adhoc

completed
2026-09-22T20:01:05.066766+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
195.6 s
total steps
180
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls sit in a row between the arms; the left wrist cam sees the nearest (white) bowl slightly ahead and right. Moving the left arm closer and lower to line up on its near rim.
move_to
left_x0.3300left_y-0.0300left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7959, 0.606, -0.3786, -0.0227, -0.0292, 0.9996, -0.0193, 0.7937, 0.6029, -0.3786, -0.0162, -0.0196, 0.997] state[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1806 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2948 right_y=0.0008 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.997 state[joint_eff]: [-0.5265, -1.4974, 10.0034, 1.7558, -0.0513, 0.149, -0.0562, -0.4581, -1.4291, 10.2769, 1.873, -0.0464, 0.0513, -0.3199] 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": 0.33, "left_y": -0.03, "left_z": 0.1}, "note": "Three bowls sit in a row between the arms; the left wrist cam sees the nearest (white) bowl slightly ahead and right. Moving the left arm closer and lower to line up on its near rim."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteWhite bowl is ahead and slightly right in the left wrist view. Advancing so the jaw column lines up on the bowl's left wall, to grasp the rim.
move_to
left_x0.3900left_y-0.0200left_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1802, 1.0794, 0.4026, -0.0013, -0.1364, -0.1059, 0.9996, -0.0216, 0.8001, 0.6052, -0.3889, -0.0166, -0.0196, 0.9969] state[eef_state]: left_x=0.3148 left_y=-0.0293 left_z=0.0845 left_yaw=-0.0221 left_pitch=-0.1023 left_roll=0.0136 left_gripper=0.9996 right_x=0.2941 right_y=0.0002 right_z=0.177 right_yaw=-0.002 right_pitch=-0.0149 right_roll=0.0005 right_gripper=0.9969 state[joint_eff]: [-0.3624, -3.6581, 6.2427, 2.0342, -0.2076, -0.1197, -0.0171, 0.2256, -1.7573, 6.8718, 1.7949, -0.0708, -0.0024, -0.0269] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.02, "left_z": 0.08}, "note": "White bowl is ahead and slightly right in the left wrist view. Advancing so the jaw column lines up on the bowl's left wall, to grasp the rim."})
tool
executing move_to over 6 steps (0.6s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe white bowl's left wall now runs down the jaw column in the wrist view. Advancing slightly and descending so the jaws straddle the rim wall.
move_to
left_x0.3900left_y-0.0150left_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0959, 1.4326, 0.5732, 0.1177, -0.0875, -0.0761, 0.9996, -0.0219, 0.8043, 0.5995, -0.3935, -0.0166, -0.02, 0.9969] state[eef_state]: left_x=0.3707 left_y=-0.0166 left_z=0.061 left_yaw=0.0058 left_pitch=-0.17 left_roll=0.013 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.1723 right_yaw=-0.0021 right_pitch=-0.0294 right_roll=0.0005 right_gripper=0.9969 state[joint_eff]: [0.3897, -5.8188, 8.3214, 1.7167, -0.0073, 0.1392, -0.0122, -0.294, -1.6205, 7.4872, 1.7607, -0.0806, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.015, "left_z": 0.03}, "note": "The white bowl's left wall now runs down the jaw column in the wrist view. Advancing slightly and descending so the jaws straddle the rim wall."})
tool
executing move_to over 2 steps (0.2s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteDescent stopped at z=0.049, possibly just step-clamped. Continuing down to straddle the bowl wall.
move_to
left_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0883, 1.5394, 0.5922, 0.2226, -0.0792, -0.0715, 0.9996, -0.0219, 0.804, 0.5991, -0.3939, -0.0166, -0.0204, 0.9969] state[eef_state]: left_x=0.388 left_y=-0.0167 left_z=0.049 left_yaw=0.0035 left_pitch=-0.1535 left_roll=0.0091 left_gripper=0.9996 right_x=0.2929 right_y=0.0001 right_z=0.1721 right_yaw=-0.0019 right_pitch=-0.0297 right_roll=0.0002 right_gripper=0.9969 state[joint_eff]: [0.5949, -5.6821, 5.2991, 1.2234, -0.0757, 0.0122, -0.0122, -0.0889, -1.2239, 7.0906, 1.707, -0.0708, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.025}, "note": "Descent stopped at z=0.049, possibly just step-clamped. Continuing down to straddle the bowl wall."})
tool
executing move_to over 2 steps (0.2s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteBowl wall sits between the jaws at z≈0.02. 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]: [-0.0856, 1.6287, 0.5716, 0.271, -0.0792, -0.075, 0.9996, -0.0216, 0.8097, 0.5961, -0.3965, -0.0166, -0.0204, 0.9969] state[eef_state]: left_x=0.3821 left_y=-0.0152 left_z=0.0176 left_yaw=0.0091 left_pitch=-0.2146 left_roll=0.0124 left_gripper=0.9996 right_x=0.2925 right_y=0.0002 right_z=0.1686 right_yaw=-0.0015 right_pitch=-0.0412 right_roll=0.0004 right_gripper=0.9969 state[joint_eff]: [-0.1162, -7.706, 6.0239, 1.7265, -0.0757, 0.0317, -0.0122, -0.1436, -1.7709, 7.2957, 1.7118, -0.0122, -0.0757, -0.0122] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Bowl wall sits between the jaws at z\u22480.02. Closing to pinch the rim."})
tool
executing move_to over 10 steps (1.0s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteGripper closed to 0.03 on the thin bowl wall (ambiguous for a thin rim). Lifting to check the bowl comes along.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.086, 1.615, 0.5724, 0.3073, -0.0669, -0.0948, 0.0302, -0.0216, 0.8101, 0.5957, -0.3969, -0.0166, -0.02, 0.9969] state[eef_state]: left_x=0.3896 left_y=-0.0181 left_z=0.0293 left_yaw=0.0082 left_pitch=-0.1648 left_roll=-0.0157 left_gripper=0.0302 right_x=0.2924 right_y=0.0002 right_z=0.1683 right_yaw=-0.0017 right_pitch=-0.0423 right_roll=0.0007 right_gripper=0.9969 state[joint_eff]: [-0.3077, -5.3265, 5.3949, 1.1648, -0.1734, 0.2466, 0.5983, -0.212, -1.306, 7.1316, 1.6825, -0.0464, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.1}, "note": "Gripper closed to 0.03 on the thin bowl wall (ambiguous for a thin rim). Lifting to check the bowl comes along."})
tool
executing move_to over 5 steps (0.5s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe white bowl appears to be lifted with the rim pinch. Carrying it up and toward the middle (lavender) bowl, checking position in the top view before lowering.
move_to
left_x0.5000left_z0.1600left_y-0.0100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.086, 1.4456, 0.6895, 0.0116, -0.0719, -0.102, 0.0458, -0.0219, 0.8108, 0.5953, -0.3969, -0.0166, -0.0204, 0.9969] state[eef_state]: left_x=0.3876 left_y=-0.0171 left_z=0.0828 left_yaw=0.0165 left_pitch=-0.1736 left_roll=-0.0169 left_gripper=0.0458 right_x=0.2924 right_y=0.0001 right_z=0.1679 right_yaw=-0.0019 right_pitch=-0.0435 right_roll=0.0004 right_gripper=0.9969 state[joint_eff]: [-0.1709, -6.9538, 8.9094, 1.6679, -0.0317, 0.0269, 1.0379, 0.0068, -1.388, 7.0496, 1.7216, -0.0708, -0.0562, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_z": 0.16, "left_y": -0.01}, "note": "The white bowl appears to be lifted with the rim pinch. Carrying it up and toward the middle (lavender) bowl, checking position in the top view before lowering."})
tool
executing move_to over 9 steps (0.9s)
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 white bowl is held (it moved up-image with the arm, so arm +x is image-up). Carrying it right (−y) to hover above the lavender middle bowl.
move_to
left_x0.3800left_y-0.1800left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0452, 1.7477, 1.2816, -0.3019, -0.0517, -0.094, 0.0473, -0.0219, 0.8162, 0.5953, -0.4072, -0.0166, -0.02, 0.9969] state[eef_state]: left_x=0.4897 left_y=-0.0094 left_z=0.1442 left_yaw=0.0361 left_pitch=-0.1984 left_roll=-0.0228 left_gripper=0.0473 right_x=0.2912 right_y=0.0001 right_z=0.1644 right_yaw=-0.0021 right_pitch=-0.0591 right_roll=0.0011 right_gripper=0.9969 state[joint_eff]: [0.3897, -9.0051, 9.0872, 1.6874, 0.0806, 0.188, 1.0281, -0.1436, -1.6889, 7.0222, 1.8584, -0.0415, -0.0513, -0.0171] 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_x": 0.38, "left_y": -0.18, "left_z": 0.16}, "note": "The white bowl is held (it moved up-image with the arm, so arm +x is image-up). Carrying it right (\u2212y) to hover above the lavender middle bowl."})
tool
executing move_to over 16 steps (1.6s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteHeld white bowl now appears over the lavender bowl in the top view. Lowering to nest it before releasing.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6235, 1.5883, 1.1435, -0.469, -0.4194, -0.4995, 0.0473, -0.0216, 0.8173, 0.5953, -0.4149, -0.0166, -0.0204, 0.9969] state[eef_state]: left_x=0.3793 left_y=-0.1798 left_z=0.1416 left_yaw=-0.0002 left_pitch=-0.24 left_roll=-0.0007 left_gripper=0.0473 right_x=0.2901 right_y=0.0003 right_z=0.1626 right_yaw=-0.0015 right_pitch=-0.0679 right_roll=0.0009 right_gripper=0.9969 state[joint_eff]: [-0.3077, -8.9504, 8.8547, 1.3407, -0.3492, -0.2076, 1.0281, -0.1026, -1.4701, 7.1863, 1.7607, -0.0464, -0.0708, -0.0171] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.08}, "note": "Held white bowl now appears over the lavender bowl in the top view. Lowering to nest it before releasing."})
tool
executing move_to over 4 steps (0.4s)
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 noteLavender bowl's rim peeks out just beyond the held white bowl's far side, so nudging slightly forward/right and lowering to nest.
move_to
left_x0.3850left_y-0.1850left_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6266, 1.6566, 0.9771, -0.3061, -0.4183, -0.5137, 0.051, -0.0219, 0.8173, 0.5949, -0.4152, -0.0166, -0.02, 0.9969] state[eef_state]: left_x=0.3672 left_y=-0.1728 left_z=0.0749 left_yaw=0.0155 left_pitch=-0.2982 left_roll=0.0327 left_gripper=0.051 right_x=0.29 right_y=0.0002 right_z=0.1623 right_yaw=-0.0021 right_pitch=-0.0686 right_roll=0.0012 right_gripper=0.9969 state[joint_eff]: [-0.0068, -7.5966, 7.0222, 1.6484, -0.2466, 0.1197, 0.8278, -0.1162, -1.3744, 7.0359, 1.6972, -0.0562, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.385, "left_y": -0.185, "left_z": 0.06}, "note": "Lavender bowl's rim peeks out just beyond the held white bowl's far side, so nudging slightly forward/right and lowering to nest."})
tool
executing move_to over 2 steps (0.2s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteDescent stopped at z≈0.07, the white bowl appears seated on/into the lavender bowl with rims nearly aligned. Releasing.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6266, 1.6897, 0.976, -0.2581, -0.4175, -0.5175, 0.0527, -0.0219, 0.8173, 0.5945, -0.4152, -0.0166, -0.0204, 0.9969] state[eef_state]: left_x=0.3733 left_y=-0.1774 left_z=0.068 left_yaw=0.0146 left_pitch=-0.2875 left_roll=0.021 left_gripper=0.0527 right_x=0.2899 right_y=0.0002 right_z=0.1621 right_yaw=-0.0019 right_pitch=-0.069 right_roll=0.0009 right_gripper=0.9969 state[joint_eff]: [-0.2803, -6.8171, 8.3487, 1.1209, -0.1587, 0.0269, 0.8083, -0.0068, -1.1692, 7.0359, 1.6679, -0.0464, -0.0513, -0.0171] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Descent stopped at z\u22480.07, the white bowl appears seated on/into the lavender bowl with rims nearly aligned. Releasing."})
tool
executing move_to over 10 steps (1.0s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
Released. Now lift the left arm clear and park it.
agent noteWhite bowl released onto the lavender bowl. Lifting and parking the left arm home to clear the view and make room for the right arm.
move_to
left_z0.1800left_x0.3000left_y0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6266, 1.702, 0.9798, -0.2806, -0.4175, -0.5209, 0.9949, -0.0219, 0.8173, 0.5945, -0.4221, -0.0162, -0.0204, 0.9969] state[eef_state]: left_x=0.3702 left_y=-0.1752 left_z=0.0618 left_yaw=0.0222 left_pitch=-0.3121 left_roll=0.0381 left_gripper=0.9949 right_x=0.2889 right_y=0.0001 right_z=0.1608 right_yaw=-0.0022 right_pitch=-0.0759 right_roll=0.0009 right_gripper=0.9969 state[joint_eff]: [-0.1162, -7.4325, 7.9385, 1.199, -0.2418, 0.0708, 0.0171, -0.3487, -1.347, 7.0085, 1.7167, -0.0562, -0.0708, -0.0171] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
Released. Now lift the left arm clear and park it.
move_to({"targets": {"left_z": 0.18, "left_x": 0.3, "left_y": 0.0}, "note": "White bowl released onto the lavender bowl. Lifting and parking the left arm home to clear the view and make room for the right arm."})
tool
executing move_to over 16 steps (1.6s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteWhite bowl is nested on the lavender one. Right wrist cam sees the pink bowl ahead-left; moving the right arm forward/left to line the jaws up on the pink bowl's right wall.
move_to
right_x0.3700right_y0.0500right_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0769, 1.0863, 0.8928, -0.7155, -0.1165, -0.1078, 0.9957, -0.0216, 0.8185, 0.5945, -0.4225, -0.0166, -0.0204, 0.9969] state[eef_state]: left_x=0.3009 left_y=0.001 left_z=0.1639 left_yaw=0.073 left_pitch=-0.3325 left_roll=0.0341 left_gripper=0.9957 right_x=0.2889 right_y=0.0003 right_z=0.1604 right_yaw=-0.0015 right_pitch=-0.0774 right_roll=0.0011 right_gripper=0.9969 state[joint_eff]: [0.1162, -3.7949, 9.5111, 1.4725, -0.0024, 0.1929, 0.0757, -0.0479, -1.0872, 6.9812, 1.6581, -0.0562, -0.0513, -0.0122] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.05, "right_z": 0.08}, "note": "White bowl is nested on the lavender one. Right wrist cam sees the pink bowl ahead-left; moving the right arm forward/left to line the jaws up on the pink bowl's right wall."})
tool
executing move_to over 7 steps (0.7s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent notePink bowl's right wall runs down the jaw column in the right wrist view. Descending so the jaws straddle it.
move_to
right_x0.3600right_y0.0500right_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.075, 1.0916, 0.8951, -0.7364, -0.1055, -0.1017, 0.9958, 0.194, 1.3613, 0.5213, 0.07, 0.1246, 0.086, 0.9969] state[eef_state]: left_x=0.2975 left_y=-0.0001 left_z=0.16 left_yaw=0.0629 left_pitch=-0.3577 left_roll=0.0325 left_gripper=0.9958 right_x=0.3465 right_y=0.0494 right_z=0.0572 right_yaw=0.0348 right_pitch=-0.1938 right_roll=-0.0181 right_gripper=0.9969 state[joint_eff]: [-0.4444, -3.3162, 6.4752, 1.5556, -0.1587, -0.0855, 0.0024, 0.1573, -6.3795, 8.3077, 1.8926, 0.2369, 0.1001, -0.0171] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.05, "right_z": 0.025}, "note": "Pink bowl's right wall runs down the jaw column in the right wrist view. Descending so the jaws straddle it."})
tool
executing move_to over 3 steps (0.3s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteWall is between the jaws at z≈0.03. Pressing a bit lower and closing to pinch the pink bowl's rim.
move_to
right_z0.0200right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.075, 1.0924, 0.8951, -0.738, -0.1051, -0.1017, 0.9958, 0.1886, 1.478, 0.5068, 0.1829, 0.1257, 0.0853, 0.9969] state[eef_state]: left_x=0.2972 left_y=-0.0001 left_z=0.1596 left_yaw=0.0627 left_pitch=-0.36 left_roll=0.0325 left_gripper=0.9958 right_x=0.3535 right_y=0.0486 right_z=0.0326 right_yaw=0.0283 right_pitch=-0.2117 right_roll=-0.0225 right_gripper=0.9969 state[joint_eff]: [0.0479, -2.947, 6.6667, 1.3602, -0.1294, -0.0757, -0.0122, -0.2667, -5.9009, 5.7778, 1.7851, 0.022, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02, "right_gripper": 0.0}, "note": "Wall is between the jaws at z\u22480.03. Pressing a bit lower and closing to pinch the pink bowl's rim."})
tool
executing move_to over 10 steps (1.0s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent notePinched the pink bowl's rim (reading 0.027, thin wall). Lifting straight up to confirm it comes along before carrying.
move_to
right_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.075, 1.0924, 0.8951, -0.7383, -0.1051, -0.1017, 0.9958, 0.1894, 1.4746, 0.4999, 0.2058, 0.1089, 0.0845, 0.0272] state[eef_state]: left_x=0.2971 left_y=-0.0001 left_z=0.1595 left_yaw=0.0627 left_pitch=-0.3604 left_roll=0.0325 left_gripper=0.9958 right_x=0.355 right_y=0.0522 right_z=0.035 right_yaw=0.0445 right_pitch=-0.1943 right_roll=-0.0081 right_gripper=0.0272 state[joint_eff]: [-0.335, -3.1111, 6.6667, 1.3553, -0.1294, -0.0708, -0.0122, -0.2256, -4.9299, 6.2701, 1.1746, 0.1783, -0.0757, 1.1893] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17}, "note": "Pinched the pink bowl's rim (reading 0.027, thin wall). Lifting straight up to confirm it comes along before carrying."})
tool
executing move_to over 9 steps (0.9s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent notePink bowl is lifted with the arm. Carrying it left (+y) to hover over the white/lavender stack.
move_to
right_x0.3800right_y0.2200right_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.075, 1.0931, 0.8951, -0.7448, -0.1051, -0.1013, 0.9958, 0.1894, 1.2495, 0.8551, -0.4026, 0.0994, 0.075, 0.0321] state[eef_state]: left_x=0.2959 left_y=-0.0 left_z=0.1584 left_yaw=0.0628 left_pitch=-0.3676 left_roll=0.0339 left_gripper=0.9958 right_x=0.354 right_y=0.0537 right_z=0.148 right_yaw=0.0571 right_pitch=-0.2232 right_roll=-0.0122 right_gripper=0.0321 state[joint_eff]: [-0.2393, -3.2068, 6.653, 1.3651, -0.1001, -0.0708, -0.0122, -0.3761, -6.2291, 9.3333, 1.6093, 0.1294, 0.0562, 1.0281] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.22, "right_z": 0.17}, "note": "Pink bowl is lifted with the arm. Carrying it left (+y) to hover over the white/lavender stack."})
tool
executing move_to over 14 steps (1.4s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent notePink bowl is over the stack; a sliver of the white rim peeks out on its left in the wrist view, so nudging slightly left while lowering.
move_to
right_y0.2300right_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.6777, 1.6329, 1.2575, -0.5686, 0.3908, 0.4168, 0.0349] state[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.3697 right_y=0.2157 right_z=0.1526 right_yaw=0.0979 right_pitch=-0.278 right_roll=-0.0401 right_gripper=0.0349 state[joint_eff]: [-0.1846, -3.3709, 6.6667, 1.326, -0.105, -0.0708, -0.0122, 0.2667, -7.8017, 9.388, 1.4286, 0.4908, 0.1392, 1.033] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.23, "right_z": 0.1}, "note": "Pink bowl is over the stack; a sliver of the white rim peeks out on its left in the wrist view, so nudging slightly left while lowering."})
tool
executing move_to over 4 steps (0.4s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe white bowl's rim shows beyond the pink bowl's upper-left edge, so shifting forward and left a bit while lowering to nest.
move_to
right_x0.3800right_y0.2400right_z0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.7036, 1.7084, 1.1435, -0.45, 0.4034, 0.4332, 0.0349] state[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.3613 right_y=0.2203 right_z=0.0956 right_yaw=0.0924 right_pitch=-0.3304 right_roll=-0.0798 right_gripper=0.0349 state[joint_eff]: [-0.0889, -3.1385, 6.8308, 1.2869, -0.1001, -0.0415, -0.0122, 0.4581, -8.4444, 6.9265, 1.4774, 0.2466, 0.0415, 1.0232] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.24, "right_z": 0.075}, "note": "The white bowl's rim shows beyond the pink bowl's upper-left edge, so shifting forward and left a bit while lowering to nest."})
tool
executing move_to over 2 steps (0.2s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteDescent stalled at z≈0.094, likely the pink bowl resting on the white rim off-centre. Lifting slightly and shifting further forward/left to centre it.
move_to
right_x0.3900right_y0.2500right_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7475, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3908, 0.4034, 0.4347, 0.0349] state[eef_state]: left_x=0.2955 left_y=-0.0 left_z=0.1571 left_yaw=0.0631 left_pitch=-0.3733 left_roll=0.0347 left_gripper=0.9958 right_x=0.3664 right_y=0.227 right_z=0.0939 right_yaw=0.1023 right_pitch=-0.3015 right_roll=-0.0577 right_gripper=0.0349 state[joint_eff]: [-0.212, -3.1521, 6.653, 1.3504, -0.0806, -0.0415, -0.0122, 0.1026, -8.8, 6.8855, 1.3895, 0.2125, 0.0904, 1.0281] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.25, "right_z": 0.11}, "note": "Descent stalled at z\u22480.094, likely the pink bowl resting on the white rim off-centre. Lifting slightly and shifting further forward/left to centre it."})
tool
executing move_to over 2 steps (0.2s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe right arm didn't respond to the combined move; trying a pure lift to free it.
move_to
right_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3904, 0.4034, 0.4347, 0.0355] state[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.3665 right_y=0.2271 right_z=0.0939 right_yaw=0.1024 right_pitch=-0.3012 right_roll=-0.0575 right_gripper=0.0355 state[joint_eff]: [-0.212, -3.1385, 6.7077, 1.326, -0.1197, -0.0708, -0.0122, 0.1436, -8.6496, 6.8034, 1.4237, 0.1832, 0.105, 1.0037] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.13}, "note": "The right arm didn't respond to the combined move; trying a pure lift to free it."})
tool
executing move_to over 3 steps (0.3s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteRight arm is frozen at the last pose (IK seems to be holding). Commanding a pose back toward the one it last reached comfortably to unstick it.
