adhoc

completed
2026-09-22T18:28:53.103307+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
259.6 s
total steps
299
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls in a row (white-left, blue-middle, pink-right). Moving left arm over the left edge of the white bowl to grasp its rim.
move_to
left_x0.3000left_y-0.1500left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0193, 0.7956, 0.6048, -0.3801, -0.0223, -0.041, 0.9996, -0.0181, 0.7933, 0.6025, -0.3782, -0.0166, -0.0326, 0.9965] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1799 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2948 right_y=0.0012 right_z=0.1799 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9965 state[joint_eff]: [-0.5265, -1.5932, 10.0855, 1.8144, -0.0464, 0.2271, -0.0562, -0.7179, -1.4564, 10.2222, 1.9072, -0.1099, 0.1929, -0.3785] 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": 0.3, "left_y": -0.15, "left_z": 0.15}, "note": "Three bowls in a row (white-left, blue-middle, pink-right). Moving left arm over the left edge of the white bowl to grasp its rim."})
tool
executing move_to over 14 steps (1.4s)
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 noteWhite bowl appears ahead of the fingertips in the wrist view. Moving to hover over its left-side rim so the jaws can straddle the rim wall.
move_to
left_x0.3700left_y-0.0880left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7872, 1.1629, 0.6449, -0.2821, -0.6075, -0.5076, 0.9996, -0.0196, 0.8001, 0.601, -0.3889, -0.0162, -0.0299, 0.9962] state[eef_state]: left_x=0.2912 left_y=-0.1443 left_z=0.131 left_yaw=-0.0377 left_pitch=-0.0605 left_roll=0.0403 left_gripper=0.9996 right_x=0.2936 right_y=0.0007 right_z=0.1751 right_yaw=-0.003 right_pitch=-0.0187 right_roll=0.0026 right_gripper=0.9962 state[joint_eff]: [-0.3077, -4.0547, 9.5111, 1.5311, -0.4957, -0.0464, -0.0122, 0.0205, -1.812, 7.1726, 1.8388, -0.0464, -0.0708, -0.0415] 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_x": 0.37, "left_y": -0.088, "left_z": 0.12}, "note": "White bowl appears ahead of the fingertips in the wrist view. Moving to hover over its left-side rim so the jaws can straddle the rim wall."})
tool
executing move_to over 7 steps (0.7s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteLeft rim of the white bowl sits between the open jaws in the wrist view. Descending so the jaws straddle the rim wall.
move_to
left_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4023, 1.3182, 0.6437, -0.0723, -0.3569, -0.2661, 0.9996, -0.0196, 0.8032, 0.5999, -0.3931, -0.0158, -0.0299, 0.9962] state[eef_state]: left_x=0.353 left_y=-0.0792 left_z=0.1016 left_yaw=0.0203 left_pitch=-0.1211 left_roll=0.0558 left_gripper=0.9996 right_x=0.2931 right_y=0.0006 right_z=0.1728 right_yaw=-0.0033 right_pitch=-0.0271 right_roll=0.0025 right_gripper=0.9962 state[joint_eff]: [0.2393, -4.7248, 9.7162, 1.6972, -0.0171, 0.1832, -0.0122, -0.1162, -1.5385, 7.159, 1.7802, -0.0611, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03}, "note": "Left rim of the white bowl sits between the open jaws in the wrist view. Descending so the jaws straddle the rim wall."})
tool
executing move_to over 5 steps (0.5s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
Rim is between the jaws. Closing.
agent noteJaws straddle the white bowl's left rim wall at low height. 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]: [-0.4042, 1.5215, 0.4854, 0.21, -0.3489, -0.2584, 0.9996, -0.02, 0.8047, 0.5999, -0.3931, -0.0158, -0.0299, 0.9962] state[eef_state]: left_x=0.341 left_y=-0.0763 left_z=0.022 left_yaw=0.0129 left_pitch=-0.1962 left_roll=0.0891 left_gripper=0.9996 right_x=0.2932 right_y=0.0005 right_z=0.1724 right_yaw=-0.0037 right_pitch=-0.0286 right_roll=0.0025 right_gripper=0.9962 state[joint_eff]: [0.0342, -5.4769, 4.9709, 1.7753, -0.2369, -0.0952, -0.0171, -0.1709, -1.4017, 7.0085, 1.7118, -0.0317, -0.0562, -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
Rim is between the jaws. Closing.
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws straddle the white bowl's left rim wall at low height. Closing to pinch the rim."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteGripper closed at 0.031, which could be a thin rim or empty. Lifting to check whether the white bowl comes up.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4065, 1.5101, 0.4881, 0.2634, -0.3347, -0.2844, 0.031, -0.02, 0.8047, 0.5999, -0.3931, -0.0162, -0.0296, 0.9962] state[eef_state]: left_x=0.3505 left_y=-0.0838 left_z=0.035 left_yaw=0.0087 left_pitch=-0.1375 left_roll=0.0326 left_gripper=0.031 right_x=0.2932 right_y=0.0006 right_z=0.1724 right_yaw=-0.0035 right_pitch=-0.0286 right_roll=0.003 right_gripper=0.9962 state[joint_eff]: [0.4308, -4.2325, 5.3402, 0.6764, -0.315, 0.232, 0.3053, -0.0342, -1.2923, 7.0359, 1.7216, -0.0464, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.09}, "note": "Gripper closed at 0.031, which could be a thin rim or empty. Lifting to check whether the white bowl comes up."})
tool
executing move_to over 4 steps (0.4s)
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 noteEmpty close: bowl stayed on the table and the rim sits just right of the jaws. Opening and shifting 1.5 cm right to center on the rim.
move_to
left_gripper1.0000left_y-0.0980
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4057, 1.3647, 0.5762, 0.033, -0.3344, -0.2882, 0.0411, -0.0196, 0.8051, 0.5999, -0.3927, -0.0158, -0.0299, 0.9962] state[eef_state]: left_x=0.3494 left_y=-0.0831 left_z=0.0766 left_yaw=0.0111 left_pitch=-0.1347 left_roll=0.0282 left_gripper=0.0411 right_x=0.2932 right_y=0.0006 right_z=0.1724 right_yaw=-0.0033 right_pitch=-0.0286 right_roll=0.0025 right_gripper=0.9962 state[joint_eff]: [-0.1846, -5.641, 8.7316, 1.58, -0.1783, -0.0073, 1.0281, -0.1026, -1.3333, 7.0359, 1.7314, -0.0317, -0.0659, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_y": -0.098}, "note": "Empty close: bowl stayed on the table and the rim sits just right of the jaws. Opening and shifting 1.5 cm right to center on the rim."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteBowl's left rim now lies on the jaw column. Descending to straddle it.
move_to
left_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4583, 1.3842, 0.585, 0.0067, -0.3664, -0.3328, 0.9956, -0.0196, 0.8051, 0.5999, -0.3931, -0.0158, -0.0296, 0.9962] state[eef_state]: left_x=0.3434 left_y=-0.0949 left_z=0.0704 left_yaw=0.011 left_pitch=-0.1576 left_roll=0.0307 left_gripper=0.9956 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0035 right_pitch=-0.029 right_roll=0.0028 right_gripper=0.9962 state[joint_eff]: [-0.6496, -4.0274, 7.5009, 1.619, -0.2369, 0.0513, -0.149, -0.0479, -1.0735, 7.0359, 1.7216, -0.0317, -0.0073, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02}, "note": "Bowl's left rim now lies on the jaw column. Descending to straddle it."})
tool
executing move_to over 4 steps (0.4s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteBowl wall runs between the jaws near the bottom of the wrist view. Closing on the wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4583, 1.5467, 0.4839, 0.1951, -0.3664, -0.3344, 0.9959, -0.02, 0.8097, 0.5999, -0.3935, -0.0158, -0.0299, 0.9962] state[eef_state]: left_x=0.332 left_y=-0.0892 left_z=0.0119 left_yaw=0.0185 left_pitch=-0.2244 left_roll=0.0644 left_gripper=0.9959 right_x=0.2934 right_y=0.0005 right_z=0.171 right_yaw=-0.0037 right_pitch=-0.034 right_roll=0.0026 right_gripper=0.9962 state[joint_eff]: [-0.3624, -5.9556, 5.2991, 1.8339, -0.1148, 0.0024, 0.0171, -0.0752, -1.7026, 7.0359, 1.6874, -0.0317, -0.0366, -0.0122] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Bowl wall runs between the jaws near the bottom of the wrist view. Closing on the wall."})
tool
executing move_to over 10 steps (1.0s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteGripper settled at 0.10 (holding the ~1 cm rim wall). Lifting the white bowl clear of the table.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4583, 1.5318, 0.4877, 0.2432, -0.3565, -0.3565, 0.1044, -0.0196, 0.8101, 0.598, -0.3935, -0.0158, -0.0299, 0.9962] state[eef_state]: left_x=0.3417 left_y=-0.0958 left_z=0.0251 left_yaw=0.0166 left_pitch=-0.1679 left_roll=0.0103 left_gripper=0.1044 right_x=0.2932 right_y=0.0006 right_z=0.17 right_yaw=-0.0033 right_pitch=-0.0362 right_roll=0.0026 right_gripper=0.9962 state[joint_eff]: [0.0068, -3.9043, 4.9299, 1.072, -0.3004, 0.1978, 0.5543, -0.0615, -1.2239, 7.2, 1.7118, -0.0366, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.16}, "note": "Gripper settled at 0.10 (holding the ~1 cm rim wall). Lifting the white bowl clear of the table."})
tool
executing move_to over 9 steps (0.9s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteWhite bowl is lifted with the gripper. Carrying it right so it sits above the blue bowl.
move_to
left_y-0.2250left_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4583, 1.2644, 0.8234, -0.366, -0.3557, -0.3641, 0.104, -0.02, 0.8108, 0.5957, -0.3935, -0.0162, -0.0299, 0.9962] state[eef_state]: left_x=0.3432 left_y=-0.0967 left_z=0.1433 left_yaw=0.0207 left_pitch=-0.1734 left_roll=0.007 left_gripper=0.104 right_x=0.2929 right_y=0.0006 right_z=0.1688 right_yaw=-0.0033 right_pitch=-0.0393 right_roll=0.0029 right_gripper=0.9962 state[joint_eff]: [-0.1846, -6.0513, 9.0462, 1.4139, -0.1734, 0.0317, -0.0562, -0.1436, -1.388, 7.3504, 1.7265, -0.0708, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.225, "left_z": 0.17}, "note": "White bowl is lifted with the gripper. Carrying it right so it sits above the blue bowl."})
tool
executing move_to over 12 steps (1.2s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteWrist view shows the white bowl still on the table to the left, so the rim grasp slipped. Opening and returning above its left rim to retry with a deeper grasp.
move_to
left_y-0.0970left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8242, 1.5707, 1.1816, -0.5854, -0.564, -0.6731, 0.1039, -0.02, 0.8116, 0.5953, -0.3931, -0.0162, -0.0299, 0.9962] state[eef_state]: left_x=0.3386 left_y=-0.2216 left_z=0.1572 left_yaw=0.0014 left_pitch=-0.2042 left_roll=0.0134 left_gripper=0.1039 right_x=0.2929 right_y=0.0006 right_z=0.1685 right_yaw=-0.0033 right_pitch=-0.0401 right_roll=0.0029 right_gripper=0.9962 state[joint_eff]: [-0.294, -7.0222, 9.1692, 1.16, -0.5885, -0.0024, -0.0171, -0.0068, -1.4017, 7.0769, 1.6532, -0.0513, -0.0806, -0.0122] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.097, "left_gripper": 1.0}, "note": "Wrist view shows the white bowl still on the table to the left, so the rim grasp slipped. Opening and returning above its left rim to retry with a deeper grasp."})
tool
executing move_to over 12 steps (1.2s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteWhite bowl center appears to be ~6 cm ahead of where I grasped (around x=0.40, y=-0.11), so earlier I pinched a curved sliver of the near rim. Moving over its true left-side rim so the jaws close across the wall.
move_to
left_x0.4000left_y-0.0500left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4683, 1.2716, 0.8963, -0.4923, -0.3595, -0.3973, 0.9962, -0.02, 0.8158, 0.5945, -0.3931, -0.0158, -0.0299, 0.9962] state[eef_state]: left_x=0.337 left_y=-0.0968 left_z=0.1508 left_yaw=0.0379 left_pitch=-0.2251 left_roll=0.0145 left_gripper=0.9962 right_x=0.2931 right_y=0.0005 right_z=0.167 right_yaw=-0.0037 right_pitch=-0.045 right_roll=0.0028 right_gripper=0.9962 state[joint_eff]: [0.2393, -5.6, 6.7761, 1.6288, -0.1636, 0.188, -0.1343, -0.1436, -1.6889, 7.0906, 1.7509, -0.0611, -0.0317, -0.0122] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.05, "left_z": 0.1}, "note": "White bowl center appears to be ~6 cm ahead of where I grasped (around x=0.40, y=-0.11), so earlier I pinched a curved sliver of the near rim. Moving over its true left-side rim so the jaws close across the wall."})
tool
executing move_to over 5 steps (0.5s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteBowl's left wall is slightly right of the jaw column and a bit forward. Nudging right and forward so the wall's leftmost point lies between the jaws.
move_to
left_x0.4200left_y-0.0620left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2348, 1.4845, 0.8558, -0.2665, -0.2298, -0.2558, 0.9973, -0.02, 0.8173, 0.5945, -0.3939, -0.0162, -0.0296, 0.9962] state[eef_state]: left_x=0.3818 left_y=-0.0463 left_z=0.0907 left_yaw=0.0883 left_pitch=-0.2933 left_roll=0.03 left_gripper=0.9973 right_x=0.293 right_y=0.0006 right_z=0.1664 right_yaw=-0.0035 right_pitch=-0.0473 right_roll=0.0034 right_gripper=0.9962 state[joint_eff]: [0.253, -6.2974, 6.8444, 1.5458, 0.0317, 0.1832, 0.105, -0.1299, -1.4564, 7.0906, 1.7021, -0.0659, -0.0366, -0.0122] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.062, "left_yaw": 0.0}, "note": "Bowl's left wall is slightly right of the jaw column and a bit forward. Nudging right and forward so the wall's leftmost point lies between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe bowl's left wall now runs through the jaw column at the bottom of the wrist view. Descending to straddle the wall.
move_to
left_z0.0200left_x0.4150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.223, 1.6096, 0.9447, -0.244, -0.1886, -0.215, 0.9974, -0.0196, 0.82, 0.5945, -0.3981, -0.0162, -0.0299, 0.9962] state[eef_state]: left_x=0.4078 left_y=-0.0548 left_z=0.0798 left_yaw=0.043 left_pitch=-0.3167 left_roll=0.0292 left_gripper=0.9974 right_x=0.2926 right_y=0.0007 right_z=0.1648 right_yaw=-0.0029 right_pitch=-0.0542 right_roll=0.0032 right_gripper=0.9962 state[joint_eff]: [-0.3761, -7.788, 8.8274, 1.3553, -0.0317, 0.1783, -0.0024, -0.0205, -1.4564, 7.1453, 1.7265, -0.0513, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02, "left_x": 0.415}, "note": "The bowl's left wall now runs through the jaw column at the bottom of the wrist view. Descending to straddle the wall."})
tool
executing move_to over 4 steps (0.4s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteDescent stalled at z=0.076, likely a jaw resting on the rim or an IK limit at this reach. Backing 2 cm toward the base and slightly left while descending again.
move_to
left_z0.0200left_x0.3900left_y-0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2226, 1.6302, 0.9596, -0.2508, -0.1761, -0.1982, 0.9974, -0.02, 0.8204, 0.5945, -0.4011, -0.0162, -0.0296, 0.9962] state[eef_state]: left_x=0.4099 left_y=-0.0574 left_z=0.0761 left_yaw=0.024 left_pitch=-0.3318 left_roll=0.0334 left_gripper=0.9974 right_x=0.2922 right_y=0.0006 right_z=0.1641 right_yaw=-0.0035 right_pitch=-0.0576 right_roll=0.0035 right_gripper=0.9962 state[joint_eff]: [-0.3077, -7.8291, 8.9641, 1.409, -0.0562, 0.1441, -0.0073, -0.0889, -1.2923, 6.9949, 1.7753, -0.0269, -0.022, -0.0122] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02, "left_x": 0.39, "left_y": -0.05}, "note": "Descent stalled at z=0.076, likely a jaw resting on the rim or an IK limit at this reach. Backing 2 cm toward the base and slightly left while descending again."})
tool
executing move_to over 4 steps (0.4s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteArm is stuck at z=0.076 (not tracking). Top view shows the gripper just left of and slightly beyond the white bowl, so raising and pulling back toward the bowl's side rim.
move_to
left_z0.1200left_x0.3700left_y-0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2226, 1.6302, 0.9634, -0.2581, -0.1761, -0.1982, 0.9974, -0.0196, 0.823, 0.5945, -0.4118, -0.0162, -0.0299, 0.9962] state[eef_state]: left_x=0.4097 left_y=-0.0573 left_z=0.0764 left_yaw=0.0243 left_pitch=-0.3352 left_roll=0.0343 left_gripper=0.9974 right_x=0.2907 right_y=0.0007 right_z=0.1613 right_yaw=-0.0029 right_pitch=-0.0709 right_roll=0.0034 right_gripper=0.9962 state[joint_eff]: [-0.4718, -7.8427, 8.8274, 1.4432, -0.0269, 0.1245, -0.0073, -0.0205, -1.6342, 6.9812, 1.7949, -0.0708, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12, "left_x": 0.37, "left_y": -0.06}, "note": "Arm is stuck at z=0.076 (not tracking). Top view shows the gripper just left of and slightly beyond the white bowl, so raising and pulling back toward the bowl's side rim."})
tool
executing move_to over 4 steps (0.4s)
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 noteWrist pitch has drifted to -0.36 and the arm is tracking poorly; re-commanding neutral orientation along with the hover point beside the white bowl.
move_to
left_z0.1200left_x0.3700left_y-0.0600left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.242, 1.5532, 0.9485, -0.3435, -0.1844, -0.21, 0.9974, -0.02, 0.8257, 0.5945, -0.4149, -0.0158, -0.0299, 0.9962] state[eef_state]: left_x=0.3903 left_y=-0.0593 left_z=0.0882 left_yaw=0.021 left_pitch=-0.3557 left_roll=0.0399 left_gripper=0.9974 right_x=0.2904 right_y=0.0006 right_z=0.16 right_yaw=-0.0036 right_pitch=-0.0767 right_roll=0.0033 right_gripper=0.9962 state[joint_eff]: [-0.8547, -11.0154, 7.9248, 1.7949, -0.315, -0.2076, -0.0171, -0.0889, -1.3607, 6.9812, 1.7265, -0.0366, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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": {"left_z": 0.12, "left_x": 0.37, "left_y": -0.06, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "Wrist pitch has drifted to -0.36 and the arm is tracking poorly; re-commanding neutral orientation along with the hover point beside the white bowl."})
tool
executing move_to over 12 steps (1.2s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteBowl's left wall is on the jaw column but slightly ahead. Advancing 2 cm and descending to straddle the wall with neutral orientation.
move_to
left_x0.3900left_y-0.0650left_z0.0300left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2798, 1.3041, 0.5972, 0.0399, -0.2363, -0.2054, 0.9974, -0.02, 0.8295, 0.5945, -0.4187, -0.0158, -0.0299, 0.9962] state[eef_state]: left_x=0.364 left_y=-0.0578 left_z=0.1037 left_yaw=0.0081 left_pitch=-0.075 left_roll=0.0021 left_gripper=0.9974 right_x=0.29 right_y=0.0006 right_z=0.1582 right_yaw=-0.0036 right_pitch=-0.0843 right_roll=0.0034 right_gripper=0.9962 state[joint_eff]: [-0.6222, -5.6, 6.5436, 2.0293, -0.1636, 0.149, -0.0171, -0.0889, -1.7436, 6.9812, 1.6825, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.065, "left_z": 0.03, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "Bowl's left wall is on the jaw column but slightly ahead. Advancing 2 cm and descending to straddle the wall with neutral orientation."})
tool
executing move_to over 5 steps (0.5s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteBowl's left wall now runs between the jaws at table level (right jaw inside the bowl). Closing on the wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2817, 1.6661, 0.4728, 0.4683, -0.2367, -0.2054, 0.9974, -0.02, 0.8314, 0.5945, -0.4202, -0.0158, -0.0299, 0.9962] state[eef_state]: left_x=0.3701 left_y=-0.0603 left_z=0.009 left_yaw=0.0082 left_pitch=-0.1305 left_roll=0.0189 left_gripper=0.9974 right_x=0.2899 right_y=0.0006 right_z=0.1574 right_yaw=-0.0036 right_pitch=-0.0877 right_roll=0.0035 right_gripper=0.9962 state[joint_eff]: [-0.0479, -7.0769, 4.6291, 2.0586, -0.1685, 0.1441, -0.0171, -0.1026, -1.5658, 6.9675, 1.6679, -0.0122, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Bowl's left wall now runs between the jaws at table level (right jaw inside the bowl). Closing on the wall."})
tool
executing move_to over 10 steps (1.0s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteClose ended empty-looking (0.038) with the wall just right of the closed jaws. Reopening, shifting 1 cm right and pressing to table level for another pinch.
move_to
left_gripper1.0000left_y-0.0800left_x0.3900left_z0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2852, 1.6459, 0.4847, 0.5602, -0.2184, -0.2398, 0.0381, -0.02, 0.8318, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962] state[eef_state]: left_x=0.3885 left_y=-0.0703 left_z=0.0374 left_yaw=0.0055 left_pitch=-0.015 left_roll=-0.055 left_gripper=0.0381 right_x=0.2895 right_y=0.0006 right_z=0.1568 right_yaw=-0.0036 right_pitch=-0.0904 right_roll=0.0035 right_gripper=0.9962 state[joint_eff]: [0.1983, -4.0547, 4.0957, 0.6862, -0.3101, 0.2711, 1.2039, -0.0479, -0.9641, 6.9812, 1.6581, -0.0317, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_y": -0.08, "left_x": 0.39, "left_z": 0.0}, "note": "Close ended empty-looking (0.038) with the wall just right of the closed jaws. Reopening, shifting 1 cm right and pressing to table level for another pinch."})
tool
executing move_to over 10 steps (1.0s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteWall is between the jaws at table level with the right jaw inside the bowl. Closing while holding a light press.
move_to
left_gripper0.0000left_z-0.0050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3149, 1.8229, 0.4728, 0.7574, -0.244, -0.2665, 0.9947, -0.0196, 0.8314, 0.5945, -0.4221, -0.0158, -0.0299, 0.9962] state[eef_state]: left_x=0.3932 left_y=-0.0794 left_z=0.007 left_yaw=0.0114 left_pitch=-0.0034 left_roll=-0.0662 left_gripper=0.9947 right_x=0.2896 right_y=0.0007 right_z=0.157 right_yaw=-0.0032 right_pitch=-0.0896 right_roll=0.0035 right_gripper=0.9962 state[joint_eff]: [-0.6496, -5.6137, 3.4667, 1.5702, -0.1441, 0.0757, -0.1001, -0.1162, -1.3607, 6.9675, 1.6874, -0.0415, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0, "left_z": -0.005}, "note": "Wall is between the jaws at table level with the right jaw inside the bowl. Closing while holding a light press."})
tool
executing move_to over 10 steps (1.0s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteJaws closed at 0.039 right on the rim edge in the wrist view — possibly pinching the thin rim. Lifting 5 cm to test.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3191, 1.8484, 0.4843, 0.9291, -0.2344, -0.3031, 0.0387, -0.0196, 0.8349, 0.5945, -0.4229, -0.0162, -0.0299, 0.9962] state[eef_state]: left_x=0.4137 left_y=-0.0897 left_z=0.0366 left_yaw=0.0226 left_pitch=0.142 left_roll=-0.1546 left_gripper=0.0387 right_x=0.2896 right_y=0.0008 right_z=0.1559 right_yaw=-0.0029 right_pitch=-0.0938 right_roll=0.0038 right_gripper=0.9962 state[joint_eff]: [0.1162, -4.1504, 2.7145, 0.7888, -0.105, 0.2808, 0.9206, -0.1162, -1.388, 7.0769, 1.6337, -0.0757, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.09}, "note": "Jaws closed at 0.039 right on the rim edge in the wrist view \u2014 possibly pinching the thin rim. Lifting 5 cm to test."})
tool
executing move_to over 4 steps (0.4s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteTop view shows the white bowl tipped up by its rim in the jaws — it's held. Raising higher so the dangling bowl clears the blue bowl's rim.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3191, 1.6386, 0.5121, 0.696, -0.2367, -0.3119, 0.0395, -0.02, 0.8364, 0.5945, -0.4225, -0.0162, -0.0296, 0.9962] state[eef_state]: left_x=0.4104 left_y=-0.0882 left_z=0.0793 left_yaw=0.0295 left_pitch=0.146 left_roll=-0.1633 left_gripper=0.0395 right_x=0.2897 right_y=0.0006 right_z=0.1556 right_yaw=-0.0035 right_pitch=-0.095 right_roll=0.0041 right_gripper=0.9962 state[joint_eff]: [-0.3487, -7.0769, 7.6239, 1.8926, -0.0952, 0.0513, 1.033, -0.0342, -1.4427, 6.9675, 1.6288, -0.0855, -0.0171, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Top view shows the white bowl tipped up by its rim in the jaws \u2014 it's held. Raising higher so the dangling bowl clears the blue bowl's rim."})
tool
executing move_to over 8 steps (0.8s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteArm didn't rise with the bowl (stuck at z=0.076, orientation drifted). Re-commanding neutral orientation while lifting and pulling back slightly.
move_to
left_z0.1800left_x0.3800left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3191, 1.6135, 0.5274, 0.6083, -0.2359, -0.3115, 0.0409, -0.02, 0.8371, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962] state[eef_state]: left_x=0.4066 left_y=-0.0871 left_z=0.0759 left_yaw=0.0267 left_pitch=0.1014 left_roll=-0.147 left_gripper=0.0409 right_x=0.2898 right_y=0.0006 right_z=0.1554 right_yaw=-0.0036 right_pitch=-0.0957 right_roll=0.0036 right_gripper=0.9962 state[joint_eff]: [-0.335, -7.1726, 7.0359, 1.9365, -0.105, 0.0024, 1.033, -0.0479, -1.5385, 7.1043, 1.7167, -0.0562, -0.0464, -0.0122] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.18, "left_x": 0.38, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "Arm didn't rise with the bowl (stuck at z=0.076, orientation drifted). Re-commanding neutral orientation while lifting and pulling back slightly."})
tool
executing move_to over 7 steps (0.7s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
assistant
agent noteWhite bowl is held by its rim and lifted clear. Carrying it right so its center lines up over the blue bowl.
move_to
left_x0.3600left_y-0.2100left_z0.2000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3737, 1.2709, 0.8158, 0.0719, -0.3054, -0.2703, 0.041, -0.02, 0.8398, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962] state[eef_state]: left_x=0.4023 left_y=-0.0968 left_z=0.2214 left_yaw=0.014 left_pitch=0.2027 left_roll=-0.1159 left_gripper=0.041 right_x=0.2899 right_y=0.0006 right_z=0.1546 right_yaw=-0.0036 right_pitch=-0.0984 right_roll=0.0037 right_gripper=0.9962 state[joint_eff]: [-0.6222, -4.3145, 7.5829, 1.4481, -0.0659, 0.1441, 0.9597, -0.0479, -1.7299, 7.2684, 1.6239, -0.0122, -0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.21, "left_z": 0.2, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "White bowl is held by its rim and lifted clear. Carrying it right so its center lines up over the blue bowl."})
tool
executing move_to over 11 steps (1.1s)
step 194
assistant
agent noteHeld white bowl is roughly over the blue bowl, maybe a touch left. Nudging right and lowering it into the blue bowl.
move_to
left_y-0.2250left_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7845, 1.4784, 1.0706, -0.347, -0.6163, -0.5121, 0.041, -0.02, 0.8436, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962] state[eef_state]: left_x=0.3581 left_y=-0.2081 left_z=0.1862 left_yaw=-0.0274 left_pitch=-0.023 left_roll=0.01 left_gripper=0.041 right_x=0.29 right_y=0.0006 right_z=0.1536 right_yaw=-0.0036 right_pitch=-0.1022 right_roll=0.0037 right_gripper=0.9962 state[joint_eff]: [-0.3077, -6.7077, 9.6752, 1.5507, -0.4274, -0.0122, 1.0085, -0.1846, -1.7709, 7.0085, 1.6484, -0.0513, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.225, "left_z": 0.11}, "note": "Held white bowl is roughly over the blue bowl, maybe a touch left. Nudging right and lowering it into the blue bowl."})
tool
executing move_to over 5 steps (0.5s)
step 199
assistant
agent noteWhite bowl is lowered onto the blue bowl (blue rim visible around it in the top view). Releasing.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8188, 1.6222, 0.9031, -0.1429, -0.6289, -0.5331, 0.0417, -0.02, 0.8436, 0.5945, -0.4225, -0.0162, -0.0299, 0.9962] state[eef_state]: left_x=0.3491 left_y=-0.2159 left_z=0.0979 left_yaw=-0.037 left_pitch=-0.0931 left_roll=0.0742 left_gripper=0.0417 right_x=0.29 right_y=0.0006 right_z=0.1536 right_yaw=-0.0033 right_pitch=-0.1022 right_roll=0.004 right_gripper=0.9962 state[joint_eff]: [-0.5675, -7.8701, 6.7624, 1.6044, -0.4029, -0.0122, 0.525, -0.1573, -1.4017, 7.0085, 1.6142, -0.0513, -0.0513, -0.0122] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "White bowl is lowered onto the blue bowl (blue rim visible around it in the top view). Releasing."})
tool
executing move_to over 10 steps (1.0s)
step 209
assistant
agent noteWhite bowl now sits in the blue bowl. Parking the left arm at home and bringing the right arm over the pink bowl's right-side wall.
move_to
left_z0.2000left_x0.2900left_y0.0000right_x0.3400right_y0.0800right_z0.1000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8211, 1.6302, 0.8932, -0.0624, -0.6296, -0.5503, 0.9952, -0.02, 0.8436, 0.5945, -0.4225, -0.0162, -0.0299, 0.9962] state[eef_state]: left_x=0.3553 left_y=-0.2238 left_z=0.1028 left_yaw=-0.0326 left_pitch=-0.048 left_roll=0.0165 left_gripper=0.9952 right_x=0.29 right_y=0.0006 right_z=0.1536 right_yaw=-0.0033 right_pitch=-0.1022 right_roll=0.004 right_gripper=0.9962 state[joint_eff]: [-0.335, -7.8701, 6.5846, 1.5946, -0.4225, 0.0317, -0.1099, -0.1846, -1.5111, 6.9675, 1.6484, -0.0513, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2, "left_x": 0.29, "left_y": 0.0, "right_x": 0.34, "right_y": 0.08, "right_z": 0.1, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "White bowl now sits in the blue bowl. Parking the left arm at home and bringing the right arm over the pink bowl's right-side wall."})
tool
executing move_to over 20 steps (2.0s)
step 229
assistant
agent notePink bowl is left of the jaws with its right wall just right of the jaw column and a bit ahead. Shifting slightly right/forward and descending to straddle that wall.
