.0263 right_roll=0.0018 right_gripper=0.9964 state[joint_eff]: [0.4581, -6.694, 5.6547, 1.8779, 0.0757, 0.0904, 0.0513, -0.0615, -1.1282, 7.0222, 1.6825, -0.0269, -0.0562, -0.0171] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws now appear to straddle the bowl's left rim in the wrist view; closing firmly on the rim wall."})
tool
executing move_to over 10 steps (1.0s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThat close read 0.017 (empty) — jaws are still just outside the bowl wall. Reopening and stepping 3 cm further right so the rim wall falls between the fingers.
move_to
left_gripper1.0000left_y-0.0480
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0849, 1.6886, 0.7467, 0.1917, -0.0784, -0.1314, 0.0171, -0.0219, 0.8036, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.4238 left_y=-0.0186 left_z=0.0437 left_yaw=0.0411 left_pitch=-0.1776 left_roll=-0.0317 left_gripper=0.0171 right_x=0.2931 right_y=0.0 right_z=0.1727 right_yaw=0.0025 right_pitch=-0.027 right_roll=0.0018 right_gripper=0.9964 state[joint_eff]: [-0.3214, -8.1573, 5.9419, 1.5995, -0.0415, 0.1294, 1.0965, -0.2256, -1.3197, 7.0359, 1.7607, -0.0122, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_y": -0.048}, "note": "That close read 0.017 (empty) \u2014 jaws are still just outside the bowl wall. Reopening and stepping 3 cm further right so the rim wall falls between the fingers."})
tool
executing move_to over 10 steps (1.0s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteWrist view now shows the bowl's left rim passing between the two open fingers, with the right finger over the bowl interior; closing on the rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1776, 1.6917, 0.7467, 0.1764, -0.1364, -0.1947, 0.9943, -0.0216, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.4185 left_y=-0.0471 left_z=0.0405 left_yaw=0.0331 left_pitch=-0.1899 left_roll=-0.0355 left_gripper=0.9943 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0028 right_pitch=-0.0282 right_roll=0.0018 right_gripper=0.9964 state[joint_eff]: [-0.5265, -6.3658, 7.1863, 1.5751, -0.1587, 0.022, 0.0562, -0.1162, -1.3744, 7.1179, 1.707, -0.022, -0.0366, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Wrist view now shows the bowl's left rim passing between the two open fingers, with the right finger over the bowl interior; closing on the rim."})
tool
executing move_to over 10 steps (1.0s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteAnother empty close; the bowl still sits right of the jaws. Backing up to hover 15 cm above my best guess of the bowl centre so I can see the whole bowl in the wrist view and measure its centre properly.
move_to
left_gripper1.0000left_y-0.1000left_z0.1500left_x0.4400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1818, 1.6936, 0.7467, 0.1783, -0.1295, -0.2066, 0.022, -0.0216, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.4184 left_y=-0.0501 left_z=0.0399 left_yaw=0.0296 left_pitch=-0.1911 left_roll=-0.049 left_gripper=0.022 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0028 right_pitch=-0.0282 right_roll=0.0018 right_gripper=0.9964 state[joint_eff]: [0.212, -7.4325, 5.8051, 1.4676, -0.0757, 0.0855, 0.9109, -0.0068, -1.0051, 7.1179, 1.7265, -0.0317, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_y": -0.1, "left_z": 0.15, "left_x": 0.44}, "note": "Another empty close; the bowl still sits right of the jaws. Backing up to hover 15 cm above my best guess of the bowl centre so I can see the whole bowl in the wrist view and measure its centre properly."})
tool
executing move_to over 10 steps (1.0s)
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 noteFrom the hover view the white bowl is centred on the jaw column at about left_y=-0.10, left_x≈0.42, roughly 12 cm across. Dropping down onto its left rim (y=-0.038, i.e. one radius left of centre) for a rim pinch.
move_to
left_x0.4200left_y-0.0380left_z0.0320
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3145, 1.6398, 1.1118, -0.2829, -0.2127, -0.3046, 0.9943, -0.0216, 0.8043, 0.5999, -0.3927, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.4381 left_y=-0.0995 left_z=0.128 left_yaw=0.0236 left_pitch=-0.2182 left_roll=-0.0507 left_gripper=0.9943 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0028 right_pitch=-0.0274 right_roll=0.0018 right_gripper=0.9964 state[joint_eff]: [-0.3624, -9.9624, 8.841, 1.4725, -0.2759, 0.105, 0.0366, -0.0752, -1.3197, 7.0085, 1.7167, -0.0562, -0.0562, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.038, "left_z": 0.032}, "note": "From the hover view the white bowl is centred on the jaw column at about left_y=-0.10, left_x\u22480.42, roughly 12 cm across. Dropping down onto its left rim (y=-0.038, i.e. one radius left of centre) for a rim pinch."})
tool
executing move_to over 7 steps (0.7s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteWrist view shows the bowl wall about 3 cm right of the jaws at this low height — the bowl is tapered, so its wall at z=3 cm is well inside the rim radius. Shifting right so the wall sits between the fingers.
move_to
left_y-0.0680
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.149, 1.7016, 0.7738, 0.0769, -0.112, -0.2058, 0.9949, -0.0219, 0.8062, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.4103 left_y=-0.038 left_z=0.0291 left_yaw=0.0509 left_pitch=-0.2743 left_roll=-0.0439 left_gripper=0.9949 right_x=0.2932 right_y=0.0 right_z=0.1719 right_yaw=0.0025 right_pitch=-0.0301 right_roll=0.0019 right_gripper=0.9964 state[joint_eff]: [0.253, -6.9402, 5.8735, 1.8632, -0.0171, 0.1245, 0.0611, -0.0615, -1.4291, 7.0632, 1.7411, -0.0659, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.068}, "note": "Wrist view shows the bowl wall about 3 cm right of the jaws at this low height \u2014 the bowl is tapered, so its wall at z=3 cm is well inside the rim radius. Shifting right so the wall sits between the fingers."})
tool
executing move_to over 3 steps (0.3s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe bowl wall now lines up with the jaw column in the wrist view; closing to pinch the wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2356, 1.7187, 0.7685, 0.0822, -0.1474, -0.252, 0.995, -0.0219, 0.8082, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964] state[eef_state]: left_x=0.4041 left_y=-0.0666 left_z=0.022 left_yaw=0.022 left_pitch=-0.2859 left_roll=-0.0443 left_gripper=0.995 right_x=0.2934 right_y=0.0001 right_z=0.1715 right_yaw=0.0028 right_pitch=-0.0316 right_roll=0.0021 right_gripper=0.9964 state[joint_eff]: [1.1145, -7.4462, 8.4034, 1.4188, -0.2662, 0.0269, -0.0024, -0.1436, -1.306, 7.0085, 1.7411, -0.0757, -0.0317, -0.0122] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The bowl wall now lines up with the jaw column in the wrist view; closing to pinch the wall."})
tool
executing move_to over 10 steps (1.0s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteEmpty again, and I realise my sideways moves at low height have been nudging the bowl. Lifting straight up to 16 cm to re-locate the bowl centre from above before trying a full-width grip on the bowl's narrow lower part.
move_to
left_gripper1.0000left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2394, 1.713, 0.775, 0.0998, -0.1387, -0.2707, 0.0231, -0.0219, 0.8097, 0.5999, -0.3939, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.4094 left_y=-0.0711 left_z=0.0292 left_yaw=0.019 left_pitch=-0.2594 left_roll=-0.0718 left_gripper=0.0231 right_x=0.2933 right_y=0.0 right_z=0.1709 right_yaw=0.0025 right_pitch=-0.0339 right_roll=0.0019 right_gripper=0.9964 state[joint_eff]: [0.253, -6.694, 5.3265, 0.8669, -0.1538, 0.1197, 1.033, -0.0889, -1.4427, 7.0359, 1.7167, -0.0415, -0.0464, -0.0122] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.16}, "note": "Empty again, and I realise my sideways moves at low height have been nudging the bowl. Lifting straight up to 16 cm to re-locate the bowl centre from above before trying a full-width grip on the bowl's narrow lower part."})
tool
executing move_to over 10 steps (1.0s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteFrom above, the bowl centre reads about left_y=-0.10, left_x≈0.42. Moving there at a safe 14 cm height, planning to descend and close the jaws around the bowl's narrow lower body (~7 cm wide) rather than pinching the rim.
move_to
left_y-0.1010left_x0.4200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2394, 1.5253, 1.0817, -0.4156, -0.1394, -0.2806, 0.9947, -0.0216, 0.8101, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964] state[eef_state]: left_x=0.4099 left_y=-0.0711 left_z=0.1393 left_yaw=0.0267 left_pitch=-0.2798 left_roll=-0.0724 left_gripper=0.9947 right_x=0.2935 right_y=0.0002 right_z=0.171 right_yaw=0.0032 right_pitch=-0.0335 right_roll=0.0022 right_gripper=0.9964 state[joint_eff]: [-0.1846, -8.8, 9.0051, 1.326, -0.1343, 0.0659, -0.1099, -0.0615, -1.3607, 7.0085, 1.707, -0.0513, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.101, "left_x": 0.42}, "note": "From above, the bowl centre reads about left_y=-0.10, left_x\u22480.42. Moving there at a safe 14 cm height, planning to descend and close the jaws around the bowl's narrow lower body (~7 cm wide) rather than pinching the rim."})
tool
executing move_to over 3 steps (0.3s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteBowl still reads ~2 cm right of the jaw midline; nudging right and dropping to 7 cm, staying above the rim so I don't knock the bowl.
move_to
left_y-0.1150left_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.308, 1.5829, 1.1145, -0.4458, -0.1688, -0.3214, 0.9956, -0.0216, 0.8116, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.4084 left_y=-0.095 left_z=0.1256 left_yaw=0.0114 left_pitch=-0.3272 left_roll=-0.0604 left_gripper=0.9956 right_x=0.2935 right_y=0.0001 right_z=0.1705 right_yaw=0.0029 right_pitch=-0.0354 right_roll=0.002 right_gripper=0.9964 state[joint_eff]: [-0.3214, -7.6786, 9.853, 1.536, -0.2857, -0.0513, 0.0806, -0.0752, -1.4701, 7.0359, 1.707, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.115, "left_z": 0.07}, "note": "Bowl still reads ~2 cm right of the jaw midline; nudging right and dropping to 7 cm, staying above the rim so I don't knock the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe last command undershot badly (z stayed at 0.12), so I'm re-commanding the descent explicitly with pitch levelled: down to 3.5 cm just left of the bowl centre, ready to close the jaws around the bowl's lower body.
move_to
left_x0.4100left_y-0.1150left_z0.0350left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3256, 1.6012, 1.1221, -0.4412, -0.1848, -0.3416, 0.9957, -0.0216, 0.8116, 0.5999, -0.3935, -0.0162, -0.02, 0.9964] state[eef_state]: left_x=0.4102 left_y=-0.1004 left_z=0.1224 left_yaw=0.0199 left_pitch=-0.3294 left_roll=-0.0589 left_gripper=0.9957 right_x=0.2935 right_y=0.0001 right_z=0.1705 right_yaw=0.0026 right_pitch=-0.0354 right_roll=0.0023 right_gripper=0.9964 state[joint_eff]: [-0.1299, -8.1573, 9.0051, 1.4628, -0.2173, -0.0611, -0.0024, -0.0479, -1.3333, 7.0222, 1.7118, -0.0317, -0.0317, -0.0122] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.115, "left_z": 0.035, "left_pitch": 0.0}, "note": "The last command undershot badly (z stayed at 0.12), so I'm re-commanding the descent explicitly with pitch levelled: down to 3.5 cm just left of the bowl centre, ready to close the jaws around the bowl's lower body."})
tool
executing move_to over 11 steps (1.1s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe arm dropped all the way to the table and the wrist view is filled by the bowl surface — I may have knocked it. Lifting straight up to 18 cm to see the scene.
move_to
left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4191, 1.7298, 0.646, 0.2115, -0.3016, -0.3527, 0.9957, -0.0219, 0.8158, 0.5983, -0.3931, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.3727 left_y=-0.1047 left_z=0.0015 left_yaw=0.0253 left_pitch=-0.2501 left_roll=0.002 left_gripper=0.9957 right_x=0.2936 right_y=0.0 right_z=0.1687 right_yaw=0.0025 right_pitch=-0.0408 right_roll=0.0021 right_gripper=0.9964 state[joint_eff]: [-0.1983, -4.6427, 3.6855, 0.8181, -0.2222, 0.3199, -0.0073, -0.1983, -1.5111, 7.2137, 1.7118, -0.0562, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.18}, "note": "The arm dropped all the way to the table and the wrist view is filled by the bowl surface \u2014 I may have knocked it. Lifting straight up to 18 cm to see the scene."})
tool
executing move_to over 12 steps (1.2s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteSide pinches keep sliding off the sloped wall, so I'll first measure the rim height: closing the jaws and positioning them 10 cm above the bowl's left rim, then I'll descend until contact to read off the rim's z.
move_to
left_gripper0.0000left_x0.4200left_y-0.0450left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4179, 1.4326, 1.0832, -0.5285, -0.3077, -0.3641, 0.9957, -0.0219, 0.8181, 0.5957, -0.3962, -0.0166, -0.0204, 0.9964] state[eef_state]: left_x=0.3766 left_y=-0.1048 left_z=0.1627 left_yaw=0.0384 left_pitch=-0.2532 left_roll=0.0009 left_gripper=0.9957 right_x=0.2929 right_y=0.0001 right_z=0.1663 right_yaw=0.0028 right_pitch=-0.0488 right_roll=0.0025 right_gripper=0.9964 state[joint_eff]: [-0.2803, -7.8017, 8.9641, 1.3602, -0.1294, 0.1001, -0.0171, -0.1846, -1.5521, 7.241, 1.7607, -0.0708, -0.0366, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0, "left_x": 0.42, "left_y": -0.045, "left_z": 0.1}, "note": "Side pinches keep sliding off the sloped wall, so I'll first measure the rim height: closing the jaws and positioning them 10 cm above the bowl's left rim, then I'll descend until contact to read off the rim's z."})
tool
executing move_to over 10 steps (1.0s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteRe-reading the wrist view: these bowls are only ~7 cm across, which fits inside the 9.5 cm jaw stroke. Opening wide and centring over the bowl at 9 cm height, ready to drop down and grip the whole bowl body.
move_to
left_gripper1.0000left_x0.4200left_y-0.1000left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1867, 1.5719, 0.9619, -0.2691, -0.1719, -0.2092, 0.0084, -0.0216, 0.8181, 0.5953, -0.3965, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.4103 left_y=-0.0431 left_z=0.0969 left_yaw=0.0687 left_pitch=-0.2916 left_roll=0.0066 left_gripper=0.0084 right_x=0.2928 right_y=0.0001 right_z=0.166 right_yaw=0.0029 right_pitch=-0.0495 right_roll=0.0023 right_gripper=0.9964 state[joint_eff]: [0.3077, -6.5573, 6.2701, 1.8584, 0.0562, 0.0757, 0.6129, -0.0342, -1.3744, 7.2, 1.7118, -0.0464, -0.0317, -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_gripper": 1.0, "left_x": 0.42, "left_y": -0.1, "left_z": 0.09}, "note": "Re-reading the wrist view: these bowls are only ~7 cm across, which fits inside the 9.5 cm jaw stroke. Opening wide and centring over the bowl at 9 cm height, ready to drop down and grip the whole bowl body."})
tool
executing move_to over 10 steps (1.0s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteThe open jaws almost straddle the bowl but it sits slightly right and beyond the fingertips; shifting 1.5 cm right and 3 cm forward at constant height to centre the bowl between the jaws.
move_to
left_x0.4400left_y-0.1120
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3485, 1.6672, 1.0107, -0.284, -0.2604, -0.334, 0.9952, -0.0216, 0.8204, 0.5949, -0.4118, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.4097 left_y=-0.0966 left_z=0.0784 left_yaw=0.0595 left_pitch=-0.3258 left_roll=0.0134 left_gripper=0.9952 right_x=0.2907 right_y=0.0002 right_z=0.1622 right_yaw=0.0029 right_pitch=-0.0675 right_roll=0.0028 right_gripper=0.9964 state[joint_eff]: [-0.4581, -7.2137, 9.6068, 1.4188, -0.2808, 0.0122, -0.1197, -0.0479, -1.5932, 7.1179, 1.8486, -0.0122, -0.0855, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.112}, "note": "The open jaws almost straddle the bowl but it sits slightly right and beyond the fingertips; shifting 1.5 cm right and 3 cm forward at constant height to centre the bowl between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteBowl now sits between the open jaws but about 1-2 cm right of the jaw midline, and it's ~8 cm wide versus the 9.5 cm stroke, so centring matters; nudging 1 cm right before descending.
move_to
left_y-0.1170
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3557, 1.776, 1.1126, -0.3096, -0.2626, -0.3416, 0.9957, -0.0216, 0.8234, 0.5945, -0.416, -0.0166, -0.0204, 0.9964] state[eef_state]: left_x=0.429 left_y=-0.1066 left_z=0.0681 left_yaw=0.0632 left_pitch=-0.3547 left_roll=0.0241 left_gripper=0.9957 right_x=0.2901 right_y=0.0003 right_z=0.1603 right_yaw=0.0032 right_pitch=-0.0751 right_roll=0.0032 right_gripper=0.9964 state[joint_eff]: [-0.6496, -9.1556, 8.2393, 1.3162, -0.232, -0.0708, 0.0415, -0.0615, -1.3197, 7.0085, 1.6972, -0.0366, -0.0317, -0.0122] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.117}, "note": "Bowl now sits between the open jaws but about 1-2 cm right of the jaw midline, and it's ~8 cm wide versus the 9.5 cm stroke, so centring matters; nudging 1 cm right before descending."})
tool
executing move_to over 1 steps (0.1s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteJaws are straddling the white bowl; descending vertically to 1.5 cm so the fingers surround the narrower lower body of the bowl.
move_to
left_z0.0150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3576, 1.7924, 1.1259, -0.3141, -0.2626, -0.3416, 0.9957, -0.0216, 0.823, 0.5945, -0.416, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.431 left_y=-0.1083 left_z=0.0654 left_yaw=0.0624 left_pitch=-0.3617 left_roll=0.0274 left_gripper=0.9957 right_x=0.2901 right_y=0.0002 right_z=0.1604 right_yaw=0.0029 right_pitch=-0.0747 right_roll=0.0029 right_gripper=0.9964 state[joint_eff]: [-0.1983, -9.1829, 8.4855, 1.326, -0.2418, -0.0952, 0.0415, -0.1162, -1.5932, 7.0359, 1.6874, -0.0415, -0.0269, -0.0122] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.015}, "note": "Jaws are straddling the white bowl; descending vertically to 1.5 cm so the fingers surround the narrower lower body of the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 204
assistant
agent noteJaws are down around the bowl's lower body; closing to about 1.4 cm gap to squeeze the bowl without crushing it.
move_to
left_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3531, 1.8664, 1.0451, -0.1642, -0.2653, -0.3576, 0.9952, -0.0219, 0.8249, 0.5945, -0.4194, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.4307 left_y=-0.1055 left_z=0.0257 left_yaw=0.0793 left_pitch=-0.365 left_roll=0.0216 left_gripper=0.9952 right_x=0.2897 right_y=0.0001 right_z=0.1593 right_yaw=0.0025 right_pitch=-0.0801 right_roll=0.0031 right_gripper=0.9964 state[joint_eff]: [-0.3897, -6.8034, 4.4376, 1.16, -0.1197, 0.1343, -0.0757, -0.1026, -1.5111, 7.1043, 1.6679, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.15}, "note": "Jaws are down around the bowl's lower body; closing to about 1.4 cm gap to squeeze the bowl without crushing it."})
tool
executing move_to over 9 steps (0.9s)
step 213
assistant
agent noteThe jaws actually went down inside the bowl (closing met no resistance), so the bowl is wider than the stroke. New plan: open the jaws fully while inside the bowl so they press outward on the interior walls for a friction grip.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3534, 1.8709, 1.0412, -0.1684, -0.2623, -0.3637, 0.1551, -0.0216, 0.8249, 0.5945, -0.4194, -0.0166, -0.0204, 0.9964] state[eef_state]: left_x=0.4281 left_y=-0.1053 left_z=0.0218 left_yaw=0.0819 left_pitch=-0.3774 left_roll=0.0209 left_gripper=0.1551 right_x=0.2897 right_y=0.0003 right_z=0.1593 right_yaw=0.0032 right_pitch=-0.08 right_roll=0.0033 right_gripper=0.9964 state[joint_eff]: [-0.0205, -9.4017, 6.2291, 1.3162, -0.1294, 0.0464, -0.0513, -0.0342, -1.4154, 6.9675, 1.6386, -0.0464, -0.0171, -0.0122] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The jaws actually went down inside the bowl (closing met no resistance), so the bowl is wider than the stroke. New plan: open the jaws fully while inside the bowl so they press outward on the interior walls for a friction grip."})
tool
executing move_to over 9 steps (0.9s)
step 222
assistant
agent noteFully open jaws inside the bowl met no wall, so the bowl really is ~13 cm across and only a rim pinch will work. Lifting the closed jaws out of the bowl so I can probe the rim height next.
move_to
left_z0.0900left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3534, 1.8633, 1.0435, -0.1551, -0.2623, -0.371, 0.995, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0204, 0.9964] state[eef_state]: left_x=0.432 left_y=-0.1067 left_z=0.0276 left_yaw=0.0823 left_pitch=-0.3562 left_roll=0.0058 left_gripper=0.995 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0032 right_pitch=-0.0831 right_roll=0.0034 right_gripper=0.9964 state[joint_eff]: [-0.1436, -8.3624, 6.1607, 1.0232, -0.1441, 0.0513, -0.1294, -0.0068, -1.347, 6.9949, 1.663, -0.0855, -0.0269, -0.0122] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.09, "left_gripper": 0.0}, "note": "Fully open jaws inside the bowl met no wall, so the bowl really is ~13 cm across and only a rim pinch will work. Lifting the closed jaws out of the bowl so I can probe the rim height next."})
tool
executing move_to over 10 steps (1.0s)
step 232
assistant
agent noteMoving the closed jaws up and out to sit above the bowl's left rim (y=-0.04), from where I will descend until contact to measure the rim's height.
move_to
left_y-0.0400left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3534, 1.7943, 1.1481, -0.382, -0.2623, -0.3832, 0.009, -0.0219, 0.8295, 0.5945, -0.4225, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.4247 left_y=-0.1041 left_z=0.0638 left_yaw=0.0986 left_pitch=-0.4043 left_roll=0.0228 left_gripper=0.009 right_x=0.2894 right_y=0.0001 right_z=0.1574 right_yaw=0.0025 right_pitch=-0.0877 right_roll=0.0033 right_gripper=0.9964 state[joint_eff]: [-0.1983, -11.7128, 9.0598, 1.2821, -0.1441, 0.1148, 0.5592, -0.0479, -1.6205, 6.9812, 1.6337, -0.0366, -0.0806, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.04, "left_z": 0.12}, "note": "Moving the closed jaws up and out to sit above the bowl's left rim (y=-0.04), from where I will descend until contact to measure the rim's height."})
tool
executing move_to over 6 steps (0.6s)
step 238
assistant
agent noteClosed jaws are right at the bowl's left rim edge in the wrist view; descending to see at what height they contact the rim.
move_to
left_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1833, 1.7023, 1.1873, -0.5278, -0.1864, -0.2695, 0.011, -0.0219, 0.8299, 0.5945, -0.4225, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.4197 left_y=-0.0409 left_z=0.0949 left_yaw=0.1378 left_pitch=-0.4444 left_roll=0.0305 left_gripper=0.011 right_x=0.2895 right_y=0.0001 right_z=0.1573 right_yaw=0.0025 right_pitch=-0.0881 right_roll=0.0033 right_gripper=0.9964 state[joint_eff]: [0.3761, -10.7692, 9.2103, 1.2772, -0.0366, 0.1929, 0.1929, -0.1299, -1.4427, 7.0085, 1.6435, -0.0562, -0.0464, -0.0122] 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": {"left_z": 0.02}, "note": "Closed jaws are right at the bowl's left rim edge in the wrist view; descending to see at what height they contact the rim."})
tool
executing move_to over 5 steps (0.5s)
step 243
assistant
agent noteThe closed jaws reached table level 3.9 cm left of the bowl without touching it, so the bowl's outer wall is near left_y=-0.07. Rising and opening the jaws directly above that rim point for a rim pinch.