move_to
right_x0.3400right_y0.2000right_z0.1200right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7475, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3904, 0.4038, 0.4343, 0.0355] state[eef_state]: left_x=0.2955 left_y=-0.0 left_z=0.1571 left_yaw=0.0631 left_pitch=-0.3733 left_roll=0.0347 left_gripper=0.9958 right_x=0.3665 right_y=0.227 right_z=0.0939 right_yaw=0.1023 right_pitch=-0.301 right_roll=-0.058 right_gripper=0.0355 state[joint_eff]: [-0.3077, -3.1385, 6.653, 1.3358, -0.0855, -0.0464, -0.0122, 0.1026, -8.8, 6.8171, 1.4383, 0.2369, 0.0659, 0.9939] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.2, "right_z": 0.12, "right_yaw": 0.0}, "note": "Right arm is frozen at the last pose (IK seems to be holding). Commanding a pose back toward the one it last reached comfortably to unstick it."})
tool
executing move_to over 3 steps (0.3s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteRight arm joints are not responding, but the pink bowl is already sitting inside the white bowl's rim (visible in the wrist and top views). Opening the gripper to release it onto the stack.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7475, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3904, 0.4038, 0.4343, 0.0356] state[eef_state]: left_x=0.2955 left_y=-0.0 left_z=0.1571 left_yaw=0.0631 left_pitch=-0.3733 left_roll=0.0347 left_gripper=0.9958 right_x=0.3665 right_y=0.227 right_z=0.0939 right_yaw=0.1023 right_pitch=-0.301 right_roll=-0.058 right_gripper=0.0356 state[joint_eff]: [-0.1983, -3.1248, 6.735, 1.2967, -0.1245, -0.0757, -0.0122, 0.1846, -8.8, 7.0769, 1.4188, 0.2125, 0.0611, 0.5934] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Right arm joints are not responding, but the pink bowl is already sitting inside the white bowl's rim (visible in the wrist and top views). Opening the gripper to release it onto the stack."})
tool
executing move_to over 10 steps (1.0s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent notePink bowl was released and now sits inside the white bowl's rim. Trying to lift the right arm clear to verify the stack from above.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.7071, 1.7206, 1.1305, -0.395, 0.4038, 0.4263, 0.9961] state[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.3658 right_y=0.226 right_z=0.0929 right_yaw=0.105 right_pitch=-0.306 right_roll=-0.0668 right_gripper=0.9961 state[joint_eff]: [-0.253, -3.1111, 6.694, 1.2918, -0.0611, -0.0317, -0.0122, -0.0889, -8.4308, 6.4342, 1.3211, 0.1978, 0.0269, -0.188] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16}, "note": "Pink bowl was released and now sits inside the white bowl's rim. Trying to lift the right arm clear to verify the stack from above."})
tool
executing move_to over 5 steps (0.5s)
step 160
top_cam
camera top_cam step 160
assistant
agent notePink bowl sits nested inside the white bowl. Parking the right arm at home so the top camera can see the stack.
move_to
right_x0.2900right_y0.0000right_z0.1800right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7475, -0.1051, -0.1013, 0.9958, 0.7071, 1.7039, 1.2945, -0.6163, 0.4034, 0.4225, 0.9962] state[eef_state]: left_x=0.2955 left_y=-0.0 left_z=0.1571 left_yaw=0.0631 left_pitch=-0.3733 left_roll=0.0347 left_gripper=0.9958 right_x=0.3653 right_y=0.2256 right_z=0.1325 right_yaw=0.0998 right_pitch=-0.3396 right_roll=-0.0933 right_gripper=0.9962 state[joint_eff]: [-0.1709, -3.0291, 6.6803, 1.326, -0.1197, -0.0464, -0.0122, -0.294, -11.1658, 8.8547, 1.2527, 0.2076, 0.0073, 0.0024] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.0, "right_z": 0.18, "right_yaw": 0.0}, "note": "Pink bowl sits nested inside the white bowl. Parking the right arm at home so the top camera can see the stack."})
tool
executing move_to over 19 steps (1.9s)
step 179
assistant
The top view shows a single stack of bowls with the pink bowl on top and nothing else on the table.
agent noteAll three bowls are now stacked in one pile in the middle of the table, with the pink bowl on top. The top camera shows the single stack and nothing else on the table. Both arms are parked at home.
done
hindsight- The top camera in these images shows the left arm entering from the left edge and the right arm from the right. Arm +x (forward) is image-up and arm −y is image-right. Early on I misread the arms as facing each other. - Top-camera scale was about 3.3 px/cm in image-y for a carried object, and about 2.8 px/cm in image-x across the bowl row. - Grasping a bowl by its side wall works. Line the wall up along the jaw column (x≈100–110) in the wrist view with the wall reaching the bottom of the image, descend to z≈0.02–0.03, and close fully. The settled reading is 0.03–0.05 for a thin wall, and the grasp still holds. - To stack, shift the gripper by the same amount as the offset between the two bowl centres in the top view. Final alignment comes from the wrist view: move toward the side where the lower bowl's rim peeks out. - The right arm froze for several calls at x0.37, y0.23, z0.09, yaw0.1: its joints did not respond to any Cartesian target, including a pure lift. Opening the gripper still worked, and after that the arm moved again. Avoid large +y cross-over combined with low z for the right arm, or approach with smaller steps.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.0463, 1.066, 0.9382, -0.7929, 0.1078, -0.0223, 0.9962] state[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.2921 right_y=-0.0019 right_z=0.1759 right_yaw=-0.0427 right_pitch=-0.3483 right_roll=-0.0996 right_gripper=0.9962 state[joint_eff]: [-0.0889, -3.1248, 6.6803, 1.3407, -0.0952, -0.022, -0.0122, 0.0752, -3.4393, 6.8581, 1.4383, -0.0855, 0.0171, -0.0122] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
The top view shows a single stack of bowls with the pink bowl on top and nothing else on the table.
done({"summary": "All three bowls are now stacked in one pile in the middle of the table, with the pink bowl on top. The top camera shows the single stack and nothing else on the table. Both arms are parked at home.", "hindsight": "- The top camera in these images shows the left arm entering from the left edge and the right arm from the right. Arm +x (forward) is image-up and arm \u2212y is image-right. Early on I misread the arms as facing each other.\n- Top-camera scale was about 3.3 px/cm in image-y for a carried object, and about 2.8 px/cm in image-x across the bowl row.\n- Grasping a bowl by its side wall works. Line the wall up along the jaw column (x\u2248100\u2013110) in the wrist view with the wall reaching the bottom of the image, descend to z\u22480.02\u20130.03, and close fully. The settled reading is 0.03\u20130.05 for a thin wall, and the grasp still holds.\n- To stack, shift the gripper by the same amount as the offset between the two bowl centres in the top view. Final alignment comes from the wrist view: move toward the side where the lower bowl's rim peeks out.\n- The right arm froze for several calls at x0.37, y0.23, z0.09, yaw0.1: its joints did not respond to any Cartesian target, including a pure lift. Opening the gripper still worked, and after that the arm moved again. Avoid large +y cross-over combined with low z for the right arm, or approach with smaller steps."})
tool
done: All three bowls are now stacked in one pile in the middle of the table, with the pink bowl on top. The top camera shows the single stack and nothing else on the table. Both arms are parked at home.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 15.81 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7959, 0.606, -0.3786, -0.0227, -0.0292, 0.9996, -0.0193, 0.7937, 0.6029, -0.3786, -0.0162, -0.0196, 0.997]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1806 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2948 right_y=0.0008 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.997\nstate[joint_eff]: [-0.5265, -1.4974, 10.0034, 1.7558, -0.0513, 0.149, -0.0562, -0.4581, -1.4291, 10.2769, 1.873, -0.0464, 0.0513, -0.3199]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f56eedaeec941f988d14bcfd4af1aa4dca1348681f87137e465851a323d73375",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7005b3fe0c39cc8c94746fcaaa4195b1462207aef5e3561e3328306eebfdc5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2787881db77875bcf851ea7d4dd30957cce84f60ac3f5846b2ef9c6df6e3c005",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 12.85 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7959, 0.606, -0.3786, -0.0227, -0.0292, 0.9996, -0.0193, 0.7937, 0.6029, -0.3786, -0.0162, -0.0196, 0.997]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1806 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2948 right_y=0.0008 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.997\nstate[joint_eff]: [-0.5265, -1.4974, 10.0034, 1.7558, -0.0513, 0.149, -0.0562, -0.4581, -1.4291, 10.2769, 1.873, -0.0464, 0.0513, -0.3199]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f56eedaeec941f988d14bcfd4af1aa4dca1348681f87137e465851a323d73375",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7005b3fe0c39cc8c94746fcaaa4195b1462207aef5e3561e3328306eebfdc5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2787881db77875bcf851ea7d4dd30957cce84f60ac3f5846b2ef9c6df6e3c005",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GFM9r8KPZ2YN8eQVFfKnWP",
      "input": {
        "note": "Three bowls sit in a row between the arms; the left wrist cam sees the nearest (white) bowl slightly ahead and right. Moving the left arm closer and lower to line up on its near rim.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.03,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GFM9r8KPZ2YN8eQVFfKnWP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1802, 1.0794, 0.4026, -0.0013, -0.1364, -0.1059, 0.9996, -0.0216, 0.8001, 0.6052, -0.3889, -0.0166, -0.0196, 0.9969]\nstate[eef_state]: left_x=0.3148 left_y=-0.0293 left_z=0.0845 left_yaw=-0.0221 left_pitch=-0.1023 left_roll=0.0136 left_gripper=0.9996 right_x=0.2941 right_y=0.0002 right_z=0.177 right_yaw=-0.002 right_pitch=-0.0149 right_roll=0.0005 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -3.6581, 6.2427, 2.0342, -0.2076, -0.1197, -0.0171, 0.2256, -1.7573, 6.8718, 1.7949, -0.0708, -0.0024, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daf6b942987a0460e9d462a034a553df58162c5438eac63e7cfc7c47c0bcbe1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3addb731df5a60be4955493818f478d37029d7103c1335e3a72cad00d2496df3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:055b41c7f34fe5bf401e4bac30d5060871c94336c427eedf205e5f0e8944894f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 6.551 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7959, 0.606, -0.3786, -0.0227, -0.0292, 0.9996, -0.0193, 0.7937, 0.6029, -0.3786, -0.0162, -0.0196, 0.997]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1806 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2948 right_y=0.0008 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.997\nstate[joint_eff]: [-0.5265, -1.4974, 10.0034, 1.7558, -0.0513, 0.149, -0.0562, -0.4581, -1.4291, 10.2769, 1.873, -0.0464, 0.0513, -0.3199]",
      "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]: [-0.1802, 1.0794, 0.4026, -0.0013, -0.1364, -0.1059, 0.9996, -0.0216, 0.8001, 0.6052, -0.3889, -0.0166, -0.0196, 0.9969]\nstate[eef_state]: left_x=0.3148 left_y=-0.0293 left_z=0.0845 left_yaw=-0.0221 left_pitch=-0.1023 left_roll=0.0136 left_gripper=0.9996 right_x=0.2941 right_y=0.0002 right_z=0.177 right_yaw=-0.002 right_pitch=-0.0149 right_roll=0.0005 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -3.6581, 6.2427, 2.0342, -0.2076, -0.1197, -0.0171, 0.2256, -1.7573, 6.8718, 1.7949, -0.0708, -0.0024, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daf6b942987a0460e9d462a034a553df58162c5438eac63e7cfc7c47c0bcbe1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3addb731df5a60be4955493818f478d37029d7103c1335e3a72cad00d2496df3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:055b41c7f34fe5bf401e4bac30d5060871c94336c427eedf205e5f0e8944894f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4BQKEAgSGAI4AUIIdGhpbmtpbmcSDNAZKjj5zcffoGTKlhoMmvRxxpQ3SG1yKKjAIjAQ+7mdxGBRq7ug7q8jjWa0ZUwJgSu6oRS/upZc4l3PWNIqhb5hqXmkxi88fziFWQMq/RPqx02jW5Qt4OBILg6/9XcXhztX58PPwfjAkDLBPY3+J40r4iOdb7jkOCjwxHw2SWLPzE8J1EKQZ9zyvf1mqo+C4VjCwwLmzWiduajeCHPnmq0LU9Wk0qtNbL7KhdW1VOyRJFBaQHXF7Zuf68Krd2CTw2rZo5GXBqeuZG9Xyy9wSbQ5bUz+uMSa6lM73M6yeQeL9TywgLcevN325g5IZlE7fl1fW1ZkN7d6vycOAAmMemLSB8wN+RnJ+3FFeqo0Khp+0ALJ0/6k/FyzEXxhJ9Hcft1M4yaAoEtATmevxdZ1gwLKstRsLsTX8dwNdhJ/qt2oI8KLKA+TrfvUytkDwNjIMMWOQPDRjX3r8KDFFxfpzDYCUUTp5TcrKbA3BTfYjWHb2F4ysWJvyiHlHh50iGS5ofX/XTffm1BgtTiPW9U/NNo+ZAPydhJQ/B/oWSdTg3IA3uOTAMgNN5YyUG5P0qkOGIkO3AF7Rx2fPfgDWIvLCZLjt5ltpu56ItBkfaaEwsI/wrsXHNqw0ZEDQhmgxpMKR6OeF2O5A+cpI1I5z+4w84Tp4evxBlYaf2ALW1zO9odrBeUejWssZeId+JTtOmIjQUZZgbYZyRt9fgiHyzvU4Ek9H/UVgoBn9hdg7HzBxKbD5wojE+x/JPpFykd9rLJ46U0AF256nkSUJJ4NhzMACfRPgVH1I8DvDVIiztcDJbg1e9J4RPxVdwrB2WfAGoz7XHSouVqjVpIgFhInbJ5/SJh0rc/Ryf9eiG2+AQAGpFX5O+RrgXZNXyrgfx1upZBLNOdnFte7X8WABBEJ1WYM6jH4p0nOjE2lQwdEI1hho/GGQuwswIWZEDkwHZ3H4Euz/F/bQnClPJRTHFYORROA8yKnF5G3Nz9vvjTREGeFjGPzR2jSGLMvmWUWxzFjSESEh0ToJFrimTAE0U8Rh3e+wBpkw5uRlHjAYw1P/P0XC8NjBk8ZfsGBwqmeQiUP9IESPjWCW9OKbKFHZWw27veclh+TbEiqEfYMZLgXa7zVYwi4b/+w/+fc6MlS88FcUhClw285TsP1PZq0pbgKGVZRrkDTipXLmxu7HJ3IRysiuFo0KK70cJfPIxQzW9mBkw9bJEpaVbj32sr9H5VLyXDBb4XdQcVnMGOc8vV7Z3jg1eoRCY8P35m71DXFLJaST4WJsjh5s7/6CaQZ7LfgGCjimbnw27wIx2M0xXMr5GgQi1BZ7Hj6oILeF4WUaGYboZe+U9yyAjms+bvdA6Dh+2Lb4ZkH1eyi86lRTwHF4vt/wA8inwA4wJRG78q+v3Js6EsitVJqkvHY/RLp3/Oirhtew3ciI3LkxubCXoJfsZ2sdBLMD0PlcQOMx2Qwv67tNNiNQaCgxVlCupzFiU+KpMC340V+c1anUC5rJbobUhWAp5BH9YVwcBnEdNcYzp7fObe0o5KHXYjx6aj2/jK11MAguJYYcs7uAiGDR7ZL72f7sF57Ee6uI2WzzKVMFxFYa44RpZt7r5+jmqrsY5CB+xSIefZqjIbgBwq7AHxTOktLR78gTBmQ8XQPyxSR605wMjpoyEIeJxAJ/pHwkakdYjc5g3NdH6onkFTL3K1B7CrC3DPtPsjVq20kXnX2fvitKC+NLXgEmEhctJjEJIflq3NXeH9MQDO6wp4Me9/3N3QVL11qvY/nz3ef8DHY9pxkv02W24Yklt2+oMyZVm4+U4MHgNPrqtOz99lawhMqXP+D15TJcW0gcKfwppa/eMpNDQSO7/OjK81nXFv27JmTFdEJSFMoMgn/iMMyLEKaiyqmP2fUJuQAV2Lro4qpvwkzOYt/6jydFGgLDtb98lPVENHwf1s1Gp7sK9yIIN0k6qdyrUd6uK1YhDJ3EFIj+1ddO3H80bxTiFd1NINboBgRuVb4itQ41MieMtYdqYqgIkiLTzRU9WDFd/NzFKWwjt7oAzghqdkuzSYw1on/4pPrgAUSDz2RUkSVWjlIqAVnVoh9f72tMPMxRA/TOnoqsPh4lfmP9zJNWE1FCs+WQELTe4NBDTWk+Eu9S+we8BAmqZXJWBMWMj2ghvhrWkcejBOMIwC6lbqMNtiv70tKWo58xn8a24+YD+ZRKufVBDSBPx0zTy9zH7zvS7mpVu4VaJL3izmETS76EV5YDtJ2Tc2sSeiK6smFQ8cgQ6b4xn9kEzaBt7gxfM6ARFd5idnsrFN7gQE1CSkLOnHpIWHRXXZrhRMKbfxWjqtZpqri/13/LL+ghCnwnPIj/pHa62kKEBdktueFKPoakrpZ2Lh5s3+bSOTuiMn3/QZGLM3iRk/fKaPDpX2hDO1FG5SMOrzcotc1yQppcMe6KYT9Tu58XjGzbxNLRvAnlkzma505FtqYouQ027xdM/nm5sSYCnlaXgoAzPJcfrE7RT3o5ESywLtGhFxp+2AGdDsfmQlyg+3qIVUicvP3y4PfQB4e7Fkh2luk6tXBePY3KtTawue8551cpMtlQ+lIjjFjx9fexwlrT+m6iYcrsa56Jcuxo/txYupSnagXmZ+ILubDd+b2MjluDejfmDBa3IGSDsNW9VWEKkFaq9ZP0i1kO3fZhqpNABl4MhwzahmNhFHFXQAOBEPj/KNVOc3vi0SXj1d1VuUuW4X4UcX49xVTRpl1OWOkwmq2JDRr7vDgVzNiujOGMJsCbZu+pMzvUNPQMEGscEqVGwYqIdPD1OXVFsSnFiL6MmgqGramrpJpTJhjxoQowOu8Ji9Rt8Z3vXP5EHZiNe0D4EhgOg3k8bKzqy4TZaWPYfFpjLv1yU74r0BmunUBHFOQqS1+mWuXdxLCL/Qfx1IQjYBnweAQ/7pLqvYHLcXNo13/Z7U4rorV/m1O70IrDmZ81DWTme4ZWESbSow4elgVEzWDnOab6Pvwc+XGSJ2D2+gKzK0yT4Ffl2c4yRRYLIFv9N7bzqyyOgAWqMSbG4lSjRxsYLMw7Sm9YNFtwEBRWppIi/E2k9+Nm1X5UaXKk876LFLX8RZMiCsEbC5y+eDE6flUAecpQoydGbsry5AsccJVULxf6ZiaJRAOjq3ts4d9sGPdoR3wK/Wok5i3Dev+0AH8HA9isVhHVYTMYaiizIrz5bNApBQl8H1B3a8jdASfIhe4mVkv6sU0xxIr/NbwRBhdG4GAuvNtaFDCoR08G1Asm78c23J8KNRxas+FUR2ahHnYkphQ5rbRylctHwfvSXpv2SJCqE1R/C2JpEjykOwWAbn/XfncXmfQnOE35P3VXu7e3C0+JQ2Yj7z7wJQjBFCnRGwZzhfO057jM3na10fx4RU3boGvvmEeRCS/pNzGT0yKz9DbVAC9WyFMcjoK6aft/W3Us6mXra90UQxINlzsslKbZWIIb36riT5PHgdythyoDB+SakrvxahwdB6toRL/vkUcUArRZUXpb52txF1+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CeMN9eFndhWTBuYgyAHdXY",
      "input": {
        "note": "White bowl is ahead and slightly right in the left wrist view. Advancing so the jaw column lines up on the bowl's left wall, to grasp the rim.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.02,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01CeMN9eFndhWTBuYgyAHdXY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0959, 1.4326, 0.5732, 0.1177, -0.0875, -0.0761, 0.9996, -0.0219, 0.8043, 0.5995, -0.3935, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3707 left_y=-0.0166 left_z=0.061 left_yaw=0.0058 left_pitch=-0.17 left_roll=0.013 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.1723 right_yaw=-0.0021 right_pitch=-0.0294 right_roll=0.0005 right_gripper=0.9969\nstate[joint_eff]: [0.3897, -5.8188, 8.3214, 1.7167, -0.0073, 0.1392, -0.0122, -0.294, -1.6205, 7.4872, 1.7607, -0.0806, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b94c9558b875cef0d53d883f30d2a8df19cb9b995da8be77582b7df18d42c1ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f636f87d791727a51846997dc6d17a8d92a7b0f08c860ce212685ef901d3b499",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab26c34538b61b3d11e14103e1bbfa9abe90d77e4efc95fe1fe62e6aca1e7b88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.917 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7959, 0.606, -0.3786, -0.0227, -0.0292, 0.9996, -0.0193, 0.7937, 0.6029, -0.3786, -0.0162, -0.0196, 0.997]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1806 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2948 right_y=0.0008 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.997\nstate[joint_eff]: [-0.5265, -1.4974, 10.0034, 1.7558, -0.0513, 0.149, -0.0562, -0.4581, -1.4291, 10.2769, 1.873, -0.0464, 0.0513, -0.3199]",