move_to
right_x0.3550right_y0.0700right_z0.0000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0399, 0.8318, 0.6868, -0.503, -0.0696, -0.0658, 0.9958, 0.3717, 1.2186, 0.4614, 0.1005, 0.2852, 0.1661, 0.9962] state[eef_state]: left_x=0.2902 left_y=0.0043 left_z=0.1826 left_yaw=0.0325 left_pitch=-0.0759 left_roll=0.01 left_gripper=0.9958 right_x=0.3317 right_y=0.0799 right_z=0.089 right_yaw=0.0297 right_pitch=-0.0568 right_roll=-0.0205 right_gripper=0.9962 state[joint_eff]: [0.253, -2.0991, 10.5368, 1.7509, 0.0904, 0.1929, 0.0464, 0.1709, -3.8222, 6.5436, 1.9219, 0.2906, 0.1978, -0.0122] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.355, "right_y": 0.07, "right_z": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Pink bowl is left of the jaws with its right wall just right of the jaw column and a bit ahead. Shifting slightly right/forward and descending to straddle that wall."})
tool
executing move_to over 6 steps (0.6s)
step 235
assistant
agent notePink bowl's right wall fills the view between the jaws, with the right jaw outside it. Closing to pinch the wall.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0395, 0.8371, 0.6914, -0.5274, -0.0608, -0.0647, 0.9958, 0.3164, 1.7187, 0.3202, 0.7456, 0.2562, 0.1616, 0.9961] state[eef_state]: left_x=0.2875 left_y=0.003 left_z=0.1784 left_yaw=0.025 left_pitch=-0.1014 left_roll=0.0073 left_gripper=0.9958 right_x=0.3469 right_y=0.0703 right_z=-0.0042 right_yaw=0.0009 right_pitch=-0.0589 right_roll=-0.0062 right_gripper=0.9961 state[joint_eff]: [-0.0615, -1.8256, 6.5573, 1.873, -0.1245, 0.0122, -0.0073, -0.7043, -5.1214, 3.4256, 0.7057, 0.0952, -0.2711, -0.0171] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pink bowl's right wall fills the view between the jaws, with the right jaw outside it. Closing to pinch the wall."})
tool
executing move_to over 10 steps (1.0s)
step 245
assistant
agent noteJaws closed at 0.034 right on the pink bowl's rim, same as the white bowl's successful pinch. Lifting high to carry it.
move_to
right_z0.2000right_x0.3500right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0395, 0.8379, 0.6914, -0.5385, -0.0605, -0.0685, 0.9959, 0.3225, 1.6901, 0.3386, 0.868, 0.223, 0.1871, 0.0341] state[eef_state]: left_x=0.2858 left_y=0.003 left_z=0.1761 left_yaw=0.0268 left_pitch=-0.1132 left_roll=0.0048 left_gripper=0.9959 right_x=0.3698 right_y=0.0862 right_z=0.0355 right_yaw=0.02 right_pitch=0.0965 right_roll=0.084 right_gripper=0.0341 state[joint_eff]: [-0.1846, -0.9915, 7.0359, 1.7509, -0.0464, -0.0122, -0.0122, -0.3487, -3.1932, 2.6325, 0.7057, 0.3785, -0.2076, 0.6569] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.35, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Jaws closed at 0.034 right on the pink bowl's rim, same as the white bowl's successful pinch. Lifting high to carry it."})
tool
executing move_to over 11 steps (1.1s)
step 256
assistant
agent notePink bowl is lifted by its rim. Carrying it left to hang over the white-in-blue stack.
move_to
right_x0.3700right_y0.2100right_z0.2000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0395, 0.8433, 0.6914, -0.5434, -0.0605, -0.0711, 0.9958, 0.3847, 1.1618, 0.7761, -0.2272, 0.2955, 0.1829, 0.0342] state[eef_state]: left_x=0.2853 left_y=0.003 left_z=0.1737 left_yaw=0.0283 left_pitch=-0.1234 left_roll=0.0034 left_gripper=0.9958 right_x=0.3519 right_y=0.0909 right_z=0.1803 right_yaw=0.0257 right_pitch=-0.0134 right_roll=0.0027 right_gripper=0.0342 state[joint_eff]: [-0.0889, -1.6889, 6.9675, 1.6435, -0.0317, -0.0122, -0.0171, 0.3761, -5.5863, 9.5521, 1.9219, 0.232, 0.0659, 0.7888] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.21, "right_z": 0.2, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Pink bowl is lifted by its rim. Carrying it left to hang over the white-in-blue stack."})
tool
executing move_to over 10 steps (1.0s)
step 266
assistant
agent notePink bowl is hanging over the white/blue stack in the top view. Lowering it into the stack.
move_to
right_y0.2200right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0395, 0.8444, 0.6914, -0.5465, -0.0605, -0.0715, 0.9958, 0.738, 1.4948, 1.0725, -0.3565, 0.5564, 0.3939, 0.0344] state[eef_state]: left_x=0.2849 left_y=0.003 left_z=0.1728 left_yaw=0.0286 left_pitch=-0.1276 left_roll=0.0034 left_gripper=0.9958 right_x=0.3598 right_y=0.2059 right_z=0.1751 right_yaw=0.0534 right_pitch=-0.0707 right_roll=-0.0518 right_gripper=0.0344 state[joint_eff]: [-0.1846, -1.5248, 6.9128, 1.6337, -0.0952, -0.0415, -0.0073, 0.1573, -7.1453, 9.8667, 1.6142, 0.442, 0.2125, 0.4713] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.22, "right_z": 0.12}, "note": "Pink bowl is hanging over the white/blue stack in the top view. Lowering it into the stack."})
tool
executing move_to over 4 steps (0.4s)
step 270
assistant
Pink bowl looks seated in the stack. Releasing.
agent notePink bowl is lowered into the white/blue stack in the top view. Opening to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0395, 0.8444, 0.6914, -0.5465, -0.0605, -0.0715, 0.9958, 0.7647, 1.5959, 0.9531, -0.2272, 0.5674, 0.4129, 0.0368] state[eef_state]: left_x=0.2849 left_y=0.003 left_z=0.1728 left_yaw=0.0286 left_pitch=-0.1276 left_roll=0.0034 left_gripper=0.9958 right_x=0.3519 right_y=0.211 right_z=0.1098 right_yaw=0.0556 right_pitch=-0.1346 right_roll=-0.1019 right_gripper=0.0368 state[joint_eff]: [-0.1709, -1.4701, 7.0496, 1.5897, -0.1001, -0.0562, -0.0073, 0.4991, -8.2803, 7.0769, 1.707, 0.3101, 0.0855, 0.5006] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
Pink bowl looks seated in the stack. Releasing.
move_to({"targets": {"right_gripper": 1.0}, "note": "Pink bowl is lowered into the white/blue stack in the top view. Opening to release it."})
tool
executing move_to over 10 steps (1.0s)
step 280
assistant
agent noteRight wrist view shows the pink bowl nested on top of the white/blue stack. Retracting the right arm to home to clear the stack.
move_to
right_x0.2900right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0395, 0.8444, 0.6914, -0.5465, -0.0605, -0.0715, 0.9958, 0.767, 1.6104, 0.9379, -0.1741, 0.5652, 0.4114, 0.9953] state[eef_state]: left_x=0.2849 left_y=0.003 left_z=0.1728 left_yaw=0.0286 left_pitch=-0.1276 left_roll=0.0034 left_gripper=0.9958 right_x=0.3546 right_y=0.2154 right_z=0.106 right_yaw=0.0623 right_pitch=-0.1181 right_roll=-0.0865 right_gripper=0.9953 state[joint_eff]: [-0.1573, -1.4017, 6.9538, 1.5897, -0.0806, -0.0171, -0.0122, 0.1299, -8.1436, 7.241, 1.7265, 0.3492, 0.0464, -0.2418] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.0, "right_z": 0.18}, "note": "Right wrist view shows the pink bowl nested on top of the white/blue stack. Retracting the right arm to home to clear the stack."})
tool
executing move_to over 18 steps (1.8s)
step 298
assistant
agent noteAll three bowls are now in one stack near the middle of the table. The pink bowl is on top of the white bowl, which is inside the blue bowl. In the last overhead view there's one pink-topped bowl and no other bowls on the table. Both arms are parked back at home.
done
hindsight- **These bowls are too wide (~11 cm) to grasp across.** Pinch the rim wall instead: straddle the wall at the bowl's side extreme (the point level with the bowl centre in x), not the near rim. The jaws close along y, so they need to cross the wall at right angles. Pinching the near rim, where the curved wall runs along y, slipped off. - **What a good pinch looks like:** descend to z≈0 with one jaw inside the bowl and one outside, then close. The arm rides up to z≈0.035 while closing, and the gripper settles around 0.034–0.04 on the thin rim. That looks like an empty close, but it held the bowl. Confirm with a lift: in the top view the bowl tips up on one side. - **Orientation drift:** at x≈0.40 or so, commanding only xyz let pitch and roll drift (0.2–0.35 rad), and the arm stalled at z≈0.076. Always send pitch=0, roll=0, yaw=0 along with position targets. - **Top camera:** the arms at home (x=0.29, y=0) show up at the left and right image edges, around x≈20 and x≈210, row ~100–130. The bowls sat between them at about 3 px/cm. - **Positions that worked:** white bowl's left wall at left arm (0.39, -0.08). Place over the blue bowl at left (0.35, -0.22), z≈0.10. Pink bowl's right wall at right arm (0.35, 0.07). Place over the stack at right (0.35, 0.21), z≈0.11. - **Frame offset doesn't match the rig notes:** the same point came out at right_y ≈ left_y + ~0.43, not +0.65. Trust image offsets relative to the current gripper over the stated base spacing.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0395, 0.8455, 0.6914, -0.5465, -0.0605, -0.0715, 0.9958, -0.0002, 0.873, 0.6861, -0.5167, 0.0433, -0.1024, 0.9956] state[eef_state]: left_x=0.285 left_y=0.003 left_z=0.1725 left_yaw=0.0286 left_pitch=-0.1287 left_roll=0.0035 left_gripper=0.9958 right_x=0.2904 right_y=-0.0041 right_z=0.1683 right_yaw=0.0054 right_pitch=-0.1363 right_roll=-0.0901 right_gripper=0.9956 state[joint_eff]: [-0.0342, -1.5248, 6.9812, 1.6337, -0.0757, -0.0562, -0.0073, -0.1299, -2.1402, 9.2376, 1.6972, -0.0611, 0.0366, 0.0073] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
done({"summary": "All three bowls are now in one stack near the middle of the table. The pink bowl is on top of the white bowl, which is inside the blue bowl. In the last overhead view there's one pink-topped bowl and no other bowls on the table. Both arms are parked back at home.", "hindsight": "- **These bowls are too wide (~11 cm) to grasp across.** Pinch the rim wall instead: straddle the wall at the bowl's side extreme (the point level with the bowl centre in x), not the near rim. The jaws close along y, so they need to cross the wall at right angles. Pinching the near rim, where the curved wall runs along y, slipped off.\n- **What a good pinch looks like:** descend to z\u22480 with one jaw inside the bowl and one outside, then close. The arm rides up to z\u22480.035 while closing, and the gripper settles around 0.034\u20130.04 on the thin rim. That looks like an empty close, but it held the bowl. Confirm with a lift: in the top view the bowl tips up on one side.\n- **Orientation drift:** at x\u22480.40 or so, commanding only xyz let pitch and roll drift (0.2\u20130.35 rad), and the arm stalled at z\u22480.076. Always send pitch=0, roll=0, yaw=0 along with position targets.\n- **Top camera:** the arms at home (x=0.29, y=0) show up at the left and right image edges, around x\u224820 and x\u2248210, row ~100\u2013130. The bowls sat between them at about 3 px/cm.\n- **Positions that worked:** white bowl's left wall at left arm (0.39, -0.08). Place over the blue bowl at left (0.35, -0.22), z\u22480.10. Pink bowl's right wall at right arm (0.35, 0.07). Place over the stack at right (0.35, 0.21), z\u22480.11.\n- **Frame offset doesn't match the rig notes:** the same point came out at right_y \u2248 left_y + ~0.43, not +0.65. Trust image offsets relative to the current gripper over the stated base spacing."})
tool
done: All three bowls are now in one stack near the middle of the table. The pink bowl is on top of the white bowl, which is inside the blue bowl. In the last overhead view there's one pink-topped bowl and no other bowls on the table. Both arms are parked back 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 · 14.79 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]: [-0.0193, 0.7956, 0.6048, -0.3801, -0.0223, -0.041, 0.9996, -0.0181, 0.7933, 0.6025, -0.3782, -0.0166, -0.0326, 0.9965]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1799 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2948 right_y=0.0012 right_z=0.1799 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -1.5932, 10.0855, 1.8144, -0.0464, 0.2271, -0.0562, -0.7179, -1.4564, 10.2222, 1.9072, -0.1099, 0.1929, -0.3785]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04608dae88d653b14272340b373ad6abdc2b4a027aefd7b77124818ad1dbab60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cadd73134e52c0f036a5a21d9370e86c20528571ef605fd2157ab99a4bd247a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:674da77d29f4199857efd037137dd6fab99ee91816351dd20720d0072e7afa8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 8.358 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]: [-0.0193, 0.7956, 0.6048, -0.3801, -0.0223, -0.041, 0.9996, -0.0181, 0.7933, 0.6025, -0.3782, -0.0166, -0.0326, 0.9965]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1799 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2948 right_y=0.0012 right_z=0.1799 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -1.5932, 10.0855, 1.8144, -0.0464, 0.2271, -0.0562, -0.7179, -1.4564, 10.2222, 1.9072, -0.1099, 0.1929, -0.3785]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04608dae88d653b14272340b373ad6abdc2b4a027aefd7b77124818ad1dbab60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cadd73134e52c0f036a5a21d9370e86c20528571ef605fd2157ab99a4bd247a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:674da77d29f4199857efd037137dd6fab99ee91816351dd20720d0072e7afa8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019PCv2wo5sZA9igqUk2RYvQ",
      "input": {
        "note": "Three bowls in a row (white-left, blue-middle, pink-right). Moving left arm over the left edge of the white bowl to grasp its rim.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.15,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_019PCv2wo5sZA9igqUk2RYvQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7872, 1.1629, 0.6449, -0.2821, -0.6075, -0.5076, 0.9996, -0.0196, 0.8001, 0.601, -0.3889, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.2912 left_y=-0.1443 left_z=0.131 left_yaw=-0.0377 left_pitch=-0.0605 left_roll=0.0403 left_gripper=0.9996 right_x=0.2936 right_y=0.0007 right_z=0.1751 right_yaw=-0.003 right_pitch=-0.0187 right_roll=0.0026 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -4.0547, 9.5111, 1.5311, -0.4957, -0.0464, -0.0122, 0.0205, -1.812, 7.1726, 1.8388, -0.0464, -0.0708, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c6a4b239078105c4f7832e9af5b1fbec89d8edc2a3d330977d69c385759f33b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:820237b3b09bfabe3663e848ed34722c2061b9b490333daf0f73eaf3454bb55e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2a34c144e5acb54c53abc4faac483f65083121c9ba33fc48a208f50830701ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 6.396 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]: [-0.0193, 0.7956, 0.6048, -0.3801, -0.0223, -0.041, 0.9996, -0.0181, 0.7933, 0.6025, -0.3782, -0.0166, -0.0326, 0.9965]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1799 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2948 right_y=0.0012 right_z=0.1799 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -1.5932, 10.0855, 1.8144, -0.0464, 0.2271, -0.0562, -0.7179, -1.4564, 10.2222, 1.9072, -0.1099, 0.1929, -0.3785]",
      "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]: [-0.7872, 1.1629, 0.6449, -0.2821, -0.6075, -0.5076, 0.9996, -0.0196, 0.8001, 0.601, -0.3889, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.2912 left_y=-0.1443 left_z=0.131 left_yaw=-0.0377 left_pitch=-0.0605 left_roll=0.0403 left_gripper=0.9996 right_x=0.2936 right_y=0.0007 right_z=0.1751 right_yaw=-0.003 right_pitch=-0.0187 right_roll=0.0026 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -4.0547, 9.5111, 1.5311, -0.4957, -0.0464, -0.0122, 0.0205, -1.812, 7.1726, 1.8388, -0.0464, -0.0708, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c6a4b239078105c4f7832e9af5b1fbec89d8edc2a3d330977d69c385759f33b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:820237b3b09bfabe3663e848ed34722c2061b9b490333daf0f73eaf3454bb55e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2a34c144e5acb54c53abc4faac483f65083121c9ba33fc48a208f50830701ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XAwHzXqiAJnhhfoPRd1Bjk",
      "input": {
        "note": "White bowl appears ahead of the fingertips in the wrist view. Moving to hover over its left-side rim so the jaws can straddle the rim wall.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.088,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01XAwHzXqiAJnhhfoPRd1Bjk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4023, 1.3182, 0.6437, -0.0723, -0.3569, -0.2661, 0.9996, -0.0196, 0.8032, 0.5999, -0.3931, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.353 left_y=-0.0792 left_z=0.1016 left_yaw=0.0203 left_pitch=-0.1211 left_roll=0.0558 left_gripper=0.9996 right_x=0.2931 right_y=0.0006 right_z=0.1728 right_yaw=-0.0033 right_pitch=-0.0271 right_roll=0.0025 right_gripper=0.9962\nstate[joint_eff]: [0.2393, -4.7248, 9.7162, 1.6972, -0.0171, 0.1832, -0.0122, -0.1162, -1.5385, 7.159, 1.7802, -0.0611, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4231abbd1950c48dc91e2d564c05d46e1a997e271e9a3073411bdef8bc57ec0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34e3df7b7d8c2837be0cbb2027c02db1ef341583f84330a7c66e3b334281becc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:44a143b3ce61e3ca1651d2cdcd187d572c8a866cb3cfcfb7a72d413923196c62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 3.335 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]: [-0.0193, 0.7956, 0.6048, -0.3801, -0.0223, -0.041, 0.9996, -0.0181, 0.7933, 0.6025, -0.3782, -0.0166, -0.0326, 0.9965]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1799 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2948 right_y=0.0012 right_z=0.1799 right_yaw=0.0003 right_pitch=0.0004 right_roll=0.0002 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -1.5932, 10.0855, 1.8144, -0.0464, 0.2271, -0.0562, -0.7179, -1.4564, 10.2222, 1.9072, -0.1099, 0.1929, -0.3785]",
      "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]: [-0.7872, 1.1629, 0.6449, -0.2821, -0.6075, -0.5076, 0.9996, -0.0196, 0.8001, 0.601, -0.3889, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.2912 left_y=-0.1443 left_z=0.131 left_yaw=-0.0377 left_pitch=-0.0605 left_roll=0.0403 left_gripper=0.9996 right_x=0.2936 right_y=0.0007 right_z=0.1751 right_yaw=-0.003 right_pitch=-0.0187 right_roll=0.0026 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -4.0547, 9.5111, 1.5311, -0.4957, -0.0464, -0.0122, 0.0205, -1.812, 7.1726, 1.8388, -0.0464, -0.0708, -0.0415]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4023, 1.3182, 0.6437, -0.0723, -0.3569, -0.2661, 0.9996, -0.0196, 0.8032, 0.5999, -0.3931, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.353 left_y=-0.0792 left_z=0.1016 left_yaw=0.0203 left_pitch=-0.1211 left_roll=0.0558 left_gripper=0.9996 right_x=0.2931 right_y=0.0006 right_z=0.1728 right_yaw=-0.0033 right_pitch=-0.0271 right_roll=0.0025 right_gripper=0.9962\nstate[joint_eff]: [0.2393, -4.7248, 9.7162, 1.6972, -0.0171, 0.1832, -0.0122, -0.1162, -1.5385, 7.159, 1.7802, -0.0611, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4231abbd1950c48dc91e2d564c05d46e1a997e271e9a3073411bdef8bc57ec0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34e3df7b7d8c2837be0cbb2027c02db1ef341583f84330a7c66e3b334281becc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44a143b3ce61e3ca1651d2cdcd187d572c8a866cb3cfcfb7a72d413923196c62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5wkKEAgSGAI4AUIIdGhpbmtpbmcSDCagWwqXBNsNe8GOBBoM++3VsaS2V3MB169qIjCzScZFqC1mu7wDVl5sAVw2/7Leg3kqd5BATysxGs+Vkbd08ajSp0Zl1cEZXI5VX70qhAlHdALDzk59kOooh6BS25tl7SpW02bVheeETbnCAIOElYSEmTk0MORbeqlAc+Uu9BL/35HIpqPQGwijbEHkoKych7iKIeoD6zKMcAISRT82+WQkz06yxjvojhdGgap7Qc+xyiO3dbVvjFYRb29MC4/pnCaYNOKzxZRhFwzau3oe1e6tECHUmjeF2aEmhdw8PDz2F3CmtckzvE16EbTmSFlLfxWPXE0kf14OLKIwFMDzyijeBqTheC5Xdnxso0ldgEZ6/wOn+ZFhquEvosCtKE6OD4qTSAJgzdsQTEjpWAnJXg6hIA1Wj/W3t+hxt5hkM3Go6wObnbtQDyL9CSdr2akWaGadxwHvjY1OSzHUEKEr5E10v6fOpY0hgYwjO+/8WqUYSuDLrVj1eMsbi4VQbGL2VWowXoPAE0sOib8uQ5JZICfvzZVZXi7zrexl1BRtbIM5AM2cZV+Klm4fjwwkzrXnhLlEsRi4WJ2vlQKlQ9iQNbimVh2s0SJi5IjEpcvgwYNrDJlxJw0/xUNYajA7iMojfCut7uoR5yCYTP6FuOIE1SglP1K8JRbmKQRpR4KTU3eeqoZwG/QEYxXr+EnG9N5Cui0SOJBR64pG04vko0Y0xHdwWy/m9WPfPbXnB+ChmPMAGQ4DzDA2A0N7U8ejKUGcrMfu86nivbMoBsZ1AHNYWT05hXzhSO1NclEkRARxBgsmgyENqJaWO8on17//pldopw7Nr+0gOUMbUds4B/46BsFQQ3nY0ydG5n7xFEtskojYU/jQTb3T5sRV3vlq3xumwxiW8nf2Im9UBgj9bKD4OIuljTFW7PZx9nAAUxrM4/eSf1wgwBtERlWxpsRJWZ7CT/RU/Frpg+Q6Zv7p4Ek8aZQrtD0yxo2iMNEoBPzgtxzR9x5yKVtiARLdEQ8mHUaEVrSsy4alaooThCUtg6/GocIwhB6/n1kj8gMoe+hI3+IXP7kDvCD9tKakYuVjOKvyUjcEy0RS6RS4i3cKMm+cNKhDuRLv+NpFBoJQYf6vZZzETOOHdKLcd7BHsm3atuU2I4a0aHSaelwg/UsAd+Bnt0cXvpFuOQTgjNvrg+vm5LUQdov2YDjfmV5K/boy2M5m0KfrJhEJ2prGzyPdMW9Im+JpkTASiReh2fQm4oBVBdbM4sjurR3CVQpbSEBDBTP8T7GoZMc2fsLUQgRh3i66hcFbmCeVn1fm2TuChgI3YsaZZtotyi9xMU7gvMrRWFXC/OxIAQyEwlGwOKxQdDcWBj9agvusSIpSACccvDji0xq2cYkAAniN5HXUPKRd1uX6yHAzPbu1XT1cZPfA8XmqwmoVhL0JsBG6w2CtaOPtrRa6Dp2/VO/I6JWEvpgb1bvQX/NVLiPY8UEcgv6AQ5+dbBR0IDvkfWRwCP9K8HDhh7D+YuesMAGWaK5Xw3eIVseDvGiVNqqhuyQwuosYStr2/WIXzL0OzRDmQ4yAS72jh+eBLEzaHgCPIDtxcRgKRBP67ySucB92fmTlgD5Fxeex+qgoe4BcDuq0/LKPpRoGolQ/wEDCGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019EMSQ9NZ3JVDQWRw76zxVM",
      "input": {
        "note": "Left rim of the white bowl sits between the open jaws in the wrist view. Descending so the jaws straddle the rim wall.",
        "targets": {
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_019EMSQ9NZ3JVDQWRw76zxVM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4042, 1.5215, 0.4854, 0.21, -0.3489, -0.2584, 0.9996, -0.02, 0.8047, 0.5999, -0.3931, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.341 left_y=-0.0763 left_z=0.022 left_yaw=0.0129 left_pitch=-0.1962 left_roll=0.0891 left_gripper=0.9996 right_x=0.2932 right_y=0.0005 right_z=0.1724 right_yaw=-0.0037 right_pitch=-0.0286 right_roll=0.0025 right_gripper=0.9962\nstate[joint_eff]: [0.0342, -5.4769, 4.9709, 1.7753, -0.2369, -0.0952, -0.0171, -0.1709, -1.4017, 7.0085, 1.7118, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de671ce082d2acce464e12f08f8d969dfbfe43f47981b4481491314d9b922323",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c39ac1568d0af33da0be75e1ac4b61ef3f8d06adb73a0344f80853f2dba4a5d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d5382dcbb85f366fe9a6bd9204b47930239f5cd0307aa8abb2857e79c341e72",