move_to
left_y-0.0720left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1825, 1.8118, 1.0134, -0.3183, -0.1802, -0.2592, 0.0124, -0.0219, 0.8307, 0.5945, -0.4225, -0.0166, -0.02, 0.9964] state[eef_state]: left_x=0.4036 left_y=-0.0386 left_z=0.0157 left_yaw=0.139 left_pitch=-0.5166 left_roll=0.0568 left_gripper=0.0124 right_x=0.2895 right_y=0.0002 right_z=0.1571 right_yaw=0.0027 right_pitch=-0.0888 right_roll=0.0038 right_gripper=0.9964 state[joint_eff]: [-0.2667, -8.0615, 6.0786, 1.3358, -0.2271, -0.1197, 0.1343, -0.1026, -1.4974, 6.9675, 1.7118, -0.0415, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.072, "left_z": 0.1, "left_gripper": 1.0}, "note": "The closed jaws reached table level 3.9 cm left of the bowl without touching it, so the bowl's outer wall is near left_y=-0.07. Rising and opening the jaws directly above that rim point for a rim pinch."})
tool
executing move_to over 10 steps (1.0s)
step 253
assistant
agent noteOpen jaws now appear to straddle the bowl's left rim; descending to 4 cm so the fingertips drop just below the rim edge.
move_to
left_z0.0420
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2756, 1.7496, 1.2282, -0.6449, -0.2104, -0.3466, 0.9949, -0.0219, 0.8307, 0.5945, -0.4225, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.4005 left_y=-0.0712 left_z=0.0787 left_yaw=0.1387 left_pitch=-0.55 left_roll=0.0615 left_gripper=0.9949 right_x=0.2895 right_y=0.0001 right_z=0.1571 right_yaw=0.0026 right_pitch=-0.0888 right_roll=0.0033 right_gripper=0.9964 state[joint_eff]: [-0.5949, -10.8376, 8.7179, 0.9206, -0.2662, 0.0171, -0.0757, -0.0615, -1.2513, 7.0496, 1.6337, -0.0708, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": {"left_z": 0.042}, "note": "Open jaws now appear to straddle the bowl's left rim; descending to 4 cm so the fingertips drop just below the rim edge."})
tool
executing move_to over 3 steps (0.3s)
step 256
assistant
agent noteFingertips are at rim height with the rim apparently between them; closing to pinch the rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2806, 1.7786, 1.1519, -0.5632, -0.21, -0.3489, 0.9957, -0.0216, 0.8307, 0.5945, -0.4225, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.3939 left_y=-0.0715 left_z=0.0499 left_yaw=0.1409 left_pitch=-0.5717 left_roll=0.0713 left_gripper=0.9957 right_x=0.2895 right_y=0.0002 right_z=0.1571 right_yaw=0.0029 right_pitch=-0.0888 right_roll=0.0033 right_gripper=0.9964 state[joint_eff]: [0.335, -7.8564, 6.3248, 1.2137, -0.0952, 0.0024, 0.0611, -0.0752, -1.4154, 7.0085, 1.6337, -0.0562, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Fingertips are at rim height with the rim apparently between them; closing to pinch the rim."})
tool
executing move_to over 10 steps (1.0s)
step 266
assistant
agent noteI could not get a reliable grasp on any bowl within the call budget. The bowls are ~13 cm wide (wider than the 9.5 cm jaw stroke), so only a rim pinch is possible, and every pinch attempt (eight of them, spanning left_y = -0.005 to -0.073 and z = 0.02 to 0.05) closed empty (gripper settling at 0.017-0.04) or slipped off the sloped wall. My lateral position estimates from the wrist camera were repeatedly ~3 cm short, and low-height sideways moves nudged the bowl, so the target kept moving.
give_up
hindsightConcrete lessons from this trial: (1) The three bowls sat at roughly left_x ≈ 0.40-0.43 with centres near left_y ≈ -0.14 (white), ≈ -0.30 (purple, on the centre line) and right_y ≈ +0.11 (pink); the outer bowl centres are ~0.45 m apart. (2) The bowls are ~13 cm in diameter and ~5 cm tall — WIDER than the 9.5 cm gripper stroke, so they can never be grasped across the body; only a rim pinch (one finger inside, one outside, fingertips within ~5 mm below the rim top) can work, and that needs both y and z to ~5 mm accuracy. (3) Wrist-camera pixel scale estimates in this configuration were badly unreliable (I derived 12 px/cm from a 2.35 cm move but the true lateral offsets were ~2x larger); a much better probe is to move the CLOSED jaws down at a candidate y and see whether the descent stalls (contact = rim) or reaches the table (no bowl there). That single probe finally told me the bowl's outer wall was near left_y = -0.07 rather than -0.04. (4) Any sideways move below ~6 cm height pushes the bowl, so always lift to z >= 0.10 before translating. (5) The controller often undershoots badly (a commanded z=0.07 left the tool at 0.12, then a re-commanded descent overshot to the table), and left_pitch drifted to -0.59 unbidden, changing the fingertip geometry; re-command explicit absolute targets and check pitch. (6) Budget: probing geometry this way costs many calls — plan on using the contact probe first, not image estimates.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.281, 1.792, 1.1389, -0.5507, -0.1944, -0.3649, 0.0215, -0.0219, 0.8307, 0.5945, -0.4225, -0.0162, -0.0204, 0.9964] state[eef_state]: left_x=0.3911 left_y=-0.0736 left_z=0.0413 left_yaw=0.1401 left_pitch=-0.5895 left_roll=0.0543 left_gripper=0.0215 right_x=0.2895 right_y=0.0001 right_z=0.1571 right_yaw=0.0026 right_pitch=-0.0888 right_roll=0.0033 right_gripper=0.9964 state[joint_eff]: [-0.1299, -8.4855, 6.5846, 0.7546, -0.5641, 0.1294, 0.9011, -0.0889, -1.4291, 7.1316, 1.6728, -0.0464, -0.0659, -0.0122] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I could not get a reliable grasp on any bowl within the call budget. The bowls are ~13 cm wide (wider than the 9.5 cm jaw stroke), so only a rim pinch is possible, and every pinch attempt (eight of them, spanning left_y = -0.005 to -0.073 and z = 0.02 to 0.05) closed empty (gripper settling at 0.017-0.04) or slipped off the sloped wall. My lateral position estimates from the wrist camera were repeatedly ~3 cm short, and low-height sideways moves nudged the bowl, so the target kept moving.", "hindsight": "Concrete lessons from this trial: (1) The three bowls sat at roughly left_x \u2248 0.40-0.43 with centres near left_y \u2248 -0.14 (white), \u2248 -0.30 (purple, on the centre line) and right_y \u2248 +0.11 (pink); the outer bowl centres are ~0.45 m apart. (2) The bowls are ~13 cm in diameter and ~5 cm tall \u2014 WIDER than the 9.5 cm gripper stroke, so they can never be grasped across the body; only a rim pinch (one finger inside, one outside, fingertips within ~5 mm below the rim top) can work, and that needs both y and z to ~5 mm accuracy. (3) Wrist-camera pixel scale estimates in this configuration were badly unreliable (I derived 12 px/cm from a 2.35 cm move but the true lateral offsets were ~2x larger); a much better probe is to move the CLOSED jaws down at a candidate y and see whether the descent stalls (contact = rim) or reaches the table (no bowl there). That single probe finally told me the bowl's outer wall was near left_y = -0.07 rather than -0.04. (4) Any sideways move below ~6 cm height pushes the bowl, so always lift to z >= 0.10 before translating. (5) The controller often undershoots badly (a commanded z=0.07 left the tool at 0.12, then a re-commanded descent overshot to the table), and left_pitch drifted to -0.59 unbidden, changing the fingertip geometry; re-command explicit absolute targets and check pitch. (6) Budget: probing geometry this way costs many calls \u2014 plan on using the contact probe first, not image estimates."})
tool
give_up: I could not get a reliable grasp on any bowl within the call budget. The bowls are ~13 cm wide (wider than the 9.5 cm jaw stroke), so only a rim pinch is possible, and every pinch attempt (eight of them, spanning left_y = -0.005 to -0.073 and z = 0.02 to 0.05) closed empty (gripper settling at 0.017-0.04) or slipped off the sloped wall. My lateral position estimates from the wrist camera were repeatedly ~3 cm short, and low-height sideways moves nudged the bowl, so the target kept moving.
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 · 53.33 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6048, -0.3801, -0.0196, -0.0296, 0.9995, -0.0219, 0.7925, 0.6018, -0.379, -0.0135, -0.02, 0.9967]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1801 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2945 right_y=-0.0005 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.4034, -1.5521, 10.1265, 1.7656, -0.0366, 0.1343, -0.0659, -0.3624, -1.3333, 10.2769, 1.9072, -0.1099, 0.0659, -0.3639]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1c54e561a98b73b806bafa40f8ecbcec316455b6f2d0dfe7c0641dd3a5c6676",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ba8e5946d526f2141208003cb8ee709f2594f34e0bef14360673069684f1e22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:18938ff025d70ba092dde9cde1dda35fa05b8248aec98f411f11e51ba316923c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 1 attempt 0 · /messages · status 200 · 23.38 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6048, -0.3801, -0.0196, -0.0296, 0.9995, -0.0219, 0.7925, 0.6018, -0.379, -0.0135, -0.02, 0.9967]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1801 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2945 right_y=-0.0005 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.4034, -1.5521, 10.1265, 1.7656, -0.0366, 0.1343, -0.0659, -0.3624, -1.3333, 10.2769, 1.9072, -0.1099, 0.0659, -0.3639]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1c54e561a98b73b806bafa40f8ecbcec316455b6f2d0dfe7c0641dd3a5c6676",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ba8e5946d526f2141208003cb8ee709f2594f34e0bef14360673069684f1e22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18938ff025d70ba092dde9cde1dda35fa05b8248aec98f411f11e51ba316923c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dsku4pch3sBKuVdRoXoTmg",
      "input": {
        "note": "Three bowls sit in a row across the table. I'm moving the left arm up and forward toward the leftmost bowl to get a clear wrist-camera view and calibrate its position before grasping its rim.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.42,
          "left_y": -0.12,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Dsku4pch3sBKuVdRoXoTmg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4225, 1.433, 1.2037, -0.4145, -0.3351, -0.252, 0.9995, -0.0216, 0.7971, 0.6003, -0.3893, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4134 left_y=-0.1182 left_z=0.2342 left_yaw=-0.0193 left_pitch=-0.0327 left_roll=0.0056 left_gripper=0.9995 right_x=0.2933 right_y=0.0002 right_z=0.1755 right_yaw=0.0032 right_pitch=-0.0164 right_roll=0.0017 right_gripper=0.9964\nstate[joint_eff]: [-0.3487, -6.9402, 8.6632, 1.619, -0.2076, -0.0073, -0.0659, -0.0752, -1.4974, 7.1726, 1.7998, -0.0415, -0.0366, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14337837b90572ce22fc7253ad3726e0d45dffebf6b56e488d639c83acbd865b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25263d4e3423fccd6fadcbb940e2710cb49529e25b2f549a7d30717a90f5d2cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:99622b865a7846891076e0e6ae7164e74f8241c23c67756595e7e4fb4d99adfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 9.828 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6048, -0.3801, -0.0196, -0.0296, 0.9995, -0.0219, 0.7925, 0.6018, -0.379, -0.0135, -0.02, 0.9967]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1801 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2945 right_y=-0.0005 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.4034, -1.5521, 10.1265, 1.7656, -0.0366, 0.1343, -0.0659, -0.3624, -1.3333, 10.2769, 1.9072, -0.1099, 0.0659, -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]: [-0.4225, 1.433, 1.2037, -0.4145, -0.3351, -0.252, 0.9995, -0.0216, 0.7971, 0.6003, -0.3893, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4134 left_y=-0.1182 left_z=0.2342 left_yaw=-0.0193 left_pitch=-0.0327 left_roll=0.0056 left_gripper=0.9995 right_x=0.2933 right_y=0.0002 right_z=0.1755 right_yaw=0.0032 right_pitch=-0.0164 right_roll=0.0017 right_gripper=0.9964\nstate[joint_eff]: [-0.3487, -6.9402, 8.6632, 1.619, -0.2076, -0.0073, -0.0659, -0.0752, -1.4974, 7.1726, 1.7998, -0.0415, -0.0366, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14337837b90572ce22fc7253ad3726e0d45dffebf6b56e488d639c83acbd865b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25263d4e3423fccd6fadcbb940e2710cb49529e25b2f549a7d30717a90f5d2cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99622b865a7846891076e0e6ae7164e74f8241c23c67756595e7e4fb4d99adfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XfdYDLZsbNJ1DAj3btAx6K",
      "input": {
        "note": "The left arm is now just short of the leftmost (white/blue) bowl, whose centre I estimate at left_x≈0.45, left_y≈-0.065. I'm moving to hover over the bowl's left-side rim so the jaws can straddle the rim wall.",
        "targets": {
          "left_x": 0.45,
          "left_y": 0.01,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01XfdYDLZsbNJ1DAj3btAx6K",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0116, 1.52, 0.9493, -0.0715, -0.012, -0.0242, 0.9994, -0.0219, 0.7979, 0.6003, -0.3927, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4428 left_y=0.0109 left_z=0.1462 left_yaw=0.022 left_pitch=-0.0722 left_roll=0.0011 left_gripper=0.9994 right_x=0.2928 right_y=0.0001 right_z=0.1746 right_yaw=0.0028 right_pitch=-0.0206 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [0.3214, -6.2701, 6.7624, 1.8828, 0.1929, 0.0855, -0.022, -0.0342, -1.306, 7.0222, 1.7558, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec7220ac9ad6efc94f9f4192f1047fe94c596d57b050b29e5ea15c3fbdba75b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74e7fdf559d32d8fcd66bd48c032bff0791478dc7abd4e1c9d96364f7cb3931d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d4bd14c1c4173123b43c8f695f086774d2529b76e9774c6678cc6bd02e09607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 9.071 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6048, -0.3801, -0.0196, -0.0296, 0.9995, -0.0219, 0.7925, 0.6018, -0.379, -0.0135, -0.02, 0.9967]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1801 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2945 right_y=-0.0005 right_z=0.1796 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.4034, -1.5521, 10.1265, 1.7656, -0.0366, 0.1343, -0.0659, -0.3624, -1.3333, 10.2769, 1.9072, -0.1099, 0.0659, -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]: [-0.4225, 1.433, 1.2037, -0.4145, -0.3351, -0.252, 0.9995, -0.0216, 0.7971, 0.6003, -0.3893, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4134 left_y=-0.1182 left_z=0.2342 left_yaw=-0.0193 left_pitch=-0.0327 left_roll=0.0056 left_gripper=0.9995 right_x=0.2933 right_y=0.0002 right_z=0.1755 right_yaw=0.0032 right_pitch=-0.0164 right_roll=0.0017 right_gripper=0.9964\nstate[joint_eff]: [-0.3487, -6.9402, 8.6632, 1.619, -0.2076, -0.0073, -0.0659, -0.0752, -1.4974, 7.1726, 1.7998, -0.0415, -0.0366, -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]: [0.0116, 1.52, 0.9493, -0.0715, -0.012, -0.0242, 0.9994, -0.0219, 0.7979, 0.6003, -0.3927, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4428 left_y=0.0109 left_z=0.1462 left_yaw=0.022 left_pitch=-0.0722 left_roll=0.0011 left_gripper=0.9994 right_x=0.2928 right_y=0.0001 right_z=0.1746 right_yaw=0.0028 right_pitch=-0.0206 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [0.3214, -6.2701, 6.7624, 1.8828, 0.1929, 0.0855, -0.022, -0.0342, -1.306, 7.0222, 1.7558, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec7220ac9ad6efc94f9f4192f1047fe94c596d57b050b29e5ea15c3fbdba75b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74e7fdf559d32d8fcd66bd48c032bff0791478dc7abd4e1c9d96364f7cb3931d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d4bd14c1c4173123b43c8f695f086774d2529b76e9774c6678cc6bd02e09607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISigkKjgEIEhgCKkCb6MmMNcf+pr4ciowYEVZh/s+ei01NeVnn//pNIWe2UPuR51x+884AFUcPeC6WqVgU9osMnU6gQu2WEWAJvG9zMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbf8y9UGEgy/7TXiYxRjYCJUYxUaDNWvhlZ9RZUPMFqA2iIwl8ST4bDMSYfOwiC9D50Gnr6nIL16lib4pTP0mOdxWD/MVSIGLZW666OKKcrRuqbCKqgH3igF8xYRrx4XhAZICY5dlujF7nS9kBgBAGNi1EFVcSCvF2quZ8d2dfX6fGZNJ/4E2I+w9AeijgoKt8QM2i031shTaZ8T/2vrkAzOjdV0GS07tb1R9Gc/NeZy/vUobwaU8wAXeSyahME4a7xp0r6x/C2cyyfgvQDekXzAuM5wZ8KnMKVKcyLmSmuFzzKo3yYKvIz1bicgdgc4PUs9LECVhuK6NFx/bFa34+2aO/+Hijx8nikWXRzN+3dAqLNI6RJscgAyP3g1xT8EPouyOQk5NqTrsgF1D4MGVM9fJUDLWvIibeFw4he6ayFBC9LE9kaNE9RkMjZmKAvDD2OcQg+XZo4D/naNfNSPhic/jP02M4fAO1NLkXeV91YRb5ZqGSwZyv32VIUH04xPjPFvaAhDjgtfFFzNryxqoMz0xZhKMl1ljcNbMwSwjVkf9YRUrc/bS1b0RprIFFcF6P3ltSxIsw1IK3sL7CaOp/Ev38uMRKeKsF4HXBZEamCgtLDHe3aAg0dtpK6SGvfG6OTpjBhbhBzSrRlV8ev/AR4dLB8nk4IRr3QW1A0Ok3b/cCp+/udhUwm1+8AXvAmcvG4wup7zDA5DmkeZdCVpsxsuoUxZ34ZTE2BDZ+5jtGK+ZmmOXIsERuTE9q059KUcVrJEbA/8obuFnJltFN+gsC+U2XoM6n3R8tBoe3mnVSYgoX2CT1fymJW4aZxMnIIWI9A91zMLMBWLDhWLQHJi2C4K+tBIcybPSM1dKOSm+suhUK07ew+wcgLrCpM3XSI0E4ONIEXGgEwX3W7/txFk74h1LDH5qDj/Glbsav/PPpNQf6JPvH363V/yb3p1wJx4WjK5b8h5SmK6OXkx3YoQo8DR+D6ZrZokJcAsd0bMyPS2BNrPGjGFUA2AqdThaHmQYVqYx4sA2N+qFexTv4vc7TsgE86kdsAGWCoG9eUiEFTc+Bw0lDoMeJ37kjsvBKPUqhTcFrLFeqRhE7OV3mqJ1qGdlpfXfy90ZmT8KmNbf9DWWTBmvNtO/zKDUf7+YPaflrfnb6MT2PMAvWjTAnedrKpGOJbdGOF7m+7qT5yepdV2TsCghheRFnIYhlyy0ZfMiaZX4QO554tb8xFar6cWEinJNkKhBN6u4vmvClC3nN9VYKLbm9VhKlLwekMaFdGb3Ad+xq15kxoSlb+6zQqAs6Q4VT7NcBptNm0ye/BzMhnZPTLr6F6LcSHPbd0G2IrIxwmCLkt66uc/dAlAR9KmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TChVHafpMqBUPbgFqQuJJM",
      "input": {
        "note": "Wrist view shows the white bowl just right of the jaw column at the bottom edge, i.e. essentially under the fingertips. Shifting 1.5 cm right and descending to rim height so the open jaws straddle the bowl's left rim wall.",
        "targets": {
          "left_y": -0.005,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01TChVHafpMqBUPbgFqQuJJM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0334, 1.7466, 0.73, 0.3099, -0.0467, -0.049, 0.9994, -0.0219, 0.7986, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4339 left_y=-0.0026 left_z=0.0352 left_yaw=0.0201 left_pitch=-0.1358 left_roll=0.0055 left_gripper=0.9994 right_x=0.2928 right_y=0.0 right_z=0.1741 right_yaw=0.0025 right_pitch=-0.0221 right_roll=0.0017 right_gripper=0.9964\nstate[joint_eff]: [-0.7726, -7.3504, 4.9709, 1.8584, -0.1001, -0.0611, -0.0122, -0.0615, -1.2923, 7.0496, 1.7265, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d3c2227dd47d7b40c264757225a00c5cf3bf5bb3471e3fc0bff59c1c2506c28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec7b02690cc070169c631a7f9711505ac3605074da74a0128c8ac6578ae9f508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1dadc7dad0aab3fb50f31492a66d54d834db48aca2299df0b65e0725183cb6e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 8.482 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4225, 1.433, 1.2037, -0.4145, -0.3351, -0.252, 0.9995, -0.0216, 0.7971, 0.6003, -0.3893, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4134 left_y=-0.1182 left_z=0.2342 left_yaw=-0.0193 left_pitch=-0.0327 left_roll=0.0056 left_gripper=0.9995 right_x=0.2933 right_y=0.0002 right_z=0.1755 right_yaw=0.0032 right_pitch=-0.0164 right_roll=0.0017 right_gripper=0.9964\nstate[joint_eff]: [-0.3487, -6.9402, 8.6632, 1.619, -0.2076, -0.0073, -0.0659, -0.0752, -1.4974, 7.1726, 1.7998, -0.0415, -0.0366, -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]: [0.0116, 1.52, 0.9493, -0.0715, -0.012, -0.0242, 0.9994, -0.0219, 0.7979, 0.6003, -0.3927, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4428 left_y=0.0109 left_z=0.1462 left_yaw=0.022 left_pitch=-0.0722 left_roll=0.0011 left_gripper=0.9994 right_x=0.2928 right_y=0.0001 right_z=0.1746 right_yaw=0.0028 right_pitch=-0.0206 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [0.3214, -6.2701, 6.7624, 1.8828, 0.1929, 0.0855, -0.022, -0.0342, -1.306, 7.0222, 1.7558, -0.0513, -0.0513, -0.0122]",