      "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]: [-0.1802, 1.0794, 0.4026, -0.0013, -0.1364, -0.1059, 0.9996, -0.0216, 0.8001, 0.6052, -0.3889, -0.0166, -0.0196, 0.9969]\nstate[eef_state]: left_x=0.3148 left_y=-0.0293 left_z=0.0845 left_yaw=-0.0221 left_pitch=-0.1023 left_roll=0.0136 left_gripper=0.9996 right_x=0.2941 right_y=0.0002 right_z=0.177 right_yaw=-0.002 right_pitch=-0.0149 right_roll=0.0005 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -3.6581, 6.2427, 2.0342, -0.2076, -0.1197, -0.0171, 0.2256, -1.7573, 6.8718, 1.7949, -0.0708, -0.0024, -0.0269]",
      "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]: [-0.0959, 1.4326, 0.5732, 0.1177, -0.0875, -0.0761, 0.9996, -0.0219, 0.8043, 0.5995, -0.3935, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3707 left_y=-0.0166 left_z=0.061 left_yaw=0.0058 left_pitch=-0.17 left_roll=0.013 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.1723 right_yaw=-0.0021 right_pitch=-0.0294 right_roll=0.0005 right_gripper=0.9969\nstate[joint_eff]: [0.3897, -5.8188, 8.3214, 1.7167, -0.0073, 0.1392, -0.0122, -0.294, -1.6205, 7.4872, 1.7607, -0.0806, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b94c9558b875cef0d53d883f30d2a8df19cb9b995da8be77582b7df18d42c1ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f636f87d791727a51846997dc6d17a8d92a7b0f08c860ce212685ef901d3b499",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab26c34538b61b3d11e14103e1bbfa9abe90d77e4efc95fe1fe62e6aca1e7b88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9goKEAgSGAI4AUIIdGhpbmtpbmcSDK5LxlnUkSXegzRS5RoMdrEbE3QsNZwVL++eIjDvG6Fw0S44YupACGIgDA0MqL/fzLhai9x5xMCs6zUbHnk3POD/YZPNvM+kdVxnbfAqkwq4hWLKrhJgVlLhnkZ8ho6cPUWcit9SwKGlfIb4uH0DAp9sN8Qu/AElcFzv2cNdP183azhKXv9EZ9WbuqGQU5La+0viXIs4++WKdVJHk7VcpCMoFU0cfwvtwBtnBYMRFbmCFAdalidzkNgLGfJtpn432QclRxWUAyGaW8oIf9qptP6dOq7bBiJEi8Sb4cI/mc1sbSgUoQ2NbOMFBymTwjEtmhx2/MzFoB9EyE9Lysgo/jizowIVxlCPQcdy/p7UJsaXFkxCIkgkqRcPwYouI4HbhoJ6E9hzNKUeOm7kpXoFCA6npKBPKWucTSP2iVZwnubKrVXsaGKZPx16IpDONR83UQbxS8gNdPEOLmtiREpOuH9+n588lPAR6LPHe4BfhnCGlK2GwyUAG7VwmhjR5fAj3ftpKRZVe2l+yU885odZfnUBEtk08shDiXNrXGMW5Cr9RWWyXUb/Glf+vMzcAoQ2xVYcT2w1XcuQv0AlI4M2G5lnDFyEa6HNyNKAzCDRhqwnhrX2ptyjoPNsctJAsB9B194pwf2CIudFaHGJrBRZEmlWzDnK122nepuW1PPJ+26ZPI2L3hRBVtRkFAMmRk/Uk16zKTIuqmYbm1ZXsqqTYUxyqIcwxrY3TfnH6NIiQnpc2OjFBD2RnBFr2W6wb7x/Al/IZszxQTcLJwSPhEZL5rHaVmswhidcgO4BiR3i6+8Ms9cbHWpV2SpF5RsXHBNAvQ9rAWufmRrKm5+13/IwvfxPFssXzeECr+iO4vT0OZq0aiQbA+De131EYlQfOCSlyiXO5QA/g+F/Jo7YV3HVAnpvn5O1ANdT5JEo7m0mkXfa9ClG5HWbtyuRInIfo+Eqo4UGIsMjyGjizrPoelrVaOt8Y5Zbe6Vhjf5fycJCnMWyk/LgBAlKVuG+EXFUEvV7Vm5RFD61aLKnl72sq5R1NPRjSX3sjHWfLFqt5xEkwNXGvU+lz4yHnfh620Q3m2dXiR6Pa4ZDwzeteZNLrPwxkd9oeEeGeq8+gByrbghRZqV8GXQcbEIc7PgCdd1zFKu4YafCbnWuQ2Hsei4vcvaL/0ihr3XPOhESWdfrun2YIagfSNEtZs0MAv+9edLLspG3bEwYh8SkvdVO/jer8Iqj5VkxnM7WyE1M8XOUlHwDgbqGuZaOIONbeo4DyU6YndBu44dHMrGEsvw+S2NoPmvjolimkN5rJ6jok92vDwYCp1nrz23XuUU7uQ0tYSlZ9ZVdusluvrNSFfcMCqoqXCe36MB5JXcCTqIkkM/aZUE2g7+fG8DZgxFqsEAbjf4LhHH15XJ91JpQNA8M+j4NI9O+urDTpNlRInZScbxodVsAGfao15RJOim+2+wTJZ0og3eXzrVxR8bRvIXFeqtLskfMiNMMcbHpZK6vVqNzvvWnMU3kMtk3nURiAoZriIEWQ7la1wMOA2eqFMFqiDoNz4BB6WylaGd/J6RCqCmYUTA6T7WDjJ1B9ckcoms0uy1PfQ27n620UkwrTVPNG4OkTiLOCKOK6J4M5nZs3sq3541h/dP2VCSLWU+TFZ2F7nY7lJdBCh19BEN3nUKIk1oDvzG2+RjBtZTgqgzFKrjRiWLJVlnnGPEKkWjfsS7bQBQbTVtEqdFJde0vz2Rt9fl6ccAJ1Ik/HU236iPEVHkpOraQcGqEKUeHWpfTeX2e5taUFeGrnAGW/sYkxgzSrLgEAvynmKGLPFrqi27BjTGlqqB8A2DRbpMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JDU4Y1PjV1BFKiLvufnucs",
      "input": {
        "note": "The white bowl's left wall now runs down the jaw column in the wrist view. Advancing slightly and descending so the jaws straddle the rim wall.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.015,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01JDU4Y1PjV1BFKiLvufnucs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0883, 1.5394, 0.5922, 0.2226, -0.0792, -0.0715, 0.9996, -0.0219, 0.804, 0.5991, -0.3939, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.388 left_y=-0.0167 left_z=0.049 left_yaw=0.0035 left_pitch=-0.1535 left_roll=0.0091 left_gripper=0.9996 right_x=0.2929 right_y=0.0001 right_z=0.1721 right_yaw=-0.0019 right_pitch=-0.0297 right_roll=0.0002 right_gripper=0.9969\nstate[joint_eff]: [0.5949, -5.6821, 5.2991, 1.2234, -0.0757, 0.0122, -0.0122, -0.0889, -1.2239, 7.0906, 1.707, -0.0708, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42ce8eab30f9ebd5f3fb4aa1d95b423e557a0d1cd5f28baa167ce83083be14fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d606c1c45ec27e5731325f3e23035d3ba4081c00ca77aa11702131bc6815e68c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f7399f872f310ae337255a568c0a06c62f227b0290ee3b64c383283da1fc61dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 4.068 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1802, 1.0794, 0.4026, -0.0013, -0.1364, -0.1059, 0.9996, -0.0216, 0.8001, 0.6052, -0.3889, -0.0166, -0.0196, 0.9969]\nstate[eef_state]: left_x=0.3148 left_y=-0.0293 left_z=0.0845 left_yaw=-0.0221 left_pitch=-0.1023 left_roll=0.0136 left_gripper=0.9996 right_x=0.2941 right_y=0.0002 right_z=0.177 right_yaw=-0.002 right_pitch=-0.0149 right_roll=0.0005 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -3.6581, 6.2427, 2.0342, -0.2076, -0.1197, -0.0171, 0.2256, -1.7573, 6.8718, 1.7949, -0.0708, -0.0024, -0.0269]",
      "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]: [-0.0959, 1.4326, 0.5732, 0.1177, -0.0875, -0.0761, 0.9996, -0.0219, 0.8043, 0.5995, -0.3935, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3707 left_y=-0.0166 left_z=0.061 left_yaw=0.0058 left_pitch=-0.17 left_roll=0.013 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.1723 right_yaw=-0.0021 right_pitch=-0.0294 right_roll=0.0005 right_gripper=0.9969\nstate[joint_eff]: [0.3897, -5.8188, 8.3214, 1.7167, -0.0073, 0.1392, -0.0122, -0.294, -1.6205, 7.4872, 1.7607, -0.0806, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0883, 1.5394, 0.5922, 0.2226, -0.0792, -0.0715, 0.9996, -0.0219, 0.804, 0.5991, -0.3939, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.388 left_y=-0.0167 left_z=0.049 left_yaw=0.0035 left_pitch=-0.1535 left_roll=0.0091 left_gripper=0.9996 right_x=0.2929 right_y=0.0001 right_z=0.1721 right_yaw=-0.0019 right_pitch=-0.0297 right_roll=0.0002 right_gripper=0.9969\nstate[joint_eff]: [0.5949, -5.6821, 5.2991, 1.2234, -0.0757, 0.0122, -0.0122, -0.0889, -1.2239, 7.0906, 1.707, -0.0708, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42ce8eab30f9ebd5f3fb4aa1d95b423e557a0d1cd5f28baa167ce83083be14fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d606c1c45ec27e5731325f3e23035d3ba4081c00ca77aa11702131bc6815e68c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7399f872f310ae337255a568c0a06c62f227b0290ee3b64c383283da1fc61dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0QYKEAgSGAI4AUIIdGhpbmtpbmcSDADDtNf5+mUfV621WhoMskam1mgtG5Pr5fIMIjDgS6Pb52rm3+JsBV7qr6sCMzKZx7Yvzg9IrrFKtRVHQ8Ib7gXxCyvz+udccKntKIgq7gXEWDKMV3UjbU5P1C8ZebLVa18tkeIFSAZgWfk/KY8Fx2B/s1RZMjnmaHl7vRFpbGi2JS06F3h19WJriCSqwj/r8W6ftTMn/fpDXc1hFnRztEUdJ7LkFMiIh5YEoRA/6FnKifL7i88LupmQUSFqpTBsSSZNpiB+SwPmOvfZ15YgTHAJJlyVBod9OJH7FNBGawt0VbWWjZmfEPo/GDkj5GQ2EBJBAjUAZi7g63kX3f7m99y/FBO/m1TtDmPJ7PxNVrHpWECcap1iLg66cAtX4OSmYMlmKqIcrgolYXS1xURYDbTQhS8OSD+rrDmzNS6EI0g500tAbFT7+hZAYx2Wd4GyvaI16RNrz0vzYE57Mz9pBzN+pCzpbGWA8ICoiXgP9xJwmCS96Lb6bHOuR3tV4ubJ1gIjCDWc7kViv5xyE8Jlek0TMrXrsBAjVaOUyofAtbXZtEJGS7g154udkM5d6/y/Ou8QJC6o3yIjnzzzj4m+sV8OP/gcoWVrVrfM386PqtbltMOg6vTEsrskxJiZDPRImi9ui0tPOIUgw5XPimIO78p8ShxspKYR6lsPx13cx/uMrb7LHZs+NFwYYgKwR+r3lcnYVWX2/opjBivKTQ7/XWGcvxIh4nqjnBORC7EGX0Ka2gwQYqFNa0ILciRRWaqMQhZWWvjrLl0vQ0jM+hQ525i/bPzPYq3CZbCGY4BO5Ftt3TWpKve7ieF3ux4D5tqMK/yg3e4OVDnkS0tPmqEi5+MsDSOpGy2R/3mUYMx+HJ00/1ktPo3Om+w/x4uAlUlc1CE6dOLueeLh8ZT1bnBbXMa9MBIy/O1asAhBoVjRd9pPmrzVK305K04544w591cK+vngI8L0qqLLxsBKvitGtQoJc/A4o6/Pyod7fqvxhd+zzDWRu52T6MC9NG3c3Ekik/zEe5aoVE/gHm1yDHvydd9WlBgNGhG86Nb4BMFGcNtdkk6MrlFzvnw9oKeJigYJKVYaY/ETC5Ym16JN5rgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lnst7fRieNNvDQaZzMUm9E",
      "input": {
        "note": "Descent stopped at z=0.049, possibly just step-clamped. Continuing down to straddle the bowl wall.",
        "targets": {
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Lnst7fRieNNvDQaZzMUm9E",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0856, 1.6287, 0.5716, 0.271, -0.0792, -0.075, 0.9996, -0.0216, 0.8097, 0.5961, -0.3965, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3821 left_y=-0.0152 left_z=0.0176 left_yaw=0.0091 left_pitch=-0.2146 left_roll=0.0124 left_gripper=0.9996 right_x=0.2925 right_y=0.0002 right_z=0.1686 right_yaw=-0.0015 right_pitch=-0.0412 right_roll=0.0004 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -7.706, 6.0239, 1.7265, -0.0757, 0.0317, -0.0122, -0.1436, -1.7709, 7.2957, 1.7118, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a52801ea277824a0baa28406dcac751e6b20b80fa70662162c104317db9b8277",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5126cbf0c71bfe367e7e5dab6d8b64e0d26b170d302d375b0c3d977e8d692746",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f87f7eca7abe1023eda620a6f5759fc9ac07059ec07c8f0e90d516861ac247df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 5.522 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0959, 1.4326, 0.5732, 0.1177, -0.0875, -0.0761, 0.9996, -0.0219, 0.8043, 0.5995, -0.3935, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3707 left_y=-0.0166 left_z=0.061 left_yaw=0.0058 left_pitch=-0.17 left_roll=0.013 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.1723 right_yaw=-0.0021 right_pitch=-0.0294 right_roll=0.0005 right_gripper=0.9969\nstate[joint_eff]: [0.3897, -5.8188, 8.3214, 1.7167, -0.0073, 0.1392, -0.0122, -0.294, -1.6205, 7.4872, 1.7607, -0.0806, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0883, 1.5394, 0.5922, 0.2226, -0.0792, -0.0715, 0.9996, -0.0219, 0.804, 0.5991, -0.3939, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.388 left_y=-0.0167 left_z=0.049 left_yaw=0.0035 left_pitch=-0.1535 left_roll=0.0091 left_gripper=0.9996 right_x=0.2929 right_y=0.0001 right_z=0.1721 right_yaw=-0.0019 right_pitch=-0.0297 right_roll=0.0002 right_gripper=0.9969\nstate[joint_eff]: [0.5949, -5.6821, 5.2991, 1.2234, -0.0757, 0.0122, -0.0122, -0.0889, -1.2239, 7.0906, 1.707, -0.0708, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0856, 1.6287, 0.5716, 0.271, -0.0792, -0.075, 0.9996, -0.0216, 0.8097, 0.5961, -0.3965, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3821 left_y=-0.0152 left_z=0.0176 left_yaw=0.0091 left_pitch=-0.2146 left_roll=0.0124 left_gripper=0.9996 right_x=0.2925 right_y=0.0002 right_z=0.1686 right_yaw=-0.0015 right_pitch=-0.0412 right_roll=0.0004 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -7.706, 6.0239, 1.7265, -0.0757, 0.0317, -0.0122, -0.1436, -1.7709, 7.2957, 1.7118, -0.0122, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a52801ea277824a0baa28406dcac751e6b20b80fa70662162c104317db9b8277",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5126cbf0c71bfe367e7e5dab6d8b64e0d26b170d302d375b0c3d977e8d692746",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f87f7eca7abe1023eda620a6f5759fc9ac07059ec07c8f0e90d516861ac247df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiQcKEAgSGAI4AUIIdGhpbmtpbmcSDFFoTB/bPIJ4MzHPWhoM+mHWrjGrDvBUeoeFIjCqbd01l4/skPzsTK7YDlFxk8hCo2yv2joGiMC1xBt9/MKTitU6TFBCGfgrD4YSZTEqpgZspttZtKb5duaTTxiPfRRLY0Rm2h3K6SUgw6tCPSRKDum9gPD5niLTci2VileUV1f9YDfAmoQi/776uDnuzgGULtzVh0Wk/OkW0JZ6i6OdIzGK+7/3Mqfzb8mwOpCpuMTXHXmqyS3WaPO6LKaUxbDSnb9eRxXp7ApsoP6s2Of5czfJWIpx+ANxl3bIlPkzOGVPAWNunxE6+EsMpHEdS8m1MEdPsY8Qio0V2bZrj0JLrGvDTP3YHqcxzzFDQjnPm1aeTFC+PnMuH2Pjj6W1nGdYwW571J7jR1kB0OTLRTaOz/JqxTzShS2dfs4D8ALgki7p0C6ntiXbzXQtBMhMsaFylZ15t8bQsT9M9+SxJCOA+ju8GorJHVDphYsQIupHTopSW2Ravj2POZdnL88nBI+FQ+XiXd5FJR2WgLrraN/enp/kxO+7DwsvMImLYn6aX7jWyB0VJXb9VNxPCC8ZO5aIQhkAkzd0wpQaKEJt/CbDq/6X9V/obVAcGL5O8RbshB9gFN8xpkYeCT+2GIgDsfq8I9OFGGbSTXwjraCktG43HXt8K3pr8eh+KEcXOdifx6USKt4A7uLuQxC+hWQuX9Y6WHBlGaItKtY0rpavRxLqlPs9kBO5kk0ID3gQk+aEmTGhwM4zIAv1S68DIduICyn3gAjwL9Kn5KLaz7Fi/S3wOMTq1bHvw0vYqS2CRpcNYOHlcYhrmVflph4loVwIanm7aZwBPC2NV44MLHonTijTT8XV1qqeSYV7SOhqaL5pbNFRtEPN0Ishf2de3XRDjawAu0F699SdIo5mDSV0nq3Sg0wMWTFbHks5ud5mIrSihrVAunnikAsNKv5w6IR/spmAOuMPc2uiRmr+PPBuJm7aT+Rca0W6pBuoh9+zso+FfqmtuAJ+uyiuqGN9FV5THiHEc0Cnm5lF/Sxdo/pEr6IGLsE4mNyTa9dS3ZZWck0PfOf0Kx9MFZHba40vHcZz50aqD26r8v7tG6HLeZ5jn+0jWLvy0JQXhU0w6DiH2YkleRyVEh1RZhqXc2xxLpfE5SGch3bOydJY5N7AThbMmUgpSNoPOuJBEhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fs3BStE1o8uxYc5PiEQrZC",
      "input": {
        "note": "Bowl wall sits between the jaws at z≈0.02. 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_01Fs3BStE1o8uxYc5PiEQrZC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.086, 1.615, 0.5724, 0.3073, -0.0669, -0.0948, 0.0302, -0.0216, 0.8101, 0.5957, -0.3969, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3896 left_y=-0.0181 left_z=0.0293 left_yaw=0.0082 left_pitch=-0.1648 left_roll=-0.0157 left_gripper=0.0302 right_x=0.2924 right_y=0.0002 right_z=0.1683 right_yaw=-0.0017 right_pitch=-0.0423 right_roll=0.0007 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -5.3265, 5.3949, 1.1648, -0.1734, 0.2466, 0.5983, -0.212, -1.306, 7.1316, 1.6825, -0.0464, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9614171c29a0ea28f6ab22ab6d79718cf9c3f5869616229c137051752206530f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ec7dfa8abfebe253d24c66ce37fc849b229c01182b691685902de832590d3b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5730304e4e8dfdf0f5ebf9a6c1700a206223c7edec593d8b354ddce3b46c7cd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 13.96 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0883, 1.5394, 0.5922, 0.2226, -0.0792, -0.0715, 0.9996, -0.0219, 0.804, 0.5991, -0.3939, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.388 left_y=-0.0167 left_z=0.049 left_yaw=0.0035 left_pitch=-0.1535 left_roll=0.0091 left_gripper=0.9996 right_x=0.2929 right_y=0.0001 right_z=0.1721 right_yaw=-0.0019 right_pitch=-0.0297 right_roll=0.0002 right_gripper=0.9969\nstate[joint_eff]: [0.5949, -5.6821, 5.2991, 1.2234, -0.0757, 0.0122, -0.0122, -0.0889, -1.2239, 7.0906, 1.707, -0.0708, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0856, 1.6287, 0.5716, 0.271, -0.0792, -0.075, 0.9996, -0.0216, 0.8097, 0.5961, -0.3965, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3821 left_y=-0.0152 left_z=0.0176 left_yaw=0.0091 left_pitch=-0.2146 left_roll=0.0124 left_gripper=0.9996 right_x=0.2925 right_y=0.0002 right_z=0.1686 right_yaw=-0.0015 right_pitch=-0.0412 right_roll=0.0004 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -7.706, 6.0239, 1.7265, -0.0757, 0.0317, -0.0122, -0.1436, -1.7709, 7.2957, 1.7118, -0.0122, -0.0757, -0.0122]",
      "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]: [-0.086, 1.615, 0.5724, 0.3073, -0.0669, -0.0948, 0.0302, -0.0216, 0.8101, 0.5957, -0.3969, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3896 left_y=-0.0181 left_z=0.0293 left_yaw=0.0082 left_pitch=-0.1648 left_roll=-0.0157 left_gripper=0.0302 right_x=0.2924 right_y=0.0002 right_z=0.1683 right_yaw=-0.0017 right_pitch=-0.0423 right_roll=0.0007 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -5.3265, 5.3949, 1.1648, -0.1734, 0.2466, 0.5983, -0.212, -1.306, 7.1316, 1.6825, -0.0464, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9614171c29a0ea28f6ab22ab6d79718cf9c3f5869616229c137051752206530f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ec7dfa8abfebe253d24c66ce37fc849b229c01182b691685902de832590d3b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5730304e4e8dfdf0f5ebf9a6c1700a206223c7edec593d8b354ddce3b46c7cd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgwcKEAgSGAI4AUIIdGhpbmtpbmcSDMl5g9x5mEMUEupxWxoMSHrdlJYA9/OQelk2IjC136iH6n1b4neUiGGtP+Nzg1WHiWY+09UmBe4YUDjJRI6/2+HOnpKiwMqvXd/oRRwqoAaTSlBWxjZFMXN8AC6AcAGFS5Q3lN/64zO4hTWRx7vPlQR5LtthKyu/7KF5vLlysagMaZlpa7UCWprLaSs/xus88XEQSZFNLuO3oGdrKq8vEMay6HnSuAfsagHPtljAuS0apD9kTvtrTedxM1xKjG2SPwqCIrPFjoocSb7x5UaWZnlWDx28nDN+t3bOOIkJOya3e0FjG8c6Hi4ziDkjXaBKTmCjKHHktwXyXac4B1oUc/fzooSlfZ4NIpziw2t7t7wohE5xhsKzs3o7zQKHPYmg0tLkrK6ccmjLCKEUP3W2i9w3iB7dIkVwDc9kvGP9fkz3vpuZNuNodBTXf1jLMl98w2YIhyXcelfEv6UteqEz2eMl24PHhSpYrPhmTbzQALNeSQEelzOJICKxmT6Ac0M4eX1UU5MhrAx/HbAOFiTwXP7VJSHvvFbrBN4W30xyeaX+OMRRi3nSZ862QSCjvwzGySmjOR/8APuuaiP9z/o7FC4NNHSUMTPRHLCj7pBr8QSEjfLNJvhP6punhZ2AX6HM98i4b+7px4tFbIhvMr7nH6m9xxEYPIqPHD8ipQ3hMo0ZrP07V4TbpSIxvaFEn0YkaR+hbWhnWk9XSAyJ4mJN22By6K0k4ghOW1JvyTP1uEf28Wvgf9ujNZwdbPlygJyQNVVhCEy5KRlKlF3+n+ci4+OKUi6fO95yiyr634+f9jyI0NhtuwfY2XYKQ5G/sP8v985hcPqdvf9DQY9OahtGzc0+e0n+gBZSZfWOocqU7HxS9GPVFdc4/tfgw3Wp7IERnSgrvT8HSJaAh0waXZwzWX5gI6EOacQqiIovllzOIPDwMGpnQt2CzJt+cIvVse2jP3qyhbxykCc7BWPMxkSvp/ZWvFGjQe4lUPSV7xvUdSnndfc9wKO+GjHn45MZYr8l9xG+ikTiT+FQglOiMhGgS7UR4x1AA4FL1T2EPPDY/FUYgoA9O7KIRkJzp6084sKQf8imeHNg5PHdl1Hg9+0NpO7TwG69i+KWtri6/5qJTxsrf2PaqaBtve8pybjECOL5YmAisKePLqxaxzaGyQX0IhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QUmENhryLs56ubji3Zm7jq",
      "input": {
        "note": "Gripper closed to 0.03 on the thin bowl wall (ambiguous for a thin rim). Lifting to check the bowl comes along.",