        "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 · 4.18 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]: [-0.7872, 1.1629, 0.6449, -0.2821, -0.6075, -0.5076, 0.9996, -0.0196, 0.8001, 0.601, -0.3889, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.2912 left_y=-0.1443 left_z=0.131 left_yaw=-0.0377 left_pitch=-0.0605 left_roll=0.0403 left_gripper=0.9996 right_x=0.2936 right_y=0.0007 right_z=0.1751 right_yaw=-0.003 right_pitch=-0.0187 right_roll=0.0026 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -4.0547, 9.5111, 1.5311, -0.4957, -0.0464, -0.0122, 0.0205, -1.812, 7.1726, 1.8388, -0.0464, -0.0708, -0.0415]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4023, 1.3182, 0.6437, -0.0723, -0.3569, -0.2661, 0.9996, -0.0196, 0.8032, 0.5999, -0.3931, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.353 left_y=-0.0792 left_z=0.1016 left_yaw=0.0203 left_pitch=-0.1211 left_roll=0.0558 left_gripper=0.9996 right_x=0.2931 right_y=0.0006 right_z=0.1728 right_yaw=-0.0033 right_pitch=-0.0271 right_roll=0.0025 right_gripper=0.9962\nstate[joint_eff]: [0.2393, -4.7248, 9.7162, 1.6972, -0.0171, 0.1832, -0.0122, -0.1162, -1.5385, 7.159, 1.7802, -0.0611, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4042, 1.5215, 0.4854, 0.21, -0.3489, -0.2584, 0.9996, -0.02, 0.8047, 0.5999, -0.3931, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.341 left_y=-0.0763 left_z=0.022 left_yaw=0.0129 left_pitch=-0.1962 left_roll=0.0891 left_gripper=0.9996 right_x=0.2932 right_y=0.0005 right_z=0.1724 right_yaw=-0.0037 right_pitch=-0.0286 right_roll=0.0025 right_gripper=0.9962\nstate[joint_eff]: [0.0342, -5.4769, 4.9709, 1.7753, -0.2369, -0.0952, -0.0171, -0.1709, -1.4017, 7.0085, 1.7118, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de671ce082d2acce464e12f08f8d969dfbfe43f47981b4481491314d9b922323",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c39ac1568d0af33da0be75e1ac4b61ef3f8d06adb73a0344f80853f2dba4a5d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d5382dcbb85f366fe9a6bd9204b47930239f5cd0307aa8abb2857e79c341e72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Rim is between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015nwBnYYNdCnAfcY3EyKKqy",
      "input": {
        "note": "Jaws straddle the white bowl's left rim wall at low height. Closing to pinch the rim.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015nwBnYYNdCnAfcY3EyKKqy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4065, 1.5101, 0.4881, 0.2634, -0.3347, -0.2844, 0.031, -0.02, 0.8047, 0.5999, -0.3931, -0.0162, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.3505 left_y=-0.0838 left_z=0.035 left_yaw=0.0087 left_pitch=-0.1375 left_roll=0.0326 left_gripper=0.031 right_x=0.2932 right_y=0.0006 right_z=0.1724 right_yaw=-0.0035 right_pitch=-0.0286 right_roll=0.003 right_gripper=0.9962\nstate[joint_eff]: [0.4308, -4.2325, 5.3402, 0.6764, -0.315, 0.232, 0.3053, -0.0342, -1.2923, 7.0359, 1.7216, -0.0464, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d62be7f437d4062290bbd952405a264c591c99656e203d31ab412a2bf6d7a0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aeaa4d7dcc4d9cd4baeace8c8406f00ed98a6b27dc0e21a8734d7ed271e97330",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:631998f8f92bde6a781cdb52bef328ced69d798dbefb830b7cf62ca76d742561",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 6.144 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]: [-0.4023, 1.3182, 0.6437, -0.0723, -0.3569, -0.2661, 0.9996, -0.0196, 0.8032, 0.5999, -0.3931, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.353 left_y=-0.0792 left_z=0.1016 left_yaw=0.0203 left_pitch=-0.1211 left_roll=0.0558 left_gripper=0.9996 right_x=0.2931 right_y=0.0006 right_z=0.1728 right_yaw=-0.0033 right_pitch=-0.0271 right_roll=0.0025 right_gripper=0.9962\nstate[joint_eff]: [0.2393, -4.7248, 9.7162, 1.6972, -0.0171, 0.1832, -0.0122, -0.1162, -1.5385, 7.159, 1.7802, -0.0611, -0.0464, -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]: [-0.4042, 1.5215, 0.4854, 0.21, -0.3489, -0.2584, 0.9996, -0.02, 0.8047, 0.5999, -0.3931, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.341 left_y=-0.0763 left_z=0.022 left_yaw=0.0129 left_pitch=-0.1962 left_roll=0.0891 left_gripper=0.9996 right_x=0.2932 right_y=0.0005 right_z=0.1724 right_yaw=-0.0037 right_pitch=-0.0286 right_roll=0.0025 right_gripper=0.9962\nstate[joint_eff]: [0.0342, -5.4769, 4.9709, 1.7753, -0.2369, -0.0952, -0.0171, -0.1709, -1.4017, 7.0085, 1.7118, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4065, 1.5101, 0.4881, 0.2634, -0.3347, -0.2844, 0.031, -0.02, 0.8047, 0.5999, -0.3931, -0.0162, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.3505 left_y=-0.0838 left_z=0.035 left_yaw=0.0087 left_pitch=-0.1375 left_roll=0.0326 left_gripper=0.031 right_x=0.2932 right_y=0.0006 right_z=0.1724 right_yaw=-0.0035 right_pitch=-0.0286 right_roll=0.003 right_gripper=0.9962\nstate[joint_eff]: [0.4308, -4.2325, 5.3402, 0.6764, -0.315, 0.232, 0.3053, -0.0342, -1.2923, 7.0359, 1.7216, -0.0464, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d62be7f437d4062290bbd952405a264c591c99656e203d31ab412a2bf6d7a0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aeaa4d7dcc4d9cd4baeace8c8406f00ed98a6b27dc0e21a8734d7ed271e97330",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:631998f8f92bde6a781cdb52bef328ced69d798dbefb830b7cf62ca76d742561",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7gcKEAgSGAI4AUIIdGhpbmtpbmcSDAJuARPLmA/PtwP7+hoMta7aGw8jR/+LyCGTIjCZVnLugZCsAOLOKRFRceDhwAwRXRxk/dt1rHNSdXHcRJdzxpAtQ+xirJDXO9zZaSkqiwcFEPUETDRyz3ZBcTPktzO2U1WZA6pIL5hsmV89NVZ8M/HHTPVvEPw9b2nTc2yDupX+YF5NJ3JPKutssU2iRX+W2UcoWb/RlGm3E0DwLq4u6fjna43yzdYwtQ4Ywu62MWp4oBRyVy5sbPFq0mz7n3b66XeGVBvjZ983XFMubzq0OxXy0RbTEZ3TCd9SzhwOKAUzWP72cGcIZB5tgfJV/zK4MPphD/ReL4CEClWf0IlD3rnVt+C1QWuO57rJf74oy20gHMslbHR9hHTq4RXw0/lvrOVSRLmHWcl5YT1KqyCk6Ic0dh0EK+CNsfmdQnT5sZnNv+gXDix2tfyknW/WbDPdWwCR0x6iUFmE4DF7q0k0JiYV8N2g+rzFog/16vXGaawZzJWY2YMHWGZxdhTYLl5g2trz9lsMQGbUKbK+WE95IuSeCUhjhkJjHUOAAT7qx6CMRogiSgg+7sT1Op7W6/v2CqaBexY8/Dd9VYa+PDAiUyT7XDy4e3J8p6q5CEpKfZ+a6m2gdhwhqr4d9F1SY9Q6RI4BqAafNWXM8FwE/hssZeSI9npF+vIwx8yQG6o57Sfi+mwH9IGFxAfvGWiY9LmkU+kXxh9JZxGzaTiPLys3vbnpYrC4EqKJ0beBp3YisqIEBTt60RsDumOhp7BNlLlD3o6h93DUKFz994QtgOQMWAjLcnol4pfLpe8y5f5S2YAqCDNr4x53soCI0eKUmshO80Yr+Gk+Pwd9hQX/jDnRab0efsNpofWnPMACxfloG+YcPhp8eECxeCt/mDdq9uVoOp380ZJ68RY5j2ge+ZzkY7eCmH4CdFHiP6sEx1lvtjA65qrS20EZ5kO5TTmsR8UbWk9nmy8vjfLEYZAnYFzNgRsMab0kxU/Lxjq0SxoKg+kh70v0/7uA5xKmAn1ITHEnOujId3G42XXIFO+NtyQv2WBtWCeopEhY71FIRqwZ5URrOrYRFtoanNknEEtv9XssSpZkb+bXSYuz9dcQwJi2wdYG7pSswIBMIZc7oDBdOBN6vROI7yugUfopl6pzYa7CEaKnhGqLTyDlmt6W5IBejsKDKGMGIDwYxCuUL86m3WenOFdjJj059f1dkMljGbUGcJspS6qCsuNoxYgSFTQsV/VscXAHVDD5b2VZFG/DTgBhSpq/rFF21Nf9t6tWpqe3S5mj62neaPSqbfNTyczhoO4q9kBmrVrX4B4WGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DYeLDKcKGTGARBf87irjvs",
      "input": {
        "note": "Gripper closed at 0.031, which could be a thin rim or empty. Lifting to check whether the white bowl comes up.",
        "targets": {
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DYeLDKcKGTGARBf87irjvs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4057, 1.3647, 0.5762, 0.033, -0.3344, -0.2882, 0.0411, -0.0196, 0.8051, 0.5999, -0.3927, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3494 left_y=-0.0831 left_z=0.0766 left_yaw=0.0111 left_pitch=-0.1347 left_roll=0.0282 left_gripper=0.0411 right_x=0.2932 right_y=0.0006 right_z=0.1724 right_yaw=-0.0033 right_pitch=-0.0286 right_roll=0.0025 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -5.641, 8.7316, 1.58, -0.1783, -0.0073, 1.0281, -0.1026, -1.3333, 7.0359, 1.7314, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3b4c213ac471439c382a65d583f65ed55c178df65764b777d2c465e370f1dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:868a5804344929048ba1e8d9054705ab2555e5226fc047d2b5fd15bec41c610a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d36157492e81a374fe372e7ab0e7fe1ed895abf52164cc326e45068057c1b2ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 4.843 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]: [-0.4042, 1.5215, 0.4854, 0.21, -0.3489, -0.2584, 0.9996, -0.02, 0.8047, 0.5999, -0.3931, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.341 left_y=-0.0763 left_z=0.022 left_yaw=0.0129 left_pitch=-0.1962 left_roll=0.0891 left_gripper=0.9996 right_x=0.2932 right_y=0.0005 right_z=0.1724 right_yaw=-0.0037 right_pitch=-0.0286 right_roll=0.0025 right_gripper=0.9962\nstate[joint_eff]: [0.0342, -5.4769, 4.9709, 1.7753, -0.2369, -0.0952, -0.0171, -0.1709, -1.4017, 7.0085, 1.7118, -0.0317, -0.0562, -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]: [-0.4065, 1.5101, 0.4881, 0.2634, -0.3347, -0.2844, 0.031, -0.02, 0.8047, 0.5999, -0.3931, -0.0162, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.3505 left_y=-0.0838 left_z=0.035 left_yaw=0.0087 left_pitch=-0.1375 left_roll=0.0326 left_gripper=0.031 right_x=0.2932 right_y=0.0006 right_z=0.1724 right_yaw=-0.0035 right_pitch=-0.0286 right_roll=0.003 right_gripper=0.9962\nstate[joint_eff]: [0.4308, -4.2325, 5.3402, 0.6764, -0.315, 0.232, 0.3053, -0.0342, -1.2923, 7.0359, 1.7216, -0.0464, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4057, 1.3647, 0.5762, 0.033, -0.3344, -0.2882, 0.0411, -0.0196, 0.8051, 0.5999, -0.3927, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3494 left_y=-0.0831 left_z=0.0766 left_yaw=0.0111 left_pitch=-0.1347 left_roll=0.0282 left_gripper=0.0411 right_x=0.2932 right_y=0.0006 right_z=0.1724 right_yaw=-0.0033 right_pitch=-0.0286 right_roll=0.0025 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -5.641, 8.7316, 1.58, -0.1783, -0.0073, 1.0281, -0.1026, -1.3333, 7.0359, 1.7314, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3b4c213ac471439c382a65d583f65ed55c178df65764b777d2c465e370f1dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:868a5804344929048ba1e8d9054705ab2555e5226fc047d2b5fd15bec41c610a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d36157492e81a374fe372e7ab0e7fe1ed895abf52164cc326e45068057c1b2ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSzQoKEAgSGAI4AUIIdGhpbmtpbmcSDEmgMRVQQKyITBNJCRoM1JS4JW9uuIDzNfIMIjDCo40IKXegs8ixyzhpgcoRnU3Il49r2jtkqmwqFksuE2XKcyEoUFS3Qa2MzHCm9z4q6gll7mwguyoO09W9AxENmaVQ+yWNv1CemxCANGyust1cneyGjjdtuj1lA8lYlDmIscl1rHCcwkuJm9U27HLmnX1moejyEakZ6LpsVBLl6Hody0zIJoJN95wnsp3xlhW0yjmwIp2DombFANzGwMxchkUqcLAmhRwdEg5pIoFXPltV8Xs4n1Z4rwnd+6E9om/sFMbpWesWMynno3kRYH9Fnyv6R90Ay51RwGkI9NNTkbsE4kY97DJSNWi1aOLkeZYhFTuQsNixGOHt5NM4lbw3nmsdPj7QDWFw+OYoANN0ma/LvyCKzsLtDZecUWJTOIawQkjAwomX4tfzE5eIVERYsjRxTZWyiUR6JewnPn5sMNC1uCk3fY5hqFMDyDZ2EpXnp/mD1iwBEJ6aXM2irzxgXWNel1XkgbFTxOXs8DfFY+MXCiklxfsYea34JZoZiSdxLeBLjkOz3TCUKPwXCz9b4xrJNeXXZk/5IljzLcn2d2sdTKEWGTqZ0i/YJuQ0kmluBWv1v77I+NcfQARYs860uHYgE+daBJMq3BFZW8ST1DEiWpe1+q5LOMtEB3BHDPKyPag0h+/KD9RIgsU7sbiXePsOraGkdmzqc8lQP17deR81z0UIisbvzZpC9cRV18RyYAcZJLKiosvP5NgOnWxrQC2Otxuh60KmiXAbD+jD3fso8L2UVaySxtby3pDdPTFZbZTw6j2B6myz6xI1ArMkQUHqpSnF2cN6V70ia7WalWCEs3yDLRXhZdxa3nXJOUgEnCVBjzr+Ko2mibuU5T9udbPsETF4WDp7h7S+PdTgWtqUI3eUJ7bJize2gSf2hgTciXdE3jX69lriKnnRap6FprkC5yKSN6IlMMpqZXQtSkzFSfEUm+egUBbFNTUTlNBDy/goUwE5JX7X64EH1/h5iBGGaJcu0BWTQ2SOIRnIVHlDidD9EFgY0HyXWAT+ucN93J70hYQFouw3H9B9IqqiOiyZgmuLecjiVqoQE9ibRCEv/1/SpxCGkDhD3+bqcrxN853qbq+zb56AHP1tyUPHPhdPFZK5/gt0Bvfmci4x94TtePBMde9vtw4mslf3qwhBDPdMSxZMdsa7Wbh//Nnlzld6KOYIAVUinbeQ6veXFg3BhjjyZfxRQBiFs/3ehA5OVF4Jmq1r/B2aUj3deh7f5PvUxWJlMXjkK+Nh/VOX/3x/okSgNovYn2BBI9zehUdIf6AUybMxZ7rVsEfjqfDhfY4gwUE18k7+jNfYyv4f+YzBF4A1iEGc14JkOCcXEwg0CWzZGfoVv6xjCFK9SJIRKFh8G1JjF8XnLoXYIEGlWY2TaXKmhQINOwcgEbDySF9D5ixDXM/M3jiF7whwwgqqtb/00KvzLGi8DdSzlLIh9nwwNf0KkgbDw+ugVLHhhzS3morh/LAqkfbmnlghcwTv2B6LFtdaz3L2OVi1MOLaKivAoyahTR6p7e+GmUStk78xhdnqve/N07hgMV3OkJXbaDUZLppnwsKrcEMIaG7ZbXwxbKOh+35gfAQ6fgpRqLRRX7bTnQhbn758baeREw6BUEJYXTsnkGkGg4AxJFowSjloXqRooKRGs1IQxF9M35ll9hoq9PD1dtmCxcAT9DNabr8RvJu3aOyGFUI4I1PPD8lihaGoaPS0kk6L6iyIOayM1yz1UIvzC1rx8gMfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01712zrSQxtD9EWf9QXBc6Jr",
      "input": {
        "note": "Empty close: bowl stayed on the table and the rim sits just right of the jaws. Opening and shifting 1.5 cm right to center on the rim.",
        "targets": {
          "left_gripper": 1.0,
          "left_y": -0.098
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01712zrSQxtD9EWf9QXBc6Jr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4583, 1.3842, 0.585, 0.0067, -0.3664, -0.3328, 0.9956, -0.0196, 0.8051, 0.5999, -0.3931, -0.0158, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.3434 left_y=-0.0949 left_z=0.0704 left_yaw=0.011 left_pitch=-0.1576 left_roll=0.0307 left_gripper=0.9956 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0035 right_pitch=-0.029 right_roll=0.0028 right_gripper=0.9962\nstate[joint_eff]: [-0.6496, -4.0274, 7.5009, 1.619, -0.2369, 0.0513, -0.149, -0.0479, -1.0735, 7.0359, 1.7216, -0.0317, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f997251cc5f3ce6caaa3c65a0bcd16db377efd3f2f7cbaf3d4c8d855372aefdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f901f9920dbe27b556e7a4eeb5f25bd96dd1f5d7005fb521436523e5fd134ace",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:37bf22fab98f4bc4c072b597e03d7ff840be369dc6e025596d23ac4d418408a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 3.439 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]: [-0.4065, 1.5101, 0.4881, 0.2634, -0.3347, -0.2844, 0.031, -0.02, 0.8047, 0.5999, -0.3931, -0.0162, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.3505 left_y=-0.0838 left_z=0.035 left_yaw=0.0087 left_pitch=-0.1375 left_roll=0.0326 left_gripper=0.031 right_x=0.2932 right_y=0.0006 right_z=0.1724 right_yaw=-0.0035 right_pitch=-0.0286 right_roll=0.003 right_gripper=0.9962\nstate[joint_eff]: [0.4308, -4.2325, 5.3402, 0.6764, -0.315, 0.232, 0.3053, -0.0342, -1.2923, 7.0359, 1.7216, -0.0464, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4057, 1.3647, 0.5762, 0.033, -0.3344, -0.2882, 0.0411, -0.0196, 0.8051, 0.5999, -0.3927, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3494 left_y=-0.0831 left_z=0.0766 left_yaw=0.0111 left_pitch=-0.1347 left_roll=0.0282 left_gripper=0.0411 right_x=0.2932 right_y=0.0006 right_z=0.1724 right_yaw=-0.0033 right_pitch=-0.0286 right_roll=0.0025 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -5.641, 8.7316, 1.58, -0.1783, -0.0073, 1.0281, -0.1026, -1.3333, 7.0359, 1.7314, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4583, 1.3842, 0.585, 0.0067, -0.3664, -0.3328, 0.9956, -0.0196, 0.8051, 0.5999, -0.3931, -0.0158, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.3434 left_y=-0.0949 left_z=0.0704 left_yaw=0.011 left_pitch=-0.1576 left_roll=0.0307 left_gripper=0.9956 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0035 right_pitch=-0.029 right_roll=0.0028 right_gripper=0.9962\nstate[joint_eff]: [-0.6496, -4.0274, 7.5009, 1.619, -0.2369, 0.0513, -0.149, -0.0479, -1.0735, 7.0359, 1.7216, -0.0317, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f997251cc5f3ce6caaa3c65a0bcd16db377efd3f2f7cbaf3d4c8d855372aefdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f901f9920dbe27b556e7a4eeb5f25bd96dd1f5d7005fb521436523e5fd134ace",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37bf22fab98f4bc4c072b597e03d7ff840be369dc6e025596d23ac4d418408a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxwgKEAgSGAI4AUIIdGhpbmtpbmcSDEX5zFJkBERq8qSz2xoMlI9SKWtYDZ4u/aeUIjDQvhija8q2ICn2BM5vvQTPWT9qgV+6+0nAZoxy9ukC5ksRYpNCeLhi+18iZ7ClwZoq5AcMkViS9XLAmxDCyfDwZXTApjempXyR6ewj2HlhGrm0L+1gdwYOy3orb6+uOSBMpW5PgmwKbMe2EFkbfYLcsIFTUaQUU4l4Yy+8x/8nQBaI2OzHBkD3ShVV9BzuneY63IB1lBVV189fmBI0cMAOaD6CxBi578vX2sZ2nf1E+0T487HA5xOE41WBjI0CLoYFhGZSwh7pMu7Pu77PBpmBcbjtblMiV0fyCcEWaKFKtwQAk3+agiOOu/0AoTXPRTTl79+XQTAGLqiRsJreYirCuilCm6Jc8d+pJykAylmw8yyvbyceq1LDVhXEEXt2nPdYVoJqERR5skdUGzWYJf6r0BxRc6/2GbYX6htkfxDaSlkwLJYmFcTTq7B7b/KI73AW1c/98uKy0r12PEYWZ1QLpL4M7pk8yw+IgLZcSuV5zrUGhqvfCRyAp28utxh/y7FZiuIGoa+ocRF/gTHInoR0OlTy7GQImtQUxf5G9b8dpRLgn3dSVbj0IlPVQGjncgaw5LJqA2exyFC2YqVNjbcwGFxtZsjSIs2Ngt8Z41kHAZ3HEhFOwNDWcyLMQD9MM2R/H2gl4TuxPdlIisHLdzg+yMapINZ3oIktMGo5ROmtL+TmtzMuulxwW6F5lBquuoZLTXFwwzXfLFr7DuWgB3Ep0bAHBUtQ7N4sgo9fku4qrCaD8sg196OBotLFnhPWWvElOuTIqpR8yFgYYeCr/OWC2V29CJQ266pOq4y4ViL0OzUINheDwbuA+t9R8xRmtUAJtScu54agbVq1eb6gj1qRWJx75c7Bx7lUDW/ulB7aP1rZ7NY9QgiGor+ei5ye1G1I7qi+o83Vr9/Jln2cgzmtfkmoc9jaWPIE9+Zn9Z0ab0R5bi1V2ITXH/8L7nVcLrt6fbEl8DUxO5FMuDY704i7S9FzBVS0RYENxDQq87UE7EHmy1DzLSDRGviaAlmY0NbMV8OmlrU1NKAXmsGGqexMJLtRmCXJeyJ42YvLntylea45KYp1HnUIEkbCN9zWoMDgjuPDa9Z/UuP6GhGxYgcL4Y2ybkpXqGeSvWXmVbutG66xHgrFzwaQ36gebleDpoG57qNv4bFwlvp6u2TOHcKUbDkQMyXu1pkpvVvMLNsRwIwB+UWRvKWwtwzJ3SSMDgYNJiTTOhELO9qV+l9AjfRbwjQmtANHBcjy7xJfvGQ+3xGk+x7IFvByw1MdHdqFX8xqxX63ZBZarrad15mneDlYBqWI3jhFa1df/Y/EVc9Y1JZox9XmZRYgQETXWTVqdkrXGOV+XhI2R6gwNqzkMEGkb8HPmMB0kYem8h3mK4UKYi6MQqfOOKUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SGCTSChN1ytzt4ss6tessK",
      "input": {
        "note": "Bowl's left rim now lies on the jaw column. Descending to straddle it.",
        "targets": {
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SGCTSChN1ytzt4ss6tessK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4583, 1.5467, 0.4839, 0.1951, -0.3664, -0.3344, 0.9959, -0.02, 0.8097, 0.5999, -0.3935, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.332 left_y=-0.0892 left_z=0.0119 left_yaw=0.0185 left_pitch=-0.2244 left_roll=0.0644 left_gripper=0.9959 right_x=0.2934 right_y=0.0005 right_z=0.171 right_yaw=-0.0037 right_pitch=-0.034 right_roll=0.0026 right_gripper=0.9962\nstate[joint_eff]: [-0.3624, -5.9556, 5.2991, 1.8339, -0.1148, 0.0024, 0.0171, -0.0752, -1.7026, 7.0359, 1.6874, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c82023f2b722c1a0227cdfcf7078f964a20d272cea3c5b6db2a477b2dd45ed9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2401aa3a6d58a756d9afff78ea7bcaba3698298109868a752ff9d8de609825a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94a6db5f05fc3541c02e57d8e1ab4c8901df526ae9bfd31076debb8acec3dc6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 8.473 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]: [-0.4057, 1.3647, 0.5762, 0.033, -0.3344, -0.2882, 0.0411, -0.0196, 0.8051, 0.5999, -0.3927, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3494 left_y=-0.0831 left_z=0.0766 left_yaw=0.0111 left_pitch=-0.1347 left_roll=0.0282 left_gripper=0.0411 right_x=0.2932 right_y=0.0006 right_z=0.1724 right_yaw=-0.0033 right_pitch=-0.0286 right_roll=0.0025 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -5.641, 8.7316, 1.58, -0.1783, -0.0073, 1.0281, -0.1026, -1.3333, 7.0359, 1.7314, -0.0317, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4583, 1.3842, 0.585, 0.0067, -0.3664, -0.3328, 0.9956, -0.0196, 0.8051, 0.5999, -0.3931, -0.0158, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.3434 left_y=-0.0949 left_z=0.0704 left_yaw=0.011 left_pitch=-0.1576 left_roll=0.0307 left_gripper=0.9956 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0035 right_pitch=-0.029 right_roll=0.0028 right_gripper=0.9962\nstate[joint_eff]: [-0.6496, -4.0274, 7.5009, 1.619, -0.2369, 0.0513, -0.149, -0.0479, -1.0735, 7.0359, 1.7216, -0.0317, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4583, 1.5467, 0.4839, 0.1951, -0.3664, -0.3344, 0.9959, -0.02, 0.8097, 0.5999, -0.3935, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.332 left_y=-0.0892 left_z=0.0119 left_yaw=0.0185 left_pitch=-0.2244 left_roll=0.0644 left_gripper=0.9959 right_x=0.2934 right_y=0.0005 right_z=0.171 right_yaw=-0.0037 right_pitch=-0.034 right_roll=0.0026 right_gripper=0.9962\nstate[joint_eff]: [-0.3624, -5.9556, 5.2991, 1.8339, -0.1148, 0.0024, 0.0171, -0.0752, -1.7026, 7.0359, 1.6874, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c82023f2b722c1a0227cdfcf7078f964a20d272cea3c5b6db2a477b2dd45ed9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2401aa3a6d58a756d9afff78ea7bcaba3698298109868a752ff9d8de609825a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94a6db5f05fc3541c02e57d8e1ab4c8901df526ae9bfd31076debb8acec3dc6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSkgcKEAgSGAI4AUIIdGhpbmtpbmcSDF9GHk33/cr7wSJdpBoMr+p6dd8Cxj7oztlNIjBxvnU3yDBGt0ppRekrwHF/bxVgqShr+cf5B5LOHsc7qWAzcee3Cm8Q2WllLjujE0cqrwbOd7LRRtDaddMv1rfJQxND8TQnor1fX+GGSmKMz9WdcaDz11am1d9tlkV6vlJN/aljGe1KWmv/sY/FErnkJIsM9XrNS3SIbbtouDwPpSbS9pUbVdYHXeKY3maG+nEjE5prqop65QSnORceJZq8wnNcSZJ3IKar2fC/ImWRUIHBlvu3t+jZqakmy6Jnam4SK/EcLwf8g4RU9YRGZ98e4IyZnnFjxGxH4l0uAMZNqXxWB7+mp1a76Gl8iToDyBmKnxAmQ9Y6KNgO6q5zT6ANgqm3JBOuiq8Fa2BpeEe6712F1hrOLh1H/V5jloig6Jfh81vVFNQ7plHqAdbfoI1Xg41BbkuMNl7eDo6zt3eVuFr8dzD42wLIjaoc2VgWckFU8COt76TotMKjXd05tJJ7Ru0W1unV1jljeoHgVceRgcNzl0qdrOMPd6NSD9A1sGYBKxTHrD5ANl+autGlcBmnr7/KzGWr0zxJjxI+ZJB48kZXil3BXQy5J29TRUTesM25+/VKGLZvHr5Z7ctrTV0ERW+/t5MHCyvMkc+kvK7xO/WxBcF5tsIWrnE1LAgVsVn79wtjWNErqacZKjjMer5cBkWxOUSe9QrTULZuGYj//Y39sTTNgEGDpMcHV9gsl5z7fbNsKH6tzzASsbsuAlGa7hv5xLRZonjK0qmWPY3V9PyKnegFe+PxuG3+fdjeNTK6E0P3LJvsQH1d4ovCY73pLINwJ2LCgaGEYJ+XgqmRnkyIL2UwHhLDvJxMdu33kTcBjvMDUQeL+LzZzkFFESrBVRkNq56Qcl/pm5G2ODrxHNHfJoFXzVdJHpf6cPEU1TJe8ttZMGi589u7x3ellW+788LIwcvweeQW6Ol8jBPeA8LQPamHA8yoGrnw8MwTR4y4/S2KWidpxQ+PTP3OGNnjy2MCydoOn9OY2bfXp73WGIAfgyIKD1oB9a1HHKvWkryDW3W21cnZ6EkZq/4sGybF3e/lJEJ62NOEPu7I/OmHH3GRy/wfFB0DMYU1jSQb+Jrefx/IkW6JjVuWVffUxUeYsLqdyboihhXIVxMHHhp/tZZYYY8PNnvwcEFykFl91M0rcRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C3VEAi3zyUP6j5F8YVcGZJ",
      "input": {
        "note": "Bowl wall runs between the jaws near the bottom of the wrist view. Closing on the wall.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01C3VEAi3zyUP6j5F8YVcGZJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4583, 1.5318, 0.4877, 0.2432, -0.3565, -0.3565, 0.1044, -0.0196, 0.8101, 0.598, -0.3935, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3417 left_y=-0.0958 left_z=0.0251 left_yaw=0.0166 left_pitch=-0.1679 left_roll=0.0103 left_gripper=0.1044 right_x=0.2932 right_y=0.0006 right_z=0.17 right_yaw=-0.0033 right_pitch=-0.0362 right_roll=0.0026 right_gripper=0.9962\nstate[joint_eff]: [0.0068, -3.9043, 4.9299, 1.072, -0.3004, 0.1978, 0.5543, -0.0615, -1.2239, 7.2, 1.7118, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fdfc920f26f1a51fd00b2ecb9c8defe9aa53ae723a35e3df31bb38ec94c5837",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff68f50358a4010623a848ff8e1d53752bb7324859af4f0f89101d82c501f43f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e30af7899b7e9942f3b1d9e937474cf817570f03dd4c0a699b1c6dee99c65f90",
        "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 · 3.282 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]: [-0.4583, 1.3842, 0.585, 0.0067, -0.3664, -0.3328, 0.9956, -0.0196, 0.8051, 0.5999, -0.3931, -0.0158, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.3434 left_y=-0.0949 left_z=0.0704 left_yaw=0.011 left_pitch=-0.1576 left_roll=0.0307 left_gripper=0.9956 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0035 right_pitch=-0.029 right_roll=0.0028 right_gripper=0.9962\nstate[joint_eff]: [-0.6496, -4.0274, 7.5009, 1.619, -0.2369, 0.0513, -0.149, -0.0479, -1.0735, 7.0359, 1.7216, -0.0317, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4583, 1.5467, 0.4839, 0.1951, -0.3664, -0.3344, 0.9959, -0.02, 0.8097, 0.5999, -0.3935, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.332 left_y=-0.0892 left_z=0.0119 left_yaw=0.0185 left_pitch=-0.2244 left_roll=0.0644 left_gripper=0.9959 right_x=0.2934 right_y=0.0005 right_z=0.171 right_yaw=-0.0037 right_pitch=-0.034 right_roll=0.0026 right_gripper=0.9962\nstate[joint_eff]: [-0.3624, -5.9556, 5.2991, 1.8339, -0.1148, 0.0024, 0.0171, -0.0752, -1.7026, 7.0359, 1.6874, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4583, 1.5318, 0.4877, 0.2432, -0.3565, -0.3565, 0.1044, -0.0196, 0.8101, 0.598, -0.3935, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3417 left_y=-0.0958 left_z=0.0251 left_yaw=0.0166 left_pitch=-0.1679 left_roll=0.0103 left_gripper=0.1044 right_x=0.2932 right_y=0.0006 right_z=0.17 right_yaw=-0.0033 right_pitch=-0.0362 right_roll=0.0026 right_gripper=0.9962\nstate[joint_eff]: [0.0068, -3.9043, 4.9299, 1.072, -0.3004, 0.1978, 0.5543, -0.0615, -1.2239, 7.2, 1.7118, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fdfc920f26f1a51fd00b2ecb9c8defe9aa53ae723a35e3df31bb38ec94c5837",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff68f50358a4010623a848ff8e1d53752bb7324859af4f0f89101d82c501f43f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e30af7899b7e9942f3b1d9e937474cf817570f03dd4c0a699b1c6dee99c65f90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UEx79t5RU5uAE9Ezr8e1zL",