      "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]: [-0.0334, 1.7466, 0.73, 0.3099, -0.0467, -0.049, 0.9994, -0.0219, 0.7986, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4339 left_y=-0.0026 left_z=0.0352 left_yaw=0.0201 left_pitch=-0.1358 left_roll=0.0055 left_gripper=0.9994 right_x=0.2928 right_y=0.0 right_z=0.1741 right_yaw=0.0025 right_pitch=-0.0221 right_roll=0.0017 right_gripper=0.9964\nstate[joint_eff]: [-0.7726, -7.3504, 4.9709, 1.8584, -0.1001, -0.0611, -0.0122, -0.0615, -1.2923, 7.0496, 1.7265, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d3c2227dd47d7b40c264757225a00c5cf3bf5bb3471e3fc0bff59c1c2506c28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec7b02690cc070169c631a7f9711505ac3605074da74a0128c8ac6578ae9f508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dadc7dad0aab3fb50f31492a66d54d834db48aca2299df0b65e0725183cb6e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISuAgKjgEIEhgCKkAyAAE5O42XeugHg/Zxek0ba71pMAME22cXuU0IU2p9eHp0NjG9j6U/ckxHAgk6XorvaMw8Nxm1j2rFdlQ4RjQKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcH8y9UGEgyGtk5V6dykP9yn174aDKwFs0WzvBSv2oJWMiIwF+TShGD3eD6DIw43OsRnqrUVIEC1Cx+FNQqaSe2O7kHedWoIY7GQSL5kTtdJ/l47KtYGm3huEyLIvDv+iPChU+Fz2fsgbTL233QlZ4TuxDzkh2cbOFjONN1KHD0O2pv/KYsBJJqXoyO2FoYRFn0LaSsCyQiBKSn5JaQH72JMmPLeVV4jNJV61IvFxFQdwIwJTfMIPoiLft9E7rkvuXxQDFFJqIXkLcAVI8xRfx8chcIQbq/MDAqTW8WZSgv/C/TQ6k9cGRuOLmoXT6MLsamZQrfgY/bWZF5gc8/Vf6MMEeR7dsYJgCS9Ut4N1issT+Gtq9C8OcGa4fH5kBTZIQOM4kn1YxcjOnO3CxAPCYtKWl0cncLZicgG2U+1cnC599ETG6ElTVkUPxG+i6kdGpXxuj0T8KnHA1NRlGF6SjmOJFnk8jdNVd4zC3sZI6JQXgPggjCk5q5/M6ZTEyk26GNXksL7v84KJFbvPbeI08evCoP00mHn3QCXzApU5sCme/yHtXGVyoeYjjgZ31oNRSoDB0zdmsSHMBqigrAvUp2fD5oGBLNXABJKS04WPllAnmuP9Myk563nhcnmJ/QHz1vYLC7amW8oXAD8+Q82Mo4NtOw9GNjCMCljiWLx4alOOqor3wauLI70VD7UiD9kANPygJq4hq6J/+xnhOIUfjYm9yj8Cd8Oo1ipFhagZtaNHMYJJWIp9b3Uezhpp8JyifnX/rEuChpBjLn03p9sbhEUsX6kmVhp0DuxVNJq+uPX3pqw5hyAtcQ1aG73Ok6SaOWnAWxiQ8rCfZ9EZqO1i6gOZK8qtDTP6qlqPzDdvJElbtGTr6uspn5VcxcCLvzFr1YeoxonTvijYsu51vPTOVanxu8SWaFFFfrplx+qfQkC2Tfpiv6TT0nsHjnkS9Q7VCZkPLdYrLPa0AxgG7SYCMiXxGYOJu6aXxXH+jWPm4xOHEQmDuihdbqixtqeHPo6oXV6ovlIxG6l9jgufMAL/jnm5VuCHAn9CTEfNZPWpiQUn98RJGWrzQIo9wuiKvLMX0E/Tin2mLYEfrd/Jow+Or5NZlNw6sLl6gairG6InsNzAcHmIrnsTB/oqW3+QGw8tsXlUC2qYWzuseXUSKKvRyuJWkkHL+HPCuIKrM3HRzQbnfRZS0TV01qQ5GhwPrmYPZakNKKc5tfy1GElNHZTiJNmdWtDpjb5g2hvrCoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01STmWnNpYabPbBacPdkpxf9",
      "input": {
        "note": "Gripper is down at rim height beside the white bowl's left wall; closing to pinch the rim and then I'll check the settled opening to see whether I caught the ~0.5 cm wall.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01STmWnNpYabPbBacPdkpxf9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0368, 1.7466, 0.7197, 0.3305, -0.041, -0.0673, 0.0277, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4337 left_y=-0.0051 left_z=0.0353 left_yaw=0.0217 left_pitch=-0.1257 left_roll=-0.0129 left_gripper=0.0277 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0028 right_pitch=-0.0221 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [0.212, -7.4325, 6.5162, 1.3602, -0.105, 0.2759, 1.8291, -0.0889, -1.2376, 7.0359, 1.7363, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ba0810b94c1398f16a3a588b78de7eda5989c3a936a89d65f01e9724e1cb727",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c4b771f7967ea4ef5235fc41a27bad6cb2774a2ae76df52afe3ddec5beb57ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2730dd13f3ee3dbf3b64003d2562d20fdee4aaf90780104f677070e86e316bd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 7.693 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0116, 1.52, 0.9493, -0.0715, -0.012, -0.0242, 0.9994, -0.0219, 0.7979, 0.6003, -0.3927, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4428 left_y=0.0109 left_z=0.1462 left_yaw=0.022 left_pitch=-0.0722 left_roll=0.0011 left_gripper=0.9994 right_x=0.2928 right_y=0.0001 right_z=0.1746 right_yaw=0.0028 right_pitch=-0.0206 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [0.3214, -6.2701, 6.7624, 1.8828, 0.1929, 0.0855, -0.022, -0.0342, -1.306, 7.0222, 1.7558, -0.0513, -0.0513, -0.0122]",
      "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]: [-0.0334, 1.7466, 0.73, 0.3099, -0.0467, -0.049, 0.9994, -0.0219, 0.7986, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4339 left_y=-0.0026 left_z=0.0352 left_yaw=0.0201 left_pitch=-0.1358 left_roll=0.0055 left_gripper=0.9994 right_x=0.2928 right_y=0.0 right_z=0.1741 right_yaw=0.0025 right_pitch=-0.0221 right_roll=0.0017 right_gripper=0.9964\nstate[joint_eff]: [-0.7726, -7.3504, 4.9709, 1.8584, -0.1001, -0.0611, -0.0122, -0.0615, -1.2923, 7.0496, 1.7265, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0368, 1.7466, 0.7197, 0.3305, -0.041, -0.0673, 0.0277, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4337 left_y=-0.0051 left_z=0.0353 left_yaw=0.0217 left_pitch=-0.1257 left_roll=-0.0129 left_gripper=0.0277 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0028 right_pitch=-0.0221 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [0.212, -7.4325, 6.5162, 1.3602, -0.105, 0.2759, 1.8291, -0.0889, -1.2376, 7.0359, 1.7363, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ba0810b94c1398f16a3a588b78de7eda5989c3a936a89d65f01e9724e1cb727",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c4b771f7967ea4ef5235fc41a27bad6cb2774a2ae76df52afe3ddec5beb57ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2730dd13f3ee3dbf3b64003d2562d20fdee4aaf90780104f677070e86e316bd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISrAcKjgEIEhgCKkA7ulTBn3UoA7NLEd9tDLFr8pVi9GfW6F+E9VFGLndiOTI7RAYOYFXc71t37kqBiZdVaMGWGafYdgVY+fXp8rM4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcr8y9UGEgysr+5LWG/1xnAGq8EaDFaCh2/0ZBpuBEEJriIwu5YSE3zjlPIbhiisNvqC6yJ7VVlaUZng5xMEFPmbjc/O9L4XQH4Yq6YGaPjsWylOKsoFKcl+8n5vfipSVQ1SQow91VVf7JlLHZx8gY2T90TcyM6bkBmK8125tardyq9M7aMBHpCelmiorCheKb5irG9LPkXkaDiX+hluiXJwkJhXmLnBDUdt7+cJSQxKDdG8pHvVThM+/ShE3Uv3ApeUSrcv4xRuFd0h0Kbynd/sr1jUogQoWEJ5PF4LDkisIvun4z2YzgBwcQbRUL0cPbKN3hnn1imppwSX0kiHHvsQy2ojQRbSZ1ZsOH9/7bM8/MDLMlTELd8X5LculHPwnR55lx5nC5RnFZJ6ylbTS9LP40vSYmMfitOPKkVg/2QsUcifNHQQM09ZPhQpJAuUJxPqwFThb4gYBnMnM2PbSSNZUoOZwoJiJZladLnsc8LQNU8NqdxP+frP+NN4b3M5Pn3aRkhnWdEgvwxggF/6e7qySly4aSt6A8ACwG1wwwKX+BVKrZZpRPfe7VKlVQu1DzkThkSpp5A3BSXLoXNWb2JePWKmV7kEHE1MFQ3GUb1HvC31G/0y3aICC7eU0yIpa5RY+Mef6z7FFxoLvhiKnucotPn6xTrgrpWKIh2jecRk6W/CEZSptdjLqp2gsXw+UfmbsscjOJ27fJebPGzCikw/h3DlBT+qPWgqZzT4fM5WlYXZpZpbvl609BwTAwxY0I8a0TuhKlq3A7sweAWmyAUaXaCJFoJHOHOXJLYt9vY33QlM3q9j5drDQL+bq0ig5IFJoMfgswbEIETSlbRrCRm3ilZjiIOI2M/qUKk38LjUxhbgYZL33+cDuRpVJMUINWB/xCAjuU0/5CMyZqTWt1CGeYQIcGw7jJxpm7C7diMb/m1PaFEQxVkHIpOwNlEBIz77//6Eb5RdHkpIw6W6MXM1AG/In6K6szJ2DS7c/38Gd0VBX9bnzv8Bob+kw0aLUmA8ooJdyZIuTf9hzM1J5DOh6v0Hh65SKqKCvMX2AbNgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rycbhi8NGCcwgPHYsFM9AV",
      "input": {
        "note": "The close came back empty (0.028), and the wrist view shows the bowl's left rim edge about 3 cm to the right of the jaws. Reopening and shifting 3 cm right so the rim wall sits between the fingers.",
        "targets": {
          "left_gripper": 1.0,
          "left_y": -0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Rycbhi8NGCcwgPHYsFM9AV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1314, 1.7466, 0.7216, 0.3176, -0.107, -0.1287, 0.9944, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4307 left_y=-0.0343 left_z=0.0341 left_yaw=0.0165 left_pitch=-0.1326 left_roll=-0.0164 left_gripper=0.9944 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0032 right_pitch=-0.0221 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [-0.6632, -7.1726, 6.3248, 1.6239, -0.1636, 0.0513, -0.0513, -0.0889, -1.2376, 7.1726, 1.7705, -0.0611, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea9e2aa244e9511d1f57e595c1b46bc435a03425b2e35c781163866858ec0a46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daeea18d68ae97289dbee5e557ec80605fc18d96efcd5d832b6bbd8996496896",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7eb01168746652ff19abbcf1d0bb0047a1bbb747ba675d2609dd0b4842687c98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 6.395 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0334, 1.7466, 0.73, 0.3099, -0.0467, -0.049, 0.9994, -0.0219, 0.7986, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4339 left_y=-0.0026 left_z=0.0352 left_yaw=0.0201 left_pitch=-0.1358 left_roll=0.0055 left_gripper=0.9994 right_x=0.2928 right_y=0.0 right_z=0.1741 right_yaw=0.0025 right_pitch=-0.0221 right_roll=0.0017 right_gripper=0.9964\nstate[joint_eff]: [-0.7726, -7.3504, 4.9709, 1.8584, -0.1001, -0.0611, -0.0122, -0.0615, -1.2923, 7.0496, 1.7265, -0.022, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0368, 1.7466, 0.7197, 0.3305, -0.041, -0.0673, 0.0277, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4337 left_y=-0.0051 left_z=0.0353 left_yaw=0.0217 left_pitch=-0.1257 left_roll=-0.0129 left_gripper=0.0277 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0028 right_pitch=-0.0221 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [0.212, -7.4325, 6.5162, 1.3602, -0.105, 0.2759, 1.8291, -0.0889, -1.2376, 7.0359, 1.7363, -0.0611, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1314, 1.7466, 0.7216, 0.3176, -0.107, -0.1287, 0.9944, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4307 left_y=-0.0343 left_z=0.0341 left_yaw=0.0165 left_pitch=-0.1326 left_roll=-0.0164 left_gripper=0.9944 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0032 right_pitch=-0.0221 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [-0.6632, -7.1726, 6.3248, 1.6239, -0.1636, 0.0513, -0.0513, -0.0889, -1.2376, 7.1726, 1.7705, -0.0611, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea9e2aa244e9511d1f57e595c1b46bc435a03425b2e35c781163866858ec0a46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daeea18d68ae97289dbee5e557ec80605fc18d96efcd5d832b6bbd8996496896",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eb01168746652ff19abbcf1d0bb0047a1bbb747ba675d2609dd0b4842687c98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnwcKjgEIEhgCKkBWWjJbGAdPuzDRt4Qdm3wc3KY3BRZCBRASfLY/e8q+AX3UNMR0/gFn89qdrEM8KRqPxMtFOw2ld0mk2NnpdKqeMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdP8y9UGEgwbOoUMURzkjkFdsH4aDGhvajKBBdZ0aHxUgCIwa+PflfvsC/MNkuNVHEFUX4/iZKiwF1lZfrX1tIqmG+FoQGGsTnDM6bKxYs0AmQ7EKr0FQgcvGsdAieWT3WY7OEaddUB9n3p3VNms/KF3w9ofcv9Bubzgig757F5j1KdBhJP8NWtB5v7WZ4uePXrj7kXGlUvS6Val2cvC7gUlbr/tj8D6cSZlkKAxl6dA/0T2eo7rT8zWCIFzxgFOac5dGibXy6U4ItwPFlTSyhSThNv1ucQneLWEpVEQ3/8f6gYxBcOhvydZMhqlrE8JBJCn7pdMTlxmFOajOcUUToWek3vSU5J1xFTqPf58Pb0vmc2f7H6j8pbJvduDR8shFEq61OOF6Iepfc6UHme7lq25QVFyN7zMFwR4VCUuRVASXZUOtuJqGA4QjHKV2c0IrmhSl0XxuFFISRr78WZWE6XjibK05N2Srh3HoNAri6VffZsL/JKWi3VzH814HMRN6QMQ5ffib/nmdFzKnjYVKdCYYmtgaKQyZAck+JYjQRvUNArG66fn2+zkRwdqgS2KmOcu6Q7UcMHAEBoz1ciKsIZWBjfHcedCrp66YbL2hqxk2Inm6/Q4WHg/uYJdeM/z6V+SFFe2s0HE75K3RJunv/rqfSAw6UY7xZ5nc9bQ8+zaDJ+ftHwlJtd2uw6c0rIaTzSVlny9up7eiT+dFKwUBRCovVDsa5j3BCEcr2MuHOFtbL/y0x4TiGfG9z4QRUlgSyP7YsE+S0lSaH/nHtr/m3CWpuuTcix5gBveTFivbYmdXhkpMegnUeor6+t8qrO4PO5N19Rl+TKbeqGoGX86YufUGUeiLYseDKoIBDomks85N6Ve/7arMfmbzfVVDrd3W81LnuQdzp6ueLHTdB/F9tP10JsGPm1bBo7mjACURfwc9/P7BhWjvGbxCG4BTrKbHtcmgwDVIN3NQYZr8G005BNA+1rd3VccbtSDFoTNqZQEKAe+tm8wsTabDIGldjFBse6TK7SCoxQ9bGpDuMVQuZH9ArcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0116b3BHCoeewczUbrBNssZG",
      "input": {
        "note": "The bowl's left rim now appears to run between the two fingers in the wrist view; closing to pinch the rim wall.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0116b3BHCoeewczUbrBNssZG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1341, 1.7428, 0.7216, 0.3325, -0.1024, -0.1417, 0.038, -0.0216, 0.7986, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4332 left_y=-0.0366 left_z=0.0385 left_yaw=0.0167 left_pitch=-0.1147 left_roll=-0.0322 left_gripper=0.038 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0028 right_pitch=-0.0221 right_roll=0.0017 right_gripper=0.9964\nstate[joint_eff]: [0.1026, -7.0496, 5.641, 1.2674, -0.0855, 0.3785, 1.3211, -0.1846, -1.2923, 7.0359, 1.7216, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b22889038e3e845312a2fa770ca4eb0a53cf538445db5fbb56255e310772d90d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcd97752b8e0da36835a8f07ea2004a1dad553c95a7844db76ab0265bd0bb348",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b161a8773f2cc9a640d96ea7f2a30e0c182fe6f39510fe6c715e14c370413ad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 40.73 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0368, 1.7466, 0.7197, 0.3305, -0.041, -0.0673, 0.0277, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4337 left_y=-0.0051 left_z=0.0353 left_yaw=0.0217 left_pitch=-0.1257 left_roll=-0.0129 left_gripper=0.0277 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0028 right_pitch=-0.0221 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [0.212, -7.4325, 6.5162, 1.3602, -0.105, 0.2759, 1.8291, -0.0889, -1.2376, 7.0359, 1.7363, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1314, 1.7466, 0.7216, 0.3176, -0.107, -0.1287, 0.9944, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4307 left_y=-0.0343 left_z=0.0341 left_yaw=0.0165 left_pitch=-0.1326 left_roll=-0.0164 left_gripper=0.9944 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0032 right_pitch=-0.0221 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [-0.6632, -7.1726, 6.3248, 1.6239, -0.1636, 0.0513, -0.0513, -0.0889, -1.2376, 7.1726, 1.7705, -0.0611, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1341, 1.7428, 0.7216, 0.3325, -0.1024, -0.1417, 0.038, -0.0216, 0.7986, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4332 left_y=-0.0366 left_z=0.0385 left_yaw=0.0167 left_pitch=-0.1147 left_roll=-0.0322 left_gripper=0.038 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0028 right_pitch=-0.0221 right_roll=0.0017 right_gripper=0.9964\nstate[joint_eff]: [0.1026, -7.0496, 5.641, 1.2674, -0.0855, 0.3785, 1.3211, -0.1846, -1.2923, 7.0359, 1.7216, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b22889038e3e845312a2fa770ca4eb0a53cf538445db5fbb56255e310772d90d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcd97752b8e0da36835a8f07ea2004a1dad553c95a7844db76ab0265bd0bb348",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b161a8773f2cc9a640d96ea7f2a30e0c182fe6f39510fe6c715e14c370413ad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiwUKjgEIEhgCKkCSK3QBDGweggj1uW7XktKveQsN+oLRXVR5RLinpfb4IYpcCiRogqkDVUqq+NaKD2m811B7ZR8k6hY23XGxCjEIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdv8y9UGEgwcViT+orzrjvZwmAIaDBdRGlw7fz1sMoqeGCIw6/WsOqMR9FWTemeQL4Vnj9j0VEEg/b0QqsaPMc2MZ8g4HURbIHFmTDyzdjCsrRruKqkD7JMavWjvTTIX4QRjqmaq5mdYvEUI/G+urRCwcLGrIlnmZehL2085hPAXb5RaLMWYuf1ifjc6ukkEegw2T+39ebn9FizUk9S5Z8VuDzuNck5Oo21CDLxb7UzUpZDd9drY1OAAA6JELqZIEIFeNn7p/8A/loxqb7qJqWB7Q8AcKfjMed0VAe+i8UJGBUioad64QGt+IdvckRmKGZj2IHOOpclqGbL6nL/y3el10MfR0FuIs6DzMDnrszV3PEX2bFp43tGldGE+ruYVoSzAQivRhhQXj81IpawlUrKD4NmwXuA1eBWyiRgLeGXlOAtyYUeZ8Q2LIRFcOjkWBCcc7MeH0smTMjCyQDUxb5tarvu0p/E2eh2Gc6+3PVrjWWAZIFiSnOU+y0bH5MNKztO2zUWNA+a4K3v+zB2UeXbSGpThoOi5Q0E3GIRAUOEUGTIhRvwwH0E/h7dr+Qq0PYvrqkJMknIHsimUnAAD3VW/X2Eo28u79iEGb/Nd/+gG9hEKXCyFjDPEeNBZj72k7Y0LghC8pNA7cIE7l8bz1UEWIAk24m+ooYdwcDeI6MgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EFVbj8AoQ7utCu93n44HPr",
      "input": {
        "note": "Gripper settled at 0.038, which is borderline between empty and a thin rim. Lifting 8 cm to see in the overhead view whether the bowl comes with it.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01EFVbj8AoQ7utCu93n44HPr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1341, 1.5772, 0.8516, 0.0132, -0.1059, -0.1471, 0.041, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.02, 0.9964]\nstate[eef_state]: left_x=0.43 left_y=-0.0356 left_z=0.0978 left_yaw=0.023 left_pitch=-0.1378 left_roll=-0.0305 left_gripper=0.041 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=0.003 right_pitch=-0.0259 right_roll=0.0023 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -9.0188, 9.2103, 1.6142, -0.0513, -0.0073, 0.9402, -0.0479, -1.4291, 7.1316, 1.7216, -0.0171, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71eb8e14f7e3c6bb8ad8f96cab44f9d2e67c816070727abfb60487ade15ec821",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b5f50090fd7544762a738589e54069f5242351009a440b5a07aa33481bc7b99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:11c72f13d88ef01859a48377cb50521083d958d4e81c0dbd50590632c9f39ae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /messages · status 200 · 9.279 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1314, 1.7466, 0.7216, 0.3176, -0.107, -0.1287, 0.9944, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4307 left_y=-0.0343 left_z=0.0341 left_yaw=0.0165 left_pitch=-0.1326 left_roll=-0.0164 left_gripper=0.9944 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0032 right_pitch=-0.0221 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [-0.6632, -7.1726, 6.3248, 1.6239, -0.1636, 0.0513, -0.0513, -0.0889, -1.2376, 7.1726, 1.7705, -0.0611, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1341, 1.7428, 0.7216, 0.3325, -0.1024, -0.1417, 0.038, -0.0216, 0.7986, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4332 left_y=-0.0366 left_z=0.0385 left_yaw=0.0167 left_pitch=-0.1147 left_roll=-0.0322 left_gripper=0.038 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0028 right_pitch=-0.0221 right_roll=0.0017 right_gripper=0.9964\nstate[joint_eff]: [0.1026, -7.0496, 5.641, 1.2674, -0.0855, 0.3785, 1.3211, -0.1846, -1.2923, 7.0359, 1.7216, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1341, 1.5772, 0.8516, 0.0132, -0.1059, -0.1471, 0.041, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.02, 0.9964]\nstate[eef_state]: left_x=0.43 left_y=-0.0356 left_z=0.0978 left_yaw=0.023 left_pitch=-0.1378 left_roll=-0.0305 left_gripper=0.041 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=0.003 right_pitch=-0.0259 right_roll=0.0023 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -9.0188, 9.2103, 1.6142, -0.0513, -0.0073, 0.9402, -0.0479, -1.4291, 7.1316, 1.7216, -0.0171, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71eb8e14f7e3c6bb8ad8f96cab44f9d2e67c816070727abfb60487ade15ec821",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b5f50090fd7544762a738589e54069f5242351009a440b5a07aa33481bc7b99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11c72f13d88ef01859a48377cb50521083d958d4e81c0dbd50590632c9f39ae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DYysVDbQSjxhwHj3h1Pyzm",
      "input": {
        "note": "The bowl did not lift, so that close was empty or slipped. Reopening and repositioning 1.5 cm left (between my two previous tries) at rim height for another pinch attempt on the bowl's left rim wall.",
        "targets": {
          "left_gripper": 1.0,