        "targets": {
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QUmENhryLs56ubji3Zm7jq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.086, 1.4456, 0.6895, 0.0116, -0.0719, -0.102, 0.0458, -0.0219, 0.8108, 0.5953, -0.3969, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3876 left_y=-0.0171 left_z=0.0828 left_yaw=0.0165 left_pitch=-0.1736 left_roll=-0.0169 left_gripper=0.0458 right_x=0.2924 right_y=0.0001 right_z=0.1679 right_yaw=-0.0019 right_pitch=-0.0435 right_roll=0.0004 right_gripper=0.9969\nstate[joint_eff]: [-0.1709, -6.9538, 8.9094, 1.6679, -0.0317, 0.0269, 1.0379, 0.0068, -1.388, 7.0496, 1.7216, -0.0708, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdfe487ac09dd27414b3fd31eebe2d23ac400d316ffa3e67225b1944e0826d51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8bbdfd68a219ebd39ca859b1a15f2be9cd77b89254f34ad1c3f9c38e85f5b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d900b9e47e6e030ba3d98426e0d04e90559ee7fb556815e396b47bc87ab1184c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 7.345 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0856, 1.6287, 0.5716, 0.271, -0.0792, -0.075, 0.9996, -0.0216, 0.8097, 0.5961, -0.3965, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3821 left_y=-0.0152 left_z=0.0176 left_yaw=0.0091 left_pitch=-0.2146 left_roll=0.0124 left_gripper=0.9996 right_x=0.2925 right_y=0.0002 right_z=0.1686 right_yaw=-0.0015 right_pitch=-0.0412 right_roll=0.0004 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -7.706, 6.0239, 1.7265, -0.0757, 0.0317, -0.0122, -0.1436, -1.7709, 7.2957, 1.7118, -0.0122, -0.0757, -0.0122]",
      "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]: [-0.086, 1.615, 0.5724, 0.3073, -0.0669, -0.0948, 0.0302, -0.0216, 0.8101, 0.5957, -0.3969, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3896 left_y=-0.0181 left_z=0.0293 left_yaw=0.0082 left_pitch=-0.1648 left_roll=-0.0157 left_gripper=0.0302 right_x=0.2924 right_y=0.0002 right_z=0.1683 right_yaw=-0.0017 right_pitch=-0.0423 right_roll=0.0007 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -5.3265, 5.3949, 1.1648, -0.1734, 0.2466, 0.5983, -0.212, -1.306, 7.1316, 1.6825, -0.0464, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.086, 1.4456, 0.6895, 0.0116, -0.0719, -0.102, 0.0458, -0.0219, 0.8108, 0.5953, -0.3969, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3876 left_y=-0.0171 left_z=0.0828 left_yaw=0.0165 left_pitch=-0.1736 left_roll=-0.0169 left_gripper=0.0458 right_x=0.2924 right_y=0.0001 right_z=0.1679 right_yaw=-0.0019 right_pitch=-0.0435 right_roll=0.0004 right_gripper=0.9969\nstate[joint_eff]: [-0.1709, -6.9538, 8.9094, 1.6679, -0.0317, 0.0269, 1.0379, 0.0068, -1.388, 7.0496, 1.7216, -0.0708, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdfe487ac09dd27414b3fd31eebe2d23ac400d316ffa3e67225b1944e0826d51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8bbdfd68a219ebd39ca859b1a15f2be9cd77b89254f34ad1c3f9c38e85f5b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d900b9e47e6e030ba3d98426e0d04e90559ee7fb556815e396b47bc87ab1184c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GmynKgcNWxGVQbf41HieKD",
      "input": {
        "note": "The white bowl appears to be lifted with the rim pinch. Carrying it up and toward the middle (lavender) bowl, checking position in the top view before lowering.",
        "targets": {
          "left_x": 0.5,
          "left_y": -0.01,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01GmynKgcNWxGVQbf41HieKD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0452, 1.7477, 1.2816, -0.3019, -0.0517, -0.094, 0.0473, -0.0219, 0.8162, 0.5953, -0.4072, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.4897 left_y=-0.0094 left_z=0.1442 left_yaw=0.0361 left_pitch=-0.1984 left_roll=-0.0228 left_gripper=0.0473 right_x=0.2912 right_y=0.0001 right_z=0.1644 right_yaw=-0.0021 right_pitch=-0.0591 right_roll=0.0011 right_gripper=0.9969\nstate[joint_eff]: [0.3897, -9.0051, 9.0872, 1.6874, 0.0806, 0.188, 1.0281, -0.1436, -1.6889, 7.0222, 1.8584, -0.0415, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d35992ed03509d4d6efd2ff6d13086c9e3d40dab99d2c77e6f39b568eb3a517",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac8795e0ee562b270776a1f344c9a8c775864b4ae244081d15a18ece11fbdc8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a33c625bb95ebd7238561a4120e4585c3d7cfd781e5845003a98f40b4c1e049f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 7.486 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.086, 1.615, 0.5724, 0.3073, -0.0669, -0.0948, 0.0302, -0.0216, 0.8101, 0.5957, -0.3969, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3896 left_y=-0.0181 left_z=0.0293 left_yaw=0.0082 left_pitch=-0.1648 left_roll=-0.0157 left_gripper=0.0302 right_x=0.2924 right_y=0.0002 right_z=0.1683 right_yaw=-0.0017 right_pitch=-0.0423 right_roll=0.0007 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -5.3265, 5.3949, 1.1648, -0.1734, 0.2466, 0.5983, -0.212, -1.306, 7.1316, 1.6825, -0.0464, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.086, 1.4456, 0.6895, 0.0116, -0.0719, -0.102, 0.0458, -0.0219, 0.8108, 0.5953, -0.3969, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3876 left_y=-0.0171 left_z=0.0828 left_yaw=0.0165 left_pitch=-0.1736 left_roll=-0.0169 left_gripper=0.0458 right_x=0.2924 right_y=0.0001 right_z=0.1679 right_yaw=-0.0019 right_pitch=-0.0435 right_roll=0.0004 right_gripper=0.9969\nstate[joint_eff]: [-0.1709, -6.9538, 8.9094, 1.6679, -0.0317, 0.0269, 1.0379, 0.0068, -1.388, 7.0496, 1.7216, -0.0708, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0452, 1.7477, 1.2816, -0.3019, -0.0517, -0.094, 0.0473, -0.0219, 0.8162, 0.5953, -0.4072, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.4897 left_y=-0.0094 left_z=0.1442 left_yaw=0.0361 left_pitch=-0.1984 left_roll=-0.0228 left_gripper=0.0473 right_x=0.2912 right_y=0.0001 right_z=0.1644 right_yaw=-0.0021 right_pitch=-0.0591 right_roll=0.0011 right_gripper=0.9969\nstate[joint_eff]: [0.3897, -9.0051, 9.0872, 1.6874, 0.0806, 0.188, 1.0281, -0.1436, -1.6889, 7.0222, 1.8584, -0.0415, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d35992ed03509d4d6efd2ff6d13086c9e3d40dab99d2c77e6f39b568eb3a517",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac8795e0ee562b270776a1f344c9a8c775864b4ae244081d15a18ece11fbdc8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a33c625bb95ebd7238561a4120e4585c3d7cfd781e5845003a98f40b4c1e049f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuAsKEAgSGAI4AUIIdGhpbmtpbmcSDNrWTVsP3o5wElDILhoMbp/e0soa5R9WWosLIjCf2YoJuftH2Od5LpQIKnHLXDurvv7cZugVS2Mq3FiCq6BBFZAOrN0rJrVgcA6Z/18q1QprgCYYe0oc8zjWQbbq6DOPyJypKC+oC0NFgru2u4Mpl/CuXFO7G3s0/haaQIRoTLFIm3YqZla51pV+IWRJHzN+FpOIiTVcRQcAjpXge6Cu1IbsXX4eNEFR2ZYLxRM381+S6KZdzXoWvpCe7HSFzFMBUtqEsyznSm+GJc8DhTd3Z/eZRDmapWH+K8LbmQ0jAcQUGb16ADQH1JD/K6IDauW0Rj4cI3lUrNxUBFSgbIG9MdRYCG5VsQzxHl/gQcLwzemc/09CKCT6vKwK03MEu+A77q1ZxGzp5axm9fJQ2WX0DJ/y4IhPE7dyqzI6TGV5S4GNTI0ZBQQwW1g0vtP0SJz4rM4zCpN+Gr6iS8UTz5EUuGtpqaE2kNatP5hOdvkKJCOopf31vTPJa8nIEV71OE8WEEKIf/fZc0rPfDJZSd0BQEymKWTmf3azB4jH8xEizPXAju+Rz/ycOi9B1OLfOipciMnbGPWgJhScLRgSReNYfAzg0DQztT9pzvU2d0j12rG2RdMo8fZlftrKamSUkunEcPZM/OsdNOrEvtyP04V9IiENJiJ3fcYrKzqsHAAkP5bqm0h+B6Wd/AXqf4jkqjuz4hKv6tYJcTprw3Uea9A+Y+MH2VBwnGBPWrHA2kX5VLOwh05/YOCWAfFe+M3mkSJ7XMttZahB+5Dgho9p5TIzxIkfaIrn6G8TMSvXSjV8Mr4tW7R1a+aKueYHwmIzfmvLghqwyDg+r10vTIBdW7mO74n4UcLq7H1wFdQ0ghjS8+3G0SiHnIAzXGIOdSkn4nrecAbcNO4OQSfulqN9EUDBnaKuPtNSptI0MdZL+ttPh68hb9EEBFobSzHAJSQoFSFRo/+kZc9OFvAebbOSW9xBVpeFn8Z2kdMuDGhpgdNyQhuNeTWr4+Qwp286AgdieLvZvjV2s6J/SrJ3EDSJfe9utmbJIajscXgmBy+Wa5YiTJUHx2QGFotSVya4+DaTbz7mVuLNib4+FtVoW7OYtQROnzvypXk6IeCZGurL2PR2fGfMsdF1heu9Bm+X2/rOgLTZAr0YtilmgCt1fyB1hfX2GHzoaOawnpvM7WJxwsQiG+lcd2+c5Vie5DL5vFfGxTHB7dB7uwwQxvF+8QZhvqazBPUsk73p9bOYD/mbfY30HmTN5/VsUtidfDj9olMrQeODp7+wWNDIUj0vzPeUTkcTSLQdPLaQAEK0pdIZvK8BsEJ/qy9ulUb674bOvqLFcSeJrNgEk576eosQpN/dasMWnHAx8CUKSaOOV1QVggXQPIJPfa2RlgTzL79DdEfi+PY4EAZWpEIl2nKSYZAStZzCx9ri6uSLhBnU5lXeDGTjJhictehU/kZLaywtQORuRatcTiSglCPUB5X6QVfMMJYXoKTCqBtwQN8Gu145xQktvgaD86YyEAQOBt7pCFwAVXr2UCpO3FNrXSTk96yAkOn5FRRLyhCN7lnDoHL4HHBbLGRKwugGjvQRuXV/un+0OEokfpE8G4B0vNoNcaA+ja8mrWSml6qbDe1Z6I9H0I8jFeUfZmFvW66HfLTzvm3SSoI4NN5YwWzZT86urZZCp8h2hPJ4eWBIFJrbIIwN/FvCNYeZOMzRTL1wTCmBhxPlue91z9gQ/Lr2HD7DN2jcU9u/lpB4zOVwxtyJiNky2PXYIn+SmIkE01ulMPTiKCVhVznX1CXWBJvCr8WGFvySnPnYBXxH6H8UVHqJBnaxulJzeC6yQjzaE4tbm7BiysCQWCBwcl3FdxW9ybnIw30REMq8lLocBlG5JXl60iHE3rED/QbvahF1lkVwXJR2c3IRZIxaDKN/4LYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XLf6ScfQXp5wKP3BrUS71t",
      "input": {
        "note": "The white bowl is held (it moved up-image with the arm, so arm +x is image-up). Carrying it right (−y) to hover above the lavender middle bowl.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.18,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01XLf6ScfQXp5wKP3BrUS71t",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6235, 1.5883, 1.1435, -0.469, -0.4194, -0.4995, 0.0473, -0.0216, 0.8173, 0.5953, -0.4149, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3793 left_y=-0.1798 left_z=0.1416 left_yaw=-0.0002 left_pitch=-0.24 left_roll=-0.0007 left_gripper=0.0473 right_x=0.2901 right_y=0.0003 right_z=0.1626 right_yaw=-0.0015 right_pitch=-0.0679 right_roll=0.0009 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -8.9504, 8.8547, 1.3407, -0.3492, -0.2076, 1.0281, -0.1026, -1.4701, 7.1863, 1.7607, -0.0464, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0df7f1d91eb2db8d3daad217a407b100c59d7418e89b81ad331d1d56ef5ce66f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fe008841c8b5a6279e3c0fbe2572f67548f3b148c0cfc0502146883d684e9e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd36b7e346ff243b76c3177079e8c47f804cdac411466684731d14709ad90b03",
        "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 · 5.439 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.086, 1.4456, 0.6895, 0.0116, -0.0719, -0.102, 0.0458, -0.0219, 0.8108, 0.5953, -0.3969, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3876 left_y=-0.0171 left_z=0.0828 left_yaw=0.0165 left_pitch=-0.1736 left_roll=-0.0169 left_gripper=0.0458 right_x=0.2924 right_y=0.0001 right_z=0.1679 right_yaw=-0.0019 right_pitch=-0.0435 right_roll=0.0004 right_gripper=0.9969\nstate[joint_eff]: [-0.1709, -6.9538, 8.9094, 1.6679, -0.0317, 0.0269, 1.0379, 0.0068, -1.388, 7.0496, 1.7216, -0.0708, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0452, 1.7477, 1.2816, -0.3019, -0.0517, -0.094, 0.0473, -0.0219, 0.8162, 0.5953, -0.4072, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.4897 left_y=-0.0094 left_z=0.1442 left_yaw=0.0361 left_pitch=-0.1984 left_roll=-0.0228 left_gripper=0.0473 right_x=0.2912 right_y=0.0001 right_z=0.1644 right_yaw=-0.0021 right_pitch=-0.0591 right_roll=0.0011 right_gripper=0.9969\nstate[joint_eff]: [0.3897, -9.0051, 9.0872, 1.6874, 0.0806, 0.188, 1.0281, -0.1436, -1.6889, 7.0222, 1.8584, -0.0415, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6235, 1.5883, 1.1435, -0.469, -0.4194, -0.4995, 0.0473, -0.0216, 0.8173, 0.5953, -0.4149, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3793 left_y=-0.1798 left_z=0.1416 left_yaw=-0.0002 left_pitch=-0.24 left_roll=-0.0007 left_gripper=0.0473 right_x=0.2901 right_y=0.0003 right_z=0.1626 right_yaw=-0.0015 right_pitch=-0.0679 right_roll=0.0009 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -8.9504, 8.8547, 1.3407, -0.3492, -0.2076, 1.0281, -0.1026, -1.4701, 7.1863, 1.7607, -0.0464, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0df7f1d91eb2db8d3daad217a407b100c59d7418e89b81ad331d1d56ef5ce66f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fe008841c8b5a6279e3c0fbe2572f67548f3b148c0cfc0502146883d684e9e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd36b7e346ff243b76c3177079e8c47f804cdac411466684731d14709ad90b03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywsKEAgSGAI4AUIIdGhpbmtpbmcSDFD0PIDXh5Wstt1tDRoMfODErKZ3EJTIuZuPIjDmRvO+mU4+74Mxw0/dGLFKSJetgFxogBQmgKnwc1kMMflvHEQ89hFyZ6cuOb2xCR4q6ArCYn+pLoNnes5AOU8PNXOLQqPI1M845pyVwe3211T/3byaJ9Ob28qgPn1S+JXSxiDYBECVO9Ffqu9azbADe3h5LHNDGeMn9QiFbTuCbgT7pLq4JRRsdTb5cpRQ5bOIrGMrZb+PZrqIFTBIBrmiz3ED0T0GH5qgPnmOFyJaAiJ7i99ofsKVlkwLk8xKaNbZEUPjrB2Uoez52GeCYZX7ezwILVUgWm1BccE5ejPQ3+AdEB4wfkBo9/TriJMMZierjRPh81Ll/FH3nt3WlkcptEHUZeqzUaBG56TwTX0j5Lndrsdj/IkOir1kGjiz+litSWEHSi5lZr7lM7r1zUgaaQP3B+dSKQE5iYYDMaevP6cVhAlECmOZBlvxUy41g4gDfnhEQwd9xGuqb6V7Gfx19m6Yv/0gVCHoMqKiJB2zM27SmNNMQQvHmp6GdKoWfMMoxbIAQ0pfmUYAlX83JWHm1sIf2F07Ar6BAaNrZdAbamV/LHVgYIx3j6nGt+fFdkE7iwqr1WTgBMfqs4A1C/mduHLij9JlronDhvi8wUREE9/1pmHyn62o3kB6n/t4+pwI469eA16pCDv0FmbcI8i09UmPUHQbDMzAS4oJHsQdjz72f44Wz0OGgnUInXcLazRY3Hmfg5ojks+la2i4vHCTPsIq+p57LOxtCAsrA7TmbuPthJXfQhtuOiJhSxS9mmjUTnwlfa9B+tv0BV6ErfBKdwXz4Mor4jvgnsZo7hSQmzE7T4t2arVKOG1/kJW5/MkUvAx8puDH1SjhYzm5g41RSKM/pw2HFyvB2ugjUeJ9Xr1DAcvIZSKjJQ50o15VekfD+oWYUryDizuyJd7kyVS6FmCMSQlCReKgqB7w+N76OWHbKyjU4qyL0jsN+F+i1WKyOfQIeqWCsXP7MuHvmvY15z9sgbjACxjwYZU75fME81vOeKqo3yMLXhp9SWivH1cBmGEU+zdHCVYBdJZ/1u+jW4dLEfHHNRBSzZZ/N7sZ4cRLN5IaqAlEyPMp2TtGziN4O9NVjg0CCdRvFf3uN2b0T81eX7wzwYFE98h20YE0Xwcytxp45rxDN4fQ9cymdaa63ycDHjEFB4Q0ICSwy2diPDhXat1KWiyT97h0xNkyVu59gMLChjO16dBhX2NHdzwhzScqVpsN0k5NoywWFkrxbxCyc+K/iofl7OYGQwrhfQ3AlX9tfsdNDrzPZkg2Ct2BsG0/etWVph4//957JjETV6+P1rHzzlQz74hbkrCBwhm30QTGADjggMgJGtbz/b0jdJPCTZNav+QUwL8YXQFdQsjYjpIYWFh4Oy9GJSLZuHNXr3/YAjYU/SCmsmWtNJ/ymMInqvFXi867888/za2jtIVJS1kGTpztp3out7ZhdKsLQ0m46s3ish1gonb11nsJATpotIt9QUFlND+4sOYDyp+8XNe2flxKTiqw3H44OrmgsdE4XdjbbJWcKowcmf8YV4cPko4yTMYaE6g4TEI3sIYzDu9HQZ9aa8Y4NNzTi493Js8aJinBkh6Ao+OxI++3AAnA//7sB1DIF81k85DiU3n/XRf0GK74N2s2Sg0PlIYinBfQKEHa5d5gwS9hVFeVSOcNln26+ow0qxpKP864IbToIGPwQ7xRWe4bQTdgsDkZd40+sJbB0S4szZcYl468pEx5LFDGYVHIMl/dBM3hoTWEgToY8fO3glfSTy4hOgt7mIyM9OV6jUPh9FAvUrjRtxRh9VxHEwDbbrRW9TOMcqShUv6jgeLl8IqIWXD7KMv6UwIOMHS3+UWAshE2w76+d7qj5VyuGZgOYMut2mG/PelVWxsI08IrZhmeqdWE5Oy9m9O/+j7gXDMUGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XPAANq7h7gaXb6Tuqy3quw",
      "input": {
        "note": "Held white bowl now appears over the lavender bowl in the top view. Lowering to nest it before releasing.",
        "targets": {
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XPAANq7h7gaXb6Tuqy3quw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6266, 1.6566, 0.9771, -0.3061, -0.4183, -0.5137, 0.051, -0.0219, 0.8173, 0.5949, -0.4152, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3672 left_y=-0.1728 left_z=0.0749 left_yaw=0.0155 left_pitch=-0.2982 left_roll=0.0327 left_gripper=0.051 right_x=0.29 right_y=0.0002 right_z=0.1623 right_yaw=-0.0021 right_pitch=-0.0686 right_roll=0.0012 right_gripper=0.9969\nstate[joint_eff]: [-0.0068, -7.5966, 7.0222, 1.6484, -0.2466, 0.1197, 0.8278, -0.1162, -1.3744, 7.0359, 1.6972, -0.0562, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1e597ac8c45d451dce8803e1785e53b6882aee427ded7de8bcc9ccdcba4c344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95a36ca8db79d98875522c886e0cb366137558441b03422d656f334a23e966bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf190bad234f511732114f46bc91ea4b97f1e66d77399a9ac9e9e718e3aa71e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 5.377 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0452, 1.7477, 1.2816, -0.3019, -0.0517, -0.094, 0.0473, -0.0219, 0.8162, 0.5953, -0.4072, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.4897 left_y=-0.0094 left_z=0.1442 left_yaw=0.0361 left_pitch=-0.1984 left_roll=-0.0228 left_gripper=0.0473 right_x=0.2912 right_y=0.0001 right_z=0.1644 right_yaw=-0.0021 right_pitch=-0.0591 right_roll=0.0011 right_gripper=0.9969\nstate[joint_eff]: [0.3897, -9.0051, 9.0872, 1.6874, 0.0806, 0.188, 1.0281, -0.1436, -1.6889, 7.0222, 1.8584, -0.0415, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6235, 1.5883, 1.1435, -0.469, -0.4194, -0.4995, 0.0473, -0.0216, 0.8173, 0.5953, -0.4149, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3793 left_y=-0.1798 left_z=0.1416 left_yaw=-0.0002 left_pitch=-0.24 left_roll=-0.0007 left_gripper=0.0473 right_x=0.2901 right_y=0.0003 right_z=0.1626 right_yaw=-0.0015 right_pitch=-0.0679 right_roll=0.0009 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -8.9504, 8.8547, 1.3407, -0.3492, -0.2076, 1.0281, -0.1026, -1.4701, 7.1863, 1.7607, -0.0464, -0.0708, -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]: [-0.6266, 1.6566, 0.9771, -0.3061, -0.4183, -0.5137, 0.051, -0.0219, 0.8173, 0.5949, -0.4152, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3672 left_y=-0.1728 left_z=0.0749 left_yaw=0.0155 left_pitch=-0.2982 left_roll=0.0327 left_gripper=0.051 right_x=0.29 right_y=0.0002 right_z=0.1623 right_yaw=-0.0021 right_pitch=-0.0686 right_roll=0.0012 right_gripper=0.9969\nstate[joint_eff]: [-0.0068, -7.5966, 7.0222, 1.6484, -0.2466, 0.1197, 0.8278, -0.1162, -1.3744, 7.0359, 1.6972, -0.0562, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1e597ac8c45d451dce8803e1785e53b6882aee427ded7de8bcc9ccdcba4c344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95a36ca8db79d98875522c886e0cb366137558441b03422d656f334a23e966bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf190bad234f511732114f46bc91ea4b97f1e66d77399a9ac9e9e718e3aa71e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5gkKEAgSGAI4AUIIdGhpbmtpbmcSDLXJzGKePS7AyIb0BBoM+oHytDHZ9mKLjFAUIjDgwTJuYCj7TETnb1L1Dy7HYlRtd6mr3V8+wH7C85aEiiG/ApUFy5ERl0bJVdMdaJkqgwkuR7iDJMbiB7T16nQHt9Xd1ggWMiUdYGItjSfnhj+xIh8tqs18Wd0x7lhQ2/Tz07DjS8p0UnrdNGz/IOX1CbA27ycqfexkcUuqBmJxZXma208g2BbE9kfnIY76jMA1KWouCV4hkDdtNzFBjI2rmFdPj5uDwPnHH8DB8D+h9ndoB7r0UV5Xsz9ED12JMo4dCEzdeS/HY4m+D05/I1trI17y74xtWOtrDqFFYcxXdc7j1fWYlwqUIWX1BQGGzcTc+E2mxEfqSGiHaAIeRSk4dUQn0plt48qxwOSxobV7myRjZd2d7SJJTpf3FsijrMi4LriF+YlxDwDnDBYxRxsbeHgRUipQNSVzmpdjWUJn3yk7EllhtCFk4BheMqTP8vTgep58r2FIcBmMQH6DER3b/v5irugF3rt2uhWfTdm4901LRXrJYh1a7AJ87TqMw4fLEz28MhYUWCIdb23fYGcb1QN7NiL5v9+s74eBsLkAbNrSHb8kQuDjYkAq2f6Uc88K+XU6W71NAfMyIIi0skAZoCrlimjI5Ia5snDlaqjiaxAiD8aflorphXwT2e8R7A5jrIZAxxRiaF0mwZqiKKtKI2ZBIfKfZm2mRrq82NWZP1mV48XQftzvIUTfSlFTuYEQKpidXaLn1b9J3Azih77Qlj9CZ/5EvOsBIyMd6dcQy947r+4nYF3ZcphCWLYhN6AV0UUsALEUSg2OWj2SKL4IrS+P9IjxwUTF6SxDmMK3+dqFYrPcpv4cu1tfy9Kc45xKwt7EHqzfsV8N1/qgeuIA7o3ANjhseNtGRgR8i3XISAXxyOj4iJKsicvcXXgIbrZiKYWD4E5qEvEHylohhCOYBkHvyyaaApLu8OjXN0AdkwNsFYoUYY1NnHvx95kFS6yE+bJLiCxGHptHBdOsoWBsMBTeR13snS127tFP2DeF6yJatuPludiT3nsoqGIFZWR21JOZcztdRPxEArQbdpa6wG7ZZC1vNPb03K1oHjrdQZ4xiGgsC7o6+pHKbqWyGJp7vzvnM9Wh3BYYjaDjeo5xXIYjtKNh9cpvQ2N3KhJReq12RSLYJcnzMv4RE5Niij0oDVQisMOOYP56GV01zkiJ4BzZ6kkGit2ZO/ltluuZnn3dd3MH/5PWCVUHtqJUSYi02GXbVY/acD47DICNAy1LKJCdSVgqKn9SJz8lQF7PurFbQOYK5XOxdZhNmVnku6Pu0o22f8fOIyMEjMK9duThAuD7eXHGAbOOaKcRZOaspyEqqzK8KDDswpAEWfheh/XJt+ZoJbgTUXq8Ocw9j4ahJC5+UOqfFZmXqI7GCcrkUim70mQvOfhkpUX25IcRIEF7ii+lfOh3TYLqJULHl1CPf9vAFt4/HMZ3748ruBKcxOcfrbIR/yyrUqk3Ge7K5cal4D8noxCu5v7e4hpWRZN0vo9Q3Z/0NvLzWnMiyWn7dl0mq7gNjJ3bHMGcm78fYMKUILYNm/cdT9R0kjmvv43puUtrBzbYG1RZN0SwA8O3jlr6xzG/OHyfPou8jc15WBFxm4e+HZ4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018VWL1N3e4rX6c8Kmb3J4vk",