      "input": {
        "note": "Gripper settled at 0.10 (holding the ~1 cm rim wall). Lifting the white bowl clear of the table.",
        "targets": {
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01UEx79t5RU5uAE9Ezr8e1zL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4583, 1.2644, 0.8234, -0.366, -0.3557, -0.3641, 0.104, -0.02, 0.8108, 0.5957, -0.3935, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3432 left_y=-0.0967 left_z=0.1433 left_yaw=0.0207 left_pitch=-0.1734 left_roll=0.007 left_gripper=0.104 right_x=0.2929 right_y=0.0006 right_z=0.1688 right_yaw=-0.0033 right_pitch=-0.0393 right_roll=0.0029 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -6.0513, 9.0462, 1.4139, -0.1734, 0.0317, -0.0562, -0.1436, -1.388, 7.3504, 1.7265, -0.0708, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b378b14d92b9ea425bf84bba5dbf571931020693dbb3ebb233f20df7d40104b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50e2c0caed45b5ed9b44cf5ce4336034f584050123f0de3f437cfdc2be3002d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fbca486c338f679981657576703ebb323090a7f912d11ce821e1413ef97486f8",
        "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 · 11.69 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]: [-0.4583, 1.5467, 0.4839, 0.1951, -0.3664, -0.3344, 0.9959, -0.02, 0.8097, 0.5999, -0.3935, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.332 left_y=-0.0892 left_z=0.0119 left_yaw=0.0185 left_pitch=-0.2244 left_roll=0.0644 left_gripper=0.9959 right_x=0.2934 right_y=0.0005 right_z=0.171 right_yaw=-0.0037 right_pitch=-0.034 right_roll=0.0026 right_gripper=0.9962\nstate[joint_eff]: [-0.3624, -5.9556, 5.2991, 1.8339, -0.1148, 0.0024, 0.0171, -0.0752, -1.7026, 7.0359, 1.6874, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4583, 1.5318, 0.4877, 0.2432, -0.3565, -0.3565, 0.1044, -0.0196, 0.8101, 0.598, -0.3935, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3417 left_y=-0.0958 left_z=0.0251 left_yaw=0.0166 left_pitch=-0.1679 left_roll=0.0103 left_gripper=0.1044 right_x=0.2932 right_y=0.0006 right_z=0.17 right_yaw=-0.0033 right_pitch=-0.0362 right_roll=0.0026 right_gripper=0.9962\nstate[joint_eff]: [0.0068, -3.9043, 4.9299, 1.072, -0.3004, 0.1978, 0.5543, -0.0615, -1.2239, 7.2, 1.7118, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4583, 1.2644, 0.8234, -0.366, -0.3557, -0.3641, 0.104, -0.02, 0.8108, 0.5957, -0.3935, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3432 left_y=-0.0967 left_z=0.1433 left_yaw=0.0207 left_pitch=-0.1734 left_roll=0.007 left_gripper=0.104 right_x=0.2929 right_y=0.0006 right_z=0.1688 right_yaw=-0.0033 right_pitch=-0.0393 right_roll=0.0029 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -6.0513, 9.0462, 1.4139, -0.1734, 0.0317, -0.0562, -0.1436, -1.388, 7.3504, 1.7265, -0.0708, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b378b14d92b9ea425bf84bba5dbf571931020693dbb3ebb233f20df7d40104b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50e2c0caed45b5ed9b44cf5ce4336034f584050123f0de3f437cfdc2be3002d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbca486c338f679981657576703ebb323090a7f912d11ce821e1413ef97486f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5AYKEAgSGAI4AUIIdGhpbmtpbmcSDHoFxYvBkF3FmsZQZBoMDQpYE38AhhmPfmnyIjBsOSl1LGYd/CzlJBiXcaiWEhrEcOyYMuObCXYXwLzd16Yav9JYi616xpT+vlF+55cqgQai3yJhpw21uulhiRRQ9s8Uuun3yvxa4yuJvA6jsvAFYHqxsQ6quTHKWNAY0uBnLlprQRJzWz9Izmtpsxu3mLQkD0wIzVT2H1hxBvQRLOgBHsm3LTgt48MXQ6fgSN/9gQFyy1HrntShl9fy9AZpWsR6QXCzjEic/e1ZAUNx4gM3bPGK7ksSPcJgGKGXRnccYFXdNDpHjOdGbnmnYhwC7SmmLNL5NkEOB5xnKg+zLGR0FToOzfEUeQf6symcq7nfkKToqk0Idm5pDBglwnOKZyBPO3uB2QzX/2WRc8RhdxTpxfcb5qoGtFj/J3+Yi5wwoKTMnLrSVt93+KQ3GQhEqGuf4GVm4SduI38FHHKSYE4U4DU79AL2dvs5yY+mjDcCjR3L4McnY6p8yyHuwKs5RZ0XgWxexxcxP55FmnSlUfLsfhIL3YHGrLMtn94zoLCZ6ENfKsEoeo8Vtua5Cmfm395ySWykrheggomixkDhjCiwtRdSDsISM4daEXJNoxvvZbz0A4Bl8B4a/4vua4NQiNG0xWIbodi1kF5fn5500om7C3rPQc8n90nUAuCIqejOthaFXjOL1Yz7PIk8M25y6g2J3Wg34x0VKX6YW9gPEO6TdAE5V0PUo0zzEEdLHP2Z352gmsZnrvclZsLILIplrx/Tx07df783PaFzQm48HS4UV5hXlY8J7HbMoQsf9FNB6pQAjXPjKdJ1kqj8PlXCkeY7gItrVg0Mf+kpYs/1/DRiZ/KT8b8KEedhL630oUt7yQX9RaOJ3Ts/xWkI0VKN6TTbGvix0e3bQ9t2FRuHd+Vf6oD7roGq/oBqlwVUPuUdowiyDaN/yeFTF1IRj+/lNRANJ+y6BUW4mImNpGVRHLsG8SOXiUKT6d4CMfcbh5BzJUQgmxPrdchrBWQIDUn5kJl4Yp+IEAKFtCY1dE24j08TbWsnBRKk1j+8BvyVUQxvKLhK29BLCKgg7R2iuP5nvkmgiNCjhkhuzzAd+DEmh3JKS1SUX12DPWTDygZcH5MXzp4YGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rfd79EEdQe68Sa1t1cDUF6",
      "input": {
        "note": "White bowl is lifted with the gripper. Carrying it right so it sits above the blue bowl.",
        "targets": {
          "left_y": -0.225,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Rfd79EEdQe68Sa1t1cDUF6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8242, 1.5707, 1.1816, -0.5854, -0.564, -0.6731, 0.1039, -0.02, 0.8116, 0.5953, -0.3931, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3386 left_y=-0.2216 left_z=0.1572 left_yaw=0.0014 left_pitch=-0.2042 left_roll=0.0134 left_gripper=0.1039 right_x=0.2929 right_y=0.0006 right_z=0.1685 right_yaw=-0.0033 right_pitch=-0.0401 right_roll=0.0029 right_gripper=0.9962\nstate[joint_eff]: [-0.294, -7.0222, 9.1692, 1.16, -0.5885, -0.0024, -0.0171, -0.0068, -1.4017, 7.0769, 1.6532, -0.0513, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a6e0c04263151481e5b63fa57fc9d61a36eec6d84159973718bf8c1299b711d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa019ca9bcb7c3007e79bee55c338565c2f6b78de53cd8ee6aa3d07848661241",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f6ed54cc956a7fbf4c691deb9de49c36b4664fce0a1b2fade60fa24482c0f2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 12.88 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]: [-0.4583, 1.5318, 0.4877, 0.2432, -0.3565, -0.3565, 0.1044, -0.0196, 0.8101, 0.598, -0.3935, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3417 left_y=-0.0958 left_z=0.0251 left_yaw=0.0166 left_pitch=-0.1679 left_roll=0.0103 left_gripper=0.1044 right_x=0.2932 right_y=0.0006 right_z=0.17 right_yaw=-0.0033 right_pitch=-0.0362 right_roll=0.0026 right_gripper=0.9962\nstate[joint_eff]: [0.0068, -3.9043, 4.9299, 1.072, -0.3004, 0.1978, 0.5543, -0.0615, -1.2239, 7.2, 1.7118, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4583, 1.2644, 0.8234, -0.366, -0.3557, -0.3641, 0.104, -0.02, 0.8108, 0.5957, -0.3935, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3432 left_y=-0.0967 left_z=0.1433 left_yaw=0.0207 left_pitch=-0.1734 left_roll=0.007 left_gripper=0.104 right_x=0.2929 right_y=0.0006 right_z=0.1688 right_yaw=-0.0033 right_pitch=-0.0393 right_roll=0.0029 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -6.0513, 9.0462, 1.4139, -0.1734, 0.0317, -0.0562, -0.1436, -1.388, 7.3504, 1.7265, -0.0708, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8242, 1.5707, 1.1816, -0.5854, -0.564, -0.6731, 0.1039, -0.02, 0.8116, 0.5953, -0.3931, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3386 left_y=-0.2216 left_z=0.1572 left_yaw=0.0014 left_pitch=-0.2042 left_roll=0.0134 left_gripper=0.1039 right_x=0.2929 right_y=0.0006 right_z=0.1685 right_yaw=-0.0033 right_pitch=-0.0401 right_roll=0.0029 right_gripper=0.9962\nstate[joint_eff]: [-0.294, -7.0222, 9.1692, 1.16, -0.5885, -0.0024, -0.0171, -0.0068, -1.4017, 7.0769, 1.6532, -0.0513, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a6e0c04263151481e5b63fa57fc9d61a36eec6d84159973718bf8c1299b711d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa019ca9bcb7c3007e79bee55c338565c2f6b78de53cd8ee6aa3d07848661241",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f6ed54cc956a7fbf4c691deb9de49c36b4664fce0a1b2fade60fa24482c0f2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014FqbABRF5JabXRJRkSN7ew",
      "input": {
        "note": "Wrist view shows the white bowl still on the table to the left, so the rim grasp slipped. Opening and returning above its left rim to retry with a deeper grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_y": -0.097
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_014FqbABRF5JabXRJRkSN7ew",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4683, 1.2716, 0.8963, -0.4923, -0.3595, -0.3973, 0.9962, -0.02, 0.8158, 0.5945, -0.3931, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.337 left_y=-0.0968 left_z=0.1508 left_yaw=0.0379 left_pitch=-0.2251 left_roll=0.0145 left_gripper=0.9962 right_x=0.2931 right_y=0.0005 right_z=0.167 right_yaw=-0.0037 right_pitch=-0.045 right_roll=0.0028 right_gripper=0.9962\nstate[joint_eff]: [0.2393, -5.6, 6.7761, 1.6288, -0.1636, 0.188, -0.1343, -0.1436, -1.6889, 7.0906, 1.7509, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89b3248858e9c975eaf553827d120381813cd0445711d0527316c7d424162012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a0eaf327e2fb72bfe88742897b7f3cc3aff0d45febec8bdcf540c2ea364fca9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:148641ae1c24d7aca65250f28c5bf9b4395c327f401dd6a491f1a7012aa60ef5",
        "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 · 5.476 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]: [-0.4583, 1.2644, 0.8234, -0.366, -0.3557, -0.3641, 0.104, -0.02, 0.8108, 0.5957, -0.3935, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3432 left_y=-0.0967 left_z=0.1433 left_yaw=0.0207 left_pitch=-0.1734 left_roll=0.007 left_gripper=0.104 right_x=0.2929 right_y=0.0006 right_z=0.1688 right_yaw=-0.0033 right_pitch=-0.0393 right_roll=0.0029 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -6.0513, 9.0462, 1.4139, -0.1734, 0.0317, -0.0562, -0.1436, -1.388, 7.3504, 1.7265, -0.0708, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8242, 1.5707, 1.1816, -0.5854, -0.564, -0.6731, 0.1039, -0.02, 0.8116, 0.5953, -0.3931, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3386 left_y=-0.2216 left_z=0.1572 left_yaw=0.0014 left_pitch=-0.2042 left_roll=0.0134 left_gripper=0.1039 right_x=0.2929 right_y=0.0006 right_z=0.1685 right_yaw=-0.0033 right_pitch=-0.0401 right_roll=0.0029 right_gripper=0.9962\nstate[joint_eff]: [-0.294, -7.0222, 9.1692, 1.16, -0.5885, -0.0024, -0.0171, -0.0068, -1.4017, 7.0769, 1.6532, -0.0513, -0.0806, -0.0122]",
      "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]: [-0.4683, 1.2716, 0.8963, -0.4923, -0.3595, -0.3973, 0.9962, -0.02, 0.8158, 0.5945, -0.3931, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.337 left_y=-0.0968 left_z=0.1508 left_yaw=0.0379 left_pitch=-0.2251 left_roll=0.0145 left_gripper=0.9962 right_x=0.2931 right_y=0.0005 right_z=0.167 right_yaw=-0.0037 right_pitch=-0.045 right_roll=0.0028 right_gripper=0.9962\nstate[joint_eff]: [0.2393, -5.6, 6.7761, 1.6288, -0.1636, 0.188, -0.1343, -0.1436, -1.6889, 7.0906, 1.7509, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89b3248858e9c975eaf553827d120381813cd0445711d0527316c7d424162012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a0eaf327e2fb72bfe88742897b7f3cc3aff0d45febec8bdcf540c2ea364fca9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:148641ae1c24d7aca65250f28c5bf9b4395c327f401dd6a491f1a7012aa60ef5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013qjeaWRxSbhfp8U2hAe1kF",
      "input": {
        "note": "White bowl center appears to be ~6 cm ahead of where I grasped (around x=0.40, y=-0.11), so earlier I pinched a curved sliver of the near rim. Moving over its true left-side rim so the jaws close across the wall.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.05,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_013qjeaWRxSbhfp8U2hAe1kF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2348, 1.4845, 0.8558, -0.2665, -0.2298, -0.2558, 0.9973, -0.02, 0.8173, 0.5945, -0.3939, -0.0162, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.3818 left_y=-0.0463 left_z=0.0907 left_yaw=0.0883 left_pitch=-0.2933 left_roll=0.03 left_gripper=0.9973 right_x=0.293 right_y=0.0006 right_z=0.1664 right_yaw=-0.0035 right_pitch=-0.0473 right_roll=0.0034 right_gripper=0.9962\nstate[joint_eff]: [0.253, -6.2974, 6.8444, 1.5458, 0.0317, 0.1832, 0.105, -0.1299, -1.4564, 7.0906, 1.7021, -0.0659, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5e8c3a433406704c365fbc51f25d33caa7dac3dd9ed721de539680721d74edd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5fc1aee651818766b460edf56ce31bbb9362ae8b1ccb572eb45e197d60d623b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2a628f68bf32946cd998691bcc146028f12136bcd7a4465c02272dfc0878c288",
        "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 · 3.618 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]: [-0.8242, 1.5707, 1.1816, -0.5854, -0.564, -0.6731, 0.1039, -0.02, 0.8116, 0.5953, -0.3931, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3386 left_y=-0.2216 left_z=0.1572 left_yaw=0.0014 left_pitch=-0.2042 left_roll=0.0134 left_gripper=0.1039 right_x=0.2929 right_y=0.0006 right_z=0.1685 right_yaw=-0.0033 right_pitch=-0.0401 right_roll=0.0029 right_gripper=0.9962\nstate[joint_eff]: [-0.294, -7.0222, 9.1692, 1.16, -0.5885, -0.0024, -0.0171, -0.0068, -1.4017, 7.0769, 1.6532, -0.0513, -0.0806, -0.0122]",
      "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]: [-0.4683, 1.2716, 0.8963, -0.4923, -0.3595, -0.3973, 0.9962, -0.02, 0.8158, 0.5945, -0.3931, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.337 left_y=-0.0968 left_z=0.1508 left_yaw=0.0379 left_pitch=-0.2251 left_roll=0.0145 left_gripper=0.9962 right_x=0.2931 right_y=0.0005 right_z=0.167 right_yaw=-0.0037 right_pitch=-0.045 right_roll=0.0028 right_gripper=0.9962\nstate[joint_eff]: [0.2393, -5.6, 6.7761, 1.6288, -0.1636, 0.188, -0.1343, -0.1436, -1.6889, 7.0906, 1.7509, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2348, 1.4845, 0.8558, -0.2665, -0.2298, -0.2558, 0.9973, -0.02, 0.8173, 0.5945, -0.3939, -0.0162, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.3818 left_y=-0.0463 left_z=0.0907 left_yaw=0.0883 left_pitch=-0.2933 left_roll=0.03 left_gripper=0.9973 right_x=0.293 right_y=0.0006 right_z=0.1664 right_yaw=-0.0035 right_pitch=-0.0473 right_roll=0.0034 right_gripper=0.9962\nstate[joint_eff]: [0.253, -6.2974, 6.8444, 1.5458, 0.0317, 0.1832, 0.105, -0.1299, -1.4564, 7.0906, 1.7021, -0.0659, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5e8c3a433406704c365fbc51f25d33caa7dac3dd9ed721de539680721d74edd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5fc1aee651818766b460edf56ce31bbb9362ae8b1ccb572eb45e197d60d623b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a628f68bf32946cd998691bcc146028f12136bcd7a4465c02272dfc0878c288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSogkKEAgSGAI4AUIIdGhpbmtpbmcSDJSP6HXv0UO4gDnbXBoMtgWK63CfbgzxVfWDIjD+LGG8g5gRIxvOfk9n7R6emsKEX9bF0xMqD5iSo8kXkDIaD1Z1AMacs3Y2zpSEM5sqvwgpxrx/tGnNI7yfT+XHuiPBhyB2TIVtvGiSSsT1oUf4RCAgErwAEW8y6ylVHLz687/sJVNLXqxvFEBrRp8a9IyI3+Yxz+FYWXR7IZZFDMjiMRyBwHSxXC4WLxQR50su+NgMsWQkGVpX08QZt4oTtCu6KLNDJyPbQt/+wuh670mWrWa3sBidBknDoMkAjN7bFCe2VT5dzZSPsFwZ2N8QhOUbtORC/MZRThc6R1jHN9S12tOTZ0b3btyaZR3Mott/Qy86IZkhULFaD+XeOCnhCx16NlNZdMj+nwgalMfb04LHfIHf0Yy5A+M99yaBNjkUunlEG4BxG4U2Uz3EVZMAyFmlfzcScXYG6+HsiX235uZRiyKiaK+SrtCPoSuj0DqiyFzTfkezAB1pbrTeJZKdrGu6ZL3hNNTan9KBj7Nt2ofKaJOlN6gk4cIaUARcqoYbDvoLW1F6UfqUrkD1nKMkG0gGFUUZlRXH2zP/wBWr8lSq7Cse8jUasFJtyuzOLECM9K9I1YlHHmj5L2uBlRj+Nk2N7MiQ4K/ddbtU4KHTk5TRcBU4bdyIsoa0NblLX0uLjahq69YGJZPxCqrVhGrqvBjO0kRNV6mE/XNHtwrB/KyfLwiffSnc9eaUxLhkLBLPCeAw8sUItBz7ohjHN9Q82J7xeLpTDFsmf687v1+uFf5oHRHEHNkZNYSBdE8rpYsXt41kNzARqh31q3+YfkXBzmXLpKK4r3clFn/SQqqY/Q+Gb6yTxTp3icpuJro/h7ICVc1Y5utIaGr1UdvA6iBYm09ltjJl3ZvIuzZyW5LDMq7NgMZYYqazKAHyJKI/ol+b5MJL/Chg30tg0KKmXsS+jpP6PiRFC3zycOJq/5xQKjtbl46homRdRj9xxUdN7mHmBv+WVT6vkCVRBZFzsv+q00jJA0PSYzxZYcJKfPgywp5gVaWHcpJnq/G8RU6twAqk1SyDaw0B97QpxnaM1vm1MOwWxeKXuKBQ0DZ9jNNMFhDknZan9owLamxvfWemyVUw59sLRoECNRWEf824wKBzYrRkI46ejyQQsqvFoi1Qi5eb/83eesINnNMOT6ks+8gZ8qFGKUki0eyRmNHrx5JXJ8vJZk4R905ipH6NHbLQ4PjdkqlmgwPS6dv8RQz/7REp5h1jlOfxIwG3rKMNipieFejoHHcP4kZY0TlcEp4k688HUiG6Ep/FUPjQqtytVn4/jMbfDO5tcGczdyXCcjgFXP5I++UaBCdBRu3eSlBWuNl/0+2ntFjRGQFMm0PMSqeORbG6lI7WdVPkb4gZU2hUGxr3g/NYi2Xc61SDNV8ShcEz5idKe8qYmkc8csJynd2bZZL/CdkZ7S6mERZgOAV8Hi9lxv1boLTKXdlffpLelg0xJhCexItC/JQ576VsUmhkZ8GNA4VfOZr49KrdldYpJ0mjHLCaUmjZRLoF1+gCrEvMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KbvYkJoPnnsUotJEC9HKMZ",
      "input": {
        "note": "Bowl's left wall is slightly right of the jaw column and a bit forward. Nudging right and forward so the wall's leftmost point lies between the jaws.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.062,
          "left_yaw": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KbvYkJoPnnsUotJEC9HKMZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.223, 1.6096, 0.9447, -0.244, -0.1886, -0.215, 0.9974, -0.0196, 0.82, 0.5945, -0.3981, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4078 left_y=-0.0548 left_z=0.0798 left_yaw=0.043 left_pitch=-0.3167 left_roll=0.0292 left_gripper=0.9974 right_x=0.2926 right_y=0.0007 right_z=0.1648 right_yaw=-0.0029 right_pitch=-0.0542 right_roll=0.0032 right_gripper=0.9962\nstate[joint_eff]: [-0.3761, -7.788, 8.8274, 1.3553, -0.0317, 0.1783, -0.0024, -0.0205, -1.4564, 7.1453, 1.7265, -0.0513, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b3c8d672dccc02a2f9e05e9815f4384629bdc40d04e76db6a5120188db6b662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19b4a531ca953a915341992007ee8733f2fb12c91e4ff5cbd628cebaec62eeaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4bd340d3c02c71483b01e2c9e961291b4c5e223f551850969dd570abaf88cb4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 7.938 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]: [-0.4683, 1.2716, 0.8963, -0.4923, -0.3595, -0.3973, 0.9962, -0.02, 0.8158, 0.5945, -0.3931, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.337 left_y=-0.0968 left_z=0.1508 left_yaw=0.0379 left_pitch=-0.2251 left_roll=0.0145 left_gripper=0.9962 right_x=0.2931 right_y=0.0005 right_z=0.167 right_yaw=-0.0037 right_pitch=-0.045 right_roll=0.0028 right_gripper=0.9962\nstate[joint_eff]: [0.2393, -5.6, 6.7761, 1.6288, -0.1636, 0.188, -0.1343, -0.1436, -1.6889, 7.0906, 1.7509, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2348, 1.4845, 0.8558, -0.2665, -0.2298, -0.2558, 0.9973, -0.02, 0.8173, 0.5945, -0.3939, -0.0162, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.3818 left_y=-0.0463 left_z=0.0907 left_yaw=0.0883 left_pitch=-0.2933 left_roll=0.03 left_gripper=0.9973 right_x=0.293 right_y=0.0006 right_z=0.1664 right_yaw=-0.0035 right_pitch=-0.0473 right_roll=0.0034 right_gripper=0.9962\nstate[joint_eff]: [0.253, -6.2974, 6.8444, 1.5458, 0.0317, 0.1832, 0.105, -0.1299, -1.4564, 7.0906, 1.7021, -0.0659, -0.0366, -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]: [-0.223, 1.6096, 0.9447, -0.244, -0.1886, -0.215, 0.9974, -0.0196, 0.82, 0.5945, -0.3981, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4078 left_y=-0.0548 left_z=0.0798 left_yaw=0.043 left_pitch=-0.3167 left_roll=0.0292 left_gripper=0.9974 right_x=0.2926 right_y=0.0007 right_z=0.1648 right_yaw=-0.0029 right_pitch=-0.0542 right_roll=0.0032 right_gripper=0.9962\nstate[joint_eff]: [-0.3761, -7.788, 8.8274, 1.3553, -0.0317, 0.1783, -0.0024, -0.0205, -1.4564, 7.1453, 1.7265, -0.0513, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b3c8d672dccc02a2f9e05e9815f4384629bdc40d04e76db6a5120188db6b662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19b4a531ca953a915341992007ee8733f2fb12c91e4ff5cbd628cebaec62eeaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bd340d3c02c71483b01e2c9e961291b4c5e223f551850969dd570abaf88cb4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSngcKEAgSGAI4AUIIdGhpbmtpbmcSDJ1zA/y9yXEgYYX8pBoMgv7W5W+xdXl6Poa/IjBtC9/+RxhXS0lsEF1A9JL8Al71zRc4q/F3xzbjkOeyOLwSJt9CXkfad/AK3TL7cfYquwaveVplromCRn3y/Uk7e1ockoHAWMtWXCzJProqssSlFhQzUVVH6DHZYnHGo5R0p/fun34pjOfMYjRq/1mFjtOkdenj5jzHSVTIMsYXzHMO+VLSWqrabdGlQTbNggH/2QxjqZCiwtCsPm4MYXDDWMDUyeSZMKnJ/b7KqVaVZvhgfd1Wu59m51JmR/VrkCXbhoHgDnjyIDwXhTi47CTKIt8vXxCR3OpENQEdQj7KhC2YbnFMcFdTImriC0Zma05W0njXtAgvOaq7I1U5Lt5fBk4wE/0bIEpYaKr0H6n7s8oaYbRpAb7sMWcyAdL1jiBHAOQnQkMkqQjsc0UUhPt2i7WbCHUYAPmebL6Q3VjnMxYZmv/2yoUoB3VgjilBSOqqlEsJ91kXs6ZI10UaDDMS7rTS4cgvA3QGvsbiTATEiJCNEEZfE+TmAq8UiLys0T02UFDTOJr0YyuP+UXldCiI7I6Fvh4zUKXinAmNZvX04Y9Y/2iqISHX81KLtjQD8SwmkiAvH1LJJqNiN5r8eMTqL7GGfLamV9DtKuKK3GdPsK3DYXnY/2NFPJObaKoI33pyzgK8w1PhZzWqDlbxeqGhMrm0C2xfSOosEV3S50YYhF9MocbRNuh8Pdi6EJcQV+/vUFM4gsqilfOE0J69lC+/PxC8SRb5Y13Q3TYH8ujVO9yU+/6E69PV+uWFnqPtdXinIGExRo+ETlD/xmRYwi0KU8sPnVCHH9eVPBH6vZ/o21mtMD33YMEJKpPlppFjPH69L8x0OpU7K+Lj7sn8SeVZyOTf/dYyiRroUFAiUaR77EsXCTGyJxDYysQCwEjxF33vnWf7q9xLTz47Bwdu2+Zf07RLZGlC2ndyvGR4R5s4QCqRaxqAyN8YTFIquLjD1cah/hAXmo9hBFap+U62cS4Np1lUat7a4s308MskPxn6HrUlfrcfqzuryoSwZo/xAKu0MurtEgu0KERn5kgFOZNu5A14zD1M6rLgK4gnK1eP8e15DZhVOsOvx+uRQP0afV07wlk3ITfC8v+hWsUxg/HtWyatxtI/9f7PR1nS7Y7YYENTfSreieMWP2HJXri/EezyLUtwTdDNUzu9e+heKxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018JGiY51T6vwxu7xAj4Tet1",
      "input": {
        "note": "The bowl's left wall now runs through the jaw column at the bottom of the wrist view. Descending to straddle the wall.",
        "targets": {
          "left_x": 0.415,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018JGiY51T6vwxu7xAj4Tet1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2226, 1.6302, 0.9596, -0.2508, -0.1761, -0.1982, 0.9974, -0.02, 0.8204, 0.5945, -0.4011, -0.0162, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.4099 left_y=-0.0574 left_z=0.0761 left_yaw=0.024 left_pitch=-0.3318 left_roll=0.0334 left_gripper=0.9974 right_x=0.2922 right_y=0.0006 right_z=0.1641 right_yaw=-0.0035 right_pitch=-0.0576 right_roll=0.0035 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -7.8291, 8.9641, 1.409, -0.0562, 0.1441, -0.0073, -0.0889, -1.2923, 6.9949, 1.7753, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa4b659b8e8d20a9d366151cea14ccf2a4c9e82b65cbd409f6040accbbc06ec0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cd5b80c02e0f45f40e4fc0bac3ae372d9986cbf288f0c25ad8f442a5d10166f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d221df19f31d0cef87737d7b67ac1b9e8c220481ce592336aaf2ae922c3b855",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 9.211 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]: [-0.2348, 1.4845, 0.8558, -0.2665, -0.2298, -0.2558, 0.9973, -0.02, 0.8173, 0.5945, -0.3939, -0.0162, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.3818 left_y=-0.0463 left_z=0.0907 left_yaw=0.0883 left_pitch=-0.2933 left_roll=0.03 left_gripper=0.9973 right_x=0.293 right_y=0.0006 right_z=0.1664 right_yaw=-0.0035 right_pitch=-0.0473 right_roll=0.0034 right_gripper=0.9962\nstate[joint_eff]: [0.253, -6.2974, 6.8444, 1.5458, 0.0317, 0.1832, 0.105, -0.1299, -1.4564, 7.0906, 1.7021, -0.0659, -0.0366, -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]: [-0.223, 1.6096, 0.9447, -0.244, -0.1886, -0.215, 0.9974, -0.0196, 0.82, 0.5945, -0.3981, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4078 left_y=-0.0548 left_z=0.0798 left_yaw=0.043 left_pitch=-0.3167 left_roll=0.0292 left_gripper=0.9974 right_x=0.2926 right_y=0.0007 right_z=0.1648 right_yaw=-0.0029 right_pitch=-0.0542 right_roll=0.0032 right_gripper=0.9962\nstate[joint_eff]: [-0.3761, -7.788, 8.8274, 1.3553, -0.0317, 0.1783, -0.0024, -0.0205, -1.4564, 7.1453, 1.7265, -0.0513, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2226, 1.6302, 0.9596, -0.2508, -0.1761, -0.1982, 0.9974, -0.02, 0.8204, 0.5945, -0.4011, -0.0162, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.4099 left_y=-0.0574 left_z=0.0761 left_yaw=0.024 left_pitch=-0.3318 left_roll=0.0334 left_gripper=0.9974 right_x=0.2922 right_y=0.0006 right_z=0.1641 right_yaw=-0.0035 right_pitch=-0.0576 right_roll=0.0035 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -7.8291, 8.9641, 1.409, -0.0562, 0.1441, -0.0073, -0.0889, -1.2923, 6.9949, 1.7753, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa4b659b8e8d20a9d366151cea14ccf2a4c9e82b65cbd409f6040accbbc06ec0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cd5b80c02e0f45f40e4fc0bac3ae372d9986cbf288f0c25ad8f442a5d10166f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d221df19f31d0cef87737d7b67ac1b9e8c220481ce592336aaf2ae922c3b855",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PAgn5uXoHz13N3mQ8pCxZ2",