          "left_y": -0.02,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DYysVDbQSjxhwHj3h1Pyzm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0872, 1.6802, 0.7498, 0.1925, -0.0769, -0.1242, 0.9946, -0.0219, 0.8028, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4254 left_y=-0.02 left_z=0.0483 left_yaw=0.0333 left_pitch=-0.1655 left_roll=-0.0288 left_gripper=0.9946 right_x=0.293 right_y=0.0 right_z=0.173 right_yaw=0.0025 right_pitch=-0.0263 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [0.4581, -6.694, 5.6547, 1.8779, 0.0757, 0.0904, 0.0513, -0.0615, -1.1282, 7.0222, 1.6825, -0.0269, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16d0f5eca7c480f48820873e581bd707318da5cfe8eac9fcab2590b84ddfe2b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:134b32b6f8f96c5c3cd3e9d6d542df20a3e31a3fdc1a85f3765b03634520f1cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:20dacbb3282cb0c88b96a04e72d97be221ef929bea0152ad7c380142b94f1431",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 26.64 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1341, 1.7428, 0.7216, 0.3325, -0.1024, -0.1417, 0.038, -0.0216, 0.7986, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4332 left_y=-0.0366 left_z=0.0385 left_yaw=0.0167 left_pitch=-0.1147 left_roll=-0.0322 left_gripper=0.038 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=0.0028 right_pitch=-0.0221 right_roll=0.0017 right_gripper=0.9964\nstate[joint_eff]: [0.1026, -7.0496, 5.641, 1.2674, -0.0855, 0.3785, 1.3211, -0.1846, -1.2923, 7.0359, 1.7216, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1341, 1.5772, 0.8516, 0.0132, -0.1059, -0.1471, 0.041, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.02, 0.9964]\nstate[eef_state]: left_x=0.43 left_y=-0.0356 left_z=0.0978 left_yaw=0.023 left_pitch=-0.1378 left_roll=-0.0305 left_gripper=0.041 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=0.003 right_pitch=-0.0259 right_roll=0.0023 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -9.0188, 9.2103, 1.6142, -0.0513, -0.0073, 0.9402, -0.0479, -1.4291, 7.1316, 1.7216, -0.0171, -0.022, -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]: [-0.0872, 1.6802, 0.7498, 0.1925, -0.0769, -0.1242, 0.9946, -0.0219, 0.8028, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4254 left_y=-0.02 left_z=0.0483 left_yaw=0.0333 left_pitch=-0.1655 left_roll=-0.0288 left_gripper=0.9946 right_x=0.293 right_y=0.0 right_z=0.173 right_yaw=0.0025 right_pitch=-0.0263 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [0.4581, -6.694, 5.6547, 1.8779, 0.0757, 0.0904, 0.0513, -0.0615, -1.1282, 7.0222, 1.6825, -0.0269, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16d0f5eca7c480f48820873e581bd707318da5cfe8eac9fcab2590b84ddfe2b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:134b32b6f8f96c5c3cd3e9d6d542df20a3e31a3fdc1a85f3765b03634520f1cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20dacbb3282cb0c88b96a04e72d97be221ef929bea0152ad7c380142b94f1431",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwgkKjgEIEhgCKkBAJhxT/i8Ag0J6kWHOKm3QBuXbR5lOOm04cwRZMszKCeCXxuSuyXv5cBwFJ34K1CXCC7Ps/+F3MFZIQQtFyLXCMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY79y9UGEgzm6Fu2pjCZTfK7KtMaDL111zGZBWlKIHwuKiIwru0YkUTu9edLwVH/FfoFmHG1JOfbNt5QPyIR8MkGQGHD9fHN7aaDZVkC3qMSo2qJKuAHXl9qCbdrPK8bFjy6I3/CRC2Ro9nOaaI+lk2PMJkcpXW8pYU9nxeYeswgPWL4TOD5WOgkmjHPvdU/qiRieMSRGxacmvRuqhSWpO8d3ugsgFlCXkULadPECfx3VA7izpW0Y94Wzncgfl02ASu/u9696ZFoc1cj0ftw1FJbYfq6qL0RJ/JJ6ugfDY5aiVbCZkR0aVroWNgoCKUsRdfQpAmCto+UUErmhsT1TW19+9QRx05kK/FELPK4VIHbA4/koPAKhrssuibogEkdrbQAeo0Bljuo3+tnIk/eX0OsOvskWs93PQ8CL5FKJDTk6GiiElqk33UEw2jegKAsviMrmEHXszRU80vT7bOGdnAe4IdzYr21zeWS4e2pDMi93d8CY/aaW0Gv11prq5fA1k1mqeS5dW+y+cpuEpGvvism5SENi+og22IfJOD/F707BKjFgM9b1KgkzcNOd0ct/Sgwiz+cCelP++hJy+0dRQihlYVVFhsMp9zmCAMJ/NZ8YzHhp/0u4AjjGb5jSsq+NpblreliP8TU4C9dnQuN4aVBoONf/g6PfiA+wB5LyM4ssnSePmLYNdcqZrGH51BgYZnUodRgD5O+o6nAEgBGsbGjsaIk1A0ddP+3LZ5W0fX6smY1EePZbS+AGKFO1jsPh2LF3Gp5t5nuMoeIvQFj6jYRwHC7gNFK7RmB8t/JsuK3CtW69FpRMwrgKUCGzv5/yVnfuI2cAyopV8aL3LqcmKu+F/8R2k72Xk+Bf4MY28A0GRNi7lAxSnewCSQFipo+iDpJM02MOuUCo5dFUsoQ+75eyr/AOslUTwe7vgs6mKg/VITyuVaxxYGraV97HkLSso2MUJhIvhU0xkzjDB7xgAxuLjRq2N5EWWYD+B24ASlgxn5m7eOojlr7crrhSc1bUSfaDIbqJgnGIoNMbjheFv6pvylCwUDrJF0iCl4k6fu+k8zO3iwFYqZZ4EzieqEpNrytl2oGbIlctISnAa4eNsPAFvM7Dsf3c8reLdJ0JA/xQAoh0Bc79ZPlLTwvKGYK5V9OBMeCYiwrxy9lO7U4e/CMOt3eNM/pP6xo8wMwSz8iNiF6dcZfcyi6cAyIjZtFV0N3zL/JRjpbe4sS6cAh2BAf4lRA2M+jx5EkTsvNyjLfVgyWi1TXhg05BwTMzk1J9wM80JZBVxs2znVAYFXjlIkG1+dnk4o/3iKslM3OWo4Nba758kinNb32+ARjHTqg3sUk6zz9CqE1llH15xGOT1CWat7LEgcP1p/iRwqaXMWBlDuBHj88rfI9WroZzGIO2E8GX3MMs1Ch0dq6REndYWI7+O8hOn4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P9zbRTRRq3SNffBkM3hNip",
      "input": {
        "note": "Jaws now appear to straddle the bowl's left rim in the wrist view; closing firmly on the rim wall.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01P9zbRTRRq3SNffBkM3hNip",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0849, 1.6886, 0.7467, 0.1917, -0.0784, -0.1314, 0.0171, -0.0219, 0.8036, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4238 left_y=-0.0186 left_z=0.0437 left_yaw=0.0411 left_pitch=-0.1776 left_roll=-0.0317 left_gripper=0.0171 right_x=0.2931 right_y=0.0 right_z=0.1727 right_yaw=0.0025 right_pitch=-0.027 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -8.1573, 5.9419, 1.5995, -0.0415, 0.1294, 1.0965, -0.2256, -1.3197, 7.0359, 1.7607, -0.0122, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5bf4528419b7ab4f4e94c289d76ae182f2f2e67a258c5724ad094f66ba419a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f4826c31c656feca3639318c8e0117380b9ac35bda6e9b77f4845ae66e11b16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db8bd4e2178c600018b6f212a394ee8b86dcf2b205507b6eede965f46208e71c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 8.149 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1341, 1.5772, 0.8516, 0.0132, -0.1059, -0.1471, 0.041, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.02, 0.9964]\nstate[eef_state]: left_x=0.43 left_y=-0.0356 left_z=0.0978 left_yaw=0.023 left_pitch=-0.1378 left_roll=-0.0305 left_gripper=0.041 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=0.003 right_pitch=-0.0259 right_roll=0.0023 right_gripper=0.9964\nstate[joint_eff]: [-0.1026, -9.0188, 9.2103, 1.6142, -0.0513, -0.0073, 0.9402, -0.0479, -1.4291, 7.1316, 1.7216, -0.0171, -0.022, -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]: [-0.0872, 1.6802, 0.7498, 0.1925, -0.0769, -0.1242, 0.9946, -0.0219, 0.8028, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4254 left_y=-0.02 left_z=0.0483 left_yaw=0.0333 left_pitch=-0.1655 left_roll=-0.0288 left_gripper=0.9946 right_x=0.293 right_y=0.0 right_z=0.173 right_yaw=0.0025 right_pitch=-0.0263 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [0.4581, -6.694, 5.6547, 1.8779, 0.0757, 0.0904, 0.0513, -0.0615, -1.1282, 7.0222, 1.6825, -0.0269, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0849, 1.6886, 0.7467, 0.1917, -0.0784, -0.1314, 0.0171, -0.0219, 0.8036, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4238 left_y=-0.0186 left_z=0.0437 left_yaw=0.0411 left_pitch=-0.1776 left_roll=-0.0317 left_gripper=0.0171 right_x=0.2931 right_y=0.0 right_z=0.1727 right_yaw=0.0025 right_pitch=-0.027 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -8.1573, 5.9419, 1.5995, -0.0415, 0.1294, 1.0965, -0.2256, -1.3197, 7.0359, 1.7607, -0.0122, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5bf4528419b7ab4f4e94c289d76ae182f2f2e67a258c5724ad094f66ba419a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f4826c31c656feca3639318c8e0117380b9ac35bda6e9b77f4845ae66e11b16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db8bd4e2178c600018b6f212a394ee8b86dcf2b205507b6eede965f46208e71c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017N5Y4RS1qieRkGAuEnsW5P",
      "input": {
        "note": "That close read 0.017 (empty) — jaws are still just outside the bowl wall. Reopening and stepping 3 cm further right so the rim wall falls between the fingers.",
        "targets": {
          "left_gripper": 1.0,
          "left_y": -0.048
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017N5Y4RS1qieRkGAuEnsW5P",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1776, 1.6917, 0.7467, 0.1764, -0.1364, -0.1947, 0.9943, -0.0216, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4185 left_y=-0.0471 left_z=0.0405 left_yaw=0.0331 left_pitch=-0.1899 left_roll=-0.0355 left_gripper=0.9943 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0028 right_pitch=-0.0282 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [-0.5265, -6.3658, 7.1863, 1.5751, -0.1587, 0.022, 0.0562, -0.1162, -1.3744, 7.1179, 1.707, -0.022, -0.0366, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88c30c94517548aa401b98c05cefa5136a2191530c840f52a533d6ae688747a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0564821b9030a1200bab92a66d5e0ec658d04227535b15fbd123e219e08dfeef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9cdee47875800f17d511a5723b82b4fa70d9314d16e68bdb813ae7499fb1bd34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 12.63 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0872, 1.6802, 0.7498, 0.1925, -0.0769, -0.1242, 0.9946, -0.0219, 0.8028, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4254 left_y=-0.02 left_z=0.0483 left_yaw=0.0333 left_pitch=-0.1655 left_roll=-0.0288 left_gripper=0.9946 right_x=0.293 right_y=0.0 right_z=0.173 right_yaw=0.0025 right_pitch=-0.0263 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [0.4581, -6.694, 5.6547, 1.8779, 0.0757, 0.0904, 0.0513, -0.0615, -1.1282, 7.0222, 1.6825, -0.0269, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0849, 1.6886, 0.7467, 0.1917, -0.0784, -0.1314, 0.0171, -0.0219, 0.8036, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4238 left_y=-0.0186 left_z=0.0437 left_yaw=0.0411 left_pitch=-0.1776 left_roll=-0.0317 left_gripper=0.0171 right_x=0.2931 right_y=0.0 right_z=0.1727 right_yaw=0.0025 right_pitch=-0.027 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -8.1573, 5.9419, 1.5995, -0.0415, 0.1294, 1.0965, -0.2256, -1.3197, 7.0359, 1.7607, -0.0122, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1776, 1.6917, 0.7467, 0.1764, -0.1364, -0.1947, 0.9943, -0.0216, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4185 left_y=-0.0471 left_z=0.0405 left_yaw=0.0331 left_pitch=-0.1899 left_roll=-0.0355 left_gripper=0.9943 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0028 right_pitch=-0.0282 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [-0.5265, -6.3658, 7.1863, 1.5751, -0.1587, 0.022, 0.0562, -0.1162, -1.3744, 7.1179, 1.707, -0.022, -0.0366, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88c30c94517548aa401b98c05cefa5136a2191530c840f52a533d6ae688747a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0564821b9030a1200bab92a66d5e0ec658d04227535b15fbd123e219e08dfeef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cdee47875800f17d511a5723b82b4fa70d9314d16e68bdb813ae7499fb1bd34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkAgKjgEIEhgCKkA2Id8dYsQr3dhCrEeGMauJdfSnCKf2pH+aJEGW3EIg0oyZq3XaPRdhWLAY6x3ss3e2YS5JCUu3AjjIziHxMU6dMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbP9y9UGEgwH2BYoChwGFFFDfuoaDOjXjD6V0T2PunMpgiIwELCyuXA2xUhqH6VNwZQ4OWHUxJ1l4UZo2iLHTCjqo/s13WdTWFfNqGZh8tzqiBccKq4Gmon6Jga/rTxYbRJJ50sfhZiZ/+x6LnEgpvhDtBzyAossk7mf3gdLG6FWijxwMwW0PPR9X5vvK3GQiVzPlVO1FJFV0ZkZAA3Wdg7KhVHkHsJXD2hlXnI93QRCGf5OfQnC2Se/KosKHmeLPUVflfBxb8mN79jFk+2x8K7XD2C2cwq+EUXqaEq9IvjzJ4iPrt42kgQ26JCSXjuOV4/+6lMX7PLEmCNQk6iWpaR2lw/vMPEoHuKBxwh245tRAmtc0MrDIYFsh5d0mfLmkue5hdp5n8yHDAj60VdLwQ8xvOWLlPSbIjq4vostasj0oJOFSt9Yw+hh2GobL6V8DgpBBOOw5QzllS4TSygnV6sH8AI8mm+i38kAipWJvIITiR2r6nWT65Mo1Y8RLkLBD6aE3Sabkdsuvyp2hQ1lbal+W6tAtP6uTCcHpev9GXadsLLscnAiMa8fe0i+kVL6uYG51U8isDxm14SVaCVeA8b4uU/TGPHn4u5P764s33PJqg2rLmkCy+wf1rIySOWaP+3ZXiL+Fx7Dy5skadM1yGB+NqyoE0wJby5kG6bWs1kPfB/Sr++sGxl9sK0VbY5M1pcMFdpUBpYNgpjXxizzuFNk5feTVYI6o93mlsA3ZkFgOaAWBmiMLhTE30K46c0p9p2qyuNLatDy169YQETf3k6oYPAy7oPlPviqR1ahw2SvTOg2UbfUsTgieE3SUh/XrfzWtJ6JJk9vUgTMW7e/13u9g+bW0/xVIsm7KWUOW/iTvUBAbblNenUZHylmL3zanbkt7yYziDYesns/FE0SeOqMg6X3AXmdIBgvUDzha0rkUg4XMqagrvdQSL7sYJUBOi6XM+ZP/PxoU2CGTbK+fGjvpSQXJtv3quYwvXc63EhVizFTA32+D/IgMC2GJ1xSz7XWYHpLSGRhcjwCS88mE8O6w7faUwKHTENPfH+C5Rpo6u5I4MpoFhewLoO9f67elxiLT6lfwkqZMkQeVl1bs+go+DlvEQtRL1S1gcLYEDTKgmEPU4Q58WC4WACxC7MsPChNccc4at7JqB+HM/7V7VIJY2Vgr5QLTgippr+JTZghoITf6BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EBGZEruCwZpKiHZpvF9cV8",
      "input": {
        "note": "Wrist view now shows the bowl's left rim passing between the two open fingers, with the right finger over the bowl interior; closing on the rim.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EBGZEruCwZpKiHZpvF9cV8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1818, 1.6936, 0.7467, 0.1783, -0.1295, -0.2066, 0.022, -0.0216, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4184 left_y=-0.0501 left_z=0.0399 left_yaw=0.0296 left_pitch=-0.1911 left_roll=-0.049 left_gripper=0.022 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0028 right_pitch=-0.0282 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [0.212, -7.4325, 5.8051, 1.4676, -0.0757, 0.0855, 0.9109, -0.0068, -1.0051, 7.1179, 1.7265, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b81bbb70c6e173abf7276c894cd2fd179e810851084e6689824885cc1546b717",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:452b4beb928c2d2c42f4bc3cbbbb03938297695d287d03ff9b368f92ddba065d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:575a932578f768643d8a759e2b4c6770e6e6dbbb3363f78f9675ceb0b074f738",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 21.46 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0849, 1.6886, 0.7467, 0.1917, -0.0784, -0.1314, 0.0171, -0.0219, 0.8036, 0.5999, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4238 left_y=-0.0186 left_z=0.0437 left_yaw=0.0411 left_pitch=-0.1776 left_roll=-0.0317 left_gripper=0.0171 right_x=0.2931 right_y=0.0 right_z=0.1727 right_yaw=0.0025 right_pitch=-0.027 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -8.1573, 5.9419, 1.5995, -0.0415, 0.1294, 1.0965, -0.2256, -1.3197, 7.0359, 1.7607, -0.0122, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1776, 1.6917, 0.7467, 0.1764, -0.1364, -0.1947, 0.9943, -0.0216, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4185 left_y=-0.0471 left_z=0.0405 left_yaw=0.0331 left_pitch=-0.1899 left_roll=-0.0355 left_gripper=0.9943 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0028 right_pitch=-0.0282 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [-0.5265, -6.3658, 7.1863, 1.5751, -0.1587, 0.022, 0.0562, -0.1162, -1.3744, 7.1179, 1.707, -0.022, -0.0366, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1818, 1.6936, 0.7467, 0.1783, -0.1295, -0.2066, 0.022, -0.0216, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4184 left_y=-0.0501 left_z=0.0399 left_yaw=0.0296 left_pitch=-0.1911 left_roll=-0.049 left_gripper=0.022 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0028 right_pitch=-0.0282 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [0.212, -7.4325, 5.8051, 1.4676, -0.0757, 0.0855, 0.9109, -0.0068, -1.0051, 7.1179, 1.7265, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b81bbb70c6e173abf7276c894cd2fd179e810851084e6689824885cc1546b717",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:452b4beb928c2d2c42f4bc3cbbbb03938297695d287d03ff9b368f92ddba065d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:575a932578f768643d8a759e2b4c6770e6e6dbbb3363f78f9675ceb0b074f738",
        "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_01T2KC9RkoWraP5Mc8UCjAL2",
      "input": {
        "note": "Another empty close; the bowl still sits right of the jaws. Backing up to hover 15 cm above my best guess of the bowl centre so I can see the whole bowl in the wrist view and measure its centre properly.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.44,
          "left_y": -0.1,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01T2KC9RkoWraP5Mc8UCjAL2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3145, 1.6398, 1.1118, -0.2829, -0.2127, -0.3046, 0.9943, -0.0216, 0.8043, 0.5999, -0.3927, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4381 left_y=-0.0995 left_z=0.128 left_yaw=0.0236 left_pitch=-0.2182 left_roll=-0.0507 left_gripper=0.9943 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0028 right_pitch=-0.0274 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [-0.3624, -9.9624, 8.841, 1.4725, -0.2759, 0.105, 0.0366, -0.0752, -1.3197, 7.0085, 1.7167, -0.0562, -0.0562, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:615af9329df0b94fc1e2ae84696c9f2909467ce14212713e0801939059cb6ea5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4524a07f792d4f6aebe8bf4117addc14074847a59adf5e958900ff7ef2ca79d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:68b266fddbf2eda50ea290348ebd198d0d0f1a43c2a429cedba4ce75d11d96cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 14.18 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1776, 1.6917, 0.7467, 0.1764, -0.1364, -0.1947, 0.9943, -0.0216, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4185 left_y=-0.0471 left_z=0.0405 left_yaw=0.0331 left_pitch=-0.1899 left_roll=-0.0355 left_gripper=0.9943 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0028 right_pitch=-0.0282 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [-0.5265, -6.3658, 7.1863, 1.5751, -0.1587, 0.022, 0.0562, -0.1162, -1.3744, 7.1179, 1.707, -0.022, -0.0366, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.1818, 1.6936, 0.7467, 0.1783, -0.1295, -0.2066, 0.022, -0.0216, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4184 left_y=-0.0501 left_z=0.0399 left_yaw=0.0296 left_pitch=-0.1911 left_roll=-0.049 left_gripper=0.022 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0028 right_pitch=-0.0282 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [0.212, -7.4325, 5.8051, 1.4676, -0.0757, 0.0855, 0.9109, -0.0068, -1.0051, 7.1179, 1.7265, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3145, 1.6398, 1.1118, -0.2829, -0.2127, -0.3046, 0.9943, -0.0216, 0.8043, 0.5999, -0.3927, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4381 left_y=-0.0995 left_z=0.128 left_yaw=0.0236 left_pitch=-0.2182 left_roll=-0.0507 left_gripper=0.9943 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0028 right_pitch=-0.0274 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [-0.3624, -9.9624, 8.841, 1.4725, -0.2759, 0.105, 0.0366, -0.0752, -1.3197, 7.0085, 1.7167, -0.0562, -0.0562, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:615af9329df0b94fc1e2ae84696c9f2909467ce14212713e0801939059cb6ea5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4524a07f792d4f6aebe8bf4117addc14074847a59adf5e958900ff7ef2ca79d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68b266fddbf2eda50ea290348ebd198d0d0f1a43c2a429cedba4ce75d11d96cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jem4o32pGgSwgoVq6Gskbv",
      "input": {
        "note": "From the hover view the white bowl is centred on the jaw column at about left_y=-0.10, left_x≈0.42, roughly 12 cm across. Dropping down onto its left rim (y=-0.038, i.e. one radius left of centre) for a rim pinch.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.038,
          "left_z": 0.032
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Jem4o32pGgSwgoVq6Gskbv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 1.7016, 0.7738, 0.0769, -0.112, -0.2058, 0.9949, -0.0219, 0.8062, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4103 left_y=-0.038 left_z=0.0291 left_yaw=0.0509 left_pitch=-0.2743 left_roll=-0.0439 left_gripper=0.9949 right_x=0.2932 right_y=0.0 right_z=0.1719 right_yaw=0.0025 right_pitch=-0.0301 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [0.253, -6.9402, 5.8735, 1.8632, -0.0171, 0.1245, 0.0611, -0.0615, -1.4291, 7.0632, 1.7411, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8de4252292edcedd2d958d939c792fddf170832990c161f630ce1da97a980a7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b6a6a47608d9f5f79d1219f8fdc83e7b9ad5b1bcea8c739ea87e6a824f623a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:df64381dbdf7000f7774a1d838623b5cf85453b473d93f4cffa41147d79d1f09",
        "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 · 4.062 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1818, 1.6936, 0.7467, 0.1783, -0.1295, -0.2066, 0.022, -0.0216, 0.8043, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4184 left_y=-0.0501 left_z=0.0399 left_yaw=0.0296 left_pitch=-0.1911 left_roll=-0.049 left_gripper=0.022 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0028 right_pitch=-0.0282 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [0.212, -7.4325, 5.8051, 1.4676, -0.0757, 0.0855, 0.9109, -0.0068, -1.0051, 7.1179, 1.7265, -0.0317, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.3145, 1.6398, 1.1118, -0.2829, -0.2127, -0.3046, 0.9943, -0.0216, 0.8043, 0.5999, -0.3927, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4381 left_y=-0.0995 left_z=0.128 left_yaw=0.0236 left_pitch=-0.2182 left_roll=-0.0507 left_gripper=0.9943 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0028 right_pitch=-0.0274 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [-0.3624, -9.9624, 8.841, 1.4725, -0.2759, 0.105, 0.0366, -0.0752, -1.3197, 7.0085, 1.7167, -0.0562, -0.0562, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 1.7016, 0.7738, 0.0769, -0.112, -0.2058, 0.9949, -0.0219, 0.8062, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4103 left_y=-0.038 left_z=0.0291 left_yaw=0.0509 left_pitch=-0.2743 left_roll=-0.0439 left_gripper=0.9949 right_x=0.2932 right_y=0.0 right_z=0.1719 right_yaw=0.0025 right_pitch=-0.0301 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [0.253, -6.9402, 5.8735, 1.8632, -0.0171, 0.1245, 0.0611, -0.0615, -1.4291, 7.0632, 1.7411, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8de4252292edcedd2d958d939c792fddf170832990c161f630ce1da97a980a7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b6a6a47608d9f5f79d1219f8fdc83e7b9ad5b1bcea8c739ea87e6a824f623a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df64381dbdf7000f7774a1d838623b5cf85453b473d93f4cffa41147d79d1f09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JDQfmgsB6TCdbn8fimy6L7",