      "input": {
        "note": "Lavender bowl's rim peeks out just beyond the held white bowl's far side, so nudging slightly forward/right and lowering to nest.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.185,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_018VWL1N3e4rX6c8Kmb3J4vk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6266, 1.6897, 0.976, -0.2581, -0.4175, -0.5175, 0.0527, -0.0219, 0.8173, 0.5945, -0.4152, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3733 left_y=-0.1774 left_z=0.068 left_yaw=0.0146 left_pitch=-0.2875 left_roll=0.021 left_gripper=0.0527 right_x=0.2899 right_y=0.0002 right_z=0.1621 right_yaw=-0.0019 right_pitch=-0.069 right_roll=0.0009 right_gripper=0.9969\nstate[joint_eff]: [-0.2803, -6.8171, 8.3487, 1.1209, -0.1587, 0.0269, 0.8083, -0.0068, -1.1692, 7.0359, 1.6679, -0.0464, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af9c1f50d18a5963f21c3092959158356f0076949b711ae6be0d2ad731a93e21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81c0e16986d1700ce984bd000587d446e6927380ea17734f66dc3136228deb69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:55fd6442ea45100e97daf518e67092f267e977bbf802a51350f2a3842efb2279",
        "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 · 3.868 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6235, 1.5883, 1.1435, -0.469, -0.4194, -0.4995, 0.0473, -0.0216, 0.8173, 0.5953, -0.4149, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3793 left_y=-0.1798 left_z=0.1416 left_yaw=-0.0002 left_pitch=-0.24 left_roll=-0.0007 left_gripper=0.0473 right_x=0.2901 right_y=0.0003 right_z=0.1626 right_yaw=-0.0015 right_pitch=-0.0679 right_roll=0.0009 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -8.9504, 8.8547, 1.3407, -0.3492, -0.2076, 1.0281, -0.1026, -1.4701, 7.1863, 1.7607, -0.0464, -0.0708, -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]: [-0.6266, 1.6566, 0.9771, -0.3061, -0.4183, -0.5137, 0.051, -0.0219, 0.8173, 0.5949, -0.4152, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3672 left_y=-0.1728 left_z=0.0749 left_yaw=0.0155 left_pitch=-0.2982 left_roll=0.0327 left_gripper=0.051 right_x=0.29 right_y=0.0002 right_z=0.1623 right_yaw=-0.0021 right_pitch=-0.0686 right_roll=0.0012 right_gripper=0.9969\nstate[joint_eff]: [-0.0068, -7.5966, 7.0222, 1.6484, -0.2466, 0.1197, 0.8278, -0.1162, -1.3744, 7.0359, 1.6972, -0.0562, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6266, 1.6897, 0.976, -0.2581, -0.4175, -0.5175, 0.0527, -0.0219, 0.8173, 0.5945, -0.4152, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3733 left_y=-0.1774 left_z=0.068 left_yaw=0.0146 left_pitch=-0.2875 left_roll=0.021 left_gripper=0.0527 right_x=0.2899 right_y=0.0002 right_z=0.1621 right_yaw=-0.0019 right_pitch=-0.069 right_roll=0.0009 right_gripper=0.9969\nstate[joint_eff]: [-0.2803, -6.8171, 8.3487, 1.1209, -0.1587, 0.0269, 0.8083, -0.0068, -1.1692, 7.0359, 1.6679, -0.0464, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af9c1f50d18a5963f21c3092959158356f0076949b711ae6be0d2ad731a93e21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81c0e16986d1700ce984bd000587d446e6927380ea17734f66dc3136228deb69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55fd6442ea45100e97daf518e67092f267e977bbf802a51350f2a3842efb2279",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxwcKEAgSGAI4AUIIdGhpbmtpbmcSDPagQp/GMvvF8tt2NBoMvWDuybkfOdrnxWQLIjBp0AdHtcRL6IzvY+T8X3QppJ6NrFvUhAYs39UVpOY6ExnkplDN15DWgHjZyTwJH74q5AZC5dvRPqvBovU3u6jMIimrn2I2CxohtPYILyqIogKYGuvRKVfAhHApmNUKhgi/ThqhSluyvjzWFeahSHBJmGF9ehcFNNkCJIfaBe9msWawvYk+TeZereR/xri8KV/tj6pDH8cgJRrmdLQfgiotLFi+VcrUg6Ck2DNDbYYQe2ESr4m3qgmGnGlV8ro+joRruUfWb0vuph6TK07279eS5DdluRYwhemOHZSnM0v90Tf2UX9Smv8afBlnL80Ntn6kiNt1PZx7+fblsPUrFt77AdYgGDRp6Cdg5zVeiVAMi0WHfGbglRSI0k/g+KfAwuZJnGe+HukBdCG77UGsWaNr055cT4q+8M9V+fPYzar/F/KoPrfngdAlRTb3Y2RBKEdZO9+eJTD3AbTACrIZT6Rq+JKVRW0xlVMIf2XNUZmRvMlRSqjFz4mW7bW4FneN/he73SBoJUKPxvn+Kw2B9/nZctVZbXCx9OVDQ2vkxcPI0QYzW4K2Ef4oNHpbY63mUkm7VBlEqWOJcNPYUKqgcXIBsHYDqb9E26nzmUGqQyosBi+GkASGhWfBQ/tvz9KQplsCGVwIi7mDH7igh5I3t3iXmm8doUti67lXSDG4Jd6Rm2Ug8mrsnOB6Sv58GVIDDL/M7aZDpy4cEzwSgWr/+v4pgK1RcbQrQMsnMVddVQ4oW451CDVew5rcZFgrd64sikrbXmRxGcCs7u43xxoJuTB4MNuHAq4K2/PqARB7Pr0Kat9fgyN7F3H9bQF8KsRmyrjP48Lwuyj8kNne591eRBv4URQ4kKkNyXwiZy3nPFEWaB1HVlIMcAdOINU43AC/FpSiB5MS+vlhgJQrJ7LLseI/or+7J16IRNzQyUJaqBndgHpJuRp63ydRo4hktOnwU7oYSSlEQiAIZAtEfI3c1u4t02lC4tx7OncaTOTfkKiy8i7w0uniMhu8m6hs83LiKeGSw1SCJW8QsHOiQon5isj0Udv7aAmRFp1YDHK9yTpAH0/CDkGSqFmwK7zufnvO6Otjt3Z/YzvI8RxulbDbCjTWK5l8x+fKAZPmzapXv97j65prBYDDOkhyornSmzOUahE1iSNHaer6bnVXckS6dyf4lOhZXazufjWMrSrMb2cDBwfDjkNe2HUhFk/CpOjM9JocMfwwRhIEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JngdZeajPJAyRxUvZX4iUw",
      "input": {
        "note": "Descent stopped at z≈0.07, the white bowl appears seated on/into the lavender bowl with rims nearly aligned. Releasing.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JngdZeajPJAyRxUvZX4iUw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6266, 1.702, 0.9798, -0.2806, -0.4175, -0.5209, 0.9949, -0.0219, 0.8173, 0.5945, -0.4221, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3702 left_y=-0.1752 left_z=0.0618 left_yaw=0.0222 left_pitch=-0.3121 left_roll=0.0381 left_gripper=0.9949 right_x=0.2889 right_y=0.0001 right_z=0.1608 right_yaw=-0.0022 right_pitch=-0.0759 right_roll=0.0009 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -7.4325, 7.9385, 1.199, -0.2418, 0.0708, 0.0171, -0.3487, -1.347, 7.0085, 1.7167, -0.0562, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59887e892a4d4fe50ee6eb10de1b0abd27d7eba2d25f33be68447020dd0adc30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beeed1863c38a6d5dfd8d3122cb7d279f1a9c73b88e7a29d8da380cee4701ce9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:97b24599ffcfacaa03faa2ff21c4ca817c39d08feef19cede90077c0a2163fb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 7.615 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6266, 1.6566, 0.9771, -0.3061, -0.4183, -0.5137, 0.051, -0.0219, 0.8173, 0.5949, -0.4152, -0.0166, -0.02, 0.9969]\nstate[eef_state]: left_x=0.3672 left_y=-0.1728 left_z=0.0749 left_yaw=0.0155 left_pitch=-0.2982 left_roll=0.0327 left_gripper=0.051 right_x=0.29 right_y=0.0002 right_z=0.1623 right_yaw=-0.0021 right_pitch=-0.0686 right_roll=0.0012 right_gripper=0.9969\nstate[joint_eff]: [-0.0068, -7.5966, 7.0222, 1.6484, -0.2466, 0.1197, 0.8278, -0.1162, -1.3744, 7.0359, 1.6972, -0.0562, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6266, 1.6897, 0.976, -0.2581, -0.4175, -0.5175, 0.0527, -0.0219, 0.8173, 0.5945, -0.4152, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3733 left_y=-0.1774 left_z=0.068 left_yaw=0.0146 left_pitch=-0.2875 left_roll=0.021 left_gripper=0.0527 right_x=0.2899 right_y=0.0002 right_z=0.1621 right_yaw=-0.0019 right_pitch=-0.069 right_roll=0.0009 right_gripper=0.9969\nstate[joint_eff]: [-0.2803, -6.8171, 8.3487, 1.1209, -0.1587, 0.0269, 0.8083, -0.0068, -1.1692, 7.0359, 1.6679, -0.0464, -0.0513, -0.0171]",
      "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]: [-0.6266, 1.702, 0.9798, -0.2806, -0.4175, -0.5209, 0.9949, -0.0219, 0.8173, 0.5945, -0.4221, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3702 left_y=-0.1752 left_z=0.0618 left_yaw=0.0222 left_pitch=-0.3121 left_roll=0.0381 left_gripper=0.9949 right_x=0.2889 right_y=0.0001 right_z=0.1608 right_yaw=-0.0022 right_pitch=-0.0759 right_roll=0.0009 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -7.4325, 7.9385, 1.199, -0.2418, 0.0708, 0.0171, -0.3487, -1.347, 7.0085, 1.7167, -0.0562, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59887e892a4d4fe50ee6eb10de1b0abd27d7eba2d25f33be68447020dd0adc30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beeed1863c38a6d5dfd8d3122cb7d279f1a9c73b88e7a29d8da380cee4701ce9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97b24599ffcfacaa03faa2ff21c4ca817c39d08feef19cede90077c0a2163fb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Released. Now lift the left arm clear and park it.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KHAv5Zs8ZSzoSAWnqvjojC",
      "input": {
        "note": "White bowl released onto the lavender bowl. Lifting and parking the left arm home to clear the view and make room for the right arm.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01KHAv5Zs8ZSzoSAWnqvjojC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0769, 1.0863, 0.8928, -0.7155, -0.1165, -0.1078, 0.9957, -0.0216, 0.8185, 0.5945, -0.4225, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3009 left_y=0.001 left_z=0.1639 left_yaw=0.073 left_pitch=-0.3325 left_roll=0.0341 left_gripper=0.9957 right_x=0.2889 right_y=0.0003 right_z=0.1604 right_yaw=-0.0015 right_pitch=-0.0774 right_roll=0.0011 right_gripper=0.9969\nstate[joint_eff]: [0.1162, -3.7949, 9.5111, 1.4725, -0.0024, 0.1929, 0.0757, -0.0479, -1.0872, 6.9812, 1.6581, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:252d22a8b5b1aa283b9bcd2b4b0bd3e15294880ae13878e804fe9bf5e1c8b896",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65c5750a5f10e352aae0712924d881121651cc612467520aa79232de56317250",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a0a0f079c68087fcb47f1a10c3e747a1121dcbd99d952bdb55ca084014ec955",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 11.04 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6266, 1.6897, 0.976, -0.2581, -0.4175, -0.5175, 0.0527, -0.0219, 0.8173, 0.5945, -0.4152, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3733 left_y=-0.1774 left_z=0.068 left_yaw=0.0146 left_pitch=-0.2875 left_roll=0.021 left_gripper=0.0527 right_x=0.2899 right_y=0.0002 right_z=0.1621 right_yaw=-0.0019 right_pitch=-0.069 right_roll=0.0009 right_gripper=0.9969\nstate[joint_eff]: [-0.2803, -6.8171, 8.3487, 1.1209, -0.1587, 0.0269, 0.8083, -0.0068, -1.1692, 7.0359, 1.6679, -0.0464, -0.0513, -0.0171]",
      "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]: [-0.6266, 1.702, 0.9798, -0.2806, -0.4175, -0.5209, 0.9949, -0.0219, 0.8173, 0.5945, -0.4221, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3702 left_y=-0.1752 left_z=0.0618 left_yaw=0.0222 left_pitch=-0.3121 left_roll=0.0381 left_gripper=0.9949 right_x=0.2889 right_y=0.0001 right_z=0.1608 right_yaw=-0.0022 right_pitch=-0.0759 right_roll=0.0009 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -7.4325, 7.9385, 1.199, -0.2418, 0.0708, 0.0171, -0.3487, -1.347, 7.0085, 1.7167, -0.0562, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0769, 1.0863, 0.8928, -0.7155, -0.1165, -0.1078, 0.9957, -0.0216, 0.8185, 0.5945, -0.4225, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3009 left_y=0.001 left_z=0.1639 left_yaw=0.073 left_pitch=-0.3325 left_roll=0.0341 left_gripper=0.9957 right_x=0.2889 right_y=0.0003 right_z=0.1604 right_yaw=-0.0015 right_pitch=-0.0774 right_roll=0.0011 right_gripper=0.9969\nstate[joint_eff]: [0.1162, -3.7949, 9.5111, 1.4725, -0.0024, 0.1929, 0.0757, -0.0479, -1.0872, 6.9812, 1.6581, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:252d22a8b5b1aa283b9bcd2b4b0bd3e15294880ae13878e804fe9bf5e1c8b896",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65c5750a5f10e352aae0712924d881121651cc612467520aa79232de56317250",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a0a0f079c68087fcb47f1a10c3e747a1121dcbd99d952bdb55ca084014ec955",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GR482wXoJbGVJLy2GsUiFP",
      "input": {
        "note": "White bowl is nested on the lavender one. Right wrist cam sees the pink bowl ahead-left; moving the right arm forward/left to line the jaws up on the pink bowl's right wall.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.05,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01GR482wXoJbGVJLy2GsUiFP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0916, 0.8951, -0.7364, -0.1055, -0.1017, 0.9958, 0.194, 1.3613, 0.5213, 0.07, 0.1246, 0.086, 0.9969]\nstate[eef_state]: left_x=0.2975 left_y=-0.0001 left_z=0.16 left_yaw=0.0629 left_pitch=-0.3577 left_roll=0.0325 left_gripper=0.9958 right_x=0.3465 right_y=0.0494 right_z=0.0572 right_yaw=0.0348 right_pitch=-0.1938 right_roll=-0.0181 right_gripper=0.9969\nstate[joint_eff]: [-0.4444, -3.3162, 6.4752, 1.5556, -0.1587, -0.0855, 0.0024, 0.1573, -6.3795, 8.3077, 1.8926, 0.2369, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ceb02545a283222d48216e5fd0e4dbb94f2124d285055bcece030310dac074f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecea8d7b8bc0e1dfc619dd5050d25ed1feef5051a20e7bfc15b7dcd91eae8dfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:980661139e62bb752c07b2548e3f2f3633684d72a2e0f260aa6cd2f3469a28a5",
        "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 · 4.449 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6266, 1.702, 0.9798, -0.2806, -0.4175, -0.5209, 0.9949, -0.0219, 0.8173, 0.5945, -0.4221, -0.0162, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3702 left_y=-0.1752 left_z=0.0618 left_yaw=0.0222 left_pitch=-0.3121 left_roll=0.0381 left_gripper=0.9949 right_x=0.2889 right_y=0.0001 right_z=0.1608 right_yaw=-0.0022 right_pitch=-0.0759 right_roll=0.0009 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -7.4325, 7.9385, 1.199, -0.2418, 0.0708, 0.0171, -0.3487, -1.347, 7.0085, 1.7167, -0.0562, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0769, 1.0863, 0.8928, -0.7155, -0.1165, -0.1078, 0.9957, -0.0216, 0.8185, 0.5945, -0.4225, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3009 left_y=0.001 left_z=0.1639 left_yaw=0.073 left_pitch=-0.3325 left_roll=0.0341 left_gripper=0.9957 right_x=0.2889 right_y=0.0003 right_z=0.1604 right_yaw=-0.0015 right_pitch=-0.0774 right_roll=0.0011 right_gripper=0.9969\nstate[joint_eff]: [0.1162, -3.7949, 9.5111, 1.4725, -0.0024, 0.1929, 0.0757, -0.0479, -1.0872, 6.9812, 1.6581, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0916, 0.8951, -0.7364, -0.1055, -0.1017, 0.9958, 0.194, 1.3613, 0.5213, 0.07, 0.1246, 0.086, 0.9969]\nstate[eef_state]: left_x=0.2975 left_y=-0.0001 left_z=0.16 left_yaw=0.0629 left_pitch=-0.3577 left_roll=0.0325 left_gripper=0.9958 right_x=0.3465 right_y=0.0494 right_z=0.0572 right_yaw=0.0348 right_pitch=-0.1938 right_roll=-0.0181 right_gripper=0.9969\nstate[joint_eff]: [-0.4444, -3.3162, 6.4752, 1.5556, -0.1587, -0.0855, 0.0024, 0.1573, -6.3795, 8.3077, 1.8926, 0.2369, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ceb02545a283222d48216e5fd0e4dbb94f2124d285055bcece030310dac074f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecea8d7b8bc0e1dfc619dd5050d25ed1feef5051a20e7bfc15b7dcd91eae8dfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:980661139e62bb752c07b2548e3f2f3633684d72a2e0f260aa6cd2f3469a28a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7QcKEAgSGAI4AUIIdGhpbmtpbmcSDFDgDRv+viRiapUAChoMed6VKhXa7mZ44xZzIjDWSr6jESNtvhVRYhcsCZfrLdeQ8ZnAEcMRYnsZWRuQ4iOE/oUFCAgoB5r4zRc9MH0qigfrUjqtfiuh38bpIGX8/uB2uF5CjMnuiEzED7Fw/0/aE2/gf23V2XDhHTv4Cs40YBYqWgOEigmcy5X1gvWhmOl+VkRUmtPC6niFwJkO577eYbb5uTSBZX/7uyXBHvvqa2vZZLQ6zLBxO0QGmApHqD0+PyJ2/UXyIXIue83e5mEXPK7QS6ga2LCRGcJxueRmzyyq+l0g4SB5R1t+XyE9zsqQoDAo715tyhGWGpHeW1FlQItN3QpHEFyEu359KkYhBs7uxHYJ2szev/jCNjjVg1cL+ULFn6/MoIe8zH7tm46zuhjrQaAi1neiBeYF9tCx1n/6Kk8K+76AxS5RBv6ElXVUfxniFJmH3IbtIEKpSO/3E4mWmKE0gOHRl4qVYjIjif299Xu4ZjTrAeSep20EpaVgy7tndLQPHdXSkDMXRjdfyUa0MZ/tfjwSiAj/Y5LwlIvBGCKMpL3iQna0YmG67meeHXda1k+rtqYKD4SWHe1HjIKs3EsEajZG4ixAr4T7TUrYf43TDqYvuZF1er8YpR8jPrz569QI466DkmLAC1Zn35rI/YMgt3V5pUinsXCC2Bp4adsjZn6oZXccUn3ddJvBC+HfI/NHwnmwAvaxAlyAy4hpFyFwxt20Yyf0ApZwcBg1bcUDzMn+4dX5ivzTQxtXsbF8VY3Yt34qwP+uHmAVTnJXIQZZngX6Ed3rNxdOhgAJCdz0sfnPwXaVNdNrU0Pk1wli0aYp2zTpEjzMFnqmFSKCoGJ2pKcBAKvx8MpPp7XLbCkohxl79JJs1MgOaj1DQdYa3ftsecEk+S6BKnV7rJk4+rgOM4/iZF+DdkUDpSdg6OSiOM9nlobibBgjKV+8/Ld0maBPIN9lCq7wpUduzYBLw4OuqTFJnV14wYgRvUbiMdzmKdtNZu2tgQTLbUPISNb1O1GmyJFoyxTwNRYr9Ws8EqRmuiCuth5og0p0BDp7mWrrQCSNXjIt3zvUlBSYG7DL/jzGcxjfyGrJ55RyAZ5QjKrGq78jdtql0+nt3RdAfM+WepVqcEE1Em2QY1fm39Nri1JqWHASBNfsxPWLyKuQhaX+TJeBgx9gN/vPLmld8Vm1eTOG1IUqwZm8pxeuDrlFSxK2ubSdehAJjR5pZN+MZbwRpmTrvKV/GWqWflELvuW59rUmaxjYtH2T8+8019vpGSKQulE3cbuqrlwRZFbqGce2PL0WpCUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LHhZFHrogUtYXb5yDg31zA",