      "input": {
        "note": "Descent stalled at z=0.076, likely a jaw resting on the rim or an IK limit at this reach. Backing 2 cm toward the base and slightly left while descending again.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.05,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01PAgn5uXoHz13N3mQ8pCxZ2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2226, 1.6302, 0.9634, -0.2581, -0.1761, -0.1982, 0.9974, -0.0196, 0.823, 0.5945, -0.4118, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4097 left_y=-0.0573 left_z=0.0764 left_yaw=0.0243 left_pitch=-0.3352 left_roll=0.0343 left_gripper=0.9974 right_x=0.2907 right_y=0.0007 right_z=0.1613 right_yaw=-0.0029 right_pitch=-0.0709 right_roll=0.0034 right_gripper=0.9962\nstate[joint_eff]: [-0.4718, -7.8427, 8.8274, 1.4432, -0.0269, 0.1245, -0.0073, -0.0205, -1.6342, 6.9812, 1.7949, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cadbc31580ae1967c85c8518d7d96cbc91e09aadb3fca36371fa34c8c765ad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d8755b44d42e579412f1e5b21a8b410a5d36ed7fec2ab1fb7c6b0b5e622a029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:45a72bb9ec3b9c4d2c0d51e06f3e78f1a1f97050541c6b6d2f42f86c4bfe6996",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 4.395 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.223, 1.6096, 0.9447, -0.244, -0.1886, -0.215, 0.9974, -0.0196, 0.82, 0.5945, -0.3981, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4078 left_y=-0.0548 left_z=0.0798 left_yaw=0.043 left_pitch=-0.3167 left_roll=0.0292 left_gripper=0.9974 right_x=0.2926 right_y=0.0007 right_z=0.1648 right_yaw=-0.0029 right_pitch=-0.0542 right_roll=0.0032 right_gripper=0.9962\nstate[joint_eff]: [-0.3761, -7.788, 8.8274, 1.3553, -0.0317, 0.1783, -0.0024, -0.0205, -1.4564, 7.1453, 1.7265, -0.0513, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2226, 1.6302, 0.9596, -0.2508, -0.1761, -0.1982, 0.9974, -0.02, 0.8204, 0.5945, -0.4011, -0.0162, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.4099 left_y=-0.0574 left_z=0.0761 left_yaw=0.024 left_pitch=-0.3318 left_roll=0.0334 left_gripper=0.9974 right_x=0.2922 right_y=0.0006 right_z=0.1641 right_yaw=-0.0035 right_pitch=-0.0576 right_roll=0.0035 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -7.8291, 8.9641, 1.409, -0.0562, 0.1441, -0.0073, -0.0889, -1.2923, 6.9949, 1.7753, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2226, 1.6302, 0.9634, -0.2581, -0.1761, -0.1982, 0.9974, -0.0196, 0.823, 0.5945, -0.4118, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4097 left_y=-0.0573 left_z=0.0764 left_yaw=0.0243 left_pitch=-0.3352 left_roll=0.0343 left_gripper=0.9974 right_x=0.2907 right_y=0.0007 right_z=0.1613 right_yaw=-0.0029 right_pitch=-0.0709 right_roll=0.0034 right_gripper=0.9962\nstate[joint_eff]: [-0.4718, -7.8427, 8.8274, 1.4432, -0.0269, 0.1245, -0.0073, -0.0205, -1.6342, 6.9812, 1.7949, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cadbc31580ae1967c85c8518d7d96cbc91e09aadb3fca36371fa34c8c765ad0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d8755b44d42e579412f1e5b21a8b410a5d36ed7fec2ab1fb7c6b0b5e622a029",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45a72bb9ec3b9c4d2c0d51e06f3e78f1a1f97050541c6b6d2f42f86c4bfe6996",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6g4KEAgSGAI4AUIIdGhpbmtpbmcSDGsFk5aOqOGAU6B7+xoMD2ClGdzyu/KbUL2IIjAbjqn8QD70EuhMbc2N0lebT5LNSMT7HCU+i8A1oJ9Rbf/oR2kG1RRnvwJ09FDC1N0qhw486bu9prGHjinF9HNCUAtqY0orgzKvUlfK16GUmWnrlf7mL7BEYRUHQBKXCi4jvoBq/cBUURKz6zubaJBkNtuv4Y7DpOMrK94dFVWf5iqIeIPMSVnADBDmZZVupt0H3pQP9EY4yXfKDUfcfdLAO5nq+1MYpc+oF07hjEhzQZ2lx3n9n5PO7h5mSpnHlT07tSh6+g3Q7WA5xwb2DXHUfGiXQ2UC8tAuP5kSFyIEvwuBA60ijXUwY0DztIurs60S6ngx93z5D87yewO/bvoV6I2WfaOEDecfK4cc1I5r9IN+rQ3mKDvUkK8zHDp12s+co7oburnFobzBFGpM0uGwcb0KrbdaouNQ627imSxoCK/0xxPKs0yxZdn9ccwFEV4wqqpBNhvGGytZVZRXPQp4g/Ve1ofLTswc91gYh+ll5+i9Jb4+umZ5lpf6VtDf4wQjG2vyxf8Etj5XJYN+V3xmD1WT2i6MptXVXpWlYc19Lns/C+JHloy1VOShrIvmwT3jcG7cX1ZH6U3s4tYM2I0zG4VWpln5YWag5+x1tiF3vJJJ+Z8SkYqyR8AlV1QG9e33cJlzrBWo22uoLezdsnfarulayvjpsFdX3JorVIewsi6DD5ZHJN5MaNA1FshG261s1HP1ugmRQgCP/TqJ2rLod3AFdDCtgae49at6U9XtCwwcCsxM2ImslK7JQYESj+Qcp4lpIxj5fj9awEYS4D3IpeeUdzvWYQ8L5djWex3hzIFJC60uAO0mX/rbmxb74EPV7gBdF3Q78ZAeW+f1d6r0xRy6O0tdSzkyh8HKGXtQPZykUtlJmJBcKwntWDIkGyhAFRswHAXXlTrsP/TFuTa6DMqxA7vx37ATc9gh5gvHyFOKkQw1rQQrCgfxU5EI8t8l1tJ23Vgcqky+1MoeRJWdlI26SvopZ+vGrxDo7I6NAgRAZg3yJRj97kIdmD7stE9QjR5fgsAuyZwIcbbGnNetfxS0pPj38Q4G3vEGBm6QMvHfSzrPnakOzZc7Ajdu+T3gPx8ft+o4HmsqxSUp+ZX1p6pEobYd7EUVMtnZ65PxHsaUFTYnpYZoR5u0DEARLIX2uQjsV+nF8fcyI9p7FBoAjSLYM/70KvA4SswaGEuR/mO5JLZvyBvNsl226Suxok3JwNheA64rQ9x4qHVxHa2SFlUrcP5nNQUkzZQ/VC6SLGcyQfeYUpn8wF2JdVM5WuOI5tNHNP9VMvprDZlHsvP5ega10Q+ZUAm/hwTSiA8ej0VSgQaJdL9nOxCy0fzSNfeOB5UrTV9h6P2xzTdoKqcbS5WmStIRASmrSE4DkpaJMWroG/2GvphvFCiGPCK0oNo5XO9T4A4r39pei6oDcyTMvPY9eCedTPGfpuyRQTpWFr08pHeK0K/CBGRWPFmUnKyZcCvEf+o67qiLq0RVmACZpuEBuX7GsZQutvJs9T/zLxJJyAiUbQkZQu2yDiFJN/ArtGUxE6jY+oTeTHh1GTk6qvROP4Mx4LwRxuva0oBolARplAdpC6Fg4LqsV7X0vcjMcNkfhLjlBmDFlvCnpcO3qWRCGWvtQ79L9e4dZ/z9WIVZSrXxlAnB91KJZIGUhLhXOYS/vwMRsDeMlbeBmZajXKvf/WhwxEvDScbAInUP77W3NNGDXLijWD08tewPl7cP58cHcG3siWuu0xQvPIJMQaZnmbhckzRoCZwVtJzOaWfdZsnn8aRKlDrfL64ga+z59Cebp/NywnvxSx/EvKczcPGhJhezT38qclisu5+WreoI3yfhvCMtyNYTwCJOg3DmrQn2gTB307/g5wdO7TumZajoMzeGmt3fhMaduOZQpM/sXZF9rLv2pQJEqTsa7snaMa4dW+faFLT95F6jlx6LY4P6SpNce0DWqTE7eMjoQMO81clIWN7G3nrATh5E9axw9MWcTEP1wnw0K/NuqCoYd3jgUkybugsFuf3QdhlEJ9AQ+RfOFidlvoNUoFCUAsmKrGwig67RYjSZh0MqRgfH0A+gBC9gyEpXRkptlmrpPBBf2SFTlzPs2T5PR4I71KUUnqActMv/v6kBfGfJH2PgyBztMTcypIyGDcXRXoDoUB9O5KA2zQIsCyRnHNvgHwKw5Ncjl7g/+98AavMTii6tltaqRphva+buPQ5GW+8HnvmHt5Z6QgAnBYH5lshNYIcPFLaKknDMBZyha8wfnhkljmUwvT5eLVOLQMuO2OxXedvSeLgUQ+VGjjENStVeI8KPgPfbFK6IYgZonYjMC2Rq32qYTilolTVaIKBg9I18Zj/wiw4+gpmGja/oAVNyO+Hi4hmZFAhZL3Ruqqmx2y5wBoph7HqPkwqlVCgccDIYhSDwLhPorPeW9gQDisSJFgeTD/6aw8VtZ0AwIjQXcXFajVBirLe+JOQ7fRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SVTEbipvvfwx2gtZpTnV6s",
      "input": {
        "note": "Arm is stuck at z=0.076 (not tracking). Top view shows the gripper just left of and slightly beyond the white bowl, so raising and pulling back toward the bowl's side rim.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.06,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SVTEbipvvfwx2gtZpTnV6s",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.242, 1.5532, 0.9485, -0.3435, -0.1844, -0.21, 0.9974, -0.02, 0.8257, 0.5945, -0.4149, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3903 left_y=-0.0593 left_z=0.0882 left_yaw=0.021 left_pitch=-0.3557 left_roll=0.0399 left_gripper=0.9974 right_x=0.2904 right_y=0.0006 right_z=0.16 right_yaw=-0.0036 right_pitch=-0.0767 right_roll=0.0033 right_gripper=0.9962\nstate[joint_eff]: [-0.8547, -11.0154, 7.9248, 1.7949, -0.315, -0.2076, -0.0171, -0.0889, -1.3607, 6.9812, 1.7265, -0.0366, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38621e960cb4dea10364429ccde527ab730e6eadb15bfd586f8380cc6dc90028",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eef2bb9b736158cb5099682a8c1e8c522cadc6a1515cde13e36e8c836073527a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21eb1b6dc30cea2eee8d1d5b91b272bf79e6eeb4f2973745017d224056263bab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 5.91 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]: [-0.2226, 1.6302, 0.9596, -0.2508, -0.1761, -0.1982, 0.9974, -0.02, 0.8204, 0.5945, -0.4011, -0.0162, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.4099 left_y=-0.0574 left_z=0.0761 left_yaw=0.024 left_pitch=-0.3318 left_roll=0.0334 left_gripper=0.9974 right_x=0.2922 right_y=0.0006 right_z=0.1641 right_yaw=-0.0035 right_pitch=-0.0576 right_roll=0.0035 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -7.8291, 8.9641, 1.409, -0.0562, 0.1441, -0.0073, -0.0889, -1.2923, 6.9949, 1.7753, -0.0269, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2226, 1.6302, 0.9634, -0.2581, -0.1761, -0.1982, 0.9974, -0.0196, 0.823, 0.5945, -0.4118, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4097 left_y=-0.0573 left_z=0.0764 left_yaw=0.0243 left_pitch=-0.3352 left_roll=0.0343 left_gripper=0.9974 right_x=0.2907 right_y=0.0007 right_z=0.1613 right_yaw=-0.0029 right_pitch=-0.0709 right_roll=0.0034 right_gripper=0.9962\nstate[joint_eff]: [-0.4718, -7.8427, 8.8274, 1.4432, -0.0269, 0.1245, -0.0073, -0.0205, -1.6342, 6.9812, 1.7949, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.242, 1.5532, 0.9485, -0.3435, -0.1844, -0.21, 0.9974, -0.02, 0.8257, 0.5945, -0.4149, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3903 left_y=-0.0593 left_z=0.0882 left_yaw=0.021 left_pitch=-0.3557 left_roll=0.0399 left_gripper=0.9974 right_x=0.2904 right_y=0.0006 right_z=0.16 right_yaw=-0.0036 right_pitch=-0.0767 right_roll=0.0033 right_gripper=0.9962\nstate[joint_eff]: [-0.8547, -11.0154, 7.9248, 1.7949, -0.315, -0.2076, -0.0171, -0.0889, -1.3607, 6.9812, 1.7265, -0.0366, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38621e960cb4dea10364429ccde527ab730e6eadb15bfd586f8380cc6dc90028",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eef2bb9b736158cb5099682a8c1e8c522cadc6a1515cde13e36e8c836073527a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21eb1b6dc30cea2eee8d1d5b91b272bf79e6eeb4f2973745017d224056263bab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS/QcKEAgSGAI4AUIIdGhpbmtpbmcSDMZM5rR6TjXvE0o6iRoMpwuQf/S8DbfFuxDOIjDaj9Pp3KVXc0cRpKzY9YTPqxbn/yRxEWVOAms88X4/CspfuBXAY4CqRb4+hrlks18qmgcpOV8d+ciNjGNivhPuaWNcWTUF0LbUcb4Uvvrt7fY6HcPqVwQn0QtUfgVCSS3HBZJI6fc6mwCnM+uSmKFlLUY7G7VDe4jUNKHgozWReTYIIRXKFDqMnGQ1Ca9JGXbutk3PG6ZgdSBJu4sIfVOBfsy3HL0rFbnninBXtTdX74u/Q2abVeL9uJ8soIe5LoTK06kjIuMCH+Aah+N41sweL3T8en0H+d9xNZZkMMxnwfsa39KMTglcNnzix0kIAbg3OMti0rh3XI8HhMGwCmz04utWSPGl9pKVdtjaJqGPYGPf8f+QhonATfeYoV9gxsgK5m9JiNCdIQBIbU1vwZBqRodp1JWsms2IRWckhofy/5rjgM8qLe3ig/aUT/7hu9eDWVQgfEyrpTIpG8QkEU1dqqU8TfJ2LA2Tz+sRfrqUR705yqXiydY1xTFd/OZ5Ds2DCI0pjBlFWbdRr2ObTGxuM35HoN16RHpfPoD/t0wnFqCqMViZqWI/sKc1H+fZjbYQOjXOQmKbA11IzUIGIa8FdhevVExM6n+g+OSrTn9RJOq1Nt59/SAyeiQieOg0BdBi2eMdNFfXJ3OizQJDmcJQ3t+DcGINzi+2Bbe3Z5dPy+lUfDeGvgLt08yuYzWF93fajk/HWzEmp9R0/d+s2XIT620WxhgD/086fU+UodaO8/FUbVpEfq2Kx1/kj32mAWOdn3lmNdkrRMytUKpOuelClMBJU1Ft8hVHIrEVjieIu7T/jEDFH090aOvjLlb+abB1aYv+/g76bhXJWLaDEPj9GANcUnK/71uWVWlTUOFL5jNofGsWNnj2UmOVQAReeWKQJgGtNlcRjxPsqL3ve0dujMSmLeE6Vw6UlwPkp3qx0/90ZfE1Yue15pU0zvBhnxJ/Zydn9j4n96cYqBgRLqzaZTsdT4nlKteLpnbFmG+i4M+4N4rdmkE6qhYQGfWoFPxLnrdyh/TyWwClB2Lhwx8E1z8adMNdcwRR3ljKZI1BS+yD0SkL3eHRs2yR+bjKcbrSbB4sdhntxP6IhQIZGk/SayENZ8dN8apTp2oZbsYnDOcEhsDn1fCQW6pxB1rbENG6/qUn70KAnAdn1ZLdFRjdf5o8hDLhCWmAjP4JSio+xZK4/5hEILFwOExgU/01IMDHoTztDeq/1BEsSyn1O1Wb8bbPlqJg2v8qcLYZ05tAUYdxMGW5EYB9YatcBYOhu9+zb/dkFMv64IT3U8GKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018gqxKXbcyyrnzGtmMbSGHt",
      "input": {
        "note": "Wrist pitch has drifted to -0.36 and the arm is tracking poorly; re-commanding neutral orientation along with the hover point beside the white bowl.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.37,
          "left_y": -0.06,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_018gqxKXbcyyrnzGtmMbSGHt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2798, 1.3041, 0.5972, 0.0399, -0.2363, -0.2054, 0.9974, -0.02, 0.8295, 0.5945, -0.4187, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.364 left_y=-0.0578 left_z=0.1037 left_yaw=0.0081 left_pitch=-0.075 left_roll=0.0021 left_gripper=0.9974 right_x=0.29 right_y=0.0006 right_z=0.1582 right_yaw=-0.0036 right_pitch=-0.0843 right_roll=0.0034 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -5.6, 6.5436, 2.0293, -0.1636, 0.149, -0.0171, -0.0889, -1.7436, 6.9812, 1.6825, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b1d58acb7634785970f02a7de041f1e9737b3cd039b1b4453bce8c92f28ec7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5bee6c3cce9062c21a7622ccf2d76525c15d4ce0772098d4f066606daf3846b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3cf6ea1fa52eab173d2c386ed1d4c8bd74350014f3a5a5f6e4a84ed60a4926f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 3.632 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]: [-0.2226, 1.6302, 0.9634, -0.2581, -0.1761, -0.1982, 0.9974, -0.0196, 0.823, 0.5945, -0.4118, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4097 left_y=-0.0573 left_z=0.0764 left_yaw=0.0243 left_pitch=-0.3352 left_roll=0.0343 left_gripper=0.9974 right_x=0.2907 right_y=0.0007 right_z=0.1613 right_yaw=-0.0029 right_pitch=-0.0709 right_roll=0.0034 right_gripper=0.9962\nstate[joint_eff]: [-0.4718, -7.8427, 8.8274, 1.4432, -0.0269, 0.1245, -0.0073, -0.0205, -1.6342, 6.9812, 1.7949, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.242, 1.5532, 0.9485, -0.3435, -0.1844, -0.21, 0.9974, -0.02, 0.8257, 0.5945, -0.4149, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3903 left_y=-0.0593 left_z=0.0882 left_yaw=0.021 left_pitch=-0.3557 left_roll=0.0399 left_gripper=0.9974 right_x=0.2904 right_y=0.0006 right_z=0.16 right_yaw=-0.0036 right_pitch=-0.0767 right_roll=0.0033 right_gripper=0.9962\nstate[joint_eff]: [-0.8547, -11.0154, 7.9248, 1.7949, -0.315, -0.2076, -0.0171, -0.0889, -1.3607, 6.9812, 1.7265, -0.0366, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2798, 1.3041, 0.5972, 0.0399, -0.2363, -0.2054, 0.9974, -0.02, 0.8295, 0.5945, -0.4187, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.364 left_y=-0.0578 left_z=0.1037 left_yaw=0.0081 left_pitch=-0.075 left_roll=0.0021 left_gripper=0.9974 right_x=0.29 right_y=0.0006 right_z=0.1582 right_yaw=-0.0036 right_pitch=-0.0843 right_roll=0.0034 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -5.6, 6.5436, 2.0293, -0.1636, 0.149, -0.0171, -0.0889, -1.7436, 6.9812, 1.6825, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b1d58acb7634785970f02a7de041f1e9737b3cd039b1b4453bce8c92f28ec7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5bee6c3cce9062c21a7622ccf2d76525c15d4ce0772098d4f066606daf3846b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cf6ea1fa52eab173d2c386ed1d4c8bd74350014f3a5a5f6e4a84ed60a4926f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQShAoKEAgSGAI4AUIIdGhpbmtpbmcSDPr1kAbb0iogQovcLxoM6bLnMnz8JFKy1kzXIjDk19ZCk36xhmSY+MK0HcxbCgW6X99dMpkVq/MpPK9wTMLYT2dIHl0tJ8DMNHS/OvoqoQk8VRfQ+dekc1GsHWe2XsdzSMXiOLuMraUZYuKu1gBFAWjb0al0O4JaXIsl4tVps6zPVJY06ri+mmIZDUMpljK9Dxijdn92lWSsvTWl1TKadr22y/VnapW+LUP4G/TFENDesdzuzDVEtVLnbkoeceTQoohWcykhQymDvzaoPfRWyc4EAXpPPMmFFOTDQo9KZUiGAbBWy6HOFXbAKUkiyRnTJ06yo8VRWQqOnH9vppMiBsS2DgWuxy6b6QhQb578D8GQABmhNDQFFgQCzCEuK+qJckTiqf1gAGvlHSvUWM1wcynTuoEkHL/r7KIcm22V6JjJa0s8u0dPdc+rSgpEahvms3elM1Zj0BqQFzzxXm6/uK9kixtThPcuQB9Kio0yjUJ/kde5t9PPyW0mMY6Jfus9xaVmAGuGgCRmNz8PZbtuHYFlHQ5kRByGhuejgGfVvgjOCDrG2jyjOsqsGm8JCeL4hkodpYlxelhtah44+BGgrmORbjIE3jkrYDm529w618lqKLcg7IiKAhN1KfkBMzH013V9YDLquqCWq+eIVhfXWWL6uqyfrd+WR8x/T0HorCKZ7s/S+uBMuIVYSU52qU1gVQxWVGw6+MPSX4J4JOVHgzKtgsbh9Vdl5dWY/zNh8i5Gepi9o66kFu/NdgUbpDUZ6R09YSmFU8ocgdQr2U2lveCpDf91xZHe7hYJj3XqarTcXCT/fL/fCWyzdomSbefPaEi0WjgRWzUp/nUjsP79zax+RmGBD+yrHilekqB1+XEstgrwsyfin4uCHDl3BeaJaAONSVe3Bku5Coo5T+m6nu7zOJJbeXUvi0tmHo64BThWCiX8T7JjoH1MR2MOPW7t/ghQPrU2GTnDgzw2/GDfcWE4HI/4Fle0eco7OckCaVi0HmQrJCAkxw36PkGVO9Dr4kibOLkP3pHO+8eSyjFtAAGHe21CtZLb2xo9jfQs3yauCCLV+MwV0Sn+aRgkTLRDQFKn1IufceoHz1kJ1SKsUUzB/k0LKmoaqLb46J0VL5QguGG3JAZzdbAEJ9IXHkhyFX9AOCOhXsBFPsU7mDhWFxsmxjcjMv3tx3f1a78v26aVTf4rZ3jceZIWxq6XPGmxz/x7tt7nImGCcnhkrvaD7iwmFMyWrHMU/MfgFyDYEVWfoWNzD4KHqn+L8D2vpKmVi6yDwU6xcnRs3FzU0EXIGkZziKFPIiiyqY/gCzVs6NWSBySxpUhggnzLI1tZ6njG3rYZEsMdQtmWJ1kkOru0noFZRvFUTH6DZH0u83tdFiIvBsze6pb3gEtt2gDe+D/mYtZMsX45rOrMeQ0AKlu4HpYUTvi/0o1s8duiPDi1dHiW9IPOKltwFFynNraNKW//Eq4o6K7BoU+zsVYoNsQFp38wTjd2/SHOIg2Ht9eAztcFc5baGWGwNuUo23pEPyyKw2F2xHSndh187BfaCdKo2RcD/ydCwafufj20mI1b0Nbc2ZmITBPcst720FPIEuKznJkaEfYG7A+UBr5d0bRJ6ix0tVO4saVN6JsnzExPxuOFnO7IwJlfmfowkv2zQH+IVXFUxG4vYSL0ozUAG1tNzR0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DszsnNBDqhq2jFaCNYvjzi",
      "input": {
        "note": "Bowl's left wall is on the jaw column but slightly ahead. Advancing 2 cm and descending to straddle the wall with neutral orientation.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.39,
          "left_y": -0.065,
          "left_yaw": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01DszsnNBDqhq2jFaCNYvjzi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2817, 1.6661, 0.4728, 0.4683, -0.2367, -0.2054, 0.9974, -0.02, 0.8314, 0.5945, -0.4202, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3701 left_y=-0.0603 left_z=0.009 left_yaw=0.0082 left_pitch=-0.1305 left_roll=0.0189 left_gripper=0.9974 right_x=0.2899 right_y=0.0006 right_z=0.1574 right_yaw=-0.0036 right_pitch=-0.0877 right_roll=0.0035 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -7.0769, 4.6291, 2.0586, -0.1685, 0.1441, -0.0171, -0.1026, -1.5658, 6.9675, 1.6679, -0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a44b46cbcc7974e09dae10224ffd54c13f7a88f8ed572e564e06c2b6e3d10956",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff697f3f5dcf19c7a1b34784cbf389d5897335fb479fe9c5eeda1e3759375673",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:22219dc32d2de78b7d707820208b4af932fff40b8b0cb1af99e85f3f607e26d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 6.418 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]: [-0.242, 1.5532, 0.9485, -0.3435, -0.1844, -0.21, 0.9974, -0.02, 0.8257, 0.5945, -0.4149, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3903 left_y=-0.0593 left_z=0.0882 left_yaw=0.021 left_pitch=-0.3557 left_roll=0.0399 left_gripper=0.9974 right_x=0.2904 right_y=0.0006 right_z=0.16 right_yaw=-0.0036 right_pitch=-0.0767 right_roll=0.0033 right_gripper=0.9962\nstate[joint_eff]: [-0.8547, -11.0154, 7.9248, 1.7949, -0.315, -0.2076, -0.0171, -0.0889, -1.3607, 6.9812, 1.7265, -0.0366, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2798, 1.3041, 0.5972, 0.0399, -0.2363, -0.2054, 0.9974, -0.02, 0.8295, 0.5945, -0.4187, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.364 left_y=-0.0578 left_z=0.1037 left_yaw=0.0081 left_pitch=-0.075 left_roll=0.0021 left_gripper=0.9974 right_x=0.29 right_y=0.0006 right_z=0.1582 right_yaw=-0.0036 right_pitch=-0.0843 right_roll=0.0034 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -5.6, 6.5436, 2.0293, -0.1636, 0.149, -0.0171, -0.0889, -1.7436, 6.9812, 1.6825, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2817, 1.6661, 0.4728, 0.4683, -0.2367, -0.2054, 0.9974, -0.02, 0.8314, 0.5945, -0.4202, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3701 left_y=-0.0603 left_z=0.009 left_yaw=0.0082 left_pitch=-0.1305 left_roll=0.0189 left_gripper=0.9974 right_x=0.2899 right_y=0.0006 right_z=0.1574 right_yaw=-0.0036 right_pitch=-0.0877 right_roll=0.0035 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -7.0769, 4.6291, 2.0586, -0.1685, 0.1441, -0.0171, -0.1026, -1.5658, 6.9675, 1.6679, -0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a44b46cbcc7974e09dae10224ffd54c13f7a88f8ed572e564e06c2b6e3d10956",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff697f3f5dcf19c7a1b34784cbf389d5897335fb479fe9c5eeda1e3759375673",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22219dc32d2de78b7d707820208b4af932fff40b8b0cb1af99e85f3f607e26d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQStAcKEAgSGAI4AUIIdGhpbmtpbmcSDPiYEbK1VYQ9PeBE0BoMsaq5FYnHihv+uhSOIjChjwUIELeoIuWpan7u8J3RVMtIT+2soGMp9ZMCiJ1zdXx8I5ZyLYtMKVAVJEF1llwq0QYk083zVUsQPOxmgXPq2gQTQUzL4PSY9uEu+3myYogn3DtP/eq9da9vLZ4RH2vjJlQfY7fg6BkIPia5R1y8jE2eeLMXsIJEcEDcP0Hxyxw8dMzTkbMRxS0zz9QcIl5x92F1VIFIXRrn8jXGwWMBjr+KTBgsTaSbjvRHuQMkICIzRcxDl0qgWZaxZde7u2D1eQvSFZdzg3yBEKh7t4N/oyM3gj+hzc2Nt7kbnpKyhpg+lsJLzGoP2pVjgan014gsRSkxy9z4TGsr4cgMR/Nc0kET2ggdNF2lwqxh0Z9Oaa+SwdljpLWckrOvoRyY2ZvqwTgLlKt6U9YDM4T+8alDZAFoSYO+WaSB+uMXNVaOfav+nGS/+GX12pOSAH/3EgCmdTzQuuYtk66PY07+6gxFaVg5xHtY3mUIWZ2c55Z00pM2IbnRFbh7awuSqAoWhTHulXiZJWvv48923fVHvM503di2EoCgyPE2xH1ds6DkWZmYpHJAruBpKCztWqiC5fvq4bWoaQwCx07bS4TIl5D/yCxsSs69bpcol8giL2q1USvzklLNjnsMMps5zWIpcJGLUVWqQrwIVL+XZAueW4q8B4j5lMKqMUMGDDw7POXJPAYfNK47J9KVzc8pK6navnfNG2cuw/eXDLe0qXnaa0dpMc7NQ4PHYmtMnL4HZAJpwYAu4m5M2k3WE94QpuufiZDZMHKir9kZztP5Cl3bHU1wxVvorrrU13Y2lycFMUOg90UbW7zCFMdsHlEKOOFBrmV2VJsKaoHQNmq3dJvWs/tfgwjtk7sBRL4drTSOy1RAes3+/9bNVklH85y3ty3ArG6woi36YnuqzxM0SJGQhhin0cFZZkpgWozy6q+6mjHXs1BfZnBp4sUENECs2R4hdX6Eeci307LLqqhLf4+VP9cK+1RXuZVpFQCDMzRh60Am8cKWUMHJQrtmcEKdO9g0lO+TjPKXRYpIoQaAHORqk9W8ExwJ/WaI+9KdBPy1moS7Mh6pZMZpl90nhXMf1gpcIKOxgXqYY3OCiEpJrHgmsU3VfoTUlmeD+0cdYevHPOV5c/MEUXWVQnJv7f4N8lZWGHMRaNaAD2yLRQ32w7d7AdwwpmRRdojbDoTNoWnMOV2ZcShO9awYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YaGti2pSySaj3v3MbbdyQJ",
      "input": {