      "input": {
        "note": "Wrist view shows the bowl wall about 3 cm right of the jaws at this low height — the bowl is tapered, so its wall at z=3 cm is well inside the rim radius. Shifting right so the wall sits between the fingers.",
        "targets": {
          "left_y": -0.068
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01JDQfmgsB6TCdbn8fimy6L7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.7187, 0.7685, 0.0822, -0.1474, -0.252, 0.995, -0.0219, 0.8082, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4041 left_y=-0.0666 left_z=0.022 left_yaw=0.022 left_pitch=-0.2859 left_roll=-0.0443 left_gripper=0.995 right_x=0.2934 right_y=0.0001 right_z=0.1715 right_yaw=0.0028 right_pitch=-0.0316 right_roll=0.0021 right_gripper=0.9964\nstate[joint_eff]: [1.1145, -7.4462, 8.4034, 1.4188, -0.2662, 0.0269, -0.0024, -0.1436, -1.306, 7.0085, 1.7411, -0.0757, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4595e91ee15c24b8131cdbf7ae6fdc0c652b1f74b4a6215384f7452938d6f8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d483412ef8c416420c4ba4ad3f9f3100fdc30d89e5c65951d63a834e38dc966b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84b5d7e9747053707a0d639acec9fdbd0770bd6990be31e86d3df6df8d236011",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 41.66 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3145, 1.6398, 1.1118, -0.2829, -0.2127, -0.3046, 0.9943, -0.0216, 0.8043, 0.5999, -0.3927, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4381 left_y=-0.0995 left_z=0.128 left_yaw=0.0236 left_pitch=-0.2182 left_roll=-0.0507 left_gripper=0.9943 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0028 right_pitch=-0.0274 right_roll=0.0018 right_gripper=0.9964\nstate[joint_eff]: [-0.3624, -9.9624, 8.841, 1.4725, -0.2759, 0.105, 0.0366, -0.0752, -1.3197, 7.0085, 1.7167, -0.0562, -0.0562, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.149, 1.7016, 0.7738, 0.0769, -0.112, -0.2058, 0.9949, -0.0219, 0.8062, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4103 left_y=-0.038 left_z=0.0291 left_yaw=0.0509 left_pitch=-0.2743 left_roll=-0.0439 left_gripper=0.9949 right_x=0.2932 right_y=0.0 right_z=0.1719 right_yaw=0.0025 right_pitch=-0.0301 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [0.253, -6.9402, 5.8735, 1.8632, -0.0171, 0.1245, 0.0611, -0.0615, -1.4291, 7.0632, 1.7411, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.7187, 0.7685, 0.0822, -0.1474, -0.252, 0.995, -0.0219, 0.8082, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4041 left_y=-0.0666 left_z=0.022 left_yaw=0.022 left_pitch=-0.2859 left_roll=-0.0443 left_gripper=0.995 right_x=0.2934 right_y=0.0001 right_z=0.1715 right_yaw=0.0028 right_pitch=-0.0316 right_roll=0.0021 right_gripper=0.9964\nstate[joint_eff]: [1.1145, -7.4462, 8.4034, 1.4188, -0.2662, 0.0269, -0.0024, -0.1436, -1.306, 7.0085, 1.7411, -0.0757, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4595e91ee15c24b8131cdbf7ae6fdc0c652b1f74b4a6215384f7452938d6f8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d483412ef8c416420c4ba4ad3f9f3100fdc30d89e5c65951d63a834e38dc966b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84b5d7e9747053707a0d639acec9fdbd0770bd6990be31e86d3df6df8d236011",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS0gIKjgEIEhgCKkAd0yNF34J/uOXk44lywPoLWi6Hg0BX5znuppynWRsmmAHJSQc0497dV1A3rbOWVqU/8C4IyNBD3+e5BbmNGBhxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAer9y9UGEgxF/XOSb4moxezvgpgaDJC/Ta+F7e2V9x43cSIwv3BxMwdvtKs6HpBLnC2yWt4TE4fd6noEs9IkNBHsQH02IvSqk3+Yy7Zie1oD+FUDKnFzxDvH8mYfWfBL6ztsx64pE9vi8Bqi1DDWPV1WpfN4LEjoydUY/4Ml4fj5I9VDzZ8wfM36i73+KuOonJHG9sb73JHK5cs4ZGWyjjApljb1Po4L+3BMNHz5vrhBw+0Ht7wg4jwdGnw1GhLCH4bWPon/kRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CChBzqE7i5QaimUfpb7Byw",
      "input": {
        "note": "The bowl wall now lines up with the jaw column in the wrist view; closing to pinch the wall.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CChBzqE7i5QaimUfpb7Byw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2394, 1.713, 0.775, 0.0998, -0.1387, -0.2707, 0.0231, -0.0219, 0.8097, 0.5999, -0.3939, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4094 left_y=-0.0711 left_z=0.0292 left_yaw=0.019 left_pitch=-0.2594 left_roll=-0.0718 left_gripper=0.0231 right_x=0.2933 right_y=0.0 right_z=0.1709 right_yaw=0.0025 right_pitch=-0.0339 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [0.253, -6.694, 5.3265, 0.8669, -0.1538, 0.1197, 1.033, -0.0889, -1.4427, 7.0359, 1.7167, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:593109637f3f9ae93d02c930066ba82c24a34d89c979ec81aa56ef190f4d5581",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7541c9a118e33576e9d758f1735c092beb5aab692be90998271ac66fa14a753a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d481058732cffb4f8fa7d2b2776f32092f3f3708086058282ba593d089924c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 17.78 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.149, 1.7016, 0.7738, 0.0769, -0.112, -0.2058, 0.9949, -0.0219, 0.8062, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4103 left_y=-0.038 left_z=0.0291 left_yaw=0.0509 left_pitch=-0.2743 left_roll=-0.0439 left_gripper=0.9949 right_x=0.2932 right_y=0.0 right_z=0.1719 right_yaw=0.0025 right_pitch=-0.0301 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [0.253, -6.9402, 5.8735, 1.8632, -0.0171, 0.1245, 0.0611, -0.0615, -1.4291, 7.0632, 1.7411, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.7187, 0.7685, 0.0822, -0.1474, -0.252, 0.995, -0.0219, 0.8082, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4041 left_y=-0.0666 left_z=0.022 left_yaw=0.022 left_pitch=-0.2859 left_roll=-0.0443 left_gripper=0.995 right_x=0.2934 right_y=0.0001 right_z=0.1715 right_yaw=0.0028 right_pitch=-0.0316 right_roll=0.0021 right_gripper=0.9964\nstate[joint_eff]: [1.1145, -7.4462, 8.4034, 1.4188, -0.2662, 0.0269, -0.0024, -0.1436, -1.306, 7.0085, 1.7411, -0.0757, -0.0317, -0.0122]",
      "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]: [-0.2394, 1.713, 0.775, 0.0998, -0.1387, -0.2707, 0.0231, -0.0219, 0.8097, 0.5999, -0.3939, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4094 left_y=-0.0711 left_z=0.0292 left_yaw=0.019 left_pitch=-0.2594 left_roll=-0.0718 left_gripper=0.0231 right_x=0.2933 right_y=0.0 right_z=0.1709 right_yaw=0.0025 right_pitch=-0.0339 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [0.253, -6.694, 5.3265, 0.8669, -0.1538, 0.1197, 1.033, -0.0889, -1.4427, 7.0359, 1.7167, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:593109637f3f9ae93d02c930066ba82c24a34d89c979ec81aa56ef190f4d5581",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7541c9a118e33576e9d758f1735c092beb5aab692be90998271ac66fa14a753a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d481058732cffb4f8fa7d2b2776f32092f3f3708086058282ba593d089924c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014unRQQ3A5ss143YPRPdxkK",
      "input": {
        "note": "Empty again, and I realise my sideways moves at low height have been nudging the bowl. Lifting straight up to 16 cm to re-locate the bowl centre from above before trying a full-width grip on the bowl's narrow lower part.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014unRQQ3A5ss143YPRPdxkK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2394, 1.5253, 1.0817, -0.4156, -0.1394, -0.2806, 0.9947, -0.0216, 0.8101, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4099 left_y=-0.0711 left_z=0.1393 left_yaw=0.0267 left_pitch=-0.2798 left_roll=-0.0724 left_gripper=0.9947 right_x=0.2935 right_y=0.0002 right_z=0.171 right_yaw=0.0032 right_pitch=-0.0335 right_roll=0.0022 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -8.8, 9.0051, 1.326, -0.1343, 0.0659, -0.1099, -0.0615, -1.3607, 7.0085, 1.707, -0.0513, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6dcce9d1e5981490c5486b4da7a1497fd8e25c57ad90ff52418a04ab93ff31d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:946a8add1433968462e9a381e279d1b43f0d3365e5ecadf2a8850142df4de734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3dc50bff7a6b0409c67ce4ce383b4a230fc59641e0a3fb9c99527905bd42254b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 9.768 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2356, 1.7187, 0.7685, 0.0822, -0.1474, -0.252, 0.995, -0.0219, 0.8082, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4041 left_y=-0.0666 left_z=0.022 left_yaw=0.022 left_pitch=-0.2859 left_roll=-0.0443 left_gripper=0.995 right_x=0.2934 right_y=0.0001 right_z=0.1715 right_yaw=0.0028 right_pitch=-0.0316 right_roll=0.0021 right_gripper=0.9964\nstate[joint_eff]: [1.1145, -7.4462, 8.4034, 1.4188, -0.2662, 0.0269, -0.0024, -0.1436, -1.306, 7.0085, 1.7411, -0.0757, -0.0317, -0.0122]",
      "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]: [-0.2394, 1.713, 0.775, 0.0998, -0.1387, -0.2707, 0.0231, -0.0219, 0.8097, 0.5999, -0.3939, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4094 left_y=-0.0711 left_z=0.0292 left_yaw=0.019 left_pitch=-0.2594 left_roll=-0.0718 left_gripper=0.0231 right_x=0.2933 right_y=0.0 right_z=0.1709 right_yaw=0.0025 right_pitch=-0.0339 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [0.253, -6.694, 5.3265, 0.8669, -0.1538, 0.1197, 1.033, -0.0889, -1.4427, 7.0359, 1.7167, -0.0415, -0.0464, -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]: [-0.2394, 1.5253, 1.0817, -0.4156, -0.1394, -0.2806, 0.9947, -0.0216, 0.8101, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4099 left_y=-0.0711 left_z=0.1393 left_yaw=0.0267 left_pitch=-0.2798 left_roll=-0.0724 left_gripper=0.9947 right_x=0.2935 right_y=0.0002 right_z=0.171 right_yaw=0.0032 right_pitch=-0.0335 right_roll=0.0022 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -8.8, 9.0051, 1.326, -0.1343, 0.0659, -0.1099, -0.0615, -1.3607, 7.0085, 1.707, -0.0513, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6dcce9d1e5981490c5486b4da7a1497fd8e25c57ad90ff52418a04ab93ff31d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:946a8add1433968462e9a381e279d1b43f0d3365e5ecadf2a8850142df4de734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dc50bff7a6b0409c67ce4ce383b4a230fc59641e0a3fb9c99527905bd42254b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TwcMvXeJUfp3sDd6Wbx8Eo",
      "input": {
        "note": "From above, the bowl centre reads about left_y=-0.10, left_x≈0.42. Moving there at a safe 14 cm height, planning to descend and close the jaws around the bowl's narrow lower body (~7 cm wide) rather than pinching the rim.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.101
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TwcMvXeJUfp3sDd6Wbx8Eo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.308, 1.5829, 1.1145, -0.4458, -0.1688, -0.3214, 0.9956, -0.0216, 0.8116, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4084 left_y=-0.095 left_z=0.1256 left_yaw=0.0114 left_pitch=-0.3272 left_roll=-0.0604 left_gripper=0.9956 right_x=0.2935 right_y=0.0001 right_z=0.1705 right_yaw=0.0029 right_pitch=-0.0354 right_roll=0.002 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -7.6786, 9.853, 1.536, -0.2857, -0.0513, 0.0806, -0.0752, -1.4701, 7.0359, 1.707, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02eedde2b02b9e9a476c4e65f90808c4c7fc127deee5f8edcf753f5878a700c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e40b40d64ed0f4b9ecb1cef4e0cc7f4c1654eb5c21a0a855cadd9885c0c0ae48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5a7bde77a38cba4d053488e2fda8aaf30afe4f1dc0a4a4e8185fa250762e112",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 8.28 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2394, 1.713, 0.775, 0.0998, -0.1387, -0.2707, 0.0231, -0.0219, 0.8097, 0.5999, -0.3939, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4094 left_y=-0.0711 left_z=0.0292 left_yaw=0.019 left_pitch=-0.2594 left_roll=-0.0718 left_gripper=0.0231 right_x=0.2933 right_y=0.0 right_z=0.1709 right_yaw=0.0025 right_pitch=-0.0339 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [0.253, -6.694, 5.3265, 0.8669, -0.1538, 0.1197, 1.033, -0.0889, -1.4427, 7.0359, 1.7167, -0.0415, -0.0464, -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]: [-0.2394, 1.5253, 1.0817, -0.4156, -0.1394, -0.2806, 0.9947, -0.0216, 0.8101, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4099 left_y=-0.0711 left_z=0.1393 left_yaw=0.0267 left_pitch=-0.2798 left_roll=-0.0724 left_gripper=0.9947 right_x=0.2935 right_y=0.0002 right_z=0.171 right_yaw=0.0032 right_pitch=-0.0335 right_roll=0.0022 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -8.8, 9.0051, 1.326, -0.1343, 0.0659, -0.1099, -0.0615, -1.3607, 7.0085, 1.707, -0.0513, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.308, 1.5829, 1.1145, -0.4458, -0.1688, -0.3214, 0.9956, -0.0216, 0.8116, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4084 left_y=-0.095 left_z=0.1256 left_yaw=0.0114 left_pitch=-0.3272 left_roll=-0.0604 left_gripper=0.9956 right_x=0.2935 right_y=0.0001 right_z=0.1705 right_yaw=0.0029 right_pitch=-0.0354 right_roll=0.002 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -7.6786, 9.853, 1.536, -0.2857, -0.0513, 0.0806, -0.0752, -1.4701, 7.0359, 1.707, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02eedde2b02b9e9a476c4e65f90808c4c7fc127deee5f8edcf753f5878a700c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e40b40d64ed0f4b9ecb1cef4e0cc7f4c1654eb5c21a0a855cadd9885c0c0ae48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5a7bde77a38cba4d053488e2fda8aaf30afe4f1dc0a4a4e8185fa250762e112",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrQgKjgEIEhgCKkDHdjI13fM0rja+SfPOqiX18xi1vBfLRCZzmRNd5cmb8ES3HHa6t45hz0YTCQ2Lu1ijTyxiOXVtHsrMkorEi8SJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbD+y9UGEgxGm3KRXQo4W8pimd8aDNFlKzBENFCgkfHdhyIwEP34lthyx0+aG7ykuZ1djuJPLD2doLzXKpsDIiybVbFtKR9wpLKxGhmPiwA+ap5cKssGQDSvm+Z5nIeNIH0ZblMChXYtYYGjoqAItcBTnFLRD1DzoqXFQ7pod+/TUieUP7lXwxMCFt63GlJlXG0v6VOu2LLz+ciHWo6Az8CbpTbcYol53uME56iXG1RFBan0TOLcY8aS5Jisl4NuPTdk8Pozgihrw8EbuG3LCh9yyQNQakomil28QL5E1/hjCVpkkb5Kmffy0vC9c9BcbGfa8g0Rx/lC8j5ajhzcq7IiZH2bZGBNa9wpwVmsFzTCPGRR1z5AwGCWCkIOX4cbKwvsVr6hzQSnW5a/IUFDXTHsBN/BA09hpv8P7HIhCUlC1q0OXNju7VLgS0/JJHhy0fvbVoS0CKOfJVulQFPYOeNWxxSKFoj8JdXr/iW858vegx5xYegiFZakYc/azYEbQuCFRDUf33ELxNiIjourpb/dY2p683O/xtYzy2A2uTK96AGcLP69ud6vjE65G/h3GpXJ++pivgtTvw4ip/s92UlytLpsvWaPzRVjH4qTLZI2SxxuQeai/H+GO3PNRgW8DqZCEhOtCL4RbASpeI9pS0uAwLq5RPaTZxFUPwCsAqRsVXumPGZ88FqsQfF3ZJTSRqXSb95kheqpeO2wkByPfiicnFjRXCY6sASvXoHba5jRrCsHXhZ0NtdC8zLZWf04lo1OuUr4jngriNsznMWLiWb0XXISsGzezDHG4bQfdef2TEJTO/HGOk+q0I6YJpLOEbnPyO994Ke+FZzAkxBIu2V/IVmgQx8f6qz2d5zsK9o2Hej2rnh/9THEznS+u2d3QiOdWe0fuzT1BvNWqkrhaO+UbyjIDaWJKiS19C3avwbHtTdeTCHuW34FAAlfKUy/NA9yqlv0s6F33UbrV05miaEvSQ3PCEE8VaHJmH0ydlBvGXsxVMQACBAVpPXM+cRxsP9+jbE3a5aMtAZLBNezE0uB+IhrqzQCQR1veU1hgLYNthcgBCkZEvUCgcyCtmfuugp7muC4TM6EarziQZHlHLuC2rNU7FWwIX4MCjEf4W2gNQho4JYplGgoeWvVDDGswnj/mhf56R4AzMJIVc5CSlTidSsGV8Fi1/GJMyes1iMFoIwDmT/EQjHAQNRCQK05wyCLPIUt1uIjFxP88xMI/DOhGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NLL8MRxHMa8zGcCVfpkB8d",
      "input": {
        "note": "Bowl still reads ~2 cm right of the jaw midline; nudging right and dropping to 7 cm, staying above the rim so I don't knock the bowl.",
        "targets": {
          "left_y": -0.115,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NLL8MRxHMa8zGcCVfpkB8d",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3256, 1.6012, 1.1221, -0.4412, -0.1848, -0.3416, 0.9957, -0.0216, 0.8116, 0.5999, -0.3935, -0.0162, -0.02, 0.9964]\nstate[eef_state]: left_x=0.4102 left_y=-0.1004 left_z=0.1224 left_yaw=0.0199 left_pitch=-0.3294 left_roll=-0.0589 left_gripper=0.9957 right_x=0.2935 right_y=0.0001 right_z=0.1705 right_yaw=0.0026 right_pitch=-0.0354 right_roll=0.0023 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -8.1573, 9.0051, 1.4628, -0.2173, -0.0611, -0.0024, -0.0479, -1.3333, 7.0222, 1.7118, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ad2c3032dcacf8ab45ee4101d7c157f36b70d471e0d4d67248d52f8d6273a13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b9536d4ebac60e6709769d2b2c83bbe3d4122889826f649185acf6cd547cefe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b9e1b73d6a218dbb00cc5da61fe63aee0fc426e23486800d43de14bb244426d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 7.928 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2394, 1.5253, 1.0817, -0.4156, -0.1394, -0.2806, 0.9947, -0.0216, 0.8101, 0.5999, -0.3931, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4099 left_y=-0.0711 left_z=0.1393 left_yaw=0.0267 left_pitch=-0.2798 left_roll=-0.0724 left_gripper=0.9947 right_x=0.2935 right_y=0.0002 right_z=0.171 right_yaw=0.0032 right_pitch=-0.0335 right_roll=0.0022 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -8.8, 9.0051, 1.326, -0.1343, 0.0659, -0.1099, -0.0615, -1.3607, 7.0085, 1.707, -0.0513, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.308, 1.5829, 1.1145, -0.4458, -0.1688, -0.3214, 0.9956, -0.0216, 0.8116, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4084 left_y=-0.095 left_z=0.1256 left_yaw=0.0114 left_pitch=-0.3272 left_roll=-0.0604 left_gripper=0.9956 right_x=0.2935 right_y=0.0001 right_z=0.1705 right_yaw=0.0029 right_pitch=-0.0354 right_roll=0.002 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -7.6786, 9.853, 1.536, -0.2857, -0.0513, 0.0806, -0.0752, -1.4701, 7.0359, 1.707, -0.0415, -0.0415, -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]: [-0.3256, 1.6012, 1.1221, -0.4412, -0.1848, -0.3416, 0.9957, -0.0216, 0.8116, 0.5999, -0.3935, -0.0162, -0.02, 0.9964]\nstate[eef_state]: left_x=0.4102 left_y=-0.1004 left_z=0.1224 left_yaw=0.0199 left_pitch=-0.3294 left_roll=-0.0589 left_gripper=0.9957 right_x=0.2935 right_y=0.0001 right_z=0.1705 right_yaw=0.0026 right_pitch=-0.0354 right_roll=0.0023 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -8.1573, 9.0051, 1.4628, -0.2173, -0.0611, -0.0024, -0.0479, -1.3333, 7.0222, 1.7118, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ad2c3032dcacf8ab45ee4101d7c157f36b70d471e0d4d67248d52f8d6273a13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b9536d4ebac60e6709769d2b2c83bbe3d4122889826f649185acf6cd547cefe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b9e1b73d6a218dbb00cc5da61fe63aee0fc426e23486800d43de14bb244426d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4AYKjgEIEhgCKkBeZZl6s+QIWeJRNGAEX66rRJhcLxH8kMLKcgFB0pw/lxtR1peZxFbrdbQL6F6hPA8tLRUWCN5GVhU5LseNKEB9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbn+y9UGEgxdmJWcR1c97ROqcVAaDFDhOYr1DJ+oG6YlUyIwpZa1AbB527Hg4HXByXSOiI2spD/v3Z3FRhewbqDC4RLDZLslVKlPixGXyZgE7ZIQKv4E12MYI2HBUbu4maF1i46/iwRPx7puDL1+hi/Ql1NbeuXK7Ls7rtCceLs4f+Gpg/3a2efwHz+tP5k0ijjh+QPMGqhEQS/wYpi0tJo6Eo4L6nTB7OgFdozHJc6xsKLzld338Yus5TyKsDHbFyGzf72Eg+5BcHD4CirGPnoPYZqHnW2n/Z4IWqE6zohV37prtCvUduxHy5XxIfiu7E3K/7yrY0Vy8pfIFxCCBUxRPahWScvkW1VOzktITxRD7GlejW9UJ9YXxapZwsE3m8CL4vfpJ8lMlKWpztkmUsrztXT18f7oLFQVVIc6Ai1QlWmlP96awRyzUzgd1ulUUhiTcsjb7lVvRuGddX7o36rAbzfZqAl/9icPIupPiKr/x3v9XC38AHRnznm2D6H0wNZBroeAyACeYdl//sBXi+v+YJhSaHRf067aVJpEAqScXR3v/wJH6EGtM4wcUkSH9ZNGRPJrLMYx74FrZvIZpNkCy7Eo/7srzXRxzTcqvnvJPXXFbYec36KKXj1etmBuLfDIt4bRMpMQtlt/L0CEM1D7Di0PM5E6slLf50pN5Jh5iTJkLiJRjZ9UTbOSx8XDw1fqfjkRMWxuItxtIa0+/YXUpYr/Zb2UIjAVEQmke3NzlA+kSNG7vi5tw/KxPKFizxOb7l7USTcZVOYYR47i0LWAqsRU/7fLa0XxwDyFmNTd9e//eV2F6oiBTSKNKLVOP0MMUt/r5xsVVoWqDZH8x1fKqG8tm5Q4wuuaVMnwn/g/g7+EcJMRkjoGK/rVcA0bb9t7h6Fg/7ZdCdpSzuQtam62gO1sXwViLj3+sNuV7zHhNeDUUV4NVMRF85fB80xRQF3RzhoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016kfeiKU2fuLSEbHAjUx5Ke",