      "input": {
        "note": "Pink bowl's right wall runs down the jaw column in the right wrist view. Descending so the jaws straddle it.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.05,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01LHhZFHrogUtYXb5yDg31zA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0924, 0.8951, -0.738, -0.1051, -0.1017, 0.9958, 0.1886, 1.478, 0.5068, 0.1829, 0.1257, 0.0853, 0.9969]\nstate[eef_state]: left_x=0.2972 left_y=-0.0001 left_z=0.1596 left_yaw=0.0627 left_pitch=-0.36 left_roll=0.0325 left_gripper=0.9958 right_x=0.3535 right_y=0.0486 right_z=0.0326 right_yaw=0.0283 right_pitch=-0.2117 right_roll=-0.0225 right_gripper=0.9969\nstate[joint_eff]: [0.0479, -2.947, 6.6667, 1.3602, -0.1294, -0.0757, -0.0122, -0.2667, -5.9009, 5.7778, 1.7851, 0.022, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:293d24cea12a83ff7c40acebd6dc1c8a96ea6d57db5ecff7f63ef0a52dd538ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:130b8cb1434650e09a9ebebd5b13178ef09cd4b2f51fa310da561de8324ac4f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b490e83350d6d875e6ee19b3820fa4e0357ff581ecd692997e0db05b7d310c9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 5.96 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0769, 1.0863, 0.8928, -0.7155, -0.1165, -0.1078, 0.9957, -0.0216, 0.8185, 0.5945, -0.4225, -0.0166, -0.0204, 0.9969]\nstate[eef_state]: left_x=0.3009 left_y=0.001 left_z=0.1639 left_yaw=0.073 left_pitch=-0.3325 left_roll=0.0341 left_gripper=0.9957 right_x=0.2889 right_y=0.0003 right_z=0.1604 right_yaw=-0.0015 right_pitch=-0.0774 right_roll=0.0011 right_gripper=0.9969\nstate[joint_eff]: [0.1162, -3.7949, 9.5111, 1.4725, -0.0024, 0.1929, 0.0757, -0.0479, -1.0872, 6.9812, 1.6581, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0916, 0.8951, -0.7364, -0.1055, -0.1017, 0.9958, 0.194, 1.3613, 0.5213, 0.07, 0.1246, 0.086, 0.9969]\nstate[eef_state]: left_x=0.2975 left_y=-0.0001 left_z=0.16 left_yaw=0.0629 left_pitch=-0.3577 left_roll=0.0325 left_gripper=0.9958 right_x=0.3465 right_y=0.0494 right_z=0.0572 right_yaw=0.0348 right_pitch=-0.1938 right_roll=-0.0181 right_gripper=0.9969\nstate[joint_eff]: [-0.4444, -3.3162, 6.4752, 1.5556, -0.1587, -0.0855, 0.0024, 0.1573, -6.3795, 8.3077, 1.8926, 0.2369, 0.1001, -0.0171]",
      "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]: [-0.075, 1.0924, 0.8951, -0.738, -0.1051, -0.1017, 0.9958, 0.1886, 1.478, 0.5068, 0.1829, 0.1257, 0.0853, 0.9969]\nstate[eef_state]: left_x=0.2972 left_y=-0.0001 left_z=0.1596 left_yaw=0.0627 left_pitch=-0.36 left_roll=0.0325 left_gripper=0.9958 right_x=0.3535 right_y=0.0486 right_z=0.0326 right_yaw=0.0283 right_pitch=-0.2117 right_roll=-0.0225 right_gripper=0.9969\nstate[joint_eff]: [0.0479, -2.947, 6.6667, 1.3602, -0.1294, -0.0757, -0.0122, -0.2667, -5.9009, 5.7778, 1.7851, 0.022, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:293d24cea12a83ff7c40acebd6dc1c8a96ea6d57db5ecff7f63ef0a52dd538ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:130b8cb1434650e09a9ebebd5b13178ef09cd4b2f51fa310da561de8324ac4f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b490e83350d6d875e6ee19b3820fa4e0357ff581ecd692997e0db05b7d310c9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxAcKEAgSGAI4AUIIdGhpbmtpbmcSDNGgX8MU/i1ue5BafRoMEB7jQwoowEIwAiKCIjB3SN1xZdTbMEHRLHq72iXl2Y2vaKw8750Q3pT9Ykmxstolh3Y6sHUPH1HZ8EChmxIq4QbNwd45s1P0Q03UFTRCb5cgwTClrmWZX2Y2dlDQdomhIrYedLVrqBInWrbUYq7So7cxJGhb0cW5Ghb/vfZ+CBoLzHegVfhqzaXW5kOOo93MkHw+2Y5nFqERVUWUiZGjOe47zivemvCfII+un4xAiJqauHGAxLNy8Am7pHC0dXVYt8SzqMNFscKScezP4u9DUGU9IOUg1mKvOhjg3yb6QWIR3Nu9hnicr48sf+gyZjnH36P7VE1FamqnG3TU/bkAZpxlsP/7jkDRWbe6bjQ5/8xvqrBnl4mcSk2OeBT/yW39DrVScHloDiCz5yO1VMgJExHjoM/gD4JawCNs3c0GHjHsArwoY52PEfh8k4M+Q6+7VtIZFBpCEefojepTX2Wxn2lRGwNx+Fe/SR+gHqomeFZP3VjUtLS8EyTCntuAZGywvdQl1cQLNCxAiM2L1I/hnJP9eEGgPQ9bCxYqQ+hcS0JntdKGRmsMGi8vapQvKYthswEj69p6oKr6+DNIQNNO7WMA9aggjI9iY2EkfXLw335vTwzbwP5tdVgF4SS2QRLwbKPz9cJwME51A9dsjOD4jAlwN1o41dwqKgOY6wkHmNjDKa/fIszpT3KWn2tqJh8C0FAOuSN3T7fAnjSDN1K8fJM4csjSmKYlTIpZLk7kpyZpXicJe9WC5M8hPTCcTh5oL/qCeWcVqYI1lWTkY+Why2UDyytrsOpxnLGtx3mXOxKkI/IkifbhuF8q9d0WRAsjbvc1GtXbKnWtZw8yMVFkuHT1MvQiR2/ETcDQTIuq5hBKJNUFJiBQehUHddN7nL8sBCEknwE0cMVVx5xF0F2aIYqtIsxmrh0uHu6c+N5c65I/NyaqIzBQlHDA17LAQXWEAe7s9a4yAjpEI+oMsy1tlicJjnafMSYsR2vWvRY93MlmySQlnIPueyA1FdfPDyn41U6mK8r/vMKac+pN+VNYedYv8MPHJAUp4g9K7npWz1WWNP643BYsWdCXamZsdsDLyunk8tua2HPh64NXL4H2vTr0Q0jnhZyBQZHLx05E5LS4o9T783+HJ3pUuEP2ABdNHk6+0+KMYBm7eQQAdj1hSCbRcBm2cQvzXkwhAljf5GxRi21KNzOu6MUPdsfXhDyDV/Wpy3xxYTxSUOPRjn0ahTlTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RdSYxWsp7FVLREmuXGrEaw",
      "input": {
        "note": "Wall is between the jaws at z≈0.03. Pressing a bit lower and closing to pinch the pink bowl's rim.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RdSYxWsp7FVLREmuXGrEaw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0924, 0.8951, -0.7383, -0.1051, -0.1017, 0.9958, 0.1894, 1.4746, 0.4999, 0.2058, 0.1089, 0.0845, 0.0272]\nstate[eef_state]: left_x=0.2971 left_y=-0.0001 left_z=0.1595 left_yaw=0.0627 left_pitch=-0.3604 left_roll=0.0325 left_gripper=0.9958 right_x=0.355 right_y=0.0522 right_z=0.035 right_yaw=0.0445 right_pitch=-0.1943 right_roll=-0.0081 right_gripper=0.0272\nstate[joint_eff]: [-0.335, -3.1111, 6.6667, 1.3553, -0.1294, -0.0708, -0.0122, -0.2256, -4.9299, 6.2701, 1.1746, 0.1783, -0.0757, 1.1893]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08f8758ee94c0aee9b07da32da38af672810ea0dff55972d8fa5f7b7d0b0f692",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d6ddfeb92cb5d282f88ef8ce8085945b270ed456365a943983d3e1ff4198d58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:81284fc441394e5049d66ec37868d4ba00e976bf73110d4f14eec35b563b7dcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 4.318 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0916, 0.8951, -0.7364, -0.1055, -0.1017, 0.9958, 0.194, 1.3613, 0.5213, 0.07, 0.1246, 0.086, 0.9969]\nstate[eef_state]: left_x=0.2975 left_y=-0.0001 left_z=0.16 left_yaw=0.0629 left_pitch=-0.3577 left_roll=0.0325 left_gripper=0.9958 right_x=0.3465 right_y=0.0494 right_z=0.0572 right_yaw=0.0348 right_pitch=-0.1938 right_roll=-0.0181 right_gripper=0.9969\nstate[joint_eff]: [-0.4444, -3.3162, 6.4752, 1.5556, -0.1587, -0.0855, 0.0024, 0.1573, -6.3795, 8.3077, 1.8926, 0.2369, 0.1001, -0.0171]",
      "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]: [-0.075, 1.0924, 0.8951, -0.738, -0.1051, -0.1017, 0.9958, 0.1886, 1.478, 0.5068, 0.1829, 0.1257, 0.0853, 0.9969]\nstate[eef_state]: left_x=0.2972 left_y=-0.0001 left_z=0.1596 left_yaw=0.0627 left_pitch=-0.36 left_roll=0.0325 left_gripper=0.9958 right_x=0.3535 right_y=0.0486 right_z=0.0326 right_yaw=0.0283 right_pitch=-0.2117 right_roll=-0.0225 right_gripper=0.9969\nstate[joint_eff]: [0.0479, -2.947, 6.6667, 1.3602, -0.1294, -0.0757, -0.0122, -0.2667, -5.9009, 5.7778, 1.7851, 0.022, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0924, 0.8951, -0.7383, -0.1051, -0.1017, 0.9958, 0.1894, 1.4746, 0.4999, 0.2058, 0.1089, 0.0845, 0.0272]\nstate[eef_state]: left_x=0.2971 left_y=-0.0001 left_z=0.1595 left_yaw=0.0627 left_pitch=-0.3604 left_roll=0.0325 left_gripper=0.9958 right_x=0.355 right_y=0.0522 right_z=0.035 right_yaw=0.0445 right_pitch=-0.1943 right_roll=-0.0081 right_gripper=0.0272\nstate[joint_eff]: [-0.335, -3.1111, 6.6667, 1.3553, -0.1294, -0.0708, -0.0122, -0.2256, -4.9299, 6.2701, 1.1746, 0.1783, -0.0757, 1.1893]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08f8758ee94c0aee9b07da32da38af672810ea0dff55972d8fa5f7b7d0b0f692",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d6ddfeb92cb5d282f88ef8ce8085945b270ed456365a943983d3e1ff4198d58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81284fc441394e5049d66ec37868d4ba00e976bf73110d4f14eec35b563b7dcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywoKEAgSGAI4AUIIdGhpbmtpbmcSDI7PIAb53+x4wlg7txoMAyTuXmdx3aaL9tSVIjA6n5WJSFPF9dkMx5quCh6ObB0UKtd0xr5DE79cCb2jY/ytWYi86r4LrRjNOmMOIskq6AkYrSNQM2Twx8K3ynQRqu1KrS2QS7tmlb1ZVSD8OqtWSS/xYKnDtwJd6VolkjTbSViqF4+gXUy3s3c9bL4lPc0xlgu17BCJDMX7J0lsNCw652l17gbKkss/5BU5PYDL/CMTyQo1cNszhI0zdJrVQa8sHJckHXJUnFjjI18s59y9wu0dttO9BTdSZzE/A33daJK/JEXCv3T4qAUClUAGOpj2rUbFLSnIYHtHx7jspeCuuBNcHorXOkc7D+lBE1GTdj8CkYUat3de1aQNBz1iyqA5mpZJWCUQrm7BFVwNPsZg3uE33pRC9dFOT7RT76YB2vYYSQuLEIviwyCpX1TrKYYzHZGKUq5zMj4NZf6LnueRYDtN96InBApStPvTsiFxIJHNz0Rsat/bJa01CP6nUxWMV2g5VlPYEG+5BXyxYSIiykZzMiflUJFmt2wlWnZGAt5hszXotpeW6yGFRu6fgfYiGHP19hEvBYxwv4bu5L+Zcex5UUDL2zpRvK7MNDqTYRR6QhTQnly3lFSy+y5bf/YLxrMmrvBX6GymEFB+IP8WsHDAeoNQopOORSemMDDlyXx2BRhE3gHRfUof6qtHAP7JjbXRgao0z5Gl62B+XN7AjR9pdvNB0H2SzVSDLHHtPKXKySBm3B8aFzvXNPBeeox2X444vgBDMcpMaUqDDc0Pu0boSb1K2XRcb+8m+prU6KW9EjN1KXNUvWKytWN8JxBsZORsingwraEwDk4D+lmyhbif2mOYPVPcGR+S2N0xB0xB+Q6n9bcOvFerbF5EDqvLScd4YGD/5L6tAkkTT9K7hnmy8a9QtJzRKh7x1v6erXMXonKnyPycc7mmtQ4oZazdaBh0HnHozlAomg/uhxQZb+hMVlEqivLc6p2JDIzBz8DSpbS6pU5Amr1cdQ/76u1l4cPVafLFzjPsVTQXOVb0nT4nhGO/kh1NEjl5FaQB4S6HBcevhR6kyj874jeUELSNxRRUgPrSu+RVlDB1tTkTM1IdSlt38bnGWHV0RfSETAQ97Crp5gOhe/a5hjwULEUs/4tjqdxI2gYZoIqb8RL72iPppnhkJmOVYydC3iKZvoISxpNxw8uo+yhLzQc1miDMA/GKKgVM0eSY0MqTGphJ+YAikgtpVSB6TtyLCk8Zq8GAoG/pCHeswiwauKleBcZ6Q/5I90YA8KWCMpIt8lChXzwv79U3raYTp2Cf94eqVCj1m8PswMu+oFmxfdSEMPcHQHXdnu8NUfLTszGJYuusvYzzl0jgekLtAJmrZiEyPglOCgE1YIophrQlgkVAAiXwiMXigr0WCs4vYW4oB6HQaObfn8puIIXfQGb9VQwBM8tTVtwO+r7elzbzCho5ufCtg0sqZamjYXObrNr5KWskZqPpTo9ce4RwDLQjK8xF86xK78Gx4tShcQEfgR7luzTAEDAgpKz8Nl89EVe74mjtpAevwkhSQzwZcStAgsYiD1V9kT3pVuMWkhxYBo4I6xzwr4jEyUcLBufDnLBiLj0bF1Da8+8LnCBA8cLXBYyUx6Tn1t7Y/s0EwIaq6l7AGdGyjFqH670Kh1osHORRN12dDTB416ekI4exbtvLAe45OWvM4ceDZf7T4r+cSXjb21U7vW4XdqtRmePaiAkiBK+or1FapOnqThjfTi/bVr/9v8OwMWodgZBHDBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Uke94CDzA9z8n35Je2J7RV",
      "input": {
        "note": "Pinched the pink bowl's rim (reading 0.027, thin wall). Lifting straight up to confirm it comes along before carrying.",
        "targets": {
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Uke94CDzA9z8n35Je2J7RV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0931, 0.8951, -0.7448, -0.1051, -0.1013, 0.9958, 0.1894, 1.2495, 0.8551, -0.4026, 0.0994, 0.075, 0.0321]\nstate[eef_state]: left_x=0.2959 left_y=-0.0 left_z=0.1584 left_yaw=0.0628 left_pitch=-0.3676 left_roll=0.0339 left_gripper=0.9958 right_x=0.354 right_y=0.0537 right_z=0.148 right_yaw=0.0571 right_pitch=-0.2232 right_roll=-0.0122 right_gripper=0.0321\nstate[joint_eff]: [-0.2393, -3.2068, 6.653, 1.3651, -0.1001, -0.0708, -0.0122, -0.3761, -6.2291, 9.3333, 1.6093, 0.1294, 0.0562, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b64ee378026c363153dee8e6e6296dd54737c294ddaf1f3f071b4625e88e3d33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f83ed41d3154880e974f0221933d773f3393aeb10ace2f658f7e604badd228d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ccb2f4f449c1c6b7f0b56de097889de3cacc4dc08b815cd4c6bc3c4104b1f18",
        "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 · 5.471 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0924, 0.8951, -0.738, -0.1051, -0.1017, 0.9958, 0.1886, 1.478, 0.5068, 0.1829, 0.1257, 0.0853, 0.9969]\nstate[eef_state]: left_x=0.2972 left_y=-0.0001 left_z=0.1596 left_yaw=0.0627 left_pitch=-0.36 left_roll=0.0325 left_gripper=0.9958 right_x=0.3535 right_y=0.0486 right_z=0.0326 right_yaw=0.0283 right_pitch=-0.2117 right_roll=-0.0225 right_gripper=0.9969\nstate[joint_eff]: [0.0479, -2.947, 6.6667, 1.3602, -0.1294, -0.0757, -0.0122, -0.2667, -5.9009, 5.7778, 1.7851, 0.022, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0924, 0.8951, -0.7383, -0.1051, -0.1017, 0.9958, 0.1894, 1.4746, 0.4999, 0.2058, 0.1089, 0.0845, 0.0272]\nstate[eef_state]: left_x=0.2971 left_y=-0.0001 left_z=0.1595 left_yaw=0.0627 left_pitch=-0.3604 left_roll=0.0325 left_gripper=0.9958 right_x=0.355 right_y=0.0522 right_z=0.035 right_yaw=0.0445 right_pitch=-0.1943 right_roll=-0.0081 right_gripper=0.0272\nstate[joint_eff]: [-0.335, -3.1111, 6.6667, 1.3553, -0.1294, -0.0708, -0.0122, -0.2256, -4.9299, 6.2701, 1.1746, 0.1783, -0.0757, 1.1893]",
      "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]: [-0.075, 1.0931, 0.8951, -0.7448, -0.1051, -0.1013, 0.9958, 0.1894, 1.2495, 0.8551, -0.4026, 0.0994, 0.075, 0.0321]\nstate[eef_state]: left_x=0.2959 left_y=-0.0 left_z=0.1584 left_yaw=0.0628 left_pitch=-0.3676 left_roll=0.0339 left_gripper=0.9958 right_x=0.354 right_y=0.0537 right_z=0.148 right_yaw=0.0571 right_pitch=-0.2232 right_roll=-0.0122 right_gripper=0.0321\nstate[joint_eff]: [-0.2393, -3.2068, 6.653, 1.3651, -0.1001, -0.0708, -0.0122, -0.3761, -6.2291, 9.3333, 1.6093, 0.1294, 0.0562, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b64ee378026c363153dee8e6e6296dd54737c294ddaf1f3f071b4625e88e3d33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f83ed41d3154880e974f0221933d773f3393aeb10ace2f658f7e604badd228d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ccb2f4f449c1c6b7f0b56de097889de3cacc4dc08b815cd4c6bc3c4104b1f18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwcKEAgSGAI4AUIIdGhpbmtpbmcSDJMu2JuVXkpKHeARwRoMncHu5CUzpedMt5d2IjDjgFaXGfebl2nvnPSP+vLT2Kr7a3D0GnHUlg07g4AooUARr1bEi0p+/gfy0yH/GBEqpAaWEBWbQyiKbCuBtMP9x28QAw2S0SNxg2P5mT4D0h5PvsZDrSga7Jli9x2kSH/8NRhw3ZAgaMavl4BjiWOg0wehGLbUmVZjnqWdm3zXbmP1WzwF4iLAJDozgH4paHYvXa09fNyyr2pJfysFQftuMRc2voWQmlY4CEoeAXMqhjXDlzZJHfUJTnQX+hFFkbS2jOfBigCpVA7vU2LY2NOlz8Vyz3E+Th5pcDUq8ymRbqeGmYrYs70S9Gsw1lc26q5Tw62iXYTQh6ykCsOL2bkye63ER/dXep+5a1C4GewZjFfbkYs4X+MIfvgPjLMVX9TYvoY43+bMNXXSF2alB+qPAVgoALmCOHZ008aCgogNcot0kbWk9QtXcB4TLkOppMLuW4RUTeEeR+Me4MaCE9h6e1dVd/s84S+5K4GEj3seNX4dY/+jxpOOmaeViO5Ck7Q18nckEkTPgoxMsfxOLCtquI7iUYs704U2cjMDaP4cV8Tyu0R+4UBJj6ULmHjCUqVGjWWdqY8N7NsWKzAsTP40nEciNv7pktOGDSfx6xIFLx1FmdVGxEl223oseI6q5HX9D0Dg6Cd8w6gy1gvX0XmzYOUvXxf9mWRE98jkrpUBST/UCcazr++esAZaQBck8hjNxFkiIVhwt04EpnMvPYqZsaAc9kHjw8cXxdUBr345jrF8UBHPxPYiUSNg9DLypdilyhqkarA9E2zOET8bbC8Se8wup268G3ZPLbzNh3yURNZlXsfbn/ZOwOXdpXwOrWzRTANtF6DpXSjs0Sz7QPSS7GsU4kS7irpnjh4FKBr/gxuQGas9itJ+gBWh97td6taiYN0pX53ZOG8GL/4ztv2bJ5Vyml9OLiymCYNilmJnn1uejvUHGoDnLFWAINGce1hv2x2U/2+xiFx1Hyq2xqqzD3AaPIPGpDOenLRbL3AkXjWxahKDrfNHhcmwd957oO+bdDUcPjkxIxGyXUxNSjw5oETM4Sp5HWMJUF6rbzQ2oj459HAA+g0fjMzJxznAjud3D3n2t88+5+VvB1Nl96Pg1O7V+IfNamfhvwZxmt08xBAOYk82i74YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013eE3HDCjbRhXx6YgqmLnf9",
      "input": {
        "note": "Pink bowl is lifted with the arm. Carrying it left (+y) to hover over the white/lavender stack.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.22,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_013eE3HDCjbRhXx6YgqmLnf9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.6777, 1.6329, 1.2575, -0.5686, 0.3908, 0.4168, 0.0349]\nstate[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.3697 right_y=0.2157 right_z=0.1526 right_yaw=0.0979 right_pitch=-0.278 right_roll=-0.0401 right_gripper=0.0349\nstate[joint_eff]: [-0.1846, -3.3709, 6.6667, 1.326, -0.105, -0.0708, -0.0122, 0.2667, -7.8017, 9.388, 1.4286, 0.4908, 0.1392, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68879865cd6e5f8da753e01e527dad3b48e30abafec7ec53ddfec35c48b5cae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e64d993d651e9ad2bfbe0331ad38ef7968f5e3c1d4d50b79b46bea62b3ef1ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2a606dd8eca53b0fc7c8f925edc5bd33a28dd59a7149bb32f07d63d488d9512",
        "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 · 4.047 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0924, 0.8951, -0.7383, -0.1051, -0.1017, 0.9958, 0.1894, 1.4746, 0.4999, 0.2058, 0.1089, 0.0845, 0.0272]\nstate[eef_state]: left_x=0.2971 left_y=-0.0001 left_z=0.1595 left_yaw=0.0627 left_pitch=-0.3604 left_roll=0.0325 left_gripper=0.9958 right_x=0.355 right_y=0.0522 right_z=0.035 right_yaw=0.0445 right_pitch=-0.1943 right_roll=-0.0081 right_gripper=0.0272\nstate[joint_eff]: [-0.335, -3.1111, 6.6667, 1.3553, -0.1294, -0.0708, -0.0122, -0.2256, -4.9299, 6.2701, 1.1746, 0.1783, -0.0757, 1.1893]",
      "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]: [-0.075, 1.0931, 0.8951, -0.7448, -0.1051, -0.1013, 0.9958, 0.1894, 1.2495, 0.8551, -0.4026, 0.0994, 0.075, 0.0321]\nstate[eef_state]: left_x=0.2959 left_y=-0.0 left_z=0.1584 left_yaw=0.0628 left_pitch=-0.3676 left_roll=0.0339 left_gripper=0.9958 right_x=0.354 right_y=0.0537 right_z=0.148 right_yaw=0.0571 right_pitch=-0.2232 right_roll=-0.0122 right_gripper=0.0321\nstate[joint_eff]: [-0.2393, -3.2068, 6.653, 1.3651, -0.1001, -0.0708, -0.0122, -0.3761, -6.2291, 9.3333, 1.6093, 0.1294, 0.0562, 1.0281]",