        "note": "Bowl's left wall now runs between the jaws at table level (right jaw inside the bowl). Closing on the wall.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YaGti2pSySaj3v3MbbdyQJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2852, 1.6459, 0.4847, 0.5602, -0.2184, -0.2398, 0.0381, -0.02, 0.8318, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3885 left_y=-0.0703 left_z=0.0374 left_yaw=0.0055 left_pitch=-0.015 left_roll=-0.055 left_gripper=0.0381 right_x=0.2895 right_y=0.0006 right_z=0.1568 right_yaw=-0.0036 right_pitch=-0.0904 right_roll=0.0035 right_gripper=0.9962\nstate[joint_eff]: [0.1983, -4.0547, 4.0957, 0.6862, -0.3101, 0.2711, 1.2039, -0.0479, -0.9641, 6.9812, 1.6581, -0.0317, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ac4a32b142f3e7059e08ca72d37be6ffc5c826511d96de2780868184c87dd34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84cb937a9fde13d87299140b559c8cb3b555ed9d85ae9163ebee8a3b653f0c95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c81c83e4d8827e52b75726e1d98f9f55e5ed940a1b7a9d49173c58da56640c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 3.51 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]: [-0.2798, 1.3041, 0.5972, 0.0399, -0.2363, -0.2054, 0.9974, -0.02, 0.8295, 0.5945, -0.4187, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.364 left_y=-0.0578 left_z=0.1037 left_yaw=0.0081 left_pitch=-0.075 left_roll=0.0021 left_gripper=0.9974 right_x=0.29 right_y=0.0006 right_z=0.1582 right_yaw=-0.0036 right_pitch=-0.0843 right_roll=0.0034 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -5.6, 6.5436, 2.0293, -0.1636, 0.149, -0.0171, -0.0889, -1.7436, 6.9812, 1.6825, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2817, 1.6661, 0.4728, 0.4683, -0.2367, -0.2054, 0.9974, -0.02, 0.8314, 0.5945, -0.4202, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3701 left_y=-0.0603 left_z=0.009 left_yaw=0.0082 left_pitch=-0.1305 left_roll=0.0189 left_gripper=0.9974 right_x=0.2899 right_y=0.0006 right_z=0.1574 right_yaw=-0.0036 right_pitch=-0.0877 right_roll=0.0035 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -7.0769, 4.6291, 2.0586, -0.1685, 0.1441, -0.0171, -0.1026, -1.5658, 6.9675, 1.6679, -0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2852, 1.6459, 0.4847, 0.5602, -0.2184, -0.2398, 0.0381, -0.02, 0.8318, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3885 left_y=-0.0703 left_z=0.0374 left_yaw=0.0055 left_pitch=-0.015 left_roll=-0.055 left_gripper=0.0381 right_x=0.2895 right_y=0.0006 right_z=0.1568 right_yaw=-0.0036 right_pitch=-0.0904 right_roll=0.0035 right_gripper=0.9962\nstate[joint_eff]: [0.1983, -4.0547, 4.0957, 0.6862, -0.3101, 0.2711, 1.2039, -0.0479, -0.9641, 6.9812, 1.6581, -0.0317, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ac4a32b142f3e7059e08ca72d37be6ffc5c826511d96de2780868184c87dd34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84cb937a9fde13d87299140b559c8cb3b555ed9d85ae9163ebee8a3b653f0c95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c81c83e4d8827e52b75726e1d98f9f55e5ed940a1b7a9d49173c58da56640c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+woKEAgSGAI4AUIIdGhpbmtpbmcSDHSB6wlK4OR66KZJsxoMe9COH+fOwc8lIR06IjDGZa7EIc04oj6sBUE78MgpoXPDWbSnsH/by1Hb9LwMXh6nB2B9/HMGgv49pll6IRAqmAqKj87d5ULJYJFelOMfNP4EFfcuAwD9Nqon1bZi++AoNlArKlk7nIjcR2Cflj8M+jPwKxZdB5wsuZg8k38li+9UmN/HKuxeGmfqk+u93hkvex73XHSTnTxByypnvWg4x5mZmUbVY/hTwH8N+PuYzfeMj1leBbtWbDTSYKqDgVuPUa7eJt59zyxYVhNxxhZ12WNw2fly/sZWNEXygFh+hDiFAYU8OJ9sS9mf6BfvWV+NPGZw0rVrlggAA0KOXLcIMqiaCMFFPylTj9NbKMWOi9ffnzT6BdK1wlbeFpm8MdB1dbkNtE0EaLtrIx+ZLvmW8h/sUB0JKAMhvMt3rimfpC7CyA6qxKVWejlGGHRWakn6YNhHN/D9Q0gNSDsAbjz6t6aMe5uslzUSWKoLqIM3A0tN25e1yM85icbX2/FN3AD4I9p9t5hRGHyR7xOVz4AaB6n4Jcb1Qz0WCRphypOZvAaYDXCPaenvigBJIInueEqIX9cEIQ7ZV4IuhNgJj2GdeLdUKBjxDG9vAgjD6m4OOU5X307vG1/bhQMFfCqCYZZYoaw8eBFRU1L8zO83iqd3m70q6PIcoSq8a3juop83250Vmm4/dWyNaq2/pMSQPgW6kpLadjDx2fSmQUdGO2NTfWT+s4Bhmcv4mIX8hBU79IODMS2I67biP6boU41D74dVYqHS9ZrjcPgKR4TJJSHx0TsGr5AYGrWBHIu9k9zg1cPwKOfB+t9ZhcnGd/bjciOGFnhPEj1nQ5xRwOOOWdPrW5JVH+FtlFobliUQjFy/01H5gx6rM+SwHN7x3LzFeIPv1BEa8FyDU1iEVQHC+glqz4kqnYgf2rKalsZ2IoqteIRZ342+ANRdskq8gPb1FE8lcnXT/AwJP6oa3tFTjCCfy4nzJ3lM+hCDvja85tpSlhbhFplrG4udkNaXnV5iM6abeypFyYrpWz+e0R/e2BJnCbJ4fBEzba3DmIYZv1gzVQx/Fu6/1GJigG5uwJVMvWLs2Z9cUwTQ8kf/4C86o5gJquW3Czk3GTDhLmB3vOptpbBxWlRCbpltIu0wKAYU3yiATld0D7J2muFTgXQZaMb2A+tmwSejFdzQ41AV1X+MFoNN61DXbSoPPKFF5AIZe7LTisVk/3Dy+mWNTu+GqrP/dtt7QbRBDmsoI1DZwSgnMz/1+g1sTnemYeBRiaBhZZclqI6/CQ/+ZCwi+kSe8tyQKcHeNu6CQv8ESP9KvmRjCNklAP+2n6wSuBBK8UdBdwXlRXGmnhLRGexRJ9eI2z8w1xOAy3UrOEZuCfIPm1COKkN4ufFGNPku6yWWROmpEGW2VRhFTJP6TbBNQp8GpQ3In2Fw/HLbk5k2YG8EomdhASwZVpE0Wno2ulqlyEkouVCAEeLFnzq4wuDIxVnQhk4ecvJqym0x5c74pqSHAyipLhhWq0nuurn92nDunsEw+sepBdSQoOC1gtejZqA30M79S204gegMyRYsZ2J+Oi5L0XiLIe/6PYU8TNX0uOtkHEUSHR5v+RnlNel24p5iPx8tA08DV/OSodZaWE+769yhUQQZ64qmbK6elBUbq3oF0yI9KcbwnFt4J1WfzGHJ17V7olw7eJT5HzLge2HJBg7DeOcd8ZDEcIw03Fz4NR/EV0XlVLlf0K1zpocWI29FeKokldX0calbchexB6g1K7rhYie0g0x+1V4CiLCw1v6L23xJACFy9gon+a/+ebMR5RPkWs2ey8BSs/NgsBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0148Cy9QmdGcmGUN4CpsL68r",
      "input": {
        "note": "Close ended empty-looking (0.038) with the wall just right of the closed jaws. Reopening, shifting 1 cm right and pressing to table level for another pinch.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.39,
          "left_y": -0.08,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0148Cy9QmdGcmGUN4CpsL68r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3149, 1.8229, 0.4728, 0.7574, -0.244, -0.2665, 0.9947, -0.0196, 0.8314, 0.5945, -0.4221, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3932 left_y=-0.0794 left_z=0.007 left_yaw=0.0114 left_pitch=-0.0034 left_roll=-0.0662 left_gripper=0.9947 right_x=0.2896 right_y=0.0007 right_z=0.157 right_yaw=-0.0032 right_pitch=-0.0896 right_roll=0.0035 right_gripper=0.9962\nstate[joint_eff]: [-0.6496, -5.6137, 3.4667, 1.5702, -0.1441, 0.0757, -0.1001, -0.1162, -1.3607, 6.9675, 1.6874, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aed7a9ec9b5180b9fac877c21fe6206b0bb958eacecd688ff7de73725bf0d97e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3e0d39936e0bfa469a849ad9aae92061fda883454ec1f15a088e41d1cfc348a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d9d92f1c69bf68474f7dae83ccd06dceafceccf31aa1f3272e430da9eb849d87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 5.07 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]: [-0.2817, 1.6661, 0.4728, 0.4683, -0.2367, -0.2054, 0.9974, -0.02, 0.8314, 0.5945, -0.4202, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3701 left_y=-0.0603 left_z=0.009 left_yaw=0.0082 left_pitch=-0.1305 left_roll=0.0189 left_gripper=0.9974 right_x=0.2899 right_y=0.0006 right_z=0.1574 right_yaw=-0.0036 right_pitch=-0.0877 right_roll=0.0035 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -7.0769, 4.6291, 2.0586, -0.1685, 0.1441, -0.0171, -0.1026, -1.5658, 6.9675, 1.6679, -0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2852, 1.6459, 0.4847, 0.5602, -0.2184, -0.2398, 0.0381, -0.02, 0.8318, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3885 left_y=-0.0703 left_z=0.0374 left_yaw=0.0055 left_pitch=-0.015 left_roll=-0.055 left_gripper=0.0381 right_x=0.2895 right_y=0.0006 right_z=0.1568 right_yaw=-0.0036 right_pitch=-0.0904 right_roll=0.0035 right_gripper=0.9962\nstate[joint_eff]: [0.1983, -4.0547, 4.0957, 0.6862, -0.3101, 0.2711, 1.2039, -0.0479, -0.9641, 6.9812, 1.6581, -0.0317, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3149, 1.8229, 0.4728, 0.7574, -0.244, -0.2665, 0.9947, -0.0196, 0.8314, 0.5945, -0.4221, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3932 left_y=-0.0794 left_z=0.007 left_yaw=0.0114 left_pitch=-0.0034 left_roll=-0.0662 left_gripper=0.9947 right_x=0.2896 right_y=0.0007 right_z=0.157 right_yaw=-0.0032 right_pitch=-0.0896 right_roll=0.0035 right_gripper=0.9962\nstate[joint_eff]: [-0.6496, -5.6137, 3.4667, 1.5702, -0.1441, 0.0757, -0.1001, -0.1162, -1.3607, 6.9675, 1.6874, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aed7a9ec9b5180b9fac877c21fe6206b0bb958eacecd688ff7de73725bf0d97e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3e0d39936e0bfa469a849ad9aae92061fda883454ec1f15a088e41d1cfc348a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9d92f1c69bf68474f7dae83ccd06dceafceccf31aa1f3272e430da9eb849d87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS+wYKEAgSGAI4AUIIdGhpbmtpbmcSDIoVZXdb9sjWj17YdxoM0DkJzumVbtxhy7X5IjC1EpmwGSajTdnaQB7q5GCbWhfQlWGeodYZ39YYfFxddmuZ/llw4SZqudJNACV2Vc8qmAb7iuhzjPwZgjWkxIgnBknxG8m+roxQ6CAtPB7B+C//5ekKeXb7ikyb9PBdhPvPSGedAo+pvAY7xSNQDSRym2nz7ljZvey1zx5iDaxSd1JnHY04wDvofCa217MS0oFJI9bIGPE+eNryc6TEcOp4cCweCKk5RQWJhWXzj/fscX+0jKJ2QVga5zyMce5isoCyCOGLrSdTTRdySnVouGTDuSdg33eFwBy1CKV5PVGo2vtak6QOHUh8+oK5XPx+t/XRqgrZWHY5F8mc6q/VxBat/UFZwHwGpxXUVBzbcJ6rA/8dX/105bDef2ZLD5VHhKToxiyX+27EXI2VOztp/awZ69GRwmnW4pc7mIqHcpWFg8huL8tfINkO8QIUlTgiitA7ADilux2n6dx4pzO80sgWhoFQ0BNmS7N9mUzGmgi/IqMZbd+Pmrg16RW22aZSTWt8dww6goqWt4ItSqT0JO7s6/EaBU4ys9TFilEwW6epJlE+p3BYpT4hWwqfDsaHqqTVJxWXWeEjxbdQqLDYwspJw4twZxpdxLzcKqjx/oQPzVAzwiklftKlZS9rT0kW3JQzJN2W4IZ7FUzKVObAknaFAA9/JcD2mbuoG5n3sHQAIzm7VcETp5RHrfxNoEIaj6Y31iJ9i2iq/nUQ6l+NA597WTXtR/wJWeCcABi1Dj3IGkh4piKJfgZ8NoOS7jEJjgiJu4OHOTo/Dput6EHmOJLg8JgU/Yww9KeArI6KLYSXin/m19e4iBx5JzJAGX+HUMhiBz2/vaUAfK0QFWrUuXQ41kjZ75XjKOySpFaefDU3D2e+Yca7BDRiUfO7EOATArUKUJj/aoaXjattxceKrZnlCEhR5W/hJB/Kto6CnXxZX6Z6KAcdiOI9gqbWiv3UcXScklOlYkNZNd0SxX9jY273okwrpHbUMJ8ykLrJ0TERP7uZ+cv0rcmY43wKchREqLcE/zxMNO4532eqEwylJEzJrILIkwvfYBQnZR/iG1N8Lg2hiejP1KHBbFOCpYOyItbR3inf2u9EpcSziOklNPJRe/4X1s5MZt/Os50YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Z6h8SHzTsTZmi3KRVoGK5",
      "input": {
        "note": "Wall is between the jaws at table level with the right jaw inside the bowl. Closing while holding a light press.",
        "targets": {
          "left_gripper": 0.0,
          "left_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011Z6h8SHzTsTZmi3KRVoGK5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3191, 1.8484, 0.4843, 0.9291, -0.2344, -0.3031, 0.0387, -0.0196, 0.8349, 0.5945, -0.4229, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4137 left_y=-0.0897 left_z=0.0366 left_yaw=0.0226 left_pitch=0.142 left_roll=-0.1546 left_gripper=0.0387 right_x=0.2896 right_y=0.0008 right_z=0.1559 right_yaw=-0.0029 right_pitch=-0.0938 right_roll=0.0038 right_gripper=0.9962\nstate[joint_eff]: [0.1162, -4.1504, 2.7145, 0.7888, -0.105, 0.2808, 0.9206, -0.1162, -1.388, 7.0769, 1.6337, -0.0757, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f78a523c04bc7c98ffb23dacdfc3875f920e0bb3d9916ec0e4b62376130d71a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca707b0efa2992a2fcf1c72d23a2bd37acb6f372614939e21f8bbe289d82100f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1aca7e58b086ba7df05a6192323c6243bc2ad8cc628211c55105ea1ad9332457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 8.393 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]: [-0.2852, 1.6459, 0.4847, 0.5602, -0.2184, -0.2398, 0.0381, -0.02, 0.8318, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3885 left_y=-0.0703 left_z=0.0374 left_yaw=0.0055 left_pitch=-0.015 left_roll=-0.055 left_gripper=0.0381 right_x=0.2895 right_y=0.0006 right_z=0.1568 right_yaw=-0.0036 right_pitch=-0.0904 right_roll=0.0035 right_gripper=0.9962\nstate[joint_eff]: [0.1983, -4.0547, 4.0957, 0.6862, -0.3101, 0.2711, 1.2039, -0.0479, -0.9641, 6.9812, 1.6581, -0.0317, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.3149, 1.8229, 0.4728, 0.7574, -0.244, -0.2665, 0.9947, -0.0196, 0.8314, 0.5945, -0.4221, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3932 left_y=-0.0794 left_z=0.007 left_yaw=0.0114 left_pitch=-0.0034 left_roll=-0.0662 left_gripper=0.9947 right_x=0.2896 right_y=0.0007 right_z=0.157 right_yaw=-0.0032 right_pitch=-0.0896 right_roll=0.0035 right_gripper=0.9962\nstate[joint_eff]: [-0.6496, -5.6137, 3.4667, 1.5702, -0.1441, 0.0757, -0.1001, -0.1162, -1.3607, 6.9675, 1.6874, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3191, 1.8484, 0.4843, 0.9291, -0.2344, -0.3031, 0.0387, -0.0196, 0.8349, 0.5945, -0.4229, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4137 left_y=-0.0897 left_z=0.0366 left_yaw=0.0226 left_pitch=0.142 left_roll=-0.1546 left_gripper=0.0387 right_x=0.2896 right_y=0.0008 right_z=0.1559 right_yaw=-0.0029 right_pitch=-0.0938 right_roll=0.0038 right_gripper=0.9962\nstate[joint_eff]: [0.1162, -4.1504, 2.7145, 0.7888, -0.105, 0.2808, 0.9206, -0.1162, -1.388, 7.0769, 1.6337, -0.0757, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f78a523c04bc7c98ffb23dacdfc3875f920e0bb3d9916ec0e4b62376130d71a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca707b0efa2992a2fcf1c72d23a2bd37acb6f372614939e21f8bbe289d82100f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1aca7e58b086ba7df05a6192323c6243bc2ad8cc628211c55105ea1ad9332457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAkKEAgSGAI4AUIIdGhpbmtpbmcSDMZDix4gSe55mb08lhoMz+PacUnqPTLJKiNgIjDxGczRuBilPdbXg0nXXSoPgkmLUBYLklD48o4/ELrGgRP6mWR42rs6Lu2FoStTZeYq2QiyB0W3Oc0YU0QljGguXYHMU1wBswVdNUfwLUf91eU7wM+YaDkNfeGgKWiGhlQh5Ljyf2wOyy311rAp7srs5QTBPNfdxlgjp+AAVbTPsFFt40HAHxxh0JtztTe30B4g5hyTQEsB+qur+/mKGarOHeyrOuBBgmSGRXDw+qv3OZGNqXr7JIG5j5uJul5AmlkUqUMnFdKmEiil2uCzbyvtJuwJRkdLXjO+foH5Bi8kX2t+xePN/EIR41cEeDx310eC8l9S6czBYV58p15VYEoAyGL35GW9Bg+8Zm0dfPLbvkGkjC99yKz5g2aMiGMMN1YhSSXGHK+UCoImHsbTdJiglSgPmwPglpIcREOZPVf50WexGIOoLzlXZpGYLJWP612gHL2l/ellUUDZ99fbrCO7qlu3Pj8BH5V9+vipuUe+meTazolOjmc+REEm4R8vIymZa7vWkP4P01n3xlK8v598UI6DVt7Y/xl+iYdMPu3he9WLbbFh/ohTsQR2CcBz3CJP2cAez2HAzyR32yU1w7fHcW2SsxCbSlLJn1TV5HBgCdYxI/1Nbuiotvtvvnl1lrQSlsexdv0yr2+EX/HXqyg30O0k7gZ2wC7zUNGMzBUabJ196ujjqoGEJetRRtKH9Abs0RpTqI+whsuXjqaYxrb30kVo+9/aaUWMGo31cLU+BrJ3ejHY1f4DT7ZRLAJzol7yo9Kh5S9vc3Wm0eLD7SXh8UOcXg0pHK5Xm1wwEfbI8xINHUYKKqa1uDzhmgXEqrzMgjZ6c7ojQo6cvAVvlmUpEMkDujMtmaUTDkOdYe84zac6nv59KHm7b00PlUKF9Mz+CazUclIbRRl3LelWoYDFJYKnxqAFIX7ihqE+u/Wzeb7s6qlAk9O1ZUVhAYuT3JW+inyCoJpNbp/9V9Ofl2gdGkuhNNhs7xeMorEJzG6V3GTumaaDXK1cnLyUNiMhLsm9XeO5dgTa6/FyTOJ6oST3jnCWtexcoe7prl1kcIx7EG5fkOt+FGpcecmC6I+iTjmRMc/3CXRzxhRorrYReH+KU0Z1hWIHhSUhQU4xE9M3hq97WbgqtlDUiOEybAKr8sympHck3U7MFrgdT0+ya6zpH3MbtJEgWD1W+Odzik760jFZPdgPvVwuXTLolsaTXKZLFs3ddkgVX8T3TGwXf3ml1iTWsmqglop6zutisThbC112z/b8ETdNFXlFj2DtK3Bih95Nv6dufusovii95RztfQq8+xpa/htWCJU11vcfuxbsIp50TMWyVji1+Ive7rsXyblXfWEHb2oUy4YRm8fQnpxu9k3YWnTlPhn3rxT7AGTTVlEyzy4dm9zOGv/h6iMdlgndKNBYgDCfGm6TZ3OzskXrC25VhzfZl/FEMb8uCpH7KJF6iZHyScG7jcbBPgOk0WPbhC8wMlmcJuUxe1H1yO2ja8pLNgGNnVexlukZ8LjeAqpQX+KWVFbV8FeOrZUDkeoH6PpKRDjJv8AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UhUKxxVzfHADMkNwSh6zZf",
      "input": {
        "note": "Jaws closed at 0.039 right on the rim edge in the wrist view — possibly pinching the thin rim. Lifting 5 cm to test.",
        "targets": {
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01UhUKxxVzfHADMkNwSh6zZf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3191, 1.6386, 0.5121, 0.696, -0.2367, -0.3119, 0.0395, -0.02, 0.8364, 0.5945, -0.4225, -0.0162, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.4104 left_y=-0.0882 left_z=0.0793 left_yaw=0.0295 left_pitch=0.146 left_roll=-0.1633 left_gripper=0.0395 right_x=0.2897 right_y=0.0006 right_z=0.1556 right_yaw=-0.0035 right_pitch=-0.095 right_roll=0.0041 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -7.0769, 7.6239, 1.8926, -0.0952, 0.0513, 1.033, -0.0342, -1.4427, 6.9675, 1.6288, -0.0855, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4a5618aca91668bc0e9f5dc732a7c549cba5e803b8b0b86caa3cea495ca33d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1078094721c2935f7863a76fa76bf088a0ee0fb4f7f0b4133f14c42819f171b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cbce82ee49c481faad0d3a34230539162f6120b4637895bb469c11c5c78ca85d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.901 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]: [-0.3149, 1.8229, 0.4728, 0.7574, -0.244, -0.2665, 0.9947, -0.0196, 0.8314, 0.5945, -0.4221, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3932 left_y=-0.0794 left_z=0.007 left_yaw=0.0114 left_pitch=-0.0034 left_roll=-0.0662 left_gripper=0.9947 right_x=0.2896 right_y=0.0007 right_z=0.157 right_yaw=-0.0032 right_pitch=-0.0896 right_roll=0.0035 right_gripper=0.9962\nstate[joint_eff]: [-0.6496, -5.6137, 3.4667, 1.5702, -0.1441, 0.0757, -0.1001, -0.1162, -1.3607, 6.9675, 1.6874, -0.0415, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.3191, 1.8484, 0.4843, 0.9291, -0.2344, -0.3031, 0.0387, -0.0196, 0.8349, 0.5945, -0.4229, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4137 left_y=-0.0897 left_z=0.0366 left_yaw=0.0226 left_pitch=0.142 left_roll=-0.1546 left_gripper=0.0387 right_x=0.2896 right_y=0.0008 right_z=0.1559 right_yaw=-0.0029 right_pitch=-0.0938 right_roll=0.0038 right_gripper=0.9962\nstate[joint_eff]: [0.1162, -4.1504, 2.7145, 0.7888, -0.105, 0.2808, 0.9206, -0.1162, -1.388, 7.0769, 1.6337, -0.0757, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3191, 1.6386, 0.5121, 0.696, -0.2367, -0.3119, 0.0395, -0.02, 0.8364, 0.5945, -0.4225, -0.0162, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.4104 left_y=-0.0882 left_z=0.0793 left_yaw=0.0295 left_pitch=0.146 left_roll=-0.1633 left_gripper=0.0395 right_x=0.2897 right_y=0.0006 right_z=0.1556 right_yaw=-0.0035 right_pitch=-0.095 right_roll=0.0041 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -7.0769, 7.6239, 1.8926, -0.0952, 0.0513, 1.033, -0.0342, -1.4427, 6.9675, 1.6288, -0.0855, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4a5618aca91668bc0e9f5dc732a7c549cba5e803b8b0b86caa3cea495ca33d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1078094721c2935f7863a76fa76bf088a0ee0fb4f7f0b4133f14c42819f171b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbce82ee49c481faad0d3a34230539162f6120b4637895bb469c11c5c78ca85d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DH1JdDDrBdWZTRkJgxPqwA",
      "input": {
        "note": "Top view shows the white bowl tipped up by its rim in the jaws — it's held. Raising higher so the dangling bowl clears the blue bowl's rim.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01DH1JdDDrBdWZTRkJgxPqwA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3191, 1.6135, 0.5274, 0.6083, -0.2359, -0.3115, 0.0409, -0.02, 0.8371, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4066 left_y=-0.0871 left_z=0.0759 left_yaw=0.0267 left_pitch=0.1014 left_roll=-0.147 left_gripper=0.0409 right_x=0.2898 right_y=0.0006 right_z=0.1554 right_yaw=-0.0036 right_pitch=-0.0957 right_roll=0.0036 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -7.1726, 7.0359, 1.9365, -0.105, 0.0024, 1.033, -0.0479, -1.5385, 7.1043, 1.7167, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:876b6b15bf7dd5f08f9fe493723399f59a2caa76ca51991f7350dfa7014d0e17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57f4cc42f93ca23f53c4c851c197f56643797ac0e1b815b9148cedd144821951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c31f676723a90aeb8222ca7660ab8935798974590cb3ee3e381bfabb411a89e2",
        "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 · 7.164 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]: [-0.3191, 1.8484, 0.4843, 0.9291, -0.2344, -0.3031, 0.0387, -0.0196, 0.8349, 0.5945, -0.4229, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4137 left_y=-0.0897 left_z=0.0366 left_yaw=0.0226 left_pitch=0.142 left_roll=-0.1546 left_gripper=0.0387 right_x=0.2896 right_y=0.0008 right_z=0.1559 right_yaw=-0.0029 right_pitch=-0.0938 right_roll=0.0038 right_gripper=0.9962\nstate[joint_eff]: [0.1162, -4.1504, 2.7145, 0.7888, -0.105, 0.2808, 0.9206, -0.1162, -1.388, 7.0769, 1.6337, -0.0757, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3191, 1.6386, 0.5121, 0.696, -0.2367, -0.3119, 0.0395, -0.02, 0.8364, 0.5945, -0.4225, -0.0162, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.4104 left_y=-0.0882 left_z=0.0793 left_yaw=0.0295 left_pitch=0.146 left_roll=-0.1633 left_gripper=0.0395 right_x=0.2897 right_y=0.0006 right_z=0.1556 right_yaw=-0.0035 right_pitch=-0.095 right_roll=0.0041 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -7.0769, 7.6239, 1.8926, -0.0952, 0.0513, 1.033, -0.0342, -1.4427, 6.9675, 1.6288, -0.0855, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3191, 1.6135, 0.5274, 0.6083, -0.2359, -0.3115, 0.0409, -0.02, 0.8371, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4066 left_y=-0.0871 left_z=0.0759 left_yaw=0.0267 left_pitch=0.1014 left_roll=-0.147 left_gripper=0.0409 right_x=0.2898 right_y=0.0006 right_z=0.1554 right_yaw=-0.0036 right_pitch=-0.0957 right_roll=0.0036 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -7.1726, 7.0359, 1.9365, -0.105, 0.0024, 1.033, -0.0479, -1.5385, 7.1043, 1.7167, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:876b6b15bf7dd5f08f9fe493723399f59a2caa76ca51991f7350dfa7014d0e17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57f4cc42f93ca23f53c4c851c197f56643797ac0e1b815b9148cedd144821951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c31f676723a90aeb8222ca7660ab8935798974590cb3ee3e381bfabb411a89e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQcKEAgSGAI4AUIIdGhpbmtpbmcSDAb/BOon992Bg/WK7RoMfvFFSPM183mp59HaIjCR4xSA3cys5n1IhQa6d4N2LaW6VMK7EZXUnGCp39W8swUhTPE050cZ76s9g/WhsZoq4gZQn0lJL0t9ddkeCosWnKhr1FsUvxMYUARZMVy8Yt3L7TZysL4uh9ttR6YZBGAV939MpdepYbkjiXe05BjxMem184J0pcr4QijIzn5S1hY77XMUmrH4rXNl7mUI/8/vRt4ls7uI0xkMa0eLopwGHexjHJV4BA+2LupB316mVr2IV2hmb/r4nLIGIbxoEAT46dF2AHnc5IkxgQEP1Ot1bEAwI7o4vK3wUbeVznO6gag3+LLGH5o4Etvy4Sn/tSzx+x/1To7jWNO1gkEC8xujvIcYgZFOL9ObFOKaGe+g+5/6/uV8WbTaBK663+xI/MxbFv29d3eCF+ZaQlhoc/OYDR7x4JnWife7Q1WRog41fC2a7ZV6w2WzOME54MIv3xEB3izpXA2q+6f1tW1OlGTBAgUsI7XfT+gv1RxDWwYetAk0/XllPS16Rl9eWxKBw5dP1kDPi4UJfwKMWM+BlmBTKLYzhtAA5UDCQu+o5+1OdU0SLwaNQohj1ho+K/ccgHwKClIHJiXnHpTs+1XbUKJYBVY7RswVKT899L9D+fMeJSwkHIzjlGec6zgKlHXTTCRCNYn7YFRfbjOjlNM5f7t9HqpEzA68TG6IoxZyGlB3Oq6VRNwW6uwf/ylC9wjh0qzM+J7h7GTMaQURA4sFL9cdkGhyAiBfv7EJ6OuoAGVqujgq2wRfJ46KFg+qrmEE9Yry6wtz8VmMz5YlWAxUTMzgMFi+lb6OcI5aFLUis+I3QiJFpZCVemQ/A4ncnDCn6rYJCr2oi4uHZ149lM5E4F4ASyskBw7+c/DC3zzERx8spSGbffgOYZzXRud2Pk0yer9GBsCqv0pZOl4eShz9gaZv/XL584w0x0H23a76WVFOkBpYvriRJQx0S+wr4wQvrVCpjJ1oP2h95Sz3ydkB2GWPM4YImONNwop8iYMSr1xXcJFymnrmvuxGaH/HIe+GX6SU14fcroi5pPpuGa9wV8zA7Rt6Lvz8VfJjVN4S7PMfrZkaBF6RZ2E9zhonnddySjf8e1kX95Bcx7v2p2uMq02FmpLoSH+DIuovcHGugvtYHOc+enYvxOVdm4nTkEgmVeA7LuV31TvFaiBw/Y1VOjnkt47v56nTN9YEgzTy9pJhckFxoH9Dau/7pnGXK4GbUcPwSS8r1hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017JRKshBHHYCUtWPbpivKrU",
      "input": {
        "note": "Arm didn't rise with the bowl (stuck at z=0.076, orientation drifted). Re-commanding neutral orientation while lifting and pulling back slightly.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.38,
          "left_yaw": 0.0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_017JRKshBHHYCUtWPbpivKrU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3737, 1.2709, 0.8158, 0.0719, -0.3054, -0.2703, 0.041, -0.02, 0.8398, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4023 left_y=-0.0968 left_z=0.2214 left_yaw=0.014 left_pitch=0.2027 left_roll=-0.1159 left_gripper=0.041 right_x=0.2899 right_y=0.0006 right_z=0.1546 right_yaw=-0.0036 right_pitch=-0.0984 right_roll=0.0037 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -4.3145, 7.5829, 1.4481, -0.0659, 0.1441, 0.9597, -0.0479, -1.7299, 7.2684, 1.6239, -0.0122, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e64ad0e8a2f12304c68d8b43c32ba93423095e71857cf01fb234c1f9d32f51fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfb427269afaa74a3e789e4ae711004e855c4cc054ad195d8cad2206b94090ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae77d4ebe78cd1692caeae1eac344aca71f5d5abb8593e9c0e64c436f0c81984",