      "input": {
        "note": "The last command undershot badly (z stayed at 0.12), so I'm re-commanding the descent explicitly with pitch levelled: down to 3.5 cm just left of the bowl centre, ready to close the jaws around the bowl's lower body.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.41,
          "left_y": -0.115,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_016kfeiKU2fuLSEbHAjUx5Ke",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4191, 1.7298, 0.646, 0.2115, -0.3016, -0.3527, 0.9957, -0.0219, 0.8158, 0.5983, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.3727 left_y=-0.1047 left_z=0.0015 left_yaw=0.0253 left_pitch=-0.2501 left_roll=0.002 left_gripper=0.9957 right_x=0.2936 right_y=0.0 right_z=0.1687 right_yaw=0.0025 right_pitch=-0.0408 right_roll=0.0021 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -4.6427, 3.6855, 0.8181, -0.2222, 0.3199, -0.0073, -0.1983, -1.5111, 7.2137, 1.7118, -0.0562, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e3f1b3d7f37a9e73fb18087a14c7282f28e9a574d1174f0f2b9f2eb9a641bfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9059c1512c401c01546bea55d60c2821218f40df970a50f8d9c494dd9a004bc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae188b0058ba5c083547d0d7af55b2eccfb273d9a444eb79cce391deebdc7e4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 42.61 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.308, 1.5829, 1.1145, -0.4458, -0.1688, -0.3214, 0.9956, -0.0216, 0.8116, 0.5999, -0.3935, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4084 left_y=-0.095 left_z=0.1256 left_yaw=0.0114 left_pitch=-0.3272 left_roll=-0.0604 left_gripper=0.9956 right_x=0.2935 right_y=0.0001 right_z=0.1705 right_yaw=0.0029 right_pitch=-0.0354 right_roll=0.002 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -7.6786, 9.853, 1.536, -0.2857, -0.0513, 0.0806, -0.0752, -1.4701, 7.0359, 1.707, -0.0415, -0.0415, -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]: [-0.3256, 1.6012, 1.1221, -0.4412, -0.1848, -0.3416, 0.9957, -0.0216, 0.8116, 0.5999, -0.3935, -0.0162, -0.02, 0.9964]\nstate[eef_state]: left_x=0.4102 left_y=-0.1004 left_z=0.1224 left_yaw=0.0199 left_pitch=-0.3294 left_roll=-0.0589 left_gripper=0.9957 right_x=0.2935 right_y=0.0001 right_z=0.1705 right_yaw=0.0026 right_pitch=-0.0354 right_roll=0.0023 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -8.1573, 9.0051, 1.4628, -0.2173, -0.0611, -0.0024, -0.0479, -1.3333, 7.0222, 1.7118, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4191, 1.7298, 0.646, 0.2115, -0.3016, -0.3527, 0.9957, -0.0219, 0.8158, 0.5983, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.3727 left_y=-0.1047 left_z=0.0015 left_yaw=0.0253 left_pitch=-0.2501 left_roll=0.002 left_gripper=0.9957 right_x=0.2936 right_y=0.0 right_z=0.1687 right_yaw=0.0025 right_pitch=-0.0408 right_roll=0.0021 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -4.6427, 3.6855, 0.8181, -0.2222, 0.3199, -0.0073, -0.1983, -1.5111, 7.2137, 1.7118, -0.0562, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e3f1b3d7f37a9e73fb18087a14c7282f28e9a574d1174f0f2b9f2eb9a641bfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9059c1512c401c01546bea55d60c2821218f40df970a50f8d9c494dd9a004bc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae188b0058ba5c083547d0d7af55b2eccfb273d9a444eb79cce391deebdc7e4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISswgKjgEIEhgCKkDrLt6zibHIEUpZYmmlvmoDrYaO6NpJEnRNIMWXMgLjjGyWDEZe4SaeCyYjrG7iVi20GcBEM0pbmwTo4nfDpaARMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcL+y9UGEgwL+lE2mgdJIIwog74aDEpRNDOUAtLnBGa7QCIwIFG457mnqj7Lq9zjqo30O+47byrxEbxntwELQZlr/mEeVg3cvucBdbohCsL2qfyhKtEGZEvwtfkYCACp1QncCav8ZVjmyr+CmtWv2i6HCkJHeuz4zyy+fcthgmjlIvbX6zg/xSeqYbNugSb7owugWxE+pQVAu/9CLiQAf3EmEq94kJfYduDmDV/kJVcxKH8IPX4AXGU//86fTGF29pHapTy1lseq4eHI+jQyhkrEcQ570Rd9juNsOdJawo/jpQ2xOtWddFa8jG7j+TTX1sCcRcpWpAg/s9rEiLEa/aM+PNBdU5jP6dOVHn7a5mfx819Pr3KJsvBmygViczdazE7oN6wA/ZZjTl+5HVS+/U0m0vpsq7laQ8bZKQBbWq6IF800lCzcpD5LQhXCx5Kh5ITO4fV+kLH1YxiGIDwaaBjlEcAKOcNrw0dmFYUiZdtS1lZikZgiubvYHZsMxZiTCW63dW8zHfeU75lbG4CVYYQLf+IVU7T29rt/ZDlkQoIgmEhqkvxCzncKzIjVriYDKQRQVUw6lsTHvtzb9z2kVFf7TZ09S9+jInY/deoCSAG6kvfHktBormK50HEzD4/otlpHgJaw7+vEzcJqbtrpUKsrzSu9JB480nhIp363wPifI8Rylg7WZIvKn+8FzcKWoDdE26DMEYfcImiz4WFzmnwngkycYgYLjmTq4E8oiy99Nzdde3cPMwgORk6n7dJb4sfID23nkNlL5acTXU9kXbdpKZ81uKG+/OEvaEiAk5yKOMw2A4yaA3/7MqadQW7lvskFOa7M3JEQk5qJe4XbvcngYILygpDQUxJixJS1QYJvIPauQYE4Qy+1hyOCtxvJOUxvuJZESiDSMOSTPgEafXcVPf0EzG9QhBdyShJLwOvi4XNXyyumrYMMT+BCiHQt1RrADHhG4eZRzLa4Jsx8rRbu9fudiWI231aS69VqyZkVibSZa9bZ/xv/w73yrVkFOG8742/xOpdHQjoHAgmLMqq6h+vS5anBWFCxqKA+25SmPBk+GZaVzlRLikxCza0NIcszFJEwCLrWW8Zr5Xe0JsWkPkgDLv7melgfKfraIucbUSL049t5JL9sQRWwImTRnwcR0uTzT+mu3e8SGy+ehKpIlNZxWzWtA5Kq5hkUG2fl/7lP+FUfWsAbHoBScX07Z1OgmOOE1IQ5+XE9zPauRxbnw+wO9jKMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019ENMUFTMqp6q66dDi51koD",
      "input": {
        "note": "The arm dropped all the way to the table and the wrist view is filled by the bowl surface — I may have knocked it. Lifting straight up to 18 cm to see the scene.",
        "targets": {
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_019ENMUFTMqp6q66dDi51koD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4179, 1.4326, 1.0832, -0.5285, -0.3077, -0.3641, 0.9957, -0.0219, 0.8181, 0.5957, -0.3962, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.3766 left_y=-0.1048 left_z=0.1627 left_yaw=0.0384 left_pitch=-0.2532 left_roll=0.0009 left_gripper=0.9957 right_x=0.2929 right_y=0.0001 right_z=0.1663 right_yaw=0.0028 right_pitch=-0.0488 right_roll=0.0025 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -7.8017, 8.9641, 1.3602, -0.1294, 0.1001, -0.0171, -0.1846, -1.5521, 7.241, 1.7607, -0.0708, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec70282106150a473673d9772bcf3a7f02078684dd7388d568049addc006c3b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7de7e46efeeb0755bd50e28f45a40cd9e6cfb7421e5342155cbdee584422ebd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6987b226c6416c1a2d29c6104a5f029a34850b0c6aa6fac76394d560c28422ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 22.9 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3256, 1.6012, 1.1221, -0.4412, -0.1848, -0.3416, 0.9957, -0.0216, 0.8116, 0.5999, -0.3935, -0.0162, -0.02, 0.9964]\nstate[eef_state]: left_x=0.4102 left_y=-0.1004 left_z=0.1224 left_yaw=0.0199 left_pitch=-0.3294 left_roll=-0.0589 left_gripper=0.9957 right_x=0.2935 right_y=0.0001 right_z=0.1705 right_yaw=0.0026 right_pitch=-0.0354 right_roll=0.0023 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -8.1573, 9.0051, 1.4628, -0.2173, -0.0611, -0.0024, -0.0479, -1.3333, 7.0222, 1.7118, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4191, 1.7298, 0.646, 0.2115, -0.3016, -0.3527, 0.9957, -0.0219, 0.8158, 0.5983, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.3727 left_y=-0.1047 left_z=0.0015 left_yaw=0.0253 left_pitch=-0.2501 left_roll=0.002 left_gripper=0.9957 right_x=0.2936 right_y=0.0 right_z=0.1687 right_yaw=0.0025 right_pitch=-0.0408 right_roll=0.0021 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -4.6427, 3.6855, 0.8181, -0.2222, 0.3199, -0.0073, -0.1983, -1.5111, 7.2137, 1.7118, -0.0562, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4179, 1.4326, 1.0832, -0.5285, -0.3077, -0.3641, 0.9957, -0.0219, 0.8181, 0.5957, -0.3962, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.3766 left_y=-0.1048 left_z=0.1627 left_yaw=0.0384 left_pitch=-0.2532 left_roll=0.0009 left_gripper=0.9957 right_x=0.2929 right_y=0.0001 right_z=0.1663 right_yaw=0.0028 right_pitch=-0.0488 right_roll=0.0025 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -7.8017, 8.9641, 1.3602, -0.1294, 0.1001, -0.0171, -0.1846, -1.5521, 7.241, 1.7607, -0.0708, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec70282106150a473673d9772bcf3a7f02078684dd7388d568049addc006c3b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7de7e46efeeb0755bd50e28f45a40cd9e6cfb7421e5342155cbdee584422ebd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6987b226c6416c1a2d29c6104a5f029a34850b0c6aa6fac76394d560c28422ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SMPz7hWGR3fvY2znx856xG",
      "input": {
        "note": "Side pinches keep sliding off the sloped wall, so I'll first measure the rim height: closing the jaws and positioning them 10 cm above the bowl's left rim, then I'll descend until contact to read off the rim's z.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.42,
          "left_y": -0.045,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SMPz7hWGR3fvY2znx856xG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1867, 1.5719, 0.9619, -0.2691, -0.1719, -0.2092, 0.0084, -0.0216, 0.8181, 0.5953, -0.3965, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4103 left_y=-0.0431 left_z=0.0969 left_yaw=0.0687 left_pitch=-0.2916 left_roll=0.0066 left_gripper=0.0084 right_x=0.2928 right_y=0.0001 right_z=0.166 right_yaw=0.0029 right_pitch=-0.0495 right_roll=0.0023 right_gripper=0.9964\nstate[joint_eff]: [0.3077, -6.5573, 6.2701, 1.8584, 0.0562, 0.0757, 0.6129, -0.0342, -1.3744, 7.2, 1.7118, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8af847390544d90fbbb279917742f482b4f8d0a05271c7b64663b0f9f5228e2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdee14f72b40644b1660d80db5312d0221172f275a15c8422ce1b02e687370d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a1656c838df9df129bf8d929c5c96f321474ce458576648154265622fa92ae7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 10.83 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4191, 1.7298, 0.646, 0.2115, -0.3016, -0.3527, 0.9957, -0.0219, 0.8158, 0.5983, -0.3931, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.3727 left_y=-0.1047 left_z=0.0015 left_yaw=0.0253 left_pitch=-0.2501 left_roll=0.002 left_gripper=0.9957 right_x=0.2936 right_y=0.0 right_z=0.1687 right_yaw=0.0025 right_pitch=-0.0408 right_roll=0.0021 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -4.6427, 3.6855, 0.8181, -0.2222, 0.3199, -0.0073, -0.1983, -1.5111, 7.2137, 1.7118, -0.0562, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4179, 1.4326, 1.0832, -0.5285, -0.3077, -0.3641, 0.9957, -0.0219, 0.8181, 0.5957, -0.3962, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.3766 left_y=-0.1048 left_z=0.1627 left_yaw=0.0384 left_pitch=-0.2532 left_roll=0.0009 left_gripper=0.9957 right_x=0.2929 right_y=0.0001 right_z=0.1663 right_yaw=0.0028 right_pitch=-0.0488 right_roll=0.0025 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -7.8017, 8.9641, 1.3602, -0.1294, 0.1001, -0.0171, -0.1846, -1.5521, 7.241, 1.7607, -0.0708, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.1867, 1.5719, 0.9619, -0.2691, -0.1719, -0.2092, 0.0084, -0.0216, 0.8181, 0.5953, -0.3965, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4103 left_y=-0.0431 left_z=0.0969 left_yaw=0.0687 left_pitch=-0.2916 left_roll=0.0066 left_gripper=0.0084 right_x=0.2928 right_y=0.0001 right_z=0.166 right_yaw=0.0029 right_pitch=-0.0495 right_roll=0.0023 right_gripper=0.9964\nstate[joint_eff]: [0.3077, -6.5573, 6.2701, 1.8584, 0.0562, 0.0757, 0.6129, -0.0342, -1.3744, 7.2, 1.7118, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8af847390544d90fbbb279917742f482b4f8d0a05271c7b64663b0f9f5228e2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdee14f72b40644b1660d80db5312d0221172f275a15c8422ce1b02e687370d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a1656c838df9df129bf8d929c5c96f321474ce458576648154265622fa92ae7",
        "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_01MMiuGQehbZjDg3rxChXzXL",
      "input": {
        "note": "Re-reading the wrist view: these bowls are only ~7 cm across, which fits inside the 9.5 cm jaw stroke. Opening wide and centring over the bowl at 9 cm height, ready to drop down and grip the whole bowl body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.42,
          "left_y": -0.1,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MMiuGQehbZjDg3rxChXzXL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3485, 1.6672, 1.0107, -0.284, -0.2604, -0.334, 0.9952, -0.0216, 0.8204, 0.5949, -0.4118, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4097 left_y=-0.0966 left_z=0.0784 left_yaw=0.0595 left_pitch=-0.3258 left_roll=0.0134 left_gripper=0.9952 right_x=0.2907 right_y=0.0002 right_z=0.1622 right_yaw=0.0029 right_pitch=-0.0675 right_roll=0.0028 right_gripper=0.9964\nstate[joint_eff]: [-0.4581, -7.2137, 9.6068, 1.4188, -0.2808, 0.0122, -0.1197, -0.0479, -1.5932, 7.1179, 1.8486, -0.0122, -0.0855, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af4c4aec8db83ad46f3ceceda6bd02d421d7089ffef0e74185f0f06a54fb3d0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13c212bdb5297a88dadc10902e0e89baf8f03afe6fcf430ab3363dacb0ff2bb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c8581b3abff5e5268c74452aeb3ea8d81640f75e8d5457493e26eeb347cbd7e5",
        "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 · 10.86 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4179, 1.4326, 1.0832, -0.5285, -0.3077, -0.3641, 0.9957, -0.0219, 0.8181, 0.5957, -0.3962, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.3766 left_y=-0.1048 left_z=0.1627 left_yaw=0.0384 left_pitch=-0.2532 left_roll=0.0009 left_gripper=0.9957 right_x=0.2929 right_y=0.0001 right_z=0.1663 right_yaw=0.0028 right_pitch=-0.0488 right_roll=0.0025 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -7.8017, 8.9641, 1.3602, -0.1294, 0.1001, -0.0171, -0.1846, -1.5521, 7.241, 1.7607, -0.0708, -0.0366, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.1867, 1.5719, 0.9619, -0.2691, -0.1719, -0.2092, 0.0084, -0.0216, 0.8181, 0.5953, -0.3965, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4103 left_y=-0.0431 left_z=0.0969 left_yaw=0.0687 left_pitch=-0.2916 left_roll=0.0066 left_gripper=0.0084 right_x=0.2928 right_y=0.0001 right_z=0.166 right_yaw=0.0029 right_pitch=-0.0495 right_roll=0.0023 right_gripper=0.9964\nstate[joint_eff]: [0.3077, -6.5573, 6.2701, 1.8584, 0.0562, 0.0757, 0.6129, -0.0342, -1.3744, 7.2, 1.7118, -0.0464, -0.0317, -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]: [-0.3485, 1.6672, 1.0107, -0.284, -0.2604, -0.334, 0.9952, -0.0216, 0.8204, 0.5949, -0.4118, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4097 left_y=-0.0966 left_z=0.0784 left_yaw=0.0595 left_pitch=-0.3258 left_roll=0.0134 left_gripper=0.9952 right_x=0.2907 right_y=0.0002 right_z=0.1622 right_yaw=0.0029 right_pitch=-0.0675 right_roll=0.0028 right_gripper=0.9964\nstate[joint_eff]: [-0.4581, -7.2137, 9.6068, 1.4188, -0.2808, 0.0122, -0.1197, -0.0479, -1.5932, 7.1179, 1.8486, -0.0122, -0.0855, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af4c4aec8db83ad46f3ceceda6bd02d421d7089ffef0e74185f0f06a54fb3d0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13c212bdb5297a88dadc10902e0e89baf8f03afe6fcf430ab3363dacb0ff2bb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8581b3abff5e5268c74452aeb3ea8d81640f75e8d5457493e26eeb347cbd7e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1QkKjgEIEhgCKkCXInijEtpI3gbFxPsJ44nUZA834qPWbC3o1PRIMIvjVydxIYleMshiVVRNY4kqNMiYj7yYEuyqkX6L6VhicAEfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZH/y9UGEgw4yxNS8CtgHGhGUpAaDNYlgnXnxFb7JJMwsyIwvZwB5sQz27GEAX9vdPsDkd8+c1C09YxW44ECCiBj/DMH78A422B9LDn0GnK2GEEjKvMHxjdXFPoM0X1s1iozO/cykYUVeT70qT1oWlpBpK1fzgalSBZXKERsXe3MLJ+DokcJmufMyYxkTHgiA7zG310cd3powwIyOutadtL12miH7qW87HqQRyXnKkw/lLdKRi4WJy58k1DVON8Qm0BJnRxdzYAyT0D7hSvPfpsZvWNH9fdnXcdFwNYipnIrX80E9bGKEDAL9SAZ00H2U++3yDyilMXh/JjB5cCnJHfztX3Lii5U+joiue8NF2MgHcR6tWE61b84zGxUfqQT1/BMjsc4B8+Rbp12dO2/3fdH4kh6CJRmOn8heNfo3sNgs/jP9HMsm2E+oEUrsxRiZPEbsWRI3QYlEGEW0/RhFnmXbWQvWnODrOJY8BIq3ndvJFkhIEcGagCOC/5g7+DW5pZFtd24qnqwyWvR+vhe8z3YNZNR9if9jtSig/MPtdjd/ssD5awW/yUOJd/4Y2ZrTX/tK7KP/BU8Wf9Rju+RUzooyZWNJxECbFZIp0Drwqryyi8agHtDQ6V5rZOclhsJONOGgNqP5d0epclTt9mkE2jM1oix/wV0fnU1m+y0wXPNdb/LwOi+5YGHKmAYDBs+U9V2rupEdlprXTV0vmC911KDcaTdqffmvEgg9dvFZJkjhtZphUObX7q/3dLtPHhWM1LtrVYSCnj5U0GkEFCMIXOG1eR5ZXDkYKKEbklquZyj9DYbGk1odK7h6TPFbNhA55yM6fSWdRBEr966aeucTbn7v1r1kecw5z71EUB9srgs8wHl7/L98vnhAqEKIxZRpJ4GDW0X3hOztX1pH3sdtta5fVDCcp4psGhzqYxKEAgAA/jU+KV9SPi7UtoLOht3PCN1/EbGH+lwx00oun75AryJBSTe+KfPQ9HWjgTMKh/yRVW6/ZR1k3Zxo8n7bnxwXPVMcgvpaMj7jSxF5TJ5XNE2wGdsZidoRKXumpaYjnhQF42L+pP+yws8f9DOGzEHCw5xB+h2GjAP/lJdzpteL8bDBDtTJjaThL0Kl4L+lZgBnCKGyUChSWP4cs6wVwBHHum85M/dIrextKn/z07svLt8lMJCB9qYnoBgBw0bsEc5O9+pzvZ4TtLwytlDyexKzZgwPND87WD/HgbUAfsT+1aJWpjkJ8dh7DwgUPk8UBMUQ1yov8GUN8kuOkwB6au1M5R4pPkUePaYARRa1FtVK4tZlTxhAWCEfsV24wi9pZFEnkgFRd9DpD70SIIEYDy18hKHr/AypICNLt965PWG8MsvNgbiR8mNRN0KslCmvbGHpBfifPQWHWEowZk63bNXs5zvvfsL/YgL/pSjUGpAolrN829j849OBbdsfHJksr4nvokhSoRl9ZrxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Loons25GYeu55dMVrVWKma",
      "input": {
        "note": "The open jaws almost straddle the bowl but it sits slightly right and beyond the fingertips; shifting 1.5 cm right and 3 cm forward at constant height to centre the bowl between the jaws.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.112
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Loons25GYeu55dMVrVWKma",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3557, 1.776, 1.1126, -0.3096, -0.2626, -0.3416, 0.9957, -0.0216, 0.8234, 0.5945, -0.416, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.429 left_y=-0.1066 left_z=0.0681 left_yaw=0.0632 left_pitch=-0.3547 left_roll=0.0241 left_gripper=0.9957 right_x=0.2901 right_y=0.0003 right_z=0.1603 right_yaw=0.0032 right_pitch=-0.0751 right_roll=0.0032 right_gripper=0.9964\nstate[joint_eff]: [-0.6496, -9.1556, 8.2393, 1.3162, -0.232, -0.0708, 0.0415, -0.0615, -1.3197, 7.0085, 1.6972, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f90dee0645d648a29590817c2d8b11e6ed56f4293d90ea8bb051155d76e98a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a66253b60b25afa5d888a0c739ec2608d434a9f6f5cc29e46e6a846a2cff397b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d73b406a7902d02131b3a9aeb066826cf4797052bf683ed8ee1a00a4e92fed1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 6.623 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1867, 1.5719, 0.9619, -0.2691, -0.1719, -0.2092, 0.0084, -0.0216, 0.8181, 0.5953, -0.3965, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4103 left_y=-0.0431 left_z=0.0969 left_yaw=0.0687 left_pitch=-0.2916 left_roll=0.0066 left_gripper=0.0084 right_x=0.2928 right_y=0.0001 right_z=0.166 right_yaw=0.0029 right_pitch=-0.0495 right_roll=0.0023 right_gripper=0.9964\nstate[joint_eff]: [0.3077, -6.5573, 6.2701, 1.8584, 0.0562, 0.0757, 0.6129, -0.0342, -1.3744, 7.2, 1.7118, -0.0464, -0.0317, -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]: [-0.3485, 1.6672, 1.0107, -0.284, -0.2604, -0.334, 0.9952, -0.0216, 0.8204, 0.5949, -0.4118, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4097 left_y=-0.0966 left_z=0.0784 left_yaw=0.0595 left_pitch=-0.3258 left_roll=0.0134 left_gripper=0.9952 right_x=0.2907 right_y=0.0002 right_z=0.1622 right_yaw=0.0029 right_pitch=-0.0675 right_roll=0.0028 right_gripper=0.9964\nstate[joint_eff]: [-0.4581, -7.2137, 9.6068, 1.4188, -0.2808, 0.0122, -0.1197, -0.0479, -1.5932, 7.1179, 1.8486, -0.0122, -0.0855, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3557, 1.776, 1.1126, -0.3096, -0.2626, -0.3416, 0.9957, -0.0216, 0.8234, 0.5945, -0.416, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.429 left_y=-0.1066 left_z=0.0681 left_yaw=0.0632 left_pitch=-0.3547 left_roll=0.0241 left_gripper=0.9957 right_x=0.2901 right_y=0.0003 right_z=0.1603 right_yaw=0.0032 right_pitch=-0.0751 right_roll=0.0032 right_gripper=0.9964\nstate[joint_eff]: [-0.6496, -9.1556, 8.2393, 1.3162, -0.232, -0.0708, 0.0415, -0.0615, -1.3197, 7.0085, 1.6972, -0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f90dee0645d648a29590817c2d8b11e6ed56f4293d90ea8bb051155d76e98a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a66253b60b25afa5d888a0c739ec2608d434a9f6f5cc29e46e6a846a2cff397b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d73b406a7902d02131b3a9aeb066826cf4797052bf683ed8ee1a00a4e92fed1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpAoKjgEIEhgCKkD+TGkPNc68m0kzA9fdJvjHi7G7ZuUnRziRwMNX3ULYMIHF5cjiIuIcGoOJoQc4gVQ5TxnakdqMAlYZYq7fPPExMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ3/y9UGEgysf1N3yBWB29BjSyAaDFW4iYGYjGQjj5NPSSIwyZ/t4lC3CkuYOjz0K+B06IOpMdxMisv4ENFoHWiHrOIqVi15Cs/MrlNIThQ3yRcYKsIIJkLsi+yoBHpyYb6IqpYK97qixOQ+iCShl6PqLZ/4xeLoNTMd7ROSrFvxjpKZIJYeSlMrO8cXo8WChqftqoHQ/k4QtzZsS2HzFImkQeXbsEsjUcsfUR/mdVw7oHPasrist3ieE4ojrGLUsdOk7IdoIRN5SKYCVJtJ2cdV0a6NC8dCR9InXRIhQMenQXCVJ0s3wrRadoug+RcFtb8kqwFM+pUGAPVPTV9OfdVcbzZzUH7rIMS9Dyn/biZdFvp+auh6zZQIrBpaVIDAZMgeHjx7wz6TrsrD06sRBSsmVSR20c0hZFcd/YwgSB53XbigtjQ9uX9tpNiSZFpWZubIJ/ywqIqPBKz0XN3vc7yiHK9gdmqB0qRNUfavkSBDSvKceAvmAmj4nYiflNnANhwxvFD7a+fLzL9LitLeJH7TFmfe4JXXyc8ZCoEjM44fP3BkPpsJspP6Yt9jrg6muP0jz9zGy4iPK6ebQ4wz4fj2uhThc6o3UiRZlb09LtsJ64w3SqkYEEHXE4NXEsjvkt7oP09n48r57Rl60L6OKz6hVLEG890P4CBHqwV3mXJGiC5kGcwIIK0nzV0w+LqNPs8Yi7QfhHtCgGSEE7fQeWCrhIZ92NjbTQkg3ESc3TdA4WUvGamogNlmkAZsyGP+qgOr6vXRKcowpfDOksFgbgTgSfbK5LWTK9GgNXRP7xoD0hvQ25h7U3B9X4eAUiwdDaxAQ5gfwNMCKTqpOeVN+ZDXmsQIx5gMfmY1ef1bIubOz1DepOp/+h2+AIzVTnqhN6ltbDickznDlo3K3yc6iHL73FBPhycvLpORzkXIxLaG4nrl878/3eoIT7R60aephCrvyYUQhZdehsSYiIP/z6jL89WOZK9UbaMeK6yYCCUP0e9Y12Zh/0gle4YCz6wcwHTEJ3CrTXVpRm8h2vdxW3pEaLknKJrwPUxadF+IpZDHPvKCTSW49c4j3mhkAOjnSO29K9gF4a4ox9ZnubrzdNEDHlb5HZDEErZLMSTClKPtw60KV3xVPBFv4Tg+MenuXkk8Ujz9m+sNYFNpzjqbwUWPEY7rT63DEAN1GNFi15g7Pcl22j2hjsIwOlfLn0b1kUd2PR0uW/MP3BOfH0lW1JFyX/6NxhjLwXH2XKBOR0Fiwb0ifzcTEe8xlp+d+cjnI80Ry9icDDLQBbzcherZevTO4YATbjTXXy3qPBnVy24hMBjHJbDA2PSZfbByxw+ZBnhruuCg5llZcIQEVkZp3FPUYYYTnFbT0mI/1ybQJLIkLz+zkOl6w5ZA0ufmKENVGiTO9QAEzNkFwJPsayT6s3o0pqpN38c9GfHBms5RedDOFNko0/8oTfSXbHsGLmNiKCGo2nh+FDgWNiWyO0qoWpLEjvaw3SO5ZAy+F4uIMizmnobDxui81ha1xTRQtQamSFr/h5etSzCFXLOUQ8liQC3MTjII23Uc+xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VVGBwTLLjZDfdDeTSanvrm",