      "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]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.6777, 1.6329, 1.2575, -0.5686, 0.3908, 0.4168, 0.0349]\nstate[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.3697 right_y=0.2157 right_z=0.1526 right_yaw=0.0979 right_pitch=-0.278 right_roll=-0.0401 right_gripper=0.0349\nstate[joint_eff]: [-0.1846, -3.3709, 6.6667, 1.326, -0.105, -0.0708, -0.0122, 0.2667, -7.8017, 9.388, 1.4286, 0.4908, 0.1392, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68879865cd6e5f8da753e01e527dad3b48e30abafec7ec53ddfec35c48b5cae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e64d993d651e9ad2bfbe0331ad38ef7968f5e3c1d4d50b79b46bea62b3ef1ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2a606dd8eca53b0fc7c8f925edc5bd33a28dd59a7149bb32f07d63d488d9512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4QcKEAgSGAI4AUIIdGhpbmtpbmcSDOjQOJGJwBqZHjwONhoMdNQDMCU0IF4J7b3cIjBOFDnTb16iktHJIwmvIUtXO0uLN9Gc2/mSYbO8yJ0J07vXLP0l3I24wYPLVdKvuUAq/gbzxEL7jZ8nzr/vZoxN+dKtpYIMASrDikC8dGEqa4+v26hrvSJ6jW0GfLJgDSsObuTEXoAlxoCI3GbfB/744psF+y1cNjjrxh7p6l6LrGkB1MwPIPE6/phAo6zQa/6ubJ7eyzlvo6LLme9DbjljXwg4oYNMLfhqx1Yt+urJzikttWWhggQe+pgshqMyYRieBtQk/c13wdQixqQ4X+LNJ63QOk8tu/x3ysrI6j6FrmaGVRaIwbvbQweDZMdzLNO67c4HRyoSzl+Unsfe27vp6XVHFHObO6Xp+RogaacoF3TrtkGtH5d0AgHnGt7dX/ipRPXoGH/uz+/navYM8/gZhOCxzkCeHkaDE5vLFqzjAsJ3JGwSDRn2Tkj94QcwGQW+2yd2wsA8oKkVyZCkx+71ISIDVjZgn9C1bPc+EMQIiBnEmsNTBelibRqFgBrQeh4QBCSuY7jlE93Aohg7Kvx//dLXew8opmLhcZlhWgu2lw6ST/yOyz9NAxgPnHl1UIJOM1Wj5vEFHcvdBYqvX+ue89kVM9Gl/IIrUvQLNWoa88vb0X8zPw80m6HO67p4XWpWD19XIFdYUA6yQUGPvtB4dx2aYEGbOs9DLJ/suBzW5xdl1jZ32DL6UE5mK9gMXBHdImQlngJYWXz/Z51TC2DPDANy5gFfddWANf59Kiea3Mzdl3hQWMwVJsYukOwBdAtNd+EXHghtKM/0cLRm/kGlDa7+bh2fu9ZRMDecKAa+vUzJrLn14ATYhhkrBn/A3GoEN+z6JX0l6g+euRizO8zT2pTO0RuweKx3yvms/3oH7e6ua9uBtf+RS59OdbBFqEbfjouj/hbbhLzUss5qUyW/ItbdjLwryIFe7nwwGcdi04pIlNp+dWAoz74Ok+8mwJA9LOq7Oag5BSbOEj38P6NmDvA9GYxFCXPSeyxy3qy34fZoFBVoDmxlsCzlguidEJQ+1GFQurelINhGvoQuJjstkfQEVgESBRCAgqASfqD3hboV5vwF9Xq/mDh7/czdoIZdG8t2fe39OmUBF1sdtbqnU5QIOMOr0eV7ZICw0NWYyiNM7AO37EFVMwMk8zQ8POfpvnc+x11ynBIr4I/Lf9qmJ60tl0zIrSkCV/f8sfLQtTGTKEfn+BpGUJMCjAXn3GA5c0OU/jO2eUEnAHmoqj9QfxMUskXgYtrCQGU2qIUUsYUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016gAXtvhDbvHzQEDwiXzQbW",
      "input": {
        "note": "Pink bowl is over the stack; a sliver of the white rim peeks out on its left in the wrist view, so nudging slightly left while lowering.",
        "targets": {
          "right_y": 0.23,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_016gAXtvhDbvHzQEDwiXzQbW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.7036, 1.7084, 1.1435, -0.45, 0.4034, 0.4332, 0.0349]\nstate[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.3613 right_y=0.2203 right_z=0.0956 right_yaw=0.0924 right_pitch=-0.3304 right_roll=-0.0798 right_gripper=0.0349\nstate[joint_eff]: [-0.0889, -3.1385, 6.8308, 1.2869, -0.1001, -0.0415, -0.0122, 0.4581, -8.4444, 6.9265, 1.4774, 0.2466, 0.0415, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed02daf01ad33932ed785768a182128554b692f3a01eb1dae5ddae9774425f23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3976cdd4fe814740f3a8f5c8ceb994b2e55b6672ce75ac64228cdbcf25b05a61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fcd3f5c4c86f1f7f74e3d9a53cd3ee205fbfabbc85b409730f52904f626191ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 4.671 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0931, 0.8951, -0.7448, -0.1051, -0.1013, 0.9958, 0.1894, 1.2495, 0.8551, -0.4026, 0.0994, 0.075, 0.0321]\nstate[eef_state]: left_x=0.2959 left_y=-0.0 left_z=0.1584 left_yaw=0.0628 left_pitch=-0.3676 left_roll=0.0339 left_gripper=0.9958 right_x=0.354 right_y=0.0537 right_z=0.148 right_yaw=0.0571 right_pitch=-0.2232 right_roll=-0.0122 right_gripper=0.0321\nstate[joint_eff]: [-0.2393, -3.2068, 6.653, 1.3651, -0.1001, -0.0708, -0.0122, -0.3761, -6.2291, 9.3333, 1.6093, 0.1294, 0.0562, 1.0281]",
      "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]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.6777, 1.6329, 1.2575, -0.5686, 0.3908, 0.4168, 0.0349]\nstate[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.3697 right_y=0.2157 right_z=0.1526 right_yaw=0.0979 right_pitch=-0.278 right_roll=-0.0401 right_gripper=0.0349\nstate[joint_eff]: [-0.1846, -3.3709, 6.6667, 1.326, -0.105, -0.0708, -0.0122, 0.2667, -7.8017, 9.388, 1.4286, 0.4908, 0.1392, 1.033]",
      "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]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.7036, 1.7084, 1.1435, -0.45, 0.4034, 0.4332, 0.0349]\nstate[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.3613 right_y=0.2203 right_z=0.0956 right_yaw=0.0924 right_pitch=-0.3304 right_roll=-0.0798 right_gripper=0.0349\nstate[joint_eff]: [-0.0889, -3.1385, 6.8308, 1.2869, -0.1001, -0.0415, -0.0122, 0.4581, -8.4444, 6.9265, 1.4774, 0.2466, 0.0415, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed02daf01ad33932ed785768a182128554b692f3a01eb1dae5ddae9774425f23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3976cdd4fe814740f3a8f5c8ceb994b2e55b6672ce75ac64228cdbcf25b05a61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcd3f5c4c86f1f7f74e3d9a53cd3ee205fbfabbc85b409730f52904f626191ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwcKEAgSGAI4AUIIdGhpbmtpbmcSDGc/JP4S3nfSu056TRoML6BEW05FVR2x+FI1IjCaVIR6hARukT3T5qTmlb+FfQ/kvQdmP9iKRlccHOSfVaqDOBxuqCm+XxLd8Ni/66oqtAaaB39oy1L98G2z9NrCHesGdKOmnkRKq6nRYmHMUR/2XoriuNoCaQl/QG5hmCVMaAyhfKgUnz/9blOZX4p7r80fODi7joFjpyCAZA7543Yj7h2LrjppLzjFW79iHuFDGBOtUitRDF+gIApXU3tA05efkGRzvKteuht+3LBR0CDWaH2eb3qXpmd3sOzyWXbsFyBuFOqXZzn3itMwGc5olumA0bOAhoE3aTPE3XsgcQf+O1EoMZmXdlnI6k3q8Mo5b6gqCqODcMbEeGUgrsFMCn9B71aVZdnN1Qqz0VQWO85CT7jAWgCy/cOKTWHKrzGpxeFD/Ubi1uiTYvqfGa/Tf8Lki7hf7/HbCeIVU4fVSlHBgL/Lwxp+chEhiQFVWpNtimmAyMvbOnJ9FaGdNFPpc/3TLVC/uziFx6SVDJA4tctQgvFCQnvO+GQiMblo5/c6TRhAYM3N+R8pjR7FmZby7GFy1F8t+y//iwbYuQT3u1rMFrCIYLUwVo9Adpihg7O3Io9N0u0x2N5VyPcJCiYMRZipaTHIkMDsCmxCA+bNE43X7Oil6hnSrDS8PPFESN6BJPzFZKCDgop0qefqNcTRLMRRvK3dEaHV3RgjG67tKApC7jmz15pZdqaLi4G7k/Nf3Y/flPMOitTrvP6I9hz7q/iPWyGBoGUF3mE5l04avGRhvCweLMHCitV+NkofVIjLk7gsiVgd/yNw9GMRvDL0bDs7vWzVkw9wtFSZIcq3ptev5HzVwiFjUCHRKTu3GgXv0QX8f3gEwxl6JoEcH0d1R4ElWJLCWXZPo+yiEJuvUdc+52bXsR/iNvWIOdpsxUVSYzGi6ifD4ZcGYp620w+8vYLOKLBZfu74+hWyES3THTZ9H+sb9B4fx6EIQZd3KGdpdSh2mgq980ZySCHAKd9PrQbrvhJkDZc7HUMxO4WsTJxvYZyBbuT/1GmnY/10MYkH3/1OKfZodMyB9euVjYJ8mqqkvdGN1U7t6Ez634vkWd6qyYUJGWJngl1qGTT6xwEqQq/0f7ziPk8m/BcfNwI2I4BGoLgyBYBgSsihTe7hiUmulP8igF8XXRglG2m6P2kWSMP1tLgGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QiX6tnHrENWjCkoFFLZ8pK",
      "input": {
        "note": "The white bowl's rim shows beyond the pink bowl's upper-left edge, so shifting forward and left a bit while lowering to nest.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.24,
          "right_z": 0.075
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01QiX6tnHrENWjCkoFFLZ8pK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7475, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3908, 0.4034, 0.4347, 0.0349]\nstate[eef_state]: left_x=0.2955 left_y=-0.0 left_z=0.1571 left_yaw=0.0631 left_pitch=-0.3733 left_roll=0.0347 left_gripper=0.9958 right_x=0.3664 right_y=0.227 right_z=0.0939 right_yaw=0.1023 right_pitch=-0.3015 right_roll=-0.0577 right_gripper=0.0349\nstate[joint_eff]: [-0.212, -3.1521, 6.653, 1.3504, -0.0806, -0.0415, -0.0122, 0.1026, -8.8, 6.8855, 1.3895, 0.2125, 0.0904, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1458f39806c9b12f71c1f34ab139b4e47be6c1a509b1699829e1237c4cf206c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23f1ffcfc282a98eeac42f90a00126b1cc5384c459c71a5f42474ac23efcfaf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69593ea7f1841f31a2d3501283d7d1a4d41f64d754a06730328d6daa10755e84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 3.944 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.6777, 1.6329, 1.2575, -0.5686, 0.3908, 0.4168, 0.0349]\nstate[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.3697 right_y=0.2157 right_z=0.1526 right_yaw=0.0979 right_pitch=-0.278 right_roll=-0.0401 right_gripper=0.0349\nstate[joint_eff]: [-0.1846, -3.3709, 6.6667, 1.326, -0.105, -0.0708, -0.0122, 0.2667, -7.8017, 9.388, 1.4286, 0.4908, 0.1392, 1.033]",
      "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]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.7036, 1.7084, 1.1435, -0.45, 0.4034, 0.4332, 0.0349]\nstate[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.3613 right_y=0.2203 right_z=0.0956 right_yaw=0.0924 right_pitch=-0.3304 right_roll=-0.0798 right_gripper=0.0349\nstate[joint_eff]: [-0.0889, -3.1385, 6.8308, 1.2869, -0.1001, -0.0415, -0.0122, 0.4581, -8.4444, 6.9265, 1.4774, 0.2466, 0.0415, 1.0232]",
      "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]: [-0.075, 1.0962, 0.8951, -0.7475, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3908, 0.4034, 0.4347, 0.0349]\nstate[eef_state]: left_x=0.2955 left_y=-0.0 left_z=0.1571 left_yaw=0.0631 left_pitch=-0.3733 left_roll=0.0347 left_gripper=0.9958 right_x=0.3664 right_y=0.227 right_z=0.0939 right_yaw=0.1023 right_pitch=-0.3015 right_roll=-0.0577 right_gripper=0.0349\nstate[joint_eff]: [-0.212, -3.1521, 6.653, 1.3504, -0.0806, -0.0415, -0.0122, 0.1026, -8.8, 6.8855, 1.3895, 0.2125, 0.0904, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1458f39806c9b12f71c1f34ab139b4e47be6c1a509b1699829e1237c4cf206c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23f1ffcfc282a98eeac42f90a00126b1cc5384c459c71a5f42474ac23efcfaf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69593ea7f1841f31a2d3501283d7d1a4d41f64d754a06730328d6daa10755e84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkwgKEAgSGAI4AUIIdGhpbmtpbmcSDOproxR8YuLTE4UK6RoMQv7/zfKUFSxrTZilIjBFpBbTj1fHq1gMcnIuc44z4KsMJK9W4R/FI1XEhfqgEUjHJWn1zT6LGUcdot2p2ikqsAesJmQJrQ3rBI1KQe705qp7pgZWHKQuImmR7iQBQtsklpeNZyK6j0xgsGm876jd5kVhintH0+Yr4yKaSQtpUAfl68eC8vZUrNBXcwq6L/QK/KKaMMRY7WdcJMm06vHLYLYPi+yLs/vAL5jeW7swPyxN9iuVNzYhA5ZH8CsaVuKzTcqw3IRol9Tdoqufr7lzV+S014lx9ekgJS7KUfHsR4QiwNijEfA/X8k8NTacjsUoaMYJIE0bzqVkAxNwgZfV7WZzW5v+QTUGlmaAeOTwRQW3bXQSTaqRrcy11w5kDWA2u1XeJoQZ0P+EpNxwjN+jI4igQpja4TTwpeDPpQ2N3IIzPn4AbcwB9K+PGaVXv5SEyHeBKqLLGR/wle98tRxKTytC55+kKdsbRtKveEz1reUcUxEjr27wbtw1k7XLSlOpdqfL3XhuDgeXtGazU7ZIvqWVEH455ktkOY5d3CtIvVEPLkmdH7kjMqxMATk9hLqeyf2sId6DRqSp/DrdnsxBjUM9ng/On7Fow5vVE5pKf6WXE+KOWH1nnaK9nUdrbXx94d4jNRu3L7j96lTLwquzSnyR/rIqPjW2YM1r7SKQ85uEqkRqGcEA4HGeVyrKVXzAdFQZpQ1YdTvccBqoUC5fR9Vheoubi83KmQszQv9fuQUBJYmcfywKSr4xxf0kyg0ABlBlaTXt/o32znBHgcTl5NugTpgo8QXhLL0NPJXJCK2toLjE0Yt7HT8HOnh4gMWou3Xenas2vcE+fVrGg33dlgJ5DCxGECaCEJ4699f6sShxiC+57gnSCJdtUbSWtixpzM6mETYqwNKuqoeB13HjY1+dplt7Jox16rUA/sTs5M2x3yBgfe/VteroQJ2TzX9NXSb+cpzGjk6JEWgtlzns3BHo8lc0So51kryz1WQQUe9///LOCpMc6EbQLiEQFuyzXZNkmKd7Xe1WXiew4LrHTFu3Ie0LbM2o6oRBpSyfBrSKOLxJ95HCYJZhQKhpvwusGqK//BKPm52z5UglJGi7ETrTjphY7UVEph5pGjfON2MapK/k5BHqIRJNDQhzWuHW7Y4QiIXhEysgrTItbP63Dbj7a+HvLJ3lcGafrBsachn0UmGx3u7f/F1DuUfs1oXBq5cqtxNXb0pQrIu7hKzZuzy4la5hTU28u/VIeL8VUxbdVLXKHGpnixEomif1ZbGIINej1sd9YiCAWqmsObusayIPQdUO2+JODR0Z4qzgSDAr1E+WAnYS6xOzr4yjW3FLFBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NTp5o38D3W1oFv8GaLAmr2",
      "input": {
        "note": "Descent stalled at z≈0.094, likely the pink bowl resting on the white rim off-centre. Lifting slightly and shifting further forward/left to centre it.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.25,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01NTp5o38D3W1oFv8GaLAmr2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3904, 0.4034, 0.4347, 0.0355]\nstate[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.3665 right_y=0.2271 right_z=0.0939 right_yaw=0.1024 right_pitch=-0.3012 right_roll=-0.0575 right_gripper=0.0355\nstate[joint_eff]: [-0.212, -3.1385, 6.7077, 1.326, -0.1197, -0.0708, -0.0122, 0.1436, -8.6496, 6.8034, 1.4237, 0.1832, 0.105, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cd57dd8992f08440bf8b550f78207fa48cb25424b8dface8f7b0c10bcf8d7b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47c75ddaf26bdb879526e1d0f7daec1bbc3c28a0e31abcd25fdf8b9754aaa495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77e20b6ace4fc0d67fa4e40eae6b4bba237c99b4b812e50eb894c559c9ab9f00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 4.92 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.7036, 1.7084, 1.1435, -0.45, 0.4034, 0.4332, 0.0349]\nstate[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.3613 right_y=0.2203 right_z=0.0956 right_yaw=0.0924 right_pitch=-0.3304 right_roll=-0.0798 right_gripper=0.0349\nstate[joint_eff]: [-0.0889, -3.1385, 6.8308, 1.2869, -0.1001, -0.0415, -0.0122, 0.4581, -8.4444, 6.9265, 1.4774, 0.2466, 0.0415, 1.0232]",
      "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]: [-0.075, 1.0962, 0.8951, -0.7475, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3908, 0.4034, 0.4347, 0.0349]\nstate[eef_state]: left_x=0.2955 left_y=-0.0 left_z=0.1571 left_yaw=0.0631 left_pitch=-0.3733 left_roll=0.0347 left_gripper=0.9958 right_x=0.3664 right_y=0.227 right_z=0.0939 right_yaw=0.1023 right_pitch=-0.3015 right_roll=-0.0577 right_gripper=0.0349\nstate[joint_eff]: [-0.212, -3.1521, 6.653, 1.3504, -0.0806, -0.0415, -0.0122, 0.1026, -8.8, 6.8855, 1.3895, 0.2125, 0.0904, 1.0281]",
      "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]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3904, 0.4034, 0.4347, 0.0355]\nstate[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.3665 right_y=0.2271 right_z=0.0939 right_yaw=0.1024 right_pitch=-0.3012 right_roll=-0.0575 right_gripper=0.0355\nstate[joint_eff]: [-0.212, -3.1385, 6.7077, 1.326, -0.1197, -0.0708, -0.0122, 0.1436, -8.6496, 6.8034, 1.4237, 0.1832, 0.105, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cd57dd8992f08440bf8b550f78207fa48cb25424b8dface8f7b0c10bcf8d7b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47c75ddaf26bdb879526e1d0f7daec1bbc3c28a0e31abcd25fdf8b9754aaa495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77e20b6ace4fc0d67fa4e40eae6b4bba237c99b4b812e50eb894c559c9ab9f00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7AYKEAgSGAI4AUIIdGhpbmtpbmcSDMlMPD4H8yTPRBrYqRoMLdKvMJMGMu24jBLzIjAq1YGFusUN4zEhWvCnPGfZ9lip1XRJEf4IMhrlzNQ/3O/0KKT3X/weqyztY8RlkgwqiQZDFwWot21QXYNpmuCUCM8fnnKc2NLkNz8ukYopLd8r6SaI2j5DYC74W+dfg9GMD4uAWx3dcorPY8HKRDNvWJ9GZmTUvaYFxhvxsNEGdbsB1YOj3wiIlWgtIMuOpfO/bvZRfrU1nU15TI4wWunV3N7q7sk2A3FAhEckU2IRo4W48yZxZ4BvFZxO5cVd1wKuSEMW6xhuuG8EhNMsK1TTzFCCWMllQA8zlSH4LjTx4RetP8Rot/uNPmQJVlNUmrRG/9rcXLu+q40KBlfQmXvOepr2lsX4lvOadYOxat6su45pdGlt/9ajy1WKy38AjOjiyIjmLZw2enIrzJCdQ1q0E5Rhc5Krp7TrjkNiZ7KGK8W65rDcGhhy3ATgWFReICX+UE2bn47sIdTE7xEBkaNCcp0m1fAze/BN1deVTKx8RUW8O3FuOm4/kG49EcmU017FOg0Ttn+jb3gKvOIx7+T04rBXGupCERWSa44We8gUDtcTMw+ROOn9Z1pG+gZuvBj362dWfo30PkjdV8ZeHF4Ji4HhPJB7Lk5HzAxAaU2L2/2p/5GWnj3laomGwioYr/YDm661aIOulHo/mjjEV9FURWcd5qE9zQH5AdJr+vXEyPKDBQM04df9hfuOzComdbbBHCoR61H0LKjz7AK2ku9cIrEdzyV6ztfBeHpnuQHiQ/ybgmPAljYauN3HVVNY7yMm4yzL0zdSq6p9M7PMIAmPvbv1DZlJENd/Kx/Eezo8IWiodP1wpiZsS+41aWuRfTFH8YnykDuIp2YywjWsaV0KlK2TWfDWeVjgvr3vWnUmA5qiVKFYnOPK5GxVASkGNXErPcRuQioh82d5nUifImrnrb1WxzlwNEKX+/PqK3OlVQ7ihX+9zfIarHeypdKp1OWZrdyxojKQ+A0NrE4kvphwg6uXL/+7YS8Vu2LipVIMdREND3g/GBVPyrmxP0j+xwmRxKREpVSn52ZEv/u5QtXpYcI7dU70R6N4g75x234hH/MyOsExAeDGMcODzi/N+vlti0HroyCvh9LtPegYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Uq1a7nM2Pqh6gRkzL6RJpC",
      "input": {
        "note": "The right arm didn't respond to the combined move; trying a pure lift to free it.",
        "targets": {
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Uq1a7nM2Pqh6gRkzL6RJpC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7475, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3904, 0.4038, 0.4343, 0.0355]\nstate[eef_state]: left_x=0.2955 left_y=-0.0 left_z=0.1571 left_yaw=0.0631 left_pitch=-0.3733 left_roll=0.0347 left_gripper=0.9958 right_x=0.3665 right_y=0.227 right_z=0.0939 right_yaw=0.1023 right_pitch=-0.301 right_roll=-0.058 right_gripper=0.0355\nstate[joint_eff]: [-0.3077, -3.1385, 6.653, 1.3358, -0.0855, -0.0464, -0.0122, 0.1026, -8.8, 6.8171, 1.4383, 0.2369, 0.0659, 0.9939]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b4cbba7430e14f5da3cc129cab6aab1c0a0facf1bc9e0fd45326bc2c1b175c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:693cb9cd04834c8826b876d63b9c9fb384885b46740b9c3cc3d7aad359189fa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92886e06bce53a7893f04aa9756d60ea494a4c7987c1101bd36aca48cc322ebf",
        "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 · 5.422 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7475, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3908, 0.4034, 0.4347, 0.0349]\nstate[eef_state]: left_x=0.2955 left_y=-0.0 left_z=0.1571 left_yaw=0.0631 left_pitch=-0.3733 left_roll=0.0347 left_gripper=0.9958 right_x=0.3664 right_y=0.227 right_z=0.0939 right_yaw=0.1023 right_pitch=-0.3015 right_roll=-0.0577 right_gripper=0.0349\nstate[joint_eff]: [-0.212, -3.1521, 6.653, 1.3504, -0.0806, -0.0415, -0.0122, 0.1026, -8.8, 6.8855, 1.3895, 0.2125, 0.0904, 1.0281]",
      "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]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3904, 0.4034, 0.4347, 0.0355]\nstate[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.3665 right_y=0.2271 right_z=0.0939 right_yaw=0.1024 right_pitch=-0.3012 right_roll=-0.0575 right_gripper=0.0355\nstate[joint_eff]: [-0.212, -3.1385, 6.7077, 1.326, -0.1197, -0.0708, -0.0122, 0.1436, -8.6496, 6.8034, 1.4237, 0.1832, 0.105, 1.0037]",