        "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 · 5.159 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]: [-0.3191, 1.6386, 0.5121, 0.696, -0.2367, -0.3119, 0.0395, -0.02, 0.8364, 0.5945, -0.4225, -0.0162, -0.0296, 0.9962]\nstate[eef_state]: left_x=0.4104 left_y=-0.0882 left_z=0.0793 left_yaw=0.0295 left_pitch=0.146 left_roll=-0.1633 left_gripper=0.0395 right_x=0.2897 right_y=0.0006 right_z=0.1556 right_yaw=-0.0035 right_pitch=-0.095 right_roll=0.0041 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -7.0769, 7.6239, 1.8926, -0.0952, 0.0513, 1.033, -0.0342, -1.4427, 6.9675, 1.6288, -0.0855, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.3191, 1.6135, 0.5274, 0.6083, -0.2359, -0.3115, 0.0409, -0.02, 0.8371, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4066 left_y=-0.0871 left_z=0.0759 left_yaw=0.0267 left_pitch=0.1014 left_roll=-0.147 left_gripper=0.0409 right_x=0.2898 right_y=0.0006 right_z=0.1554 right_yaw=-0.0036 right_pitch=-0.0957 right_roll=0.0036 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -7.1726, 7.0359, 1.9365, -0.105, 0.0024, 1.033, -0.0479, -1.5385, 7.1043, 1.7167, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3737, 1.2709, 0.8158, 0.0719, -0.3054, -0.2703, 0.041, -0.02, 0.8398, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4023 left_y=-0.0968 left_z=0.2214 left_yaw=0.014 left_pitch=0.2027 left_roll=-0.1159 left_gripper=0.041 right_x=0.2899 right_y=0.0006 right_z=0.1546 right_yaw=-0.0036 right_pitch=-0.0984 right_roll=0.0037 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -4.3145, 7.5829, 1.4481, -0.0659, 0.1441, 0.9597, -0.0479, -1.7299, 7.2684, 1.6239, -0.0122, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e64ad0e8a2f12304c68d8b43c32ba93423095e71857cf01fb234c1f9d32f51fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfb427269afaa74a3e789e4ae711004e855c4cc054ad195d8cad2206b94090ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae77d4ebe78cd1692caeae1eac344aca71f5d5abb8593e9c0e64c436f0c81984",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwgsKEAgSGAI4AUIIdGhpbmtpbmcSDNoNysLDMB3ppCqFshoMnratG3QgeVlSfYa1IjDM9PTrMjGW/Aop+ZIEFzwOUfAJOOXDMmdRcnqra7YNqiRTIVR7W9hLrF29/nxOidkq3woeOpxuiaMzjj5ml0qUTpQus82krScRjpW8IR+1kdPb7ihA4cBBuVtQ0jB3J+iceueQh+eMO9vQkFXcOruGRZ062wnV18rfiOnVvwy7zXeyFdtJiCbPDDEbZBpftxurhT0RFF3PCtGs8RbGsjaKTXTWvC2GoPvgN97ZlBPIhweSTS8cKDyYZUPDiH1UmEXk0pAOaRNgitzCXf8/E2pL8K5MahCfMOUmu+eyVfiV0JZHL9cYs2A9NX2bEhdEH6u2OTyxqjClgJeZtwwZZiXl5vdCc07lsnCcu/CyHBp1J9aR1Tq89Ja9U4F4IeJ+ByNbfun2/GmQKayNqg1eqp4fSaOzdKl/gL9xUuBoLx+aStKYKa2rnN0PlHXR3KJZgBgr4rlwwY7IV0xjZh3XT3Y+PafJ8slqe6c4DZh6Hz1a1TH9CGCuey/hqwZJLuGEB6hoyPFFTEM6wvPyBjSP7vhFOU0IIoOodZ4ADSb7khHKTfAXMi5x+yyY6ANjHwLie8whqUFQiBcMEat3aWT1HyhV3VuLmxuG8o8WS6FfkFMNkJZoBS9TylwEcjbW94O6yzPWWTy1s590xNij85XpJA01r1BiRXqkvWpg5TLdZKV3OthkVxto85cdXgcFi22rtX19ooujqtZ2ebW1u//Wxq7MnKI/R0Qs0/ZA6UDl5XC8NsPZu2+wq5qtNzd/RDXhZYGWdqiMJIDSqAE3SOPhG4Itay5ut+0+KFVaw7Pd11bCEgMnON8lBQPz+dFy9+1Vqj2Z8trfORN3CQ8OLmimXE3Px733FnETL78K3tPp9m4cn5wwyCXagW40C2U7seGv5/978rXhkFoAkidIJA7RZT91GzlqyHOy9Zg1fnmwR20H9Vqzi5n5JJ93uWtURt57Ky8PDTd2FRswIQokdsHrzGpyXEai/ijKed8iWcrpdey2+HUXREcBcvGdullNC5ey4JQ1jqjCyfwEwJ/zJuGuTiQ/FWR64eBLLNB7VdNs89RO5laMK0kSZt3FZDa6jV6wftde+I6o4oC+4b/cEfaxXNiJPYe/gtY262LMIXosXoM7Lv6+pZLRTwVn4TjQgsiFFrIqSP/c0jP6Ngb/TaaMAuxspE0TkGvWNkOhnydSxhXFAmKHkgfIC/g0h4pAmEUW9D0I3d9wdD5VDjxtQtrJTje9MP0mFKAy52UwwOwTnhuEmaNzzqj7ROv3Fe6pO8rgKCk7cZUAcuDXCfWNy1fyCUuej8D3EgACqSqlm1i8iK+mtvWtNmiDUORDm0rVFdwisW5V09EuGBj7KYaAXbj7xfa0sMH6DI1HO2XKdPs2+kTeADDIkqiN47V47tKRudsE1s+PLPKdq7quQwyiTInzZo5uzxA3DzRFHgGP0zWEvR8xuhG3iwVZraTwYjAKpBj0R5tbxbq92H5bhWqd7jcLrBTxTH+ZUliKG8eyRsHDeyGdfWGCPslmF1fTVBghsGCaLJFfEt8iaeVvM36uOwo64ycRTKhBemajZjXMOEafHQ3ByNv2ptXGrc+4kUXQqcopkShJw5RSH0xKnLAwrjAm2q4SUMhMtb/s6naLZ5aAI3fN9OQaRuLNDnccF4VD35vXSUvrnxqztRyax30ymC1jnS/GA+LV6NR+ncga/T8SsOx2kZ0SM4DmoqVxHjcr1/8d18PfPGx6AgeV32rxfzinuK249WgJfXyNeNQGeLsSxeTF8AKYCI1EuOOovPEG2tUq3bRyBDXaMzvYuwuZMLfgIsuecpPYPhQCuApaHld8rafQTIzSmCIyp1umTGMHiQvTOwPDRuQz+d5wUcAjhR5GFI5wa6QMTUSVbtlhZFAc46Ih6Gu/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C9KG9MkYwtwKgM8gSDPfAG",
      "input": {
        "note": "White bowl is held by its rim and lifted clear. Carrying it right so its center lines up over the blue bowl.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.36,
          "left_y": -0.21,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01C9KG9MkYwtwKgM8gSDPfAG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7845, 1.4784, 1.0706, -0.347, -0.6163, -0.5121, 0.041, -0.02, 0.8436, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3581 left_y=-0.2081 left_z=0.1862 left_yaw=-0.0274 left_pitch=-0.023 left_roll=0.01 left_gripper=0.041 right_x=0.29 right_y=0.0006 right_z=0.1536 right_yaw=-0.0036 right_pitch=-0.1022 right_roll=0.0037 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -6.7077, 9.6752, 1.5507, -0.4274, -0.0122, 1.0085, -0.1846, -1.7709, 7.0085, 1.6484, -0.0513, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f3794ee596bfb7f7877a7b8f09744a28fd618829ffa56d4c4802c92a618fca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ff16c00475cae0d771e20401befa486c8501898bd2233cd2cae4ae23b523da2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8f7468455b0454c67ee10dd78237d5cb875e626a5b1065aab209b8430151b26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 3.856 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3191, 1.6135, 0.5274, 0.6083, -0.2359, -0.3115, 0.0409, -0.02, 0.8371, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4066 left_y=-0.0871 left_z=0.0759 left_yaw=0.0267 left_pitch=0.1014 left_roll=-0.147 left_gripper=0.0409 right_x=0.2898 right_y=0.0006 right_z=0.1554 right_yaw=-0.0036 right_pitch=-0.0957 right_roll=0.0036 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -7.1726, 7.0359, 1.9365, -0.105, 0.0024, 1.033, -0.0479, -1.5385, 7.1043, 1.7167, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3737, 1.2709, 0.8158, 0.0719, -0.3054, -0.2703, 0.041, -0.02, 0.8398, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4023 left_y=-0.0968 left_z=0.2214 left_yaw=0.014 left_pitch=0.2027 left_roll=-0.1159 left_gripper=0.041 right_x=0.2899 right_y=0.0006 right_z=0.1546 right_yaw=-0.0036 right_pitch=-0.0984 right_roll=0.0037 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -4.3145, 7.5829, 1.4481, -0.0659, 0.1441, 0.9597, -0.0479, -1.7299, 7.2684, 1.6239, -0.0122, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7845, 1.4784, 1.0706, -0.347, -0.6163, -0.5121, 0.041, -0.02, 0.8436, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3581 left_y=-0.2081 left_z=0.1862 left_yaw=-0.0274 left_pitch=-0.023 left_roll=0.01 left_gripper=0.041 right_x=0.29 right_y=0.0006 right_z=0.1536 right_yaw=-0.0036 right_pitch=-0.1022 right_roll=0.0037 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -6.7077, 9.6752, 1.5507, -0.4274, -0.0122, 1.0085, -0.1846, -1.7709, 7.0085, 1.6484, -0.0513, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f3794ee596bfb7f7877a7b8f09744a28fd618829ffa56d4c4802c92a618fca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ff16c00475cae0d771e20401befa486c8501898bd2233cd2cae4ae23b523da2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8f7468455b0454c67ee10dd78237d5cb875e626a5b1065aab209b8430151b26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpggKEAgSGAI4AUIIdGhpbmtpbmcSDBgaI43ZnkD1K1iexRoMyxtuWHRHH3Ji/jbGIjBu7h8vdvPElzoyLmjaD+9qTk1TUJENuFKlvHp74KcadAMZvQ/8L49fKHoUgvtCjpIqwwdOfYfy641XURVPO/7tXjoWJfjJpn/hGu3RNNXasin/CA2WsSUhNVlGVQ06oBs9BCjsykUetLuthALHZFO9RHoSUodEwJ1QF/NtqonZdV3eHuvG5QPfLbGIGiL4NkJ16AaBwfyMigCgdVS3NXlcAEoG8OkU8H6uiEz8JG7yUCOrbj0xNYRWC16uv8llBp2XYna3YyNLcSBfEAmU2/RDujTaZs4J1yFLXAkJCJ1+OtjCHu8O1yw/JraMQ/jm5rw0YZYB8g+82uB9iuIX4LjPQdGqb3LVDFe0CYaNCFmI0sPF0VDSTdcZB7o8wZMQH/EaSF7pb/1XSG0rkkHMnncvOxfEtRFI8PFgkiJcIwQPlhq/on0WQ6p4+9GflGoP+dKInyhwCv8AvZgI9Vpk6LerwhrJnl5/TJ6vJaK5pVYkPNv8PSX1S1jUOytZo/h9YJ0M3NTgE+zgaEH8uMfGlIJtQhXYpa83E09U5YFtdGVMPAWfSF1RcyW87DwDH93ZiTaUYbU2OdzbIVkWYyxkBeOtQVNAOPzlmg0jUrzwBnz37EmnkSKI/aUwbrPQdG+LXeTDmSerwsJufUibXFLaeIWwDTtJzJhiPD8BXSHPMxne+osyKyP/N9LjF4OiGqeWrBWgyVpexV8S3ruX1nIM1KmCEln2HFZf/7VhdNqHkWyzfxyE2Tn17UwcDLQEsM485xc3xAxe7aoc8plN5M20jl5KT/TXDJwyqcg61lo/MuvRn7DBTRDW3VMAftw1JFfcH2v8eXqwQLD3o8IEdr4cwKaL9iEvxRd9D9SkSheRJLAsKG2K/27b3U1WCSTicvk71wEb0B/6wT4uvuqkln8jQv4RomcKuyjLJjxJPOb8HxWfulyyZ+HWdNGFAzQvtgh9ixS2R9G85gr2VsUdKnlF5Aw6qdPKMozPHyisMhAVYwqi+EW6QVOuijsrSttd/ej+IY5JdSg5XRKgJHFcGpwY+Xdm+erILqp3pkOGN1Zts6XOEQ9TlVAFibXNM12n67cdwkknxLtOlsiVmr6C9Vt7USBsPU0eBISdW9HhVxChNAyBY1y/26X/O/EP3XZO0/tzu5Z5riPqhxnSPm6U2FgXJG9bOKjr/hsm/J+IwafgvSIro6GsO7YDnEDKmXQT99P3T6lgpEV+qNctvtwcZ3Kh1rZP0+iERR0Mr7rTBDNYuKAubCsPEJlicRA+Pa5ZCYjs1xfI2EPra6g4gqnSJosfd2qs7a1YKXsO0C+GfstYI1n3LlFc5FNYtjjypjtbxwRkicICigY8y9EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016h2yHsZsmstA9EG7Kzg3RY",
      "input": {
        "note": "Held white bowl is roughly over the blue bowl, maybe a touch left. Nudging right and lowering it into the blue bowl.",
        "targets": {
          "left_y": -0.225,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_016h2yHsZsmstA9EG7Kzg3RY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8188, 1.6222, 0.9031, -0.1429, -0.6289, -0.5331, 0.0417, -0.02, 0.8436, 0.5945, -0.4225, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3491 left_y=-0.2159 left_z=0.0979 left_yaw=-0.037 left_pitch=-0.0931 left_roll=0.0742 left_gripper=0.0417 right_x=0.29 right_y=0.0006 right_z=0.1536 right_yaw=-0.0033 right_pitch=-0.1022 right_roll=0.004 right_gripper=0.9962\nstate[joint_eff]: [-0.5675, -7.8701, 6.7624, 1.6044, -0.4029, -0.0122, 0.525, -0.1573, -1.4017, 7.0085, 1.6142, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9de3d618486f7020ee808c68a75a15e8ebca88c33a3921239f2af63798cc5309",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55b3ca655ad37d7b289e0872a63fc2b8e460ed682be9c7cc2e629b35ed64091b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25d49dee26fe26161e1eb5934c701d6421f4485a21dd9343fb1a61ed54effa3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 8.922 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3737, 1.2709, 0.8158, 0.0719, -0.3054, -0.2703, 0.041, -0.02, 0.8398, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.4023 left_y=-0.0968 left_z=0.2214 left_yaw=0.014 left_pitch=0.2027 left_roll=-0.1159 left_gripper=0.041 right_x=0.2899 right_y=0.0006 right_z=0.1546 right_yaw=-0.0036 right_pitch=-0.0984 right_roll=0.0037 right_gripper=0.9962\nstate[joint_eff]: [-0.6222, -4.3145, 7.5829, 1.4481, -0.0659, 0.1441, 0.9597, -0.0479, -1.7299, 7.2684, 1.6239, -0.0122, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7845, 1.4784, 1.0706, -0.347, -0.6163, -0.5121, 0.041, -0.02, 0.8436, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3581 left_y=-0.2081 left_z=0.1862 left_yaw=-0.0274 left_pitch=-0.023 left_roll=0.01 left_gripper=0.041 right_x=0.29 right_y=0.0006 right_z=0.1536 right_yaw=-0.0036 right_pitch=-0.1022 right_roll=0.0037 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -6.7077, 9.6752, 1.5507, -0.4274, -0.0122, 1.0085, -0.1846, -1.7709, 7.0085, 1.6484, -0.0513, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8188, 1.6222, 0.9031, -0.1429, -0.6289, -0.5331, 0.0417, -0.02, 0.8436, 0.5945, -0.4225, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3491 left_y=-0.2159 left_z=0.0979 left_yaw=-0.037 left_pitch=-0.0931 left_roll=0.0742 left_gripper=0.0417 right_x=0.29 right_y=0.0006 right_z=0.1536 right_yaw=-0.0033 right_pitch=-0.1022 right_roll=0.004 right_gripper=0.9962\nstate[joint_eff]: [-0.5675, -7.8701, 6.7624, 1.6044, -0.4029, -0.0122, 0.525, -0.1573, -1.4017, 7.0085, 1.6142, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9de3d618486f7020ee808c68a75a15e8ebca88c33a3921239f2af63798cc5309",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55b3ca655ad37d7b289e0872a63fc2b8e460ed682be9c7cc2e629b35ed64091b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25d49dee26fe26161e1eb5934c701d6421f4485a21dd9343fb1a61ed54effa3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShAcKEAgSGAI4AUIIdGhpbmtpbmcSDHZIJnzkC6lY1RpsixoMHY35IP20p4cthUIeIjC3RHZSYk4hHquOIHaxda1gk4jFXOV28h9n+mn5Ou9YecOar+yBjrowJeHjJLk7vK0qoQatSwNcpEr/wCk9Kl84Vh3KdY6Ni/D/YyGxYrOizopmgDbAZl/sxuESQ1ja2/BX/F5fjIUSP6H6Sl+lPPXxzs6yQ9kreAXcCUfFGN+x6VO1QBiE2KwjThSVqI+pG7/xtRW60CoOUXMVyOycEyTIHKnJJkog4SSwnGQfpIuHzD1iWJLFEaPfhcP1iSR1c9m/r+pnY0BV4BJl3ZXyI7KfR1Y1ZNYOM75HIv4aosOiNWg/j5Y7mwXaV2adKuUevV4Ue5+393Qg1sfT9orFVlfwrO8DhpfmHl+MVYofYI/Dj1PiSL590ML29+h6oj1m6g1ivFO0vnjkexJBxWi8aOEtWG53oFCHGcR/8t3eZ0oXnAt0wlfouuZDnLHnjnC7hzi7komb7fo4/m6ibmureXGZW/BsaAkeM4o7JW+ZKnYiXqMUifs0yImAestqUwjgqHM9haqZticfAurAyVeueGelpKZuTpfHun7L1WZ7PgoFxPvt72n2b0UkZVHDBJ/6Jgxo6Dnlykt6nmLp7B2s/onQnaxy2HKEjf+tXwDbiTdyzzU4kCOhAZ2R5tOyCs7rLDZAg83Xl7+yt0JFiSd2LBnKS3bJA1EGvn9HjUgoKiCpsP0IBVMcMfiA26oAjCB4vk98Nq5MDid23kRWdC5/oNvQPJAKoVxxvIKI4MLkpbiXM8mvkkwWKcEPq+EfpcBbbdd/uB4cgjC9ovQhjJBJzVqQxeoqQqe5PLjjse12p76KEicH1aXeIZzqA8q0ClfW/Dk+trIE94TMIJ/ipGaf8NAeJSN9NHyBt2pfJary6LocSToaR4V14r5v4CZW/qiVSXObNN/1FXf9xDquuBOpNjUoVhhX+rwn5Pb1P1lq3kFjyeWbhh72oZuZX4b0piGPdcB8eNePNqnPM6iw+jRzRPmGxb1Jfl/VNvyQRtSyaSCZozie3QaDJ92Tcghar/Po0KE4OBosNyuiwjUEsh9NQo3B1D7sOCfMdpFsKMfdzdzWkS/J9lW9hPDtUHUVzrxjk3Yv4LFPBdDdUan93WcZlPKCK0KUWXo0yQJr0GWrm/VfDM3BJ2YYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018PGPB4aop4cT2Ryqp1br8D",
      "input": {
        "note": "White bowl is lowered onto the blue bowl (blue rim visible around it in the top view). 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_018PGPB4aop4cT2Ryqp1br8D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8211, 1.6302, 0.8932, -0.0624, -0.6296, -0.5503, 0.9952, -0.02, 0.8436, 0.5945, -0.4225, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3553 left_y=-0.2238 left_z=0.1028 left_yaw=-0.0326 left_pitch=-0.048 left_roll=0.0165 left_gripper=0.9952 right_x=0.29 right_y=0.0006 right_z=0.1536 right_yaw=-0.0033 right_pitch=-0.1022 right_roll=0.004 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -7.8701, 6.5846, 1.5946, -0.4225, 0.0317, -0.1099, -0.1846, -1.5111, 6.9675, 1.6484, -0.0513, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67a8d029a684ab2529701d9bc6cd90df32ed5e73cad2ac86527c11e42e0ec372",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89d3222b0f2085dd2267cf64815f319f3c231b9493cb00388ea55bfbfccc88be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a4d28934e42d658af775cdc97ab297527b1f1e0a6ab0122b806be4f082795f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 4.893 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7845, 1.4784, 1.0706, -0.347, -0.6163, -0.5121, 0.041, -0.02, 0.8436, 0.5945, -0.4225, -0.0158, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3581 left_y=-0.2081 left_z=0.1862 left_yaw=-0.0274 left_pitch=-0.023 left_roll=0.01 left_gripper=0.041 right_x=0.29 right_y=0.0006 right_z=0.1536 right_yaw=-0.0036 right_pitch=-0.1022 right_roll=0.0037 right_gripper=0.9962\nstate[joint_eff]: [-0.3077, -6.7077, 9.6752, 1.5507, -0.4274, -0.0122, 1.0085, -0.1846, -1.7709, 7.0085, 1.6484, -0.0513, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8188, 1.6222, 0.9031, -0.1429, -0.6289, -0.5331, 0.0417, -0.02, 0.8436, 0.5945, -0.4225, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3491 left_y=-0.2159 left_z=0.0979 left_yaw=-0.037 left_pitch=-0.0931 left_roll=0.0742 left_gripper=0.0417 right_x=0.29 right_y=0.0006 right_z=0.1536 right_yaw=-0.0033 right_pitch=-0.1022 right_roll=0.004 right_gripper=0.9962\nstate[joint_eff]: [-0.5675, -7.8701, 6.7624, 1.6044, -0.4029, -0.0122, 0.525, -0.1573, -1.4017, 7.0085, 1.6142, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8211, 1.6302, 0.8932, -0.0624, -0.6296, -0.5503, 0.9952, -0.02, 0.8436, 0.5945, -0.4225, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3553 left_y=-0.2238 left_z=0.1028 left_yaw=-0.0326 left_pitch=-0.048 left_roll=0.0165 left_gripper=0.9952 right_x=0.29 right_y=0.0006 right_z=0.1536 right_yaw=-0.0033 right_pitch=-0.1022 right_roll=0.004 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -7.8701, 6.5846, 1.5946, -0.4225, 0.0317, -0.1099, -0.1846, -1.5111, 6.9675, 1.6484, -0.0513, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67a8d029a684ab2529701d9bc6cd90df32ed5e73cad2ac86527c11e42e0ec372",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89d3222b0f2085dd2267cf64815f319f3c231b9493cb00388ea55bfbfccc88be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a4d28934e42d658af775cdc97ab297527b1f1e0a6ab0122b806be4f082795f7",
        "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_015KKAkNi4kVFNesrJ1do6gC",
      "input": {
        "note": "White bowl now sits in the blue bowl. Parking the left arm at home and bringing the right arm over the pink bowl's right-side wall.",
        "targets": {
          "left_x": 0.29,
          "left_y": 0.0,
          "left_z": 0.2,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.34,
          "right_y": 0.08,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_015KKAkNi4kVFNesrJ1do6gC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0399, 0.8318, 0.6868, -0.503, -0.0696, -0.0658, 0.9958, 0.3717, 1.2186, 0.4614, 0.1005, 0.2852, 0.1661, 0.9962]\nstate[eef_state]: left_x=0.2902 left_y=0.0043 left_z=0.1826 left_yaw=0.0325 left_pitch=-0.0759 left_roll=0.01 left_gripper=0.9958 right_x=0.3317 right_y=0.0799 right_z=0.089 right_yaw=0.0297 right_pitch=-0.0568 right_roll=-0.0205 right_gripper=0.9962\nstate[joint_eff]: [0.253, -2.0991, 10.5368, 1.7509, 0.0904, 0.1929, 0.0464, 0.1709, -3.8222, 6.5436, 1.9219, 0.2906, 0.1978, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:889894395a71d7d0469908984354e19642a32b235337a7feee5e7901bf260bf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:327f69a91ca4f1648b2c485ad89dc3caa23ebaff63c94b507f3b188f3764b1f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43f32941660ba06cc942c9f621a481ebb98570ae036c7e4d712fe36433f7aee2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 3.87 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8188, 1.6222, 0.9031, -0.1429, -0.6289, -0.5331, 0.0417, -0.02, 0.8436, 0.5945, -0.4225, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3491 left_y=-0.2159 left_z=0.0979 left_yaw=-0.037 left_pitch=-0.0931 left_roll=0.0742 left_gripper=0.0417 right_x=0.29 right_y=0.0006 right_z=0.1536 right_yaw=-0.0033 right_pitch=-0.1022 right_roll=0.004 right_gripper=0.9962\nstate[joint_eff]: [-0.5675, -7.8701, 6.7624, 1.6044, -0.4029, -0.0122, 0.525, -0.1573, -1.4017, 7.0085, 1.6142, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8211, 1.6302, 0.8932, -0.0624, -0.6296, -0.5503, 0.9952, -0.02, 0.8436, 0.5945, -0.4225, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3553 left_y=-0.2238 left_z=0.1028 left_yaw=-0.0326 left_pitch=-0.048 left_roll=0.0165 left_gripper=0.9952 right_x=0.29 right_y=0.0006 right_z=0.1536 right_yaw=-0.0033 right_pitch=-0.1022 right_roll=0.004 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -7.8701, 6.5846, 1.5946, -0.4225, 0.0317, -0.1099, -0.1846, -1.5111, 6.9675, 1.6484, -0.0513, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0399, 0.8318, 0.6868, -0.503, -0.0696, -0.0658, 0.9958, 0.3717, 1.2186, 0.4614, 0.1005, 0.2852, 0.1661, 0.9962]\nstate[eef_state]: left_x=0.2902 left_y=0.0043 left_z=0.1826 left_yaw=0.0325 left_pitch=-0.0759 left_roll=0.01 left_gripper=0.9958 right_x=0.3317 right_y=0.0799 right_z=0.089 right_yaw=0.0297 right_pitch=-0.0568 right_roll=-0.0205 right_gripper=0.9962\nstate[joint_eff]: [0.253, -2.0991, 10.5368, 1.7509, 0.0904, 0.1929, 0.0464, 0.1709, -3.8222, 6.5436, 1.9219, 0.2906, 0.1978, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:889894395a71d7d0469908984354e19642a32b235337a7feee5e7901bf260bf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:327f69a91ca4f1648b2c485ad89dc3caa23ebaff63c94b507f3b188f3764b1f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43f32941660ba06cc942c9f621a481ebb98570ae036c7e4d712fe36433f7aee2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AgKEAgSGAI4AUIIdGhpbmtpbmcSDD8fbPgwDw4J6UROdhoMcGNZoSvflm93ToAeIjAhqy0egsJHF1j1GkPtv9aTOJu+sylvEucePc/yPt8LUxAYhISmh970q0j4bIr+cmcqhQgzCUuyC8peKC7q2X72snaBnSmeBN4pyscYbNPSnx6Pe+bemxlbh+6Ibr2sCcx1xQg0o8cc8LY5MGzZwgLm3q/yJYxZMfSNr84seq3kZ+uorH99tGgQBu9Eb3kOoUhvKXln3IxelgePtcSVdfzkzheI+HG6fgPrXPZ+kxPkKnXywapg9wZYCnCEsDiyLndwKMhzn1WsAIMKltmjoD86b71M0OYA9EdHFk6hqtl5MMtEtlH5IsATzmyeh0yKIX3HPmxcqG0X0kSuQoPWRAPgmxLbB6d49uzJFI/xixWdTgr08Y5hypXz25/FykMJ1SA71QORSAVLhHjEC9kMD+sJqqx6uCWlJAR8W5mBR6Eo8afmS0FZyG7iNOIausTgWQ1Se9zTwOA5FXv2ZCk9kad0znisg6hGyYMu1fUZTtkbbgQZ1nnjHR+j8XLtjtaNDx8h1WgDsAKwZ6kfJ1aMrpuWkcL+Q1ljmzJzwLqJWfTiTqphdHyU17kvtqff/RTi+ztKR9/HXQgt6BktekVLLTtd+IkmAnyWdTl2l43EJCwYWH0HJ2ZtO4GeXMgwSnO9Ga10ihvtEtoINRcCML6tUNnKXbgv+K7fyIlVIsOQe57EeaRkxG/RzJrnXnUZxQ7FvZSi+ig5YXAHHMZkhEmIajptaKsntLkQRRwi/4uFwSTmltEYEnrcUjK71pw5VerWzsmkhyCa1IHRLpUiBZSgPiWzxo6gNX8AHvtVVaFHMkygCyMH7FVaDFTsDaGQI8xDJ940ua9Y7gVO3SBI8JxiUSH3U6xglmtnv9TxZdmqPSfofsGfpM44DuEEcmIOmj3t12Vral3aCMgK0RIEQODas0tVvNcG0Jo7qrBm6Gjrktkfep9Mih9ojhCK0jT0nRV809akZvSfDT0wRnZAomdQPMgdLnQIWyvDFb5dTEkcn5z12uUjFUo39oEmIriM2rEbV96hs1zhLRXKchmgP4gpMPsAFo/UAJGYJzV7CMQbUnlxfuyGuKbJuJmy/A9y6FfrfLRC+Vnyijcw2BpYfcNksoJcM0Fcta1FPd2MNPWlK5O9GOgrZ5EkFFVq7/e8yW4R2kCQX4JaLMOsboglzqC4xFqPZMJwXeZv8QqAmMf+XIXAgjBeKGy/Zix5llXmiwjnlaMbVuUBoWYIFZvF5NFVbtA6Stpfbh2g6/NdlFeqhGhrC24h++zKfbwmsSWTuxxwS5MzHCFD6POgcc2T9ZDALzqSSPQT/8ylFApMHy5tFEprh47b+R255jREAgWpubyUoKSb2obpyBe6uJ/JfGz/NHscxu6JNflrpXJUn0kOMtPt5mAlJoozXO3YTWldRE2DI7NBNSgtxZfAJAPrgFnG4TOJHSworlQO41QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TG5JKz5rBheM8BPn8bAyMN",
      "input": {
        "note": "Pink bowl is left of the jaws with its right wall just right of the jaw column and a bit ahead. Shifting slightly right/forward and descending to straddle that wall.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.355,
          "right_y": 0.07,