      "input": {
        "note": "Bowl now sits between the open jaws but about 1-2 cm right of the jaw midline, and it's ~8 cm wide versus the 9.5 cm stroke, so centring matters; nudging 1 cm right before descending.",
        "targets": {
          "left_y": -0.117
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_01VVGBwTLLjZDfdDeTSanvrm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3576, 1.7924, 1.1259, -0.3141, -0.2626, -0.3416, 0.9957, -0.0216, 0.823, 0.5945, -0.416, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.431 left_y=-0.1083 left_z=0.0654 left_yaw=0.0624 left_pitch=-0.3617 left_roll=0.0274 left_gripper=0.9957 right_x=0.2901 right_y=0.0002 right_z=0.1604 right_yaw=0.0029 right_pitch=-0.0747 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -9.1829, 8.4855, 1.326, -0.2418, -0.0952, 0.0415, -0.1162, -1.5932, 7.0359, 1.6874, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:968bb954e61a4bfe0d7400d8f28c4a6f2de237eafef2124e470228040b7b5b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c1e7f41c0dfa978757b3b50a8e6ae8a6c38db4235f851387f971c9906fc9d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b50fe75cfc51ed4c4badb19139b75b503b600caf9335116fb4a60c02aea1c457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 5.277 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3485, 1.6672, 1.0107, -0.284, -0.2604, -0.334, 0.9952, -0.0216, 0.8204, 0.5949, -0.4118, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4097 left_y=-0.0966 left_z=0.0784 left_yaw=0.0595 left_pitch=-0.3258 left_roll=0.0134 left_gripper=0.9952 right_x=0.2907 right_y=0.0002 right_z=0.1622 right_yaw=0.0029 right_pitch=-0.0675 right_roll=0.0028 right_gripper=0.9964\nstate[joint_eff]: [-0.4581, -7.2137, 9.6068, 1.4188, -0.2808, 0.0122, -0.1197, -0.0479, -1.5932, 7.1179, 1.8486, -0.0122, -0.0855, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.3557, 1.776, 1.1126, -0.3096, -0.2626, -0.3416, 0.9957, -0.0216, 0.8234, 0.5945, -0.416, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.429 left_y=-0.1066 left_z=0.0681 left_yaw=0.0632 left_pitch=-0.3547 left_roll=0.0241 left_gripper=0.9957 right_x=0.2901 right_y=0.0003 right_z=0.1603 right_yaw=0.0032 right_pitch=-0.0751 right_roll=0.0032 right_gripper=0.9964\nstate[joint_eff]: [-0.6496, -9.1556, 8.2393, 1.3162, -0.232, -0.0708, 0.0415, -0.0615, -1.3197, 7.0085, 1.6972, -0.0366, -0.0317, -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]: [-0.3576, 1.7924, 1.1259, -0.3141, -0.2626, -0.3416, 0.9957, -0.0216, 0.823, 0.5945, -0.416, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.431 left_y=-0.1083 left_z=0.0654 left_yaw=0.0624 left_pitch=-0.3617 left_roll=0.0274 left_gripper=0.9957 right_x=0.2901 right_y=0.0002 right_z=0.1604 right_yaw=0.0029 right_pitch=-0.0747 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -9.1829, 8.4855, 1.326, -0.2418, -0.0952, 0.0415, -0.1162, -1.5932, 7.0359, 1.6874, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:968bb954e61a4bfe0d7400d8f28c4a6f2de237eafef2124e470228040b7b5b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c1e7f41c0dfa978757b3b50a8e6ae8a6c38db4235f851387f971c9906fc9d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b50fe75cfc51ed4c4badb19139b75b503b600caf9335116fb4a60c02aea1c457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStQUKjgEIEhgCKkCtedeFwIYlKJfTyPVqJUymFNyefIDAU6Gvw28QkdXMGae1ZBuj+JmQHWRbGrdTvQtpBgKR5y/c5+oK7Qe9N1amMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaP/y9UGEgyJGvOubZC24juJvGEaDIcKiN0w4e4W6C5YcSIw3YqZBPLIEE/rf7nVXyXLhcVqNG36am5ThgNyrs7qby6Jg3n9TzS52TPAWFAJmMlrKtMDgLuKxNkftmn0x5VEK+hbvQYUFGGcMbykl0aqJVHpEDfDdfob0jCcfDi8n67I4UC/qNBBlcYtayOnE8sI536iQH+EdHxrXod20ad5mw5U6c3Ux0baGtdCqI8nL/cpH92IC+4gd2enw1PmjHRhS/1AO4FG9lketwvdPpzx/eZUubE2vRrX+9O++JsCowx4X+zCNG7OrcvtPBkr0krt9znw/u0Y6v+5rImcg4D22JE8bHAUaSrVr81bChTVmaQ26Wf6WbplrpH+9WslIurbjyR64vVKVmepqSPxSxW+7xwKzq2jRxwEKXUbAs7edKR4Vm822ZN4x3XdhaBFLlvDeynpQSey6M9/veZNOmnt7sJSuM+2/6vso/tfnInxBOxiu5ur1Ydlu7PXUzrt2MBAB5kOxqTSdB7QsiaUqRyGrdM/1mZslNibpFT9s4RMvu3kGx6P5YudPUviLszuMonvuHn6WF80SCFDZ5fH9HUHzahfb1BkGoD4+JIxruOZ1vNUUUDKbjhmpSTOdHoKgDk0BbSW2mPBO7RqcIwRTx5fTAjQbPcNjl2luli3epIAsPcJimmx/eUy9gu4pfgWpN1OjJP/eE22ei/rHGrfcJlyBijADIGa3xYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YJhRFkeGW6ixPoratfYc1Y",
      "input": {
        "note": "Jaws are straddling the white bowl; descending vertically to 1.5 cm so the fingers surround the narrower lower body of the bowl.",
        "targets": {
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01YJhRFkeGW6ixPoratfYc1Y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3531, 1.8664, 1.0451, -0.1642, -0.2653, -0.3576, 0.9952, -0.0219, 0.8249, 0.5945, -0.4194, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4307 left_y=-0.1055 left_z=0.0257 left_yaw=0.0793 left_pitch=-0.365 left_roll=0.0216 left_gripper=0.9952 right_x=0.2897 right_y=0.0001 right_z=0.1593 right_yaw=0.0025 right_pitch=-0.0801 right_roll=0.0031 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -6.8034, 4.4376, 1.16, -0.1197, 0.1343, -0.0757, -0.1026, -1.5111, 7.1043, 1.6679, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abd9bdb264cde9f67d5701246956b3e7ff72212bb8bf58519c4b1fe70547b2ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7084fbb1697c79c779e217ac8aa218884b751cd030adfaa70936a1f380960ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a5dec13804247f1ebe6a4add4be1cd9595e9eef68bf89a3b29e71b094d099042",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /messages · status 200 · 13.05 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3557, 1.776, 1.1126, -0.3096, -0.2626, -0.3416, 0.9957, -0.0216, 0.8234, 0.5945, -0.416, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.429 left_y=-0.1066 left_z=0.0681 left_yaw=0.0632 left_pitch=-0.3547 left_roll=0.0241 left_gripper=0.9957 right_x=0.2901 right_y=0.0003 right_z=0.1603 right_yaw=0.0032 right_pitch=-0.0751 right_roll=0.0032 right_gripper=0.9964\nstate[joint_eff]: [-0.6496, -9.1556, 8.2393, 1.3162, -0.232, -0.0708, 0.0415, -0.0615, -1.3197, 7.0085, 1.6972, -0.0366, -0.0317, -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]: [-0.3576, 1.7924, 1.1259, -0.3141, -0.2626, -0.3416, 0.9957, -0.0216, 0.823, 0.5945, -0.416, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.431 left_y=-0.1083 left_z=0.0654 left_yaw=0.0624 left_pitch=-0.3617 left_roll=0.0274 left_gripper=0.9957 right_x=0.2901 right_y=0.0002 right_z=0.1604 right_yaw=0.0029 right_pitch=-0.0747 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -9.1829, 8.4855, 1.326, -0.2418, -0.0952, 0.0415, -0.1162, -1.5932, 7.0359, 1.6874, -0.0415, -0.0269, -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]: [-0.3531, 1.8664, 1.0451, -0.1642, -0.2653, -0.3576, 0.9952, -0.0219, 0.8249, 0.5945, -0.4194, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4307 left_y=-0.1055 left_z=0.0257 left_yaw=0.0793 left_pitch=-0.365 left_roll=0.0216 left_gripper=0.9952 right_x=0.2897 right_y=0.0001 right_z=0.1593 right_yaw=0.0025 right_pitch=-0.0801 right_roll=0.0031 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -6.8034, 4.4376, 1.16, -0.1197, 0.1343, -0.0757, -0.1026, -1.5111, 7.1043, 1.6679, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abd9bdb264cde9f67d5701246956b3e7ff72212bb8bf58519c4b1fe70547b2ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7084fbb1697c79c779e217ac8aa218884b751cd030adfaa70936a1f380960ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5dec13804247f1ebe6a4add4be1cd9595e9eef68bf89a3b29e71b094d099042",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmQMKjgEIEhgCKkDKUrCtSlHEwmJdrLNUHS93iARLZo9UMOvaE3mLPb3JH+8bIbpm5MskT+EaQfsHOKu0Ttiz/+tjU3n1PZMW/NqpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAan/y9UGEgxDCJwjKFNRT6dionsaDObs7xhliswGPohwkSIwjV6rkoTUq2m5D6CczytY5GOfVU97c2un9oktew0s7Ycfm/kHt8oSocOrKtLEKi3NKrcBqiK/WDSR5yKTLdJqIvhLaBSA3w1a67kyEj2ravmyg4orZHL6RwtpUnnROuaU0l/ogNmuJxbq1YzCSGBAAFHo8lT8ygbfXdo9RHhrHl1JReqAInmpR3vBCDL2xADBLDEWvxCCrbnMCmx0oKfS7lhciMnaDCsfxu4a/gNHx/u7TOcOMWUtCLDwv7/lGg0P7pKIlommE0j8zZfAR6/kXjKOvtUr0e8S17FwUDld6Ho+yRDitMZbPD3iGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kz8h1eid4GEXjLhPMcFHvD",
      "input": {
        "note": "Jaws are down around the bowl's lower body; closing to about 1.4 cm gap to squeeze the bowl without crushing it.",
        "targets": {
          "left_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Kz8h1eid4GEXjLhPMcFHvD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3534, 1.8709, 1.0412, -0.1684, -0.2623, -0.3637, 0.1551, -0.0216, 0.8249, 0.5945, -0.4194, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4281 left_y=-0.1053 left_z=0.0218 left_yaw=0.0819 left_pitch=-0.3774 left_roll=0.0209 left_gripper=0.1551 right_x=0.2897 right_y=0.0003 right_z=0.1593 right_yaw=0.0032 right_pitch=-0.08 right_roll=0.0033 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -9.4017, 6.2291, 1.3162, -0.1294, 0.0464, -0.0513, -0.0342, -1.4154, 6.9675, 1.6386, -0.0464, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d0fa421f74cf3629933ff74316218769fe698384f7bdd38127349b98f6a2425",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a87a3c22067bb9076fdfa362ab890ca3397ef5c14f08061c967971d6096df267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4769e754940e770579e7f544bfe9aac2266dc9354872ddf7941f8fa3bd5618cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 34.81 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3576, 1.7924, 1.1259, -0.3141, -0.2626, -0.3416, 0.9957, -0.0216, 0.823, 0.5945, -0.416, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.431 left_y=-0.1083 left_z=0.0654 left_yaw=0.0624 left_pitch=-0.3617 left_roll=0.0274 left_gripper=0.9957 right_x=0.2901 right_y=0.0002 right_z=0.1604 right_yaw=0.0029 right_pitch=-0.0747 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -9.1829, 8.4855, 1.326, -0.2418, -0.0952, 0.0415, -0.1162, -1.5932, 7.0359, 1.6874, -0.0415, -0.0269, -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]: [-0.3531, 1.8664, 1.0451, -0.1642, -0.2653, -0.3576, 0.9952, -0.0219, 0.8249, 0.5945, -0.4194, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4307 left_y=-0.1055 left_z=0.0257 left_yaw=0.0793 left_pitch=-0.365 left_roll=0.0216 left_gripper=0.9952 right_x=0.2897 right_y=0.0001 right_z=0.1593 right_yaw=0.0025 right_pitch=-0.0801 right_roll=0.0031 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -6.8034, 4.4376, 1.16, -0.1197, 0.1343, -0.0757, -0.1026, -1.5111, 7.1043, 1.6679, -0.0464, -0.0562, -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]: [-0.3534, 1.8709, 1.0412, -0.1684, -0.2623, -0.3637, 0.1551, -0.0216, 0.8249, 0.5945, -0.4194, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4281 left_y=-0.1053 left_z=0.0218 left_yaw=0.0819 left_pitch=-0.3774 left_roll=0.0209 left_gripper=0.1551 right_x=0.2897 right_y=0.0003 right_z=0.1593 right_yaw=0.0032 right_pitch=-0.08 right_roll=0.0033 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -9.4017, 6.2291, 1.3162, -0.1294, 0.0464, -0.0513, -0.0342, -1.4154, 6.9675, 1.6386, -0.0464, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d0fa421f74cf3629933ff74316218769fe698384f7bdd38127349b98f6a2425",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a87a3c22067bb9076fdfa362ab890ca3397ef5c14f08061c967971d6096df267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4769e754940e770579e7f544bfe9aac2266dc9354872ddf7941f8fa3bd5618cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016t1hJt5uXwdBRLEwQoihCb",
      "input": {
        "note": "The jaws actually went down inside the bowl (closing met no resistance), so the bowl is wider than the stroke. New plan: open the jaws fully while inside the bowl so they press outward on the interior walls for a friction grip.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_016t1hJt5uXwdBRLEwQoihCb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3534, 1.8633, 1.0435, -0.1551, -0.2623, -0.371, 0.995, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.432 left_y=-0.1067 left_z=0.0276 left_yaw=0.0823 left_pitch=-0.3562 left_roll=0.0058 left_gripper=0.995 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0032 right_pitch=-0.0831 right_roll=0.0034 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -8.3624, 6.1607, 1.0232, -0.1441, 0.0513, -0.1294, -0.0068, -1.347, 6.9949, 1.663, -0.0855, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a74fbb08dfe338477094f9f8c4d758b81b7805acac94b10ee3f4cd31f79c2378",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8176cd0a71f647a6c08b63d07c06799087ca1c375f3795b44464557374d2736f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e8bef5819217020c332ed2d9c1301e82aee9f5e64b3d24c1be8b1aeeebf32fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 13.64 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3531, 1.8664, 1.0451, -0.1642, -0.2653, -0.3576, 0.9952, -0.0219, 0.8249, 0.5945, -0.4194, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4307 left_y=-0.1055 left_z=0.0257 left_yaw=0.0793 left_pitch=-0.365 left_roll=0.0216 left_gripper=0.9952 right_x=0.2897 right_y=0.0001 right_z=0.1593 right_yaw=0.0025 right_pitch=-0.0801 right_roll=0.0031 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -6.8034, 4.4376, 1.16, -0.1197, 0.1343, -0.0757, -0.1026, -1.5111, 7.1043, 1.6679, -0.0464, -0.0562, -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]: [-0.3534, 1.8709, 1.0412, -0.1684, -0.2623, -0.3637, 0.1551, -0.0216, 0.8249, 0.5945, -0.4194, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4281 left_y=-0.1053 left_z=0.0218 left_yaw=0.0819 left_pitch=-0.3774 left_roll=0.0209 left_gripper=0.1551 right_x=0.2897 right_y=0.0003 right_z=0.1593 right_yaw=0.0032 right_pitch=-0.08 right_roll=0.0033 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -9.4017, 6.2291, 1.3162, -0.1294, 0.0464, -0.0513, -0.0342, -1.4154, 6.9675, 1.6386, -0.0464, -0.0171, -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]: [-0.3534, 1.8633, 1.0435, -0.1551, -0.2623, -0.371, 0.995, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.432 left_y=-0.1067 left_z=0.0276 left_yaw=0.0823 left_pitch=-0.3562 left_roll=0.0058 left_gripper=0.995 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0032 right_pitch=-0.0831 right_roll=0.0034 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -8.3624, 6.1607, 1.0232, -0.1441, 0.0513, -0.1294, -0.0068, -1.347, 6.9949, 1.663, -0.0855, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a74fbb08dfe338477094f9f8c4d758b81b7805acac94b10ee3f4cd31f79c2378",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8176cd0a71f647a6c08b63d07c06799087ca1c375f3795b44464557374d2736f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e8bef5819217020c332ed2d9c1301e82aee9f5e64b3d24c1be8b1aeeebf32fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HmHRZ8D7tuBrLZVTosVw9C",
      "input": {
        "note": "Fully open jaws inside the bowl met no wall, so the bowl really is ~13 cm across and only a rim pinch will work. Lifting the closed jaws out of the bowl so I can probe the rim height next.",
        "targets": {
          "left_gripper": 0.0,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HmHRZ8D7tuBrLZVTosVw9C",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3534, 1.7943, 1.1481, -0.382, -0.2623, -0.3832, 0.009, -0.0219, 0.8295, 0.5945, -0.4225, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4247 left_y=-0.1041 left_z=0.0638 left_yaw=0.0986 left_pitch=-0.4043 left_roll=0.0228 left_gripper=0.009 right_x=0.2894 right_y=0.0001 right_z=0.1574 right_yaw=0.0025 right_pitch=-0.0877 right_roll=0.0033 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -11.7128, 9.0598, 1.2821, -0.1441, 0.1148, 0.5592, -0.0479, -1.6205, 6.9812, 1.6337, -0.0366, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a26c15c93d8dc11e8910c2efb1873e113e21986a39bbfdcffd0a3600ac47ec4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6716402d8088a5e96375b25d70f29379a6376f496b21c2f0fb2955bfdc942dec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c7c95796c8355ef59703c833c5353efc8edd56b57f6115c87fc946f7d75c56d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /messages · status 200 · 8.02 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3534, 1.8709, 1.0412, -0.1684, -0.2623, -0.3637, 0.1551, -0.0216, 0.8249, 0.5945, -0.4194, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4281 left_y=-0.1053 left_z=0.0218 left_yaw=0.0819 left_pitch=-0.3774 left_roll=0.0209 left_gripper=0.1551 right_x=0.2897 right_y=0.0003 right_z=0.1593 right_yaw=0.0032 right_pitch=-0.08 right_roll=0.0033 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -9.4017, 6.2291, 1.3162, -0.1294, 0.0464, -0.0513, -0.0342, -1.4154, 6.9675, 1.6386, -0.0464, -0.0171, -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]: [-0.3534, 1.8633, 1.0435, -0.1551, -0.2623, -0.371, 0.995, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.432 left_y=-0.1067 left_z=0.0276 left_yaw=0.0823 left_pitch=-0.3562 left_roll=0.0058 left_gripper=0.995 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0032 right_pitch=-0.0831 right_roll=0.0034 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -8.3624, 6.1607, 1.0232, -0.1441, 0.0513, -0.1294, -0.0068, -1.347, 6.9949, 1.663, -0.0855, -0.0269, -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]: [-0.3534, 1.7943, 1.1481, -0.382, -0.2623, -0.3832, 0.009, -0.0219, 0.8295, 0.5945, -0.4225, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4247 left_y=-0.1041 left_z=0.0638 left_yaw=0.0986 left_pitch=-0.4043 left_roll=0.0228 left_gripper=0.009 right_x=0.2894 right_y=0.0001 right_z=0.1574 right_yaw=0.0025 right_pitch=-0.0877 right_roll=0.0033 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -11.7128, 9.0598, 1.2821, -0.1441, 0.1148, 0.5592, -0.0479, -1.6205, 6.9812, 1.6337, -0.0366, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a26c15c93d8dc11e8910c2efb1873e113e21986a39bbfdcffd0a3600ac47ec4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6716402d8088a5e96375b25d70f29379a6376f496b21c2f0fb2955bfdc942dec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c7c95796c8355ef59703c833c5353efc8edd56b57f6115c87fc946f7d75c56d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KhcH9sFoA6KT7U9JA14pJD",