      "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]: [-0.075, 1.0962, 0.8951, -0.7475, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3904, 0.4038, 0.4343, 0.0355]\nstate[eef_state]: left_x=0.2955 left_y=-0.0 left_z=0.1571 left_yaw=0.0631 left_pitch=-0.3733 left_roll=0.0347 left_gripper=0.9958 right_x=0.3665 right_y=0.227 right_z=0.0939 right_yaw=0.1023 right_pitch=-0.301 right_roll=-0.058 right_gripper=0.0355\nstate[joint_eff]: [-0.3077, -3.1385, 6.653, 1.3358, -0.0855, -0.0464, -0.0122, 0.1026, -8.8, 6.8171, 1.4383, 0.2369, 0.0659, 0.9939]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b4cbba7430e14f5da3cc129cab6aab1c0a0facf1bc9e0fd45326bc2c1b175c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:693cb9cd04834c8826b876d63b9c9fb384885b46740b9c3cc3d7aad359189fa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92886e06bce53a7893f04aa9756d60ea494a4c7987c1101bd36aca48cc322ebf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0AcKEAgSGAI4AUIIdGhpbmtpbmcSDGoGXg2yuosml/8+OhoMHuG8o7sP1rXRos5HIjB1iKsFctwE72FahUPRnRve9dJfhsDYFYRjan0MugV4b/2CS0iwkgOVWoFMkHlQeFMq7QZC5JZW4UeVTAgPTrkRZLW7MoGE+qtb4c31SsNEENN7D13go6GqI+S76E/2YQiO+ZfOMPGpp8sYLDVSes18ahp7+wPnkTNMUGq1f8cZSRokoOWBFRWcv3kO5V/Vr1GxBG37ruFvhaZE9WRrRHi84xzUHXR+dtKpHn/c751Vp/g8AyRBxBpb0u4bFRyIbf3hIU5e+vcy5v+grIYvZggQSNKm3MxxhUVukHYrnd+s5NY2w1vX8tBqVtv4t4NRoUnDFY3mAJo0e6nJCChDfffbaUZpLoqkhiedB70ZEHbYpEFywfR9rlTFx3j0oXuBuPJo0QOGvzzDFfBLNH+AXJACTsnu/Hqi77S5IZ4olIpRE/pP15filVcXN+ds+4++rQb5wVa5SLZ+TDrfBmgjfG/lHeQM5OaNfHKLvWfwI7d9k2XVkLvqS+RWQUxfdVgwkTJ22aAAe/t9NlVIYcmIpv9XN3MEgPsrCzMt4qBY4H3MAbksZwIZbu5VDI3D2G+aTUoK7P1YqhlSUSTMuCNqvoxvSVradz3zJcvblqhMGLLHgcVDGkJUTZHUZ1wCyEeXM1kbWBxwjfF6hgu25ipt1Mp/GWoy1lRMIS4IhYw0XIDu1J1JJJ/8GYboufc2xhzNrQ6M7vcZANw7FORttyn1Y8ghnK07Oh8KUuOYJH6LIXSXCi/yNXiYBoIpMvtWN3oRZX1NoYGG/lrIAa9p0uGCn1scfN4z+Y6hIFDko3+3wHvsVyVckhUMWhmGja5hk25R6CZflRpE6aail/K2sjwSGLg0o26QCD8zLUwP9Ye8r0Gcj9L5w0MomIegLcq4Z65hgvYf7FJ48aHdg7UjvaqEBOsPxe9a3+DV5o2yOw2L4QZxOsyNzCQbUq5ukYMja6m722K7G4DeE0KqSX7fmTKveFLmtoRnkT2PdDAafQFGzhZxhsPPplcufioQZSKQDCzPrRE3Q0C+6kvqULKJND92fVrsj2CuMv5tOdVWHyRO5DqWXHNdLs4dIj7PuzMMTvvd4wPzq7qwQXEQMj+qX7JP90QcO5fTDHrmKiGV0RMze7uNqbRGiiWkkcY0dISOUf4GiHaQfO3w4BeTEeVcbvYqf1Wl4yi88ljH6j3/9e1QmDXwTVG3Gb/Wi7+p7biPq39b5LPnQdwL97L4FVYK4APn1pkVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ArCmAV8QjVbUcp4rNxkR8T",
      "input": {
        "note": "Right arm is frozen at the last pose (IK seems to be holding). Commanding a pose back toward the one it last reached comfortably to unstick it.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.2,
          "right_yaw": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01ArCmAV8QjVbUcp4rNxkR8T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7475, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3904, 0.4038, 0.4343, 0.0356]\nstate[eef_state]: left_x=0.2955 left_y=-0.0 left_z=0.1571 left_yaw=0.0631 left_pitch=-0.3733 left_roll=0.0347 left_gripper=0.9958 right_x=0.3665 right_y=0.227 right_z=0.0939 right_yaw=0.1023 right_pitch=-0.301 right_roll=-0.058 right_gripper=0.0356\nstate[joint_eff]: [-0.1983, -3.1248, 6.735, 1.2967, -0.1245, -0.0757, -0.0122, 0.1846, -8.8, 7.0769, 1.4188, 0.2125, 0.0611, 0.5934]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a0f99574ee9dfbbf6191e43093a77318ec6be127d3cf1825be61816d5992365",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15b335e165c962b0e48ec11b9387201a546c62d5c7765420e5371b363fef715d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e077bc797c6e646025ba7b8a5ece30975319102971ec35b0ae18e3fa1b8bb006",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.591 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3904, 0.4034, 0.4347, 0.0355]\nstate[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.3665 right_y=0.2271 right_z=0.0939 right_yaw=0.1024 right_pitch=-0.3012 right_roll=-0.0575 right_gripper=0.0355\nstate[joint_eff]: [-0.212, -3.1385, 6.7077, 1.326, -0.1197, -0.0708, -0.0122, 0.1436, -8.6496, 6.8034, 1.4237, 0.1832, 0.105, 1.0037]",
      "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]: [-0.075, 1.0962, 0.8951, -0.7475, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3904, 0.4038, 0.4343, 0.0355]\nstate[eef_state]: left_x=0.2955 left_y=-0.0 left_z=0.1571 left_yaw=0.0631 left_pitch=-0.3733 left_roll=0.0347 left_gripper=0.9958 right_x=0.3665 right_y=0.227 right_z=0.0939 right_yaw=0.1023 right_pitch=-0.301 right_roll=-0.058 right_gripper=0.0355\nstate[joint_eff]: [-0.3077, -3.1385, 6.653, 1.3358, -0.0855, -0.0464, -0.0122, 0.1026, -8.8, 6.8171, 1.4383, 0.2369, 0.0659, 0.9939]",
      "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]: [-0.075, 1.0962, 0.8951, -0.7475, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3904, 0.4038, 0.4343, 0.0356]\nstate[eef_state]: left_x=0.2955 left_y=-0.0 left_z=0.1571 left_yaw=0.0631 left_pitch=-0.3733 left_roll=0.0347 left_gripper=0.9958 right_x=0.3665 right_y=0.227 right_z=0.0939 right_yaw=0.1023 right_pitch=-0.301 right_roll=-0.058 right_gripper=0.0356\nstate[joint_eff]: [-0.1983, -3.1248, 6.735, 1.2967, -0.1245, -0.0757, -0.0122, 0.1846, -8.8, 7.0769, 1.4188, 0.2125, 0.0611, 0.5934]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a0f99574ee9dfbbf6191e43093a77318ec6be127d3cf1825be61816d5992365",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15b335e165c962b0e48ec11b9387201a546c62d5c7765420e5371b363fef715d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e077bc797c6e646025ba7b8a5ece30975319102971ec35b0ae18e3fa1b8bb006",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQoKEAgSGAI4AUIIdGhpbmtpbmcSDIABhMK9QYNIINhXjBoMhx+IswabZ1h8NMiPIjCEse3C9yqmMuCW/hdm1o+Ng6gxvMup9iDXbd8zJUwdbXpuP6euRq1+kS3NABLmDc0qsgkSO80Q3zSHrApCsgdMkRVwNBMCrc3fN2cTh31U+cTgGYYX5FrILtlNZlAioRgkJENSGQ7Sji1/wkp0KZwszOVGAypGmPhzv/vF3b498hvjEEYTcT8lglEUtRpCYHfgtt9Cl9RjzhIV0VB4i3NXLpQ90w0eS1KbZtGJ7YGlzx07g1uxFzt4z2SL7nhf6++SfDTy5dRGj/njIAl+WovrCTNsytQ6I/T7AUjmXfBkfqgQUKwqDiHfQEehH32WvNQcvRdWmD1P4DNmAQ49XY8fsX38Kluhjakr1gOjWF1fNRhxtG2XnNMGQCJ8DuYEYAeauiSVYPoPS8UJsL1j/hZJgc1NgmwoK+x2GTl5GAbf0ZB7fj9jEoh1WJ6tR2gNOd1dCCa4Qq7/P7zZb18Jc2yV2q+SMRRuPT6si0y2xXrALvUJELuRDzO0fmGcf1N7IcP1a2EOi7Fb4CEaaRJCswaQlDY85y5Hs8qcGkNHB0Ch9NDDA26EYrUfE/gq8+eWtcnwS25P02t4fQ33nJ47y6tQVfDZMn5orr8q9D0izpUG3KIa4jQgaJUHQZcmqOVPId5hPjUjFCBWvQll4RxpnanzyRtNq9ztHOq3Xw5oiUhSJGb48HpHgxADXWTIevUkDGcckKRE7D+UKNatMnPP9EVr5qNpjYt2ga6NUpHC2Du7KXvuvOYvfmAxS/X4LwQI4jpCf3xmo4bJDj14n+QSW1AxDd3aiG56wAghfJatZBbXr4YBXZfYFtNK1Lk/bFPfR3GyH6Jt0qmCSFlu+P72dZkN5dq9qN/Gj4/CGlFX4rud7bdyDocmjwJsx+wyNKBVkLKStIYN+TozAHcZDyZFzdsG/4SVkbOZwXbLsAg3XbzgV9HKlNvppB3EVP8l2futxOvs96yiTf+0Y8Y9e8cJZKlH9oKcORiTVb98A5eq+OKzTNlCx4XO49T1ACjadg+cz7nW0E6rIVYGWV6phloPy6ehzbsqEi9qnhxIshvSC2xLXKHpL3P5mvnjlYbT70VsqIQo2wme/Nwwrq1ANGcVRF6tZVE2rfTjpIDCX1mE+yPnFecbrKNMxABMv3vWmPuifGCVJmQoUcUsujgtgV3esv7uS/XZh9eYa0EQdVUEZL0W58+w9js0Yiigf36Yclf857EeJ/1pQw67H9lkvo9sUO7eIvFq4mfoYlCsC8RLBmjgRQ/273wsFa8ydFXm8M+DldPgjPVF+t+sJ8R+/yk+GNcGFAsIXIv60dd3k90Kg1npU61l7gY7tX8b0/MMuyYJAtq8vVKptB6tY4jPDdOcbaeEoJyzSSgd7mrEameyfM3ydmppLCkDdInFPR7acgoFmWmIEtZvE1jRefJASDwPwDa4LH/XMy262yDARfSoMpaD+qBl/OXEalTtwLRI5A/3ofUUBHmGjYC1Guf2g9bHm5Vm5SKNu1MTJujMEL0YGUSqado9fotBCkZwZ2+0geOwY+vYC2QvkX1UjGK8NJviG+PO5nh3y3jBa424B5cHxMMSen3JOfG5foHZCgYuGHkh3PxtFD6aJ90zhQlP2oo8Nup7g54jUxDy3/rcMZpz4Wabt06JEhjAXcebPfpiNZMY9dGxD1TnNRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AxRYbtoC4hGXjjx6zZbt4x",
      "input": {
        "note": "Right arm joints are not responding, but the pink bowl is already sitting inside the white bowl's rim (visible in the wrist and top views). Opening the gripper to release it onto the stack.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AxRYbtoC4hGXjjx6zZbt4x",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.7071, 1.7206, 1.1305, -0.395, 0.4038, 0.4263, 0.9961]\nstate[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.3658 right_y=0.226 right_z=0.0929 right_yaw=0.105 right_pitch=-0.306 right_roll=-0.0668 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -3.1111, 6.694, 1.2918, -0.0611, -0.0317, -0.0122, -0.0889, -8.4308, 6.4342, 1.3211, 0.1978, 0.0269, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5792e1a97cab05c5edf7151f1761ca146954db0de072a1e046eb0dd3718ddaa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bf5433960324ca64d2ca2a959b50299ecfc4f69dd45039b4a59853f890b7b69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e1ce691ccbc2667378a1dcd4c5778ad1c7701bea15c72dc0c7e56b6afabe945",
        "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 · 4.071 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7475, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3904, 0.4038, 0.4343, 0.0355]\nstate[eef_state]: left_x=0.2955 left_y=-0.0 left_z=0.1571 left_yaw=0.0631 left_pitch=-0.3733 left_roll=0.0347 left_gripper=0.9958 right_x=0.3665 right_y=0.227 right_z=0.0939 right_yaw=0.1023 right_pitch=-0.301 right_roll=-0.058 right_gripper=0.0355\nstate[joint_eff]: [-0.3077, -3.1385, 6.653, 1.3358, -0.0855, -0.0464, -0.0122, 0.1026, -8.8, 6.8171, 1.4383, 0.2369, 0.0659, 0.9939]",
      "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]: [-0.075, 1.0962, 0.8951, -0.7475, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3904, 0.4038, 0.4343, 0.0356]\nstate[eef_state]: left_x=0.2955 left_y=-0.0 left_z=0.1571 left_yaw=0.0631 left_pitch=-0.3733 left_roll=0.0347 left_gripper=0.9958 right_x=0.3665 right_y=0.227 right_z=0.0939 right_yaw=0.1023 right_pitch=-0.301 right_roll=-0.058 right_gripper=0.0356\nstate[joint_eff]: [-0.1983, -3.1248, 6.735, 1.2967, -0.1245, -0.0757, -0.0122, 0.1846, -8.8, 7.0769, 1.4188, 0.2125, 0.0611, 0.5934]",
      "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]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.7071, 1.7206, 1.1305, -0.395, 0.4038, 0.4263, 0.9961]\nstate[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.3658 right_y=0.226 right_z=0.0929 right_yaw=0.105 right_pitch=-0.306 right_roll=-0.0668 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -3.1111, 6.694, 1.2918, -0.0611, -0.0317, -0.0122, -0.0889, -8.4308, 6.4342, 1.3211, 0.1978, 0.0269, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5792e1a97cab05c5edf7151f1761ca146954db0de072a1e046eb0dd3718ddaa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bf5433960324ca64d2ca2a959b50299ecfc4f69dd45039b4a59853f890b7b69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e1ce691ccbc2667378a1dcd4c5778ad1c7701bea15c72dc0c7e56b6afabe945",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AcKEAgSGAI4AUIIdGhpbmtpbmcSDMnf/kYWwx8Ar6a7DBoMOr8q3qzIZSntHcACIjDk+cRq/H5/kd7hMkJSluuJEYWJai67vYjVbARAoZxzEZkRFyjms7qk9qpbsfve3t4q8QZPiDjZOtDFW0JtU6bJVSwxLWbzCnAo/u+rnfKtPC0VPLoMtGwui9nBTLw59/fFGDkG88MCFtGdaSbs0NBAOtHCcti/EMxDNX6csPJJXi2XWHoLuldxXuPN41M9FAzFW1tGK6LTIPMDvEtxUBw9M3hj7NHtHpwKO3UQ1X3qHkX3tQBQZHQ1aaytBqYRe21YpYAeKB9HnSCzEUd5C8Rc0DKLw3Kt8uvKnb+K2ykPmg/wHSGAbbNTLJTHz3Hnfl5q3KnyF0QgN/guYFH2BKheZBmCGikyDEkEL6BS+yZGlkW5FjffwsPsVPF21lTOOdmqOvWO6/jmbu9yfQmzrAzI01e0UsjoBvhDBu39Bsm5Qt9F7O3PuRuxu9BH52dCd7libJoLYhBJ0m8qSPXeVcqulLutWh/+95RnS/Ob8emSexegPh7gsa5vhrXTnbeVjco8bdz/6CfnQgFKHSe54y0YaWuNm4egtH3x0vKJ68F78Stp5UpTkdkd1ponwNYDVqEU+VwpS4TbmQ3xSrOY1+rE1qdfRugzfp8Ex2R375FjJOZAEVjE0VA7V1oVKL+Jb1qJm50EpiyBAjSOWV9UL8BzQWg5QF6qXnwfHKxJutDnFIeQYjaqJFtwcT4JvgaZwwdySQF30J7x5IWwyxuaLKaxXcP5iaUq0gwTMOU5Rn2468YkuIuF7Aoio83R24d57XUEk7Aqu99mKTN3dE+klaECmB4xyagseewpLNOH3FPjzL8+oIqnuGj3ZnotL/0nD8c9OucZap/BxR5CQ8rLz721KLTCYYs3U1FP0ZwZPVn9S5R2Z7Z8m36dTuHoO89QRmPy531ldPYJb+6hsFUSLESHRQIuaPqO/a0GF0VWfjhENjcOf2AV+XQ80YeiSN4I9h0AF3uLoq+7twqrSFD5Bn4jyjxP6xK2/+ffY0wrwY/wdjN2CNC4dnruW2ahRbPg5cMnd0rQeo2lLvGYb4jvqVNK6PI4fpSCAfqH4hDbqa2zk2rKRnEWvT2IiufJycJS+8ixEbV8SzyiVVu7j2ZXJfCDZnjmUMNBJPPqezpwtxDVAllsb8r+a9HO7p16RtwQnYYwa0NQs+3899RVflzXJBMY4H3jlBr4Kl7G80ShdBvqyJ4sdlL1gyh96OtWTg3CuVU9nl2UL6aaC+i2jH6bxCc5RFmiehgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D47GusmEP5wmR6hUzS5N6y",
      "input": {
        "note": "Pink bowl was released and now sits inside the white bowl's rim. Trying to lift the right arm clear to verify the stack from above.",
        "targets": {
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01D47GusmEP5wmR6hUzS5N6y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7475, -0.1051, -0.1013, 0.9958, 0.7071, 1.7039, 1.2945, -0.6163, 0.4034, 0.4225, 0.9962]\nstate[eef_state]: left_x=0.2955 left_y=-0.0 left_z=0.1571 left_yaw=0.0631 left_pitch=-0.3733 left_roll=0.0347 left_gripper=0.9958 right_x=0.3653 right_y=0.2256 right_z=0.1325 right_yaw=0.0998 right_pitch=-0.3396 right_roll=-0.0933 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -3.0291, 6.6803, 1.326, -0.1197, -0.0464, -0.0122, -0.294, -11.1658, 8.8547, 1.2527, 0.2076, 0.0073, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57b5ed56b80410e54d1c4b0c8d92eaa135ba7e91c774173929ede0ad9af9a768",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dab4d11f95f5e54add6ce8048cdbebe3ae4e4a50b6981f1a6babef31c745688",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6cb315c4af99a7cf653ca0fa7f2f4b783ec5f90fb8d71da7038fb73ebfa83307",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 7.985 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7475, -0.1051, -0.1013, 0.9958, 0.7078, 1.7206, 1.1316, -0.3904, 0.4038, 0.4343, 0.0356]\nstate[eef_state]: left_x=0.2955 left_y=-0.0 left_z=0.1571 left_yaw=0.0631 left_pitch=-0.3733 left_roll=0.0347 left_gripper=0.9958 right_x=0.3665 right_y=0.227 right_z=0.0939 right_yaw=0.1023 right_pitch=-0.301 right_roll=-0.058 right_gripper=0.0356\nstate[joint_eff]: [-0.1983, -3.1248, 6.735, 1.2967, -0.1245, -0.0757, -0.0122, 0.1846, -8.8, 7.0769, 1.4188, 0.2125, 0.0611, 0.5934]",
      "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]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.7071, 1.7206, 1.1305, -0.395, 0.4038, 0.4263, 0.9961]\nstate[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.3658 right_y=0.226 right_z=0.0929 right_yaw=0.105 right_pitch=-0.306 right_roll=-0.0668 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -3.1111, 6.694, 1.2918, -0.0611, -0.0317, -0.0122, -0.0889, -8.4308, 6.4342, 1.3211, 0.1978, 0.0269, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7475, -0.1051, -0.1013, 0.9958, 0.7071, 1.7039, 1.2945, -0.6163, 0.4034, 0.4225, 0.9962]\nstate[eef_state]: left_x=0.2955 left_y=-0.0 left_z=0.1571 left_yaw=0.0631 left_pitch=-0.3733 left_roll=0.0347 left_gripper=0.9958 right_x=0.3653 right_y=0.2256 right_z=0.1325 right_yaw=0.0998 right_pitch=-0.3396 right_roll=-0.0933 right_gripper=0.9962\nstate[joint_eff]: [-0.1709, -3.0291, 6.6803, 1.326, -0.1197, -0.0464, -0.0122, -0.294, -11.1658, 8.8547, 1.2527, 0.2076, 0.0073, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57b5ed56b80410e54d1c4b0c8d92eaa135ba7e91c774173929ede0ad9af9a768",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dab4d11f95f5e54add6ce8048cdbebe3ae4e4a50b6981f1a6babef31c745688",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cb315c4af99a7cf653ca0fa7f2f4b783ec5f90fb8d71da7038fb73ebfa83307",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwcKEAgSGAI4AUIIdGhpbmtpbmcSDA7XEF+gwwhQgvQ3WhoMsoi6aB/vWnOZAIEQIjAb2a6ZEKb2juD+S67rReF9DTpjm8IRcbWECfXOdCYk6Ajfk7bnc/GBP1jmcHOgf9YqtAZ3m1w+P7eG/4AQsSI52/xuSbihoDb6EFG+Ny2aE7QU1yU2B0ricL9tsrHLx0cKoPCw99RtpJ3S5N+HRJBkATKDBjf3EtdPaUWr1rCCovhH01aJtes2C5sqqr1a1VHmCaRRTHAE7LtN1aT7cD+OEOAVOSnloE21dwlzWt4PRs0ODNewPEbP7yflRyBdw6J2pzNCFRTZpeFWotW3o9EfcgEthT/TDOv35cYpY9JDoSxiubVRS5Q+8qoT1z1dFpvw5vLW758Nmk6rNWLIpZco/1b3G0E7vXIoww+CiisaQ+J/r+jVyOJEaYdpL+NrXJyR+nnJ7eOfbr61nwBcx6QCo6J6bBV1dtllwxwjteCHYhTIXUD+41r3k5rRWYVylES6WaFu5t8c3F59p8aZyAvTSWDxfnK3rLk3FG/Nk3pIz00BYDdPmd96Pjj/gM9Mnr0VH8osNIbSb2VXzVEM6Q0qZ3emDmbQ9yU48swSXqKBho4HAXmcuUBVl3pJ0ALdNQOdiZOjcMtgC61b1juqx0bBYkA3IMycKZA5LuNgUkKlwjECAgJfik6qBrzezzekSuC3rN7kY0G1XR5W2ldbBBnxy80V0mWoyaBcjO7RiAhWXVsZbUbkZLOcbPlCg3zbQXPd8XnCGlisqFQ8xh34462c8umCWicyRwRzgbu9WmAme+FB1CuWapZlyaTAlX7w7cZt+3LeNzm7UJw+CY11DI7CKiaWlMb7UA9yRwTue8DYEeYIZP2HCLjL18Bbis+bWDWbnHxSO5tpRAt8JmnzmVPY2vRG2lqOFDfxeTDAVMlx4wcRmH3LMZ8pj69r9jZl82i/CIpvW1paOmT53q2GGJAd4amW9qxr0CZ2SzsYiGpRqsT59bMGj/1LUolZ/+XOtrYTmjsrCo+KZyX1nJ07fjKjXOB3JQwhQRT++3pwFDCcWzbSIOleVZ12CPsCnb0M1R5NUmxKkFIs9UF+dpB8N0oSMpCrKHlbhKb9cZSAJxcOkV4/pWFGaEFWMYXVSSC9o8dD1BiBsS3RSEtZJhiIHg+R9+or7zYnn/iI1xcjjz+K6bY05qZqJ8XQP76t5XqYwE4ZLtj3mHrUGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0156vY6NP7ATCyCNu988Lm7W",
      "input": {
        "note": "Pink bowl sits nested inside the white bowl. Parking the right arm at home so the top camera can see the stack.",
        "targets": {
          "right_x": 0.29,
          "right_y": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_0156vY6NP7ATCyCNu988Lm7W",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.075, 1.0962, 0.8951, -0.7479, -0.1051, -0.1013, 0.9958, 0.0463, 1.066, 0.9382, -0.7929, 0.1078, -0.0223, 0.9962]\nstate[eef_state]: left_x=0.2954 left_y=-0.0 left_z=0.1571 left_yaw=0.0632 left_pitch=-0.3737 left_roll=0.0348 left_gripper=0.9958 right_x=0.2921 right_y=-0.0019 right_z=0.1759 right_yaw=-0.0427 right_pitch=-0.3483 right_roll=-0.0996 right_gripper=0.9962\nstate[joint_eff]: [-0.0889, -3.1248, 6.6803, 1.3407, -0.0952, -0.022, -0.0122, 0.0752, -3.4393, 6.8581, 1.4383, -0.0855, 0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90f9d2efb8881c514f32af25908c1ca63cfaaa0b7669fd730dd239ddf929b042",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b71a78efede6f2885e39c2a1cc767dc49d4f15321eaecdf904af9bb91c3a5ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b0edea1e826ec580e79343da6586d884c1e5d0a365b26ef2f15e9458b699023",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]