      "input": {
        "note": "Moving the closed jaws up and out to sit above the bowl's left rim (y=-0.04), from where I will descend until contact to measure the rim's height.",
        "targets": {
          "left_y": -0.04,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01KhcH9sFoA6KT7U9JA14pJD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1833, 1.7023, 1.1873, -0.5278, -0.1864, -0.2695, 0.011, -0.0219, 0.8299, 0.5945, -0.4225, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4197 left_y=-0.0409 left_z=0.0949 left_yaw=0.1378 left_pitch=-0.4444 left_roll=0.0305 left_gripper=0.011 right_x=0.2895 right_y=0.0001 right_z=0.1573 right_yaw=0.0025 right_pitch=-0.0881 right_roll=0.0033 right_gripper=0.9964\nstate[joint_eff]: [0.3761, -10.7692, 9.2103, 1.2772, -0.0366, 0.1929, 0.1929, -0.1299, -1.4427, 7.0085, 1.6435, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3de8d9b2fa25e2089f20d35495e9eb9edd5cb92feb244c9c8d5e03891b67791",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9c0654d2796d7239acd49be5807763e34e9251e874a9dfd20aa9616dbf8c7d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6cb7243d1cdd47414662873f4b797438b291461b17794c9f0937a444425713a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 32.27 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3534, 1.8633, 1.0435, -0.1551, -0.2623, -0.371, 0.995, -0.0216, 0.8249, 0.5945, -0.4225, -0.0166, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.432 left_y=-0.1067 left_z=0.0276 left_yaw=0.0823 left_pitch=-0.3562 left_roll=0.0058 left_gripper=0.995 right_x=0.2892 right_y=0.0003 right_z=0.1587 right_yaw=0.0032 right_pitch=-0.0831 right_roll=0.0034 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -8.3624, 6.1607, 1.0232, -0.1441, 0.0513, -0.1294, -0.0068, -1.347, 6.9949, 1.663, -0.0855, -0.0269, -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]: [-0.3534, 1.7943, 1.1481, -0.382, -0.2623, -0.3832, 0.009, -0.0219, 0.8295, 0.5945, -0.4225, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4247 left_y=-0.1041 left_z=0.0638 left_yaw=0.0986 left_pitch=-0.4043 left_roll=0.0228 left_gripper=0.009 right_x=0.2894 right_y=0.0001 right_z=0.1574 right_yaw=0.0025 right_pitch=-0.0877 right_roll=0.0033 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -11.7128, 9.0598, 1.2821, -0.1441, 0.1148, 0.5592, -0.0479, -1.6205, 6.9812, 1.6337, -0.0366, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1833, 1.7023, 1.1873, -0.5278, -0.1864, -0.2695, 0.011, -0.0219, 0.8299, 0.5945, -0.4225, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4197 left_y=-0.0409 left_z=0.0949 left_yaw=0.1378 left_pitch=-0.4444 left_roll=0.0305 left_gripper=0.011 right_x=0.2895 right_y=0.0001 right_z=0.1573 right_yaw=0.0025 right_pitch=-0.0881 right_roll=0.0033 right_gripper=0.9964\nstate[joint_eff]: [0.3761, -10.7692, 9.2103, 1.2772, -0.0366, 0.1929, 0.1929, -0.1299, -1.4427, 7.0085, 1.6435, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3de8d9b2fa25e2089f20d35495e9eb9edd5cb92feb244c9c8d5e03891b67791",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9c0654d2796d7239acd49be5807763e34e9251e874a9dfd20aa9616dbf8c7d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cb7243d1cdd47414662873f4b797438b291461b17794c9f0937a444425713a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlQgKjgEIEhgCKkD9dgLTKTAmYQxoRCwo7Z5+LBImBkZdV01M2FQ+VnD0naI83k5JQidy4I04HkIlrXujBY6VBc+wKUwWiC5osPIIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfL/y9UGEgxzttfm+OEDVyvu3T4aDE9R4Yc/ESOceq+0GCIw6A3/26WMw23fp6q0HiUDi4Ze8vJqqfuA+MfED5OnrxXWRMb+YWUUaD9dXejKxjUpKrMGA/1xwYvtF0oAb8rtPQDWrl7Kup1tbz/Rdw4QS3HV/lTkfId5skHoLcx6RxZo6/2e90CLup8LD480sx0sawwKWtR/OYKm8vi9yyIpZ/nj/c9sRBRW45Co7yxj6m+Ux8B6mOxct7Cg/5xG8f5LlH3yLaCqgiLgcEuz7uqSVW2YHCr+UIIGQLM1oeyRAmNgUkd1POUgoLfQeEVcLGfyoUXT42m+y9cWj6xvmUMRNzXU0eIO+1bRXt/cs6Hmf5GQXZiGswnmmCxuz54WF97Dq+tpVnZqEnfHSovuhtJoCRLwUa6RrjxWeVz9J4iFV6v6mjrLrC6omP2WJ6VyDPcfrL4rCULZplltTpzRIszLtrlj+EjMA7YB4N0vBE9HlDn9a7/Szwe0iyzgqUOSIJT8D8Z/VfH5tJHI2lUMz8RpA4tJOqfQes0JedxSnjFOI4yZUcL0/mSvPF3RoVdyhjo0qWG9P/hw/x3V5fpsh6XSwfN6Vsyieu6buxewAEZH5OkC+SCFkV/k1+HQsIca9pZ+pVmzcNNwyKYYk0kfZZjJmcbseSQZS75u3rxNF+5gRZsPZ2+JZl0rMXbNCHvFbJnDHYcXwFcilPMFjFlL29MxWfeaFmzNMogLwX9uA9uek24RcLYo/NkwG0uJjWRlski4R3blM4fS0VDWVANiP0k5inFTyOHjNUw4hYieHaocjZ4ekFVs4izKZ3FKZLihy3q30iJHKbEjz1xMmxU8KeuDnOcWsrRc+OhUALSHaxn4nPSVviG27ZCguhA1pQp4pt7UG/ozfvSQkB4gbHxYpvKMDjoQdJvxvFRQ1cSWnUy32FQvpvz6K49zOJE8MJ0GuiYbqKUOsoKwJk0VITJZgc0Ba/vYuGlD+V9mW08XGZBxLiqYcfwGD8Z7p5z7pbLg/bX8PF6GjmIynChzNEBkaYrwQ7J92T9rnMph4ergcgSn+XxCTou/eZw8yt4wN1W4coaOWVAZL6kVDegRkiSWnFo/etjeSLyjobrVetLNIMJNl+rllc0Zd0FeExRoD72zadfQed9Lj0Sp9aqh/FYFlPHIE0VABlqv9Qh4Oqh2JWxbDt7gDCek8zNIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011stWZK1ZX71HVinNqWbSpt",
      "input": {
        "note": "Closed jaws are right at the bowl's left rim edge in the wrist view; descending to see at what height they contact the rim.",
        "targets": {
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_011stWZK1ZX71HVinNqWbSpt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1825, 1.8118, 1.0134, -0.3183, -0.1802, -0.2592, 0.0124, -0.0219, 0.8307, 0.5945, -0.4225, -0.0166, -0.02, 0.9964]\nstate[eef_state]: left_x=0.4036 left_y=-0.0386 left_z=0.0157 left_yaw=0.139 left_pitch=-0.5166 left_roll=0.0568 left_gripper=0.0124 right_x=0.2895 right_y=0.0002 right_z=0.1571 right_yaw=0.0027 right_pitch=-0.0888 right_roll=0.0038 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -8.0615, 6.0786, 1.3358, -0.2271, -0.1197, 0.1343, -0.1026, -1.4974, 6.9675, 1.7118, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93bd3707f981d1455ba1d559638cdc60e9c83eefc303676ae63e950e0ec8b2e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58c6ad67037d67c4778c9c990f454c553bb028c394a89ebf54e28c9098b43698",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a06d0605ec4b464f9f2e091e20004392da18c4389c4c0d7992781ab3b9c36370",
        "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 · 10.2 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3534, 1.7943, 1.1481, -0.382, -0.2623, -0.3832, 0.009, -0.0219, 0.8295, 0.5945, -0.4225, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4247 left_y=-0.1041 left_z=0.0638 left_yaw=0.0986 left_pitch=-0.4043 left_roll=0.0228 left_gripper=0.009 right_x=0.2894 right_y=0.0001 right_z=0.1574 right_yaw=0.0025 right_pitch=-0.0877 right_roll=0.0033 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -11.7128, 9.0598, 1.2821, -0.1441, 0.1148, 0.5592, -0.0479, -1.6205, 6.9812, 1.6337, -0.0366, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1833, 1.7023, 1.1873, -0.5278, -0.1864, -0.2695, 0.011, -0.0219, 0.8299, 0.5945, -0.4225, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4197 left_y=-0.0409 left_z=0.0949 left_yaw=0.1378 left_pitch=-0.4444 left_roll=0.0305 left_gripper=0.011 right_x=0.2895 right_y=0.0001 right_z=0.1573 right_yaw=0.0025 right_pitch=-0.0881 right_roll=0.0033 right_gripper=0.9964\nstate[joint_eff]: [0.3761, -10.7692, 9.2103, 1.2772, -0.0366, 0.1929, 0.1929, -0.1299, -1.4427, 7.0085, 1.6435, -0.0562, -0.0464, -0.0122]",
      "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]: [-0.1825, 1.8118, 1.0134, -0.3183, -0.1802, -0.2592, 0.0124, -0.0219, 0.8307, 0.5945, -0.4225, -0.0166, -0.02, 0.9964]\nstate[eef_state]: left_x=0.4036 left_y=-0.0386 left_z=0.0157 left_yaw=0.139 left_pitch=-0.5166 left_roll=0.0568 left_gripper=0.0124 right_x=0.2895 right_y=0.0002 right_z=0.1571 right_yaw=0.0027 right_pitch=-0.0888 right_roll=0.0038 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -8.0615, 6.0786, 1.3358, -0.2271, -0.1197, 0.1343, -0.1026, -1.4974, 6.9675, 1.7118, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93bd3707f981d1455ba1d559638cdc60e9c83eefc303676ae63e950e0ec8b2e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58c6ad67037d67c4778c9c990f454c553bb028c394a89ebf54e28c9098b43698",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a06d0605ec4b464f9f2e091e20004392da18c4389c4c0d7992781ab3b9c36370",
        "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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vU1ykZ+z2csCzSK41lZiyknzskd9QJLKsp/G9PbFNhvuZxaXyAmzVqlnOhG18hZkedOtwgpAVB4LFMn0b6AgCO1TwETVCzmoMsPBDgyPHQ/32nNfb/Va2mTtb/asyRYs79sHS6X6vw4mhBD37do+WEABzv4YSVmy/4reESoJB7zjedqhKstt7rftjfpwCRi6dvVDymQz+sCReW5RoMGqBzqZTLcxc/imCxphmDu+Rr58V8TAPjNAedi8TKheS69B3uDFtJLzPr5tlO1GnMwGtqMxZFMbbcjJclyQZrZqK0fEWhZ9f88TtBZDPxCd0Kh1HH13fGOKXvhREuzk+lzy7WiZTDUW/zCwms6BuvVquHgR172aENyo6CUkiADGclZJPxgPjIQ/ZPRjUnziTRMm17VYqxSMn9dqK0/PEUel4DOMexc58lw8wuJYqHFUcuivastvIeaVf8MoskDXn7znHQDQlDgD7QqTofyDO6oUTPnfNnh7m961Ij06J1of6VFfFW73fNi+QqHYegHK16frg3PZ14OaTAxwAmx/3V5Y+wfVtCYL7Xnzab0OO29WxxdOZ6tEk6h/XJapvAerGhEmwUlQbNmGoURLpvHslNFrDAetonqrIjpWUS8fkTCyTmeycgW0VjS0AVcU8fwP7AQdBSrsTiU9nDATWuG6UOStL5qP47mvkQCtf6IV7glrlsB7MsWXbIRz8MBdOIJgyLn+GmH0DABkPyalcZROwTT0RqzOlL7xfisLqD1ZxyhfG4S6wp/O1MOtUPpkoLoIvx5TXn3VNB1Px43QZ8bUKACuJFJXrwtK2NLpoSRaWYjtaispRhZqMpQMfo3I0CfUEOotoHA44vw7HGkdPgE67TVzCvqYeUZLiKW2kvqg11V0/YKzoiqf0BmptMvqvqLCvvLJSQIANkAHjkktITOvN3ZZcA5iyOOr0+4hvOyh24GwHJmPjDGr2NM5hyk3yRrxwa59GC9YgnH6unUCOyKspfXyjByryFw3b3T1gDW40gAFY6tc0EB3ZqFjrVCDApPg2Gb69a2FCr35g8rj1Iiq1NY+fp153t77DV/EHX48LBbyZ9hIM2n2htC2wHUQlKAAa19FwkHSNl+2J1eQX4Hwr23FM97/NrjgKCPZI6VBk6PF0DvRUjwYkI0Ygdc1oNZAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015k6mPTDxbx4rk8Qsu7wYwq",
      "input": {
        "note": "The closed jaws reached table level 3.9 cm left of the bowl without touching it, so the bowl's outer wall is near left_y=-0.07. Rising and opening the jaws directly above that rim point for a rim pinch.",
        "targets": {
          "left_gripper": 1.0,
          "left_y": -0.072,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015k6mPTDxbx4rk8Qsu7wYwq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2756, 1.7496, 1.2282, -0.6449, -0.2104, -0.3466, 0.9949, -0.0219, 0.8307, 0.5945, -0.4225, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4005 left_y=-0.0712 left_z=0.0787 left_yaw=0.1387 left_pitch=-0.55 left_roll=0.0615 left_gripper=0.9949 right_x=0.2895 right_y=0.0001 right_z=0.1571 right_yaw=0.0026 right_pitch=-0.0888 right_roll=0.0033 right_gripper=0.9964\nstate[joint_eff]: [-0.5949, -10.8376, 8.7179, 0.9206, -0.2662, 0.0171, -0.0757, -0.0615, -1.2513, 7.0496, 1.6337, -0.0708, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db3550dd61674e137ccdcd64fafd348a376992d45b7392b118f20a4f3b9b187b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b20fc8a0a9d942acaa903c7f19258d1002eab35df52613e4f69eb2b4173ebff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6c5de4fef64f19e82196f7b83132cf63ee2fbf6ccb10b587fe7f19ddd5b666e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 5.86 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1833, 1.7023, 1.1873, -0.5278, -0.1864, -0.2695, 0.011, -0.0219, 0.8299, 0.5945, -0.4225, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4197 left_y=-0.0409 left_z=0.0949 left_yaw=0.1378 left_pitch=-0.4444 left_roll=0.0305 left_gripper=0.011 right_x=0.2895 right_y=0.0001 right_z=0.1573 right_yaw=0.0025 right_pitch=-0.0881 right_roll=0.0033 right_gripper=0.9964\nstate[joint_eff]: [0.3761, -10.7692, 9.2103, 1.2772, -0.0366, 0.1929, 0.1929, -0.1299, -1.4427, 7.0085, 1.6435, -0.0562, -0.0464, -0.0122]",
      "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]: [-0.1825, 1.8118, 1.0134, -0.3183, -0.1802, -0.2592, 0.0124, -0.0219, 0.8307, 0.5945, -0.4225, -0.0166, -0.02, 0.9964]\nstate[eef_state]: left_x=0.4036 left_y=-0.0386 left_z=0.0157 left_yaw=0.139 left_pitch=-0.5166 left_roll=0.0568 left_gripper=0.0124 right_x=0.2895 right_y=0.0002 right_z=0.1571 right_yaw=0.0027 right_pitch=-0.0888 right_roll=0.0038 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -8.0615, 6.0786, 1.3358, -0.2271, -0.1197, 0.1343, -0.1026, -1.4974, 6.9675, 1.7118, -0.0415, -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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2756, 1.7496, 1.2282, -0.6449, -0.2104, -0.3466, 0.9949, -0.0219, 0.8307, 0.5945, -0.4225, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4005 left_y=-0.0712 left_z=0.0787 left_yaw=0.1387 left_pitch=-0.55 left_roll=0.0615 left_gripper=0.9949 right_x=0.2895 right_y=0.0001 right_z=0.1571 right_yaw=0.0026 right_pitch=-0.0888 right_roll=0.0033 right_gripper=0.9964\nstate[joint_eff]: [-0.5949, -10.8376, 8.7179, 0.9206, -0.2662, 0.0171, -0.0757, -0.0615, -1.2513, 7.0496, 1.6337, -0.0708, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db3550dd61674e137ccdcd64fafd348a376992d45b7392b118f20a4f3b9b187b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b20fc8a0a9d942acaa903c7f19258d1002eab35df52613e4f69eb2b4173ebff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c5de4fef64f19e82196f7b83132cf63ee2fbf6ccb10b587fe7f19ddd5b666e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS8QkKjgEIEhgCKkCsSlRnCntrOhreb4vEGoqBl7QhoAMLFFZiwX2It+P6RYDScd/VsUtU96bMxU7ZBCwL3BYIsEsJA/f50LSLsLAGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ6AzNUGEgxNt7le+n7BIthONP4aDNad4gtEqY1+itwYOyIwwLBskxZyeZaBFI0jFgMCjtVwJHV17mCWDiaL3Pg2ycKiFv8zr6XO5pKcxqs3vAmhKo8IgRwg7uwi80w0GXCW41TLk8SK+LqS2Pxb9ibxenIulEJYPsim1QUaLLlb8uOIo5HSKTr425YoMalNSJsXcWs5nWsPgBKOOcF87ADy/buP9255lgPxeNtj6KB0Y36m8yqxQMZry9iwWDMQtbUgIAb87HrmY2B89yYph9mDAeyNNLpvHUJT3N4FKVnRLnL5vQEN2Pl+GfDeBoisbjIi+A25AOAydAvCofxvYq0519zjDwNRbSsUNP4yqddFkkv+rLIIvnSnwqoRY84eEEGI91WsQBMAlwPQPWAHY4DgpnCzLAswM1xUgkiegWn9pWg0MfcjBo9eZhuOEwDlPTpSnfz+vsVuFgT4RjCsYtXoGDsV3nHSM16QMc2McdAdn62cnMu2ndMTvcAMGwxb9XkNdeHD5rQ0WEGYqmF+G6pbUp9bF3mlhrDdt0F2YnN/mPnOb83ZLNBRVz+3vw/RJVJ7UKmCuCVjwTHODg/xNk/Yyq+L9aA75g130QSrFY+JU5L4p1z+/fCsJf2Qcb/BxZczVsBVkj9kEECJjSxo8Dt/chfglqp5IlhmwZPSx/NB1lFw2uyQ5VVWeVhpu8lovvuhmTR5z2r9hwyvBRLwxOEr9tMGl7N5fsiCmj2WINVFbDJpvz96FDTJQbAn0a3ub80eE9p/CU3lOux0QcDccajj6YdrQVQfoyuRh/hdQ1JZuF+7viNjmKW1tDmKhsQoRrskyLOExGOCtLXdO1kohrES/QpaA6dPm0SK2Y8dz9zlsjpIhPAPaq69qc3DEol/YDhTPbMSKQSxZOeuUoB8lUSNE5NYzGHOb/W6gaIaNXTWCME7aH0zqLDtn7W7na1VEHPTCVUlJVNp+EcYgufA7gBuRWor3HBtu58DgUtYMyKtnBDR660VV3Car3PQF5VW01I/S1DuIyNEZCx5Brl4SW+Ck/igrk/Ol4nehpEPIvPRo+TCfQ3k4w6O3/w6L+B0dL0mF/PxA9QVtOXpryerD6MddMCcf7eDvJZqu8EUAzbEh4jCbC+FUpQs9rzJ/r8h4jurSdZR6ansvEvyCwNOFeOfUGi+oasAB87JZvoV4z+9SyfirCs/oZ3nPNGdfEj9E4j/L0XkQ6gVdNqOLak5f2WlWZ0N79bU8sBnMi4uRDTr68ym4ZWrKnUJewbPOm2qNESt5Oe8+M4lfty7sDl8EZ7+55ormqvKVerQ4ipQ1us3AX8FF8PyNaNVkuTPJyJArmuWMv2wCf4ZbIpaA0Ym9rjqkkipnrD1sKee/nMp9ULBeeYHdDCZnT6DuFnjMfukfL+dLLUpu57T/Br3ChbxJIP9y1z6gqOAfyiuDRzJDwK73To3VE8Fl1JsJd+79/Q2nJhUJGJheyvQMmeM5/und2TfCOovaxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016UCneBXiNuGSisC3jvZafo",
      "input": {
        "note": "Open jaws now appear to straddle the bowl's left rim; descending to 4 cm so the fingertips drop just below the rim edge.",
        "targets": {
          "left_z": 0.042
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_016UCneBXiNuGSisC3jvZafo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2806, 1.7786, 1.1519, -0.5632, -0.21, -0.3489, 0.9957, -0.0216, 0.8307, 0.5945, -0.4225, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.3939 left_y=-0.0715 left_z=0.0499 left_yaw=0.1409 left_pitch=-0.5717 left_roll=0.0713 left_gripper=0.9957 right_x=0.2895 right_y=0.0002 right_z=0.1571 right_yaw=0.0029 right_pitch=-0.0888 right_roll=0.0033 right_gripper=0.9964\nstate[joint_eff]: [0.335, -7.8564, 6.3248, 1.2137, -0.0952, 0.0024, 0.0611, -0.0752, -1.4154, 7.0085, 1.6337, -0.0562, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:772eaf173fe25e5eb1c0190a08ef5aad746784825db6e4d2aff08fc374386ed7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8a988904d1cd9c147ef9d5214143ffcfefff491b34504b81db64269cc801fc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6ec85ee62ea108d6b830775a4db7a2ebe772acf0f5fb36412fa64ec6966d2da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 16.93 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1825, 1.8118, 1.0134, -0.3183, -0.1802, -0.2592, 0.0124, -0.0219, 0.8307, 0.5945, -0.4225, -0.0166, -0.02, 0.9964]\nstate[eef_state]: left_x=0.4036 left_y=-0.0386 left_z=0.0157 left_yaw=0.139 left_pitch=-0.5166 left_roll=0.0568 left_gripper=0.0124 right_x=0.2895 right_y=0.0002 right_z=0.1571 right_yaw=0.0027 right_pitch=-0.0888 right_roll=0.0038 right_gripper=0.9964\nstate[joint_eff]: [-0.2667, -8.0615, 6.0786, 1.3358, -0.2271, -0.1197, 0.1343, -0.1026, -1.4974, 6.9675, 1.7118, -0.0415, -0.022, -0.0122]\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]: [-0.2756, 1.7496, 1.2282, -0.6449, -0.2104, -0.3466, 0.9949, -0.0219, 0.8307, 0.5945, -0.4225, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.4005 left_y=-0.0712 left_z=0.0787 left_yaw=0.1387 left_pitch=-0.55 left_roll=0.0615 left_gripper=0.9949 right_x=0.2895 right_y=0.0001 right_z=0.1571 right_yaw=0.0026 right_pitch=-0.0888 right_roll=0.0033 right_gripper=0.9964\nstate[joint_eff]: [-0.5949, -10.8376, 8.7179, 0.9206, -0.2662, 0.0171, -0.0757, -0.0615, -1.2513, 7.0496, 1.6337, -0.0708, -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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2806, 1.7786, 1.1519, -0.5632, -0.21, -0.3489, 0.9957, -0.0216, 0.8307, 0.5945, -0.4225, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.3939 left_y=-0.0715 left_z=0.0499 left_yaw=0.1409 left_pitch=-0.5717 left_roll=0.0713 left_gripper=0.9957 right_x=0.2895 right_y=0.0002 right_z=0.1571 right_yaw=0.0029 right_pitch=-0.0888 right_roll=0.0033 right_gripper=0.9964\nstate[joint_eff]: [0.335, -7.8564, 6.3248, 1.2137, -0.0952, 0.0024, 0.0611, -0.0752, -1.4154, 7.0085, 1.6337, -0.0562, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:772eaf173fe25e5eb1c0190a08ef5aad746784825db6e4d2aff08fc374386ed7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8a988904d1cd9c147ef9d5214143ffcfefff491b34504b81db64269cc801fc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6ec85ee62ea108d6b830775a4db7a2ebe772acf0f5fb36412fa64ec6966d2da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISsgQKjgEIEhgCKkCiDMaASoj8k2r78SAu7GdloEFf7BxetedDDikDjEEXB43a6FBDuDd7KrjFN/VqbUosvVpXp1BWWtEQFYiXTctXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaSAzNUGEgyrcRdNUAjwr3cAfq8aDKRhlIxxY0iTCI0R7SIw15QSX6vh3cn0tcXB6bEtjIcQGvDl/XcWA7yae7iOKIYLZRDdk+x5bUbfNReqlr9/KtACYVmgtpMNM8tMSayrULgcMRZNvj2vMJs2MEHcK7E05krg6SOg9r84bBArmgXP2urowRwWZrYBY3pOog/8GiG/IXriHdtMRNeUkBrT6Cv0hOunltGklIhDLNwz3rS775CYUZ2aVrgyQq1SxSofTIb/tQCIAK4wf3bPZujH2bM2Efvx+cmvIQt4HyYWZGrv7ibklGioDkKjjSOo8SDefS6W/oEV/Pn3G25nu5ySwH+bjjI3JBcSaNyvN9OO7dr3R0kfRPqaCVcpmkyZTs0p4GkfXTTM3JCJyk+5s0oX44A7xjPJNWegFEA1AsO/D1zazLUHokaqxBzcwnl5a/rVF3qwDJJftoDzeOax+NYc61pJFsnGJuoGQ89VGylFw9upnhpnzledKigDgYojro5n84wX4gXW/xF4Zw7Kqxcstb7f8aLyKlZEmeqAladLZ0q2arlpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CjY1BxdwXu7e6UXNyMJucQ",
      "input": {
        "note": "Fingertips are at rim height with the rim apparently between them; closing to pinch the rim.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CjY1BxdwXu7e6UXNyMJucQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.281, 1.792, 1.1389, -0.5507, -0.1944, -0.3649, 0.0215, -0.0219, 0.8307, 0.5945, -0.4225, -0.0162, -0.0204, 0.9964]\nstate[eef_state]: left_x=0.3911 left_y=-0.0736 left_z=0.0413 left_yaw=0.1401 left_pitch=-0.5895 left_roll=0.0543 left_gripper=0.0215 right_x=0.2895 right_y=0.0001 right_z=0.1571 right_yaw=0.0026 right_pitch=-0.0888 right_roll=0.0033 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -8.4855, 6.5846, 0.7546, -0.5641, 0.1294, 0.9011, -0.0889, -1.4291, 7.1316, 1.6728, -0.0464, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:278f4722f526bc4c3b982ccd71e2c99715963b21d0d064ad87a349bb0531df1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b22405701b330f9d589a1a6045cd4205d92310ff98d6541b227ab0eb0d634d21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e58298be813b49ba1cbb101372a53549a25705f594ed0c8ceeb6c43c289b1345",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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