          "right_yaw": 0.0,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TG5JKz5rBheM8BPn8bAyMN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8371, 0.6914, -0.5274, -0.0608, -0.0647, 0.9958, 0.3164, 1.7187, 0.3202, 0.7456, 0.2562, 0.1616, 0.9961]\nstate[eef_state]: left_x=0.2875 left_y=0.003 left_z=0.1784 left_yaw=0.025 left_pitch=-0.1014 left_roll=0.0073 left_gripper=0.9958 right_x=0.3469 right_y=0.0703 right_z=-0.0042 right_yaw=0.0009 right_pitch=-0.0589 right_roll=-0.0062 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -1.8256, 6.5573, 1.873, -0.1245, 0.0122, -0.0073, -0.7043, -5.1214, 3.4256, 0.7057, 0.0952, -0.2711, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b9ddec04ff4252dbeff04793f1fe0a448a85ad2d25e99b671926a04d5fc7f8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:295f38be2ab4b9abfe3e87cb52ab9e28f8f08b339a9f3a32875f8588c6a8c43c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a39785e44722daa2c6f9c492d97c6b827d6b452125f7fe55fae155df877264e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 4.523 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8211, 1.6302, 0.8932, -0.0624, -0.6296, -0.5503, 0.9952, -0.02, 0.8436, 0.5945, -0.4225, -0.0162, -0.0299, 0.9962]\nstate[eef_state]: left_x=0.3553 left_y=-0.2238 left_z=0.1028 left_yaw=-0.0326 left_pitch=-0.048 left_roll=0.0165 left_gripper=0.9952 right_x=0.29 right_y=0.0006 right_z=0.1536 right_yaw=-0.0033 right_pitch=-0.1022 right_roll=0.004 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -7.8701, 6.5846, 1.5946, -0.4225, 0.0317, -0.1099, -0.1846, -1.5111, 6.9675, 1.6484, -0.0513, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0399, 0.8318, 0.6868, -0.503, -0.0696, -0.0658, 0.9958, 0.3717, 1.2186, 0.4614, 0.1005, 0.2852, 0.1661, 0.9962]\nstate[eef_state]: left_x=0.2902 left_y=0.0043 left_z=0.1826 left_yaw=0.0325 left_pitch=-0.0759 left_roll=0.01 left_gripper=0.9958 right_x=0.3317 right_y=0.0799 right_z=0.089 right_yaw=0.0297 right_pitch=-0.0568 right_roll=-0.0205 right_gripper=0.9962\nstate[joint_eff]: [0.253, -2.0991, 10.5368, 1.7509, 0.0904, 0.1929, 0.0464, 0.1709, -3.8222, 6.5436, 1.9219, 0.2906, 0.1978, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8371, 0.6914, -0.5274, -0.0608, -0.0647, 0.9958, 0.3164, 1.7187, 0.3202, 0.7456, 0.2562, 0.1616, 0.9961]\nstate[eef_state]: left_x=0.2875 left_y=0.003 left_z=0.1784 left_yaw=0.025 left_pitch=-0.1014 left_roll=0.0073 left_gripper=0.9958 right_x=0.3469 right_y=0.0703 right_z=-0.0042 right_yaw=0.0009 right_pitch=-0.0589 right_roll=-0.0062 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -1.8256, 6.5573, 1.873, -0.1245, 0.0122, -0.0073, -0.7043, -5.1214, 3.4256, 0.7057, 0.0952, -0.2711, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b9ddec04ff4252dbeff04793f1fe0a448a85ad2d25e99b671926a04d5fc7f8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:295f38be2ab4b9abfe3e87cb52ab9e28f8f08b339a9f3a32875f8588c6a8c43c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a39785e44722daa2c6f9c492d97c6b827d6b452125f7fe55fae155df877264e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywcKEAgSGAI4AUIIdGhpbmtpbmcSDDQdjKuqTIe5FDUsuxoM/BYCaPj3b9R0rAeLIjBOGxTRAm+Rq0xzGLAOoUDFAdgMR0yfVqwEeKtiH0FV0sD6AB64QjMQlb7b+r6Jj8Mq6AYYYCQiufYUsKKgrnpJrW8gFcHRx4+LOSoZJIyKVzdFeNP2CaDM7I4ipPKs4gTwSqec4bCj/D+Odnb96s++OwSdWZE2EaYSsCiQ0GEvQBFTaWh80G4ecMwJco+yb8bv1aU/AQ0VJUTt23HHnduFyAY/srAhLS9r3LZmQY8ZqAkFVE5XcGeVO9X97jZZbS7vUYMbl+rrf0aE/JzrpnD6IOgYXOI4AupgSmZeiBWdQDRiwCIsy22C1QkWe7J1pkystR2Vry3DC9wz2D+GYX0OBcMvUOggJ3BmKPsjBfs1nAHFCiDR8Z4n1wlNjhkthme3Q2vghS2yakDcFNXAsKk/vdReB27JEY1E2ZxHDN9Y4Ek6tBNMYqlYij51W8WFTaNTQv7Fay/10a/t6GMsgd81PbEqE5L7p0PKq3nBKuyTGk5ca+tSHcol4aMT/KLsebdDuDenZBgvn5lPL3Ce4dSQQg8r2VQYpMkFhWOe3ZixIQ4yUmFgyadsI8BYv4xSsgbV0VUWnlguXW+RCsmMUklHg8cFF0KEdvb6Zoh8QiBWX7tiAeOXGKxFMBwHf8uNYycH5rFzFFasYfjDEfHprCeyAjAuCTLrcoZk/1at9IgrcFEDzGCkTtAOG5/A5UX/PTelEhTMFiTuR1AHi1cfflo9nZIoppjG9IAT0fFJDqp1Ysrc1eDIFlO/nyc9JlSbA5Jn2BYRrnpZfLDKYzcUCcjkInry0Tqpp1AUjg7t/hqgzP/HHJKe8L1r2+O+a7a3j57JNT37Qv9F1mTM2O71YQOshblNg9GdT1gGWFSj6tk0gDQ0IWHOIEPomq4Q2/KAHRTb4MA3/3weBv3+9llPtEbENnR9eb7krnaW1YXG17iB74yjGCkYG/skkGOnkL/ROf/xhnWszRuoTra+GQk74W3hJq9q1k7cLSxoTB1CbEkDN+jRpfJ6gfmneH/jWanlsmh2DfYjtDLXbNjtbP9MQYFx4AoSI7l+DMvJVVx9RPtWHnij1g/P8UZaslko9NUiTZ76z84h8Bj2usahLijXMyZuFUwrPaXV/id0yQ3jLsesK0hsuOL07QyctDCDZTswSuvN/beORrSeq4ttaM3LlvyX9+y3ZdypnOdpM6EqalnEMcZ9/5kHdVI1cUc3X422bNRhzL653BWZj73xaRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HvveZsBvyLabv3vqNx3bP1",
      "input": {
        "note": "Pink bowl's right wall fills the view between the jaws, with the right jaw outside it. Closing to pinch the wall.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HvveZsBvyLabv3vqNx3bP1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8379, 0.6914, -0.5385, -0.0605, -0.0685, 0.9959, 0.3225, 1.6901, 0.3386, 0.868, 0.223, 0.1871, 0.0341]\nstate[eef_state]: left_x=0.2858 left_y=0.003 left_z=0.1761 left_yaw=0.0268 left_pitch=-0.1132 left_roll=0.0048 left_gripper=0.9959 right_x=0.3698 right_y=0.0862 right_z=0.0355 right_yaw=0.02 right_pitch=0.0965 right_roll=0.084 right_gripper=0.0341\nstate[joint_eff]: [-0.1846, -0.9915, 7.0359, 1.7509, -0.0464, -0.0122, -0.0122, -0.3487, -3.1932, 2.6325, 0.7057, 0.3785, -0.2076, 0.6569]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99ac40791353d90fc6d4e8f2b016ec7fa21921c7d7fc910e7062be2c2113e18d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e29082943c001e13d02ef4786a21b7a41c5731bf69207ad3ae1263c9c944d39f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3b50c5e284c172d6557ba4ced7ed93845fe6e7395ac73ae8be593f16bab5f4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 8.432 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0399, 0.8318, 0.6868, -0.503, -0.0696, -0.0658, 0.9958, 0.3717, 1.2186, 0.4614, 0.1005, 0.2852, 0.1661, 0.9962]\nstate[eef_state]: left_x=0.2902 left_y=0.0043 left_z=0.1826 left_yaw=0.0325 left_pitch=-0.0759 left_roll=0.01 left_gripper=0.9958 right_x=0.3317 right_y=0.0799 right_z=0.089 right_yaw=0.0297 right_pitch=-0.0568 right_roll=-0.0205 right_gripper=0.9962\nstate[joint_eff]: [0.253, -2.0991, 10.5368, 1.7509, 0.0904, 0.1929, 0.0464, 0.1709, -3.8222, 6.5436, 1.9219, 0.2906, 0.1978, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8371, 0.6914, -0.5274, -0.0608, -0.0647, 0.9958, 0.3164, 1.7187, 0.3202, 0.7456, 0.2562, 0.1616, 0.9961]\nstate[eef_state]: left_x=0.2875 left_y=0.003 left_z=0.1784 left_yaw=0.025 left_pitch=-0.1014 left_roll=0.0073 left_gripper=0.9958 right_x=0.3469 right_y=0.0703 right_z=-0.0042 right_yaw=0.0009 right_pitch=-0.0589 right_roll=-0.0062 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -1.8256, 6.5573, 1.873, -0.1245, 0.0122, -0.0073, -0.7043, -5.1214, 3.4256, 0.7057, 0.0952, -0.2711, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8379, 0.6914, -0.5385, -0.0605, -0.0685, 0.9959, 0.3225, 1.6901, 0.3386, 0.868, 0.223, 0.1871, 0.0341]\nstate[eef_state]: left_x=0.2858 left_y=0.003 left_z=0.1761 left_yaw=0.0268 left_pitch=-0.1132 left_roll=0.0048 left_gripper=0.9959 right_x=0.3698 right_y=0.0862 right_z=0.0355 right_yaw=0.02 right_pitch=0.0965 right_roll=0.084 right_gripper=0.0341\nstate[joint_eff]: [-0.1846, -0.9915, 7.0359, 1.7509, -0.0464, -0.0122, -0.0122, -0.3487, -3.1932, 2.6325, 0.7057, 0.3785, -0.2076, 0.6569]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99ac40791353d90fc6d4e8f2b016ec7fa21921c7d7fc910e7062be2c2113e18d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e29082943c001e13d02ef4786a21b7a41c5731bf69207ad3ae1263c9c944d39f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3b50c5e284c172d6557ba4ced7ed93845fe6e7395ac73ae8be593f16bab5f4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwgKEAgSGAI4AUIIdGhpbmtpbmcSDM52T5ow+p1vsUqI8RoMdlTxfS2d/LgwMd9eIjAo6dNjXR0/GCpF8jGbCprtDlCOZKEH54CD7tw4nmd3/tALEhpk0CapNqI9B25ZyIIquAexq0f8ZPTF6pZfnCMfW8zJbE6YvYERz1jc6lqMqwk1OSz+ayLNo9N6iSifZAyAmnqvOqz11+bQug9F0QpPfbaHNo5lrt/ezo/+A6XeF/ofaRqNZ3teRoTXro2T+AuJofwqxuq1BgKSlBGL6wYzqDxUj64GtpHaw9GNCo7/sMFYJBT+WUggxbeEJI7SSWqsB83vjYoGtKYiaWfijjYTn05Y9dsELt3zUJdAYU9wYdhCwCYMEb/kf9vEsw3dY9doJMLicWg0EeDAW0gL01+DDnbwFKGQT3zgsfptulo9KWVtJL2UCkyXR1NXbac2XCYVuxCiNN5gKScfvZ5qAUGfY3LOkyrWc9KQ02jiDUXCiWzdj/fFwY5K6aouT4ExwSgRwqrRUdX7DQvWMUe44Eomdcx8oPTjc4bcWbToVVtrz2P58Br56j1GAbJfVMI9kTmCPBNDMMy9liVD53x8ywHf7jUYTPJXwOI8qLP9oCH2BvNeB75XG0gaiAxoXCkm9R6IvqRqP2YQqungWKHtFdPt6G8WQ4IPN7bl2ffWLdesZZpLsbF0TA4C1X8fZMEeVfjTJaKN3eIgvUPR4OW2wk7Hy/oN/P0rYWeHy9MfP6+0sN02BWJKwDq3EeE3aodUaHd4SCFYHOrPkRc5rC8aq7e6eTDM+1OPIHbY4KqmFZmKq09DoZK8Tk+whTMaQFIMxACOgXzVvmjCmVVRinWlEcwqDCjZBK+YUPNOj42Oat4xvRPkJpEyq5pcJib7+XjXTDE3OPdhmAniVVV+CgcIzcDwlbtLmDZySC8yytaWqpkC5o6aFyj2EN4nazZZPZEgY2XiQt50UbomJ0IzcCxiD0rAAWBOYPaPwp9BVD3xf7jNqE9kWX90q742Iy3ULGQDmqw5YgMnRh3EnBPrS9S/dBi9XTU/e0MZMxkS2tdhYA+cb3QJBz/2Yv5U7mv6nFY45GIXSMdlRlnD/oa+L7DOeDCKzNWYbAvpNXEi6KKHKmTWV/Sc9wmBWWIHsQUiKl+yDckEhHO9MvPvV7rszOKp8hWP3Nnpa8sCadlq/a104/X9muufihvckSCUy7qqwrcvT8xwrMSa1NY0+tw/BhekB0WrbXJRmONFUUV3iHwfscJtV6n/24wWZ4iaOY8Alw4UoemHFdm3L7wxGhXm+AE8QGvrqwW9kvE5o/OH2mi7OYpZcdzCKMNyFMHlDyAklVF4ep0CJ/htaP1/iLOpaI2vYMcfCvcKkMUo7hmga9+s8T6Bo9I9UI15e7BTtQ3SGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QXfTbAYE9Jhoc5B4haN7Qk",
      "input": {
        "note": "Jaws closed at 0.034 right on the pink bowl's rim, same as the white bowl's successful pinch. Lifting high to carry it.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.35,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01QXfTbAYE9Jhoc5B4haN7Qk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8433, 0.6914, -0.5434, -0.0605, -0.0711, 0.9958, 0.3847, 1.1618, 0.7761, -0.2272, 0.2955, 0.1829, 0.0342]\nstate[eef_state]: left_x=0.2853 left_y=0.003 left_z=0.1737 left_yaw=0.0283 left_pitch=-0.1234 left_roll=0.0034 left_gripper=0.9958 right_x=0.3519 right_y=0.0909 right_z=0.1803 right_yaw=0.0257 right_pitch=-0.0134 right_roll=0.0027 right_gripper=0.0342\nstate[joint_eff]: [-0.0889, -1.6889, 6.9675, 1.6435, -0.0317, -0.0122, -0.0171, 0.3761, -5.5863, 9.5521, 1.9219, 0.232, 0.0659, 0.7888]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56d688ecb95233243467f360e29f2f88a824f32af03bfab181e14cdde1382448",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3473dfcbbd6b2027dc0837ee8a7f81daeda0866e15e364038398b8f0568eb7ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aef87cd0484e55b993621df54d102246005dfcaf9a90123eff4c665ad5c0e2ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 3.915 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8371, 0.6914, -0.5274, -0.0608, -0.0647, 0.9958, 0.3164, 1.7187, 0.3202, 0.7456, 0.2562, 0.1616, 0.9961]\nstate[eef_state]: left_x=0.2875 left_y=0.003 left_z=0.1784 left_yaw=0.025 left_pitch=-0.1014 left_roll=0.0073 left_gripper=0.9958 right_x=0.3469 right_y=0.0703 right_z=-0.0042 right_yaw=0.0009 right_pitch=-0.0589 right_roll=-0.0062 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -1.8256, 6.5573, 1.873, -0.1245, 0.0122, -0.0073, -0.7043, -5.1214, 3.4256, 0.7057, 0.0952, -0.2711, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8379, 0.6914, -0.5385, -0.0605, -0.0685, 0.9959, 0.3225, 1.6901, 0.3386, 0.868, 0.223, 0.1871, 0.0341]\nstate[eef_state]: left_x=0.2858 left_y=0.003 left_z=0.1761 left_yaw=0.0268 left_pitch=-0.1132 left_roll=0.0048 left_gripper=0.9959 right_x=0.3698 right_y=0.0862 right_z=0.0355 right_yaw=0.02 right_pitch=0.0965 right_roll=0.084 right_gripper=0.0341\nstate[joint_eff]: [-0.1846, -0.9915, 7.0359, 1.7509, -0.0464, -0.0122, -0.0122, -0.3487, -3.1932, 2.6325, 0.7057, 0.3785, -0.2076, 0.6569]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8433, 0.6914, -0.5434, -0.0605, -0.0711, 0.9958, 0.3847, 1.1618, 0.7761, -0.2272, 0.2955, 0.1829, 0.0342]\nstate[eef_state]: left_x=0.2853 left_y=0.003 left_z=0.1737 left_yaw=0.0283 left_pitch=-0.1234 left_roll=0.0034 left_gripper=0.9958 right_x=0.3519 right_y=0.0909 right_z=0.1803 right_yaw=0.0257 right_pitch=-0.0134 right_roll=0.0027 right_gripper=0.0342\nstate[joint_eff]: [-0.0889, -1.6889, 6.9675, 1.6435, -0.0317, -0.0122, -0.0171, 0.3761, -5.5863, 9.5521, 1.9219, 0.232, 0.0659, 0.7888]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56d688ecb95233243467f360e29f2f88a824f32af03bfab181e14cdde1382448",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3473dfcbbd6b2027dc0837ee8a7f81daeda0866e15e364038398b8f0568eb7ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aef87cd0484e55b993621df54d102246005dfcaf9a90123eff4c665ad5c0e2ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MyCiS5rXhcctskjhrU8ZgW",
      "input": {
        "note": "Pink bowl is lifted by its rim. Carrying it left to hang over the white-in-blue stack.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.37,
          "right_y": 0.21,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MyCiS5rXhcctskjhrU8ZgW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8444, 0.6914, -0.5465, -0.0605, -0.0715, 0.9958, 0.738, 1.4948, 1.0725, -0.3565, 0.5564, 0.3939, 0.0344]\nstate[eef_state]: left_x=0.2849 left_y=0.003 left_z=0.1728 left_yaw=0.0286 left_pitch=-0.1276 left_roll=0.0034 left_gripper=0.9958 right_x=0.3598 right_y=0.2059 right_z=0.1751 right_yaw=0.0534 right_pitch=-0.0707 right_roll=-0.0518 right_gripper=0.0344\nstate[joint_eff]: [-0.1846, -1.5248, 6.9128, 1.6337, -0.0952, -0.0415, -0.0073, 0.1573, -7.1453, 9.8667, 1.6142, 0.442, 0.2125, 0.4713]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c103c60d1aa3c6466e8286e7d0e4054a67c7b5de0910a908a27ad054559d249",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcf0114635f4103f7a1e4f6f06adf275d15ced2440db8d1c48245cf17035362d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a27ba41e338500e35d0111951536a6804fcf970f759ed04de74025dc1670eba4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 3.317 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8379, 0.6914, -0.5385, -0.0605, -0.0685, 0.9959, 0.3225, 1.6901, 0.3386, 0.868, 0.223, 0.1871, 0.0341]\nstate[eef_state]: left_x=0.2858 left_y=0.003 left_z=0.1761 left_yaw=0.0268 left_pitch=-0.1132 left_roll=0.0048 left_gripper=0.9959 right_x=0.3698 right_y=0.0862 right_z=0.0355 right_yaw=0.02 right_pitch=0.0965 right_roll=0.084 right_gripper=0.0341\nstate[joint_eff]: [-0.1846, -0.9915, 7.0359, 1.7509, -0.0464, -0.0122, -0.0122, -0.3487, -3.1932, 2.6325, 0.7057, 0.3785, -0.2076, 0.6569]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8433, 0.6914, -0.5434, -0.0605, -0.0711, 0.9958, 0.3847, 1.1618, 0.7761, -0.2272, 0.2955, 0.1829, 0.0342]\nstate[eef_state]: left_x=0.2853 left_y=0.003 left_z=0.1737 left_yaw=0.0283 left_pitch=-0.1234 left_roll=0.0034 left_gripper=0.9958 right_x=0.3519 right_y=0.0909 right_z=0.1803 right_yaw=0.0257 right_pitch=-0.0134 right_roll=0.0027 right_gripper=0.0342\nstate[joint_eff]: [-0.0889, -1.6889, 6.9675, 1.6435, -0.0317, -0.0122, -0.0171, 0.3761, -5.5863, 9.5521, 1.9219, 0.232, 0.0659, 0.7888]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8444, 0.6914, -0.5465, -0.0605, -0.0715, 0.9958, 0.738, 1.4948, 1.0725, -0.3565, 0.5564, 0.3939, 0.0344]\nstate[eef_state]: left_x=0.2849 left_y=0.003 left_z=0.1728 left_yaw=0.0286 left_pitch=-0.1276 left_roll=0.0034 left_gripper=0.9958 right_x=0.3598 right_y=0.2059 right_z=0.1751 right_yaw=0.0534 right_pitch=-0.0707 right_roll=-0.0518 right_gripper=0.0344\nstate[joint_eff]: [-0.1846, -1.5248, 6.9128, 1.6337, -0.0952, -0.0415, -0.0073, 0.1573, -7.1453, 9.8667, 1.6142, 0.442, 0.2125, 0.4713]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c103c60d1aa3c6466e8286e7d0e4054a67c7b5de0910a908a27ad054559d249",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcf0114635f4103f7a1e4f6f06adf275d15ced2440db8d1c48245cf17035362d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a27ba41e338500e35d0111951536a6804fcf970f759ed04de74025dc1670eba4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AcKEAgSGAI4AUIIdGhpbmtpbmcSDF2L2dlhiJ7YICc5dhoMs6xEjHjmHGn1GIbZIjDLgA+Glx+Ce0GiPPaUVejj42SbWOPQAcoL3nBGmsFYQdurxDorc8UsQifd01T3U/Eq9QbnVBMZFYr2QY2RegFirLqC98mpTW1ZDQPXM+mvF+Jpnf38yO8CuNM65oA7oDpbFrxA8sku4WWEwKXP0ZluRKWWXB+injDJ8k/N4Eo7S0kA8iPDRvGgvwSdPLLo8H1ChDolL4clQAWw9Muk+ir0s/BTGLFFj7Wr8+HMfXSYzHJg1huy9DcEqSEz3vhoFyFN9hIPDxU70rp0jK3SFE+3uzAWtbIS0SdANyZucl8yXtbsdelInYsU24Njkdmcmw00t8xHQpEtly2KVb7UlnJzh6diggB3GRgZ0Mc0o/Oo5KbrM2AKJNviOJ5WrrfwlUF9Io24IFG3N/3uD6EpQIO+aeldCrHhIsMYZo/Uf0ppNNohDj5beNM++E//DqQ98h6thakr+S58Tglz1nZI2/CmtSfbH5sIrOj3PgtvC22prseknkADvlyFLn6OffCLQeB7PE1MktHvppUUGWm4KwP6ddIoDu3Z0aCA1hnt1nSDkIuyQ4I4U0FYYDPON3jNSKFB8sCgnlaXsvPWdo34TchO5Sbjil7O9pV6J3yghtvphLONFUt767u4YN7MOPtQsKFbCTWMsWIpl7lTkRSZM7Vot/aCOpoAH2h9B6bHdSzxizjK2kqgKknWpbNbKuWmAkPOi1zTogQuRIWCKB2HygT3E++thSOoSlK+1pfKKnng88FhdsxY5JQKQcaKbjY+vn7UxOlYgPCqvbkT7wFDSkBx2PWMK2lZbj7bKpB6ZHCo76yLNMwF/V9Gtzo5LfrEclfymZv7MpmECCs90B4zezE+/R1z26+YCeWuaGHCY6w7sGHFcp29cJ343UbNqNj/MfWrNYsHGRG//Sn0T48Ay4JScQucpiDVWSnPI4Bf7NOUlGOE4HSB6huNTbqqAWLB3eiBovzbaUw6hn/20aDMjFBOH7rESD2T/MyxfVJg97RQDM717H4MwGWhq7LOIk3r0XBNrjzaviEAd9pjkc7SUGXdInvy5JJJxEEnaqhfXo4WJ5NPu8aXTw50SuUoFyn+kZqWX77LDi3kA/KwVxrU67hrj6B/6SKkjWcIogNk72iQXOOQVLkGH+JXLGk1OnbRM8hD79Ng5DiyaSE/rFdA+P/dbUSP4U0qpklRDrMjkQ9xxLeIuowOSQqmRdh4zVnCLVg6MQEPiKpf479ZMgRr6wRkb2pMBxizA/8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VjoccRW8BHjtzzhPEa2wpH",
      "input": {
        "note": "Pink bowl is hanging over the white/blue stack in the top view. Lowering it into the stack.",
        "targets": {
          "right_y": 0.22,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01VjoccRW8BHjtzzhPEa2wpH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8444, 0.6914, -0.5465, -0.0605, -0.0715, 0.9958, 0.7647, 1.5959, 0.9531, -0.2272, 0.5674, 0.4129, 0.0368]\nstate[eef_state]: left_x=0.2849 left_y=0.003 left_z=0.1728 left_yaw=0.0286 left_pitch=-0.1276 left_roll=0.0034 left_gripper=0.9958 right_x=0.3519 right_y=0.211 right_z=0.1098 right_yaw=0.0556 right_pitch=-0.1346 right_roll=-0.1019 right_gripper=0.0368\nstate[joint_eff]: [-0.1709, -1.4701, 7.0496, 1.5897, -0.1001, -0.0562, -0.0073, 0.4991, -8.2803, 7.0769, 1.707, 0.3101, 0.0855, 0.5006]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a98aef4d30a806282bf1c783dc0d2327a63c8d70b415b6dff549da487463ecf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1c4091463a08bee4c3fc88fc837b83d06453173ea91c38a930cabeae1ea76d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d8d527e5276a5fdcd8ca859075a4807eb9eedd8f5875243e3d03cf08b1cc0ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 3.866 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8433, 0.6914, -0.5434, -0.0605, -0.0711, 0.9958, 0.3847, 1.1618, 0.7761, -0.2272, 0.2955, 0.1829, 0.0342]\nstate[eef_state]: left_x=0.2853 left_y=0.003 left_z=0.1737 left_yaw=0.0283 left_pitch=-0.1234 left_roll=0.0034 left_gripper=0.9958 right_x=0.3519 right_y=0.0909 right_z=0.1803 right_yaw=0.0257 right_pitch=-0.0134 right_roll=0.0027 right_gripper=0.0342\nstate[joint_eff]: [-0.0889, -1.6889, 6.9675, 1.6435, -0.0317, -0.0122, -0.0171, 0.3761, -5.5863, 9.5521, 1.9219, 0.232, 0.0659, 0.7888]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8444, 0.6914, -0.5465, -0.0605, -0.0715, 0.9958, 0.738, 1.4948, 1.0725, -0.3565, 0.5564, 0.3939, 0.0344]\nstate[eef_state]: left_x=0.2849 left_y=0.003 left_z=0.1728 left_yaw=0.0286 left_pitch=-0.1276 left_roll=0.0034 left_gripper=0.9958 right_x=0.3598 right_y=0.2059 right_z=0.1751 right_yaw=0.0534 right_pitch=-0.0707 right_roll=-0.0518 right_gripper=0.0344\nstate[joint_eff]: [-0.1846, -1.5248, 6.9128, 1.6337, -0.0952, -0.0415, -0.0073, 0.1573, -7.1453, 9.8667, 1.6142, 0.442, 0.2125, 0.4713]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8444, 0.6914, -0.5465, -0.0605, -0.0715, 0.9958, 0.7647, 1.5959, 0.9531, -0.2272, 0.5674, 0.4129, 0.0368]\nstate[eef_state]: left_x=0.2849 left_y=0.003 left_z=0.1728 left_yaw=0.0286 left_pitch=-0.1276 left_roll=0.0034 left_gripper=0.9958 right_x=0.3519 right_y=0.211 right_z=0.1098 right_yaw=0.0556 right_pitch=-0.1346 right_roll=-0.1019 right_gripper=0.0368\nstate[joint_eff]: [-0.1709, -1.4701, 7.0496, 1.5897, -0.1001, -0.0562, -0.0073, 0.4991, -8.2803, 7.0769, 1.707, 0.3101, 0.0855, 0.5006]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a98aef4d30a806282bf1c783dc0d2327a63c8d70b415b6dff549da487463ecf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1c4091463a08bee4c3fc88fc837b83d06453173ea91c38a930cabeae1ea76d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d8d527e5276a5fdcd8ca859075a4807eb9eedd8f5875243e3d03cf08b1cc0ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pink bowl looks seated in the stack. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S1zFiSCMpqY4c67Y7bSWm9",
      "input": {
        "note": "Pink bowl is lowered into the white/blue stack in the top view. Opening to release it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01S1zFiSCMpqY4c67Y7bSWm9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8444, 0.6914, -0.5465, -0.0605, -0.0715, 0.9958, 0.767, 1.6104, 0.9379, -0.1741, 0.5652, 0.4114, 0.9953]\nstate[eef_state]: left_x=0.2849 left_y=0.003 left_z=0.1728 left_yaw=0.0286 left_pitch=-0.1276 left_roll=0.0034 left_gripper=0.9958 right_x=0.3546 right_y=0.2154 right_z=0.106 right_yaw=0.0623 right_pitch=-0.1181 right_roll=-0.0865 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -1.4017, 6.9538, 1.5897, -0.0806, -0.0171, -0.0122, 0.1299, -8.1436, 7.241, 1.7265, 0.3492, 0.0464, -0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b442972e55a167364fd55a6baa3e2339286f1c1a66437139b304893696fadf3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25cf00016f8a6fd83beec2206f227faefb527030ddda6da69889e8fad5afd32c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b349cdc4e2d41a9bb89eefe75f6e908915f0421017ffdfd702782e324e28981a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 35 attempt 0 · /messages · status 200 · 10.39 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8444, 0.6914, -0.5465, -0.0605, -0.0715, 0.9958, 0.738, 1.4948, 1.0725, -0.3565, 0.5564, 0.3939, 0.0344]\nstate[eef_state]: left_x=0.2849 left_y=0.003 left_z=0.1728 left_yaw=0.0286 left_pitch=-0.1276 left_roll=0.0034 left_gripper=0.9958 right_x=0.3598 right_y=0.2059 right_z=0.1751 right_yaw=0.0534 right_pitch=-0.0707 right_roll=-0.0518 right_gripper=0.0344\nstate[joint_eff]: [-0.1846, -1.5248, 6.9128, 1.6337, -0.0952, -0.0415, -0.0073, 0.1573, -7.1453, 9.8667, 1.6142, 0.442, 0.2125, 0.4713]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8444, 0.6914, -0.5465, -0.0605, -0.0715, 0.9958, 0.7647, 1.5959, 0.9531, -0.2272, 0.5674, 0.4129, 0.0368]\nstate[eef_state]: left_x=0.2849 left_y=0.003 left_z=0.1728 left_yaw=0.0286 left_pitch=-0.1276 left_roll=0.0034 left_gripper=0.9958 right_x=0.3519 right_y=0.211 right_z=0.1098 right_yaw=0.0556 right_pitch=-0.1346 right_roll=-0.1019 right_gripper=0.0368\nstate[joint_eff]: [-0.1709, -1.4701, 7.0496, 1.5897, -0.1001, -0.0562, -0.0073, 0.4991, -8.2803, 7.0769, 1.707, 0.3101, 0.0855, 0.5006]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8444, 0.6914, -0.5465, -0.0605, -0.0715, 0.9958, 0.767, 1.6104, 0.9379, -0.1741, 0.5652, 0.4114, 0.9953]\nstate[eef_state]: left_x=0.2849 left_y=0.003 left_z=0.1728 left_yaw=0.0286 left_pitch=-0.1276 left_roll=0.0034 left_gripper=0.9958 right_x=0.3546 right_y=0.2154 right_z=0.106 right_yaw=0.0623 right_pitch=-0.1181 right_roll=-0.0865 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -1.4017, 6.9538, 1.5897, -0.0806, -0.0171, -0.0122, 0.1299, -8.1436, 7.241, 1.7265, 0.3492, 0.0464, -0.2418]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b442972e55a167364fd55a6baa3e2339286f1c1a66437139b304893696fadf3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25cf00016f8a6fd83beec2206f227faefb527030ddda6da69889e8fad5afd32c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b349cdc4e2d41a9bb89eefe75f6e908915f0421017ffdfd702782e324e28981a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS4wcKEAgSGAI4AUIIdGhpbmtpbmcSDIa3s5eltiGOF+BG5xoMIx7qS4d6yPUZuGTVIjB8psSOsmlRbxubLlwoijyAvnRtzWxkadzaZNbz4lvv/L+JrrirmQq4zHSduKTO0Y8qgAcBrkWoNfkxprFEe0Wptop6lK4i63tUrlpUqRl8wnqdMpCl2HatXQjvrR9DW3+zfk/jpb4txgYOS4P1QcdbFYsCp8oS+OIYU6sWXlk5r6Q1hA7JSAhDgKnOOaWZH6hvszp+TWhLMkDgpiprSUhx39WCXNaqWPwivY1y/yqZFs8ST12An+HgUkDyG+Eq06ONkCyMw+xpbEn2hukdSKxe5geoV+JahmcdXCUB7PZEU8d+mO9xHMfV+t/HHP14at7XdyORa/2CcrRbn1jrWhoi4U8XGwpeOpg74uZn0teQ0tO0kgpKTSGwl9WBjWk2c4YwVYKr+6zFFR2xNbO8BpbWY7QsAZlsPZTfmKjH4wP49rwCfxECA000h57wKia3TRlaSGIEap3tezWe/I04AY6fvShoe9qsJ/sBt9n6BcEB84NJRnjFz3/S4o/CbyZbp0jgNIPLwQj7xZEqJDZq2KVjfbjRa9Zbpxp+hge2rwqDbei9cW490oGAgqngT0QrHhvg3niNP7lapq5VpbCXaK7VniKIfuTjCdk9Aeq2CoSJivY6M5HTivo1jJ0zYAirW4RfvRFvuT415tpWYeeoIwf0049CW8PioqS6ABel0HxYzqvndWg0tKeLDiXjV0MyQstxxT/wq9n7el1Cz1Qh0hJd/uMftCMFDfg/b0CGYCeTwtFNQZB3tS2NvcsrUZJX25aP9B0Igi81o7Wl1K6qlFutuSNelT7U5nMhBMcsZBMm1+byrJLJZOGZmIbbJ7kPhDSG8JfTXgZ62AfUoy5YeXfnuG4IzKp5LuvLr1Z+uCAbBY5jWD8rrrdclIXXBwrtBNeBDQGi1SySI8/kWa7QBY0edgzrnehQzxF740YSP0ljmPDnGboV35Cqq8dkxFjYieKJkpUN5JfyE+1jFLT8syfEgmVEKryNaN3t0GaI5F91pAW4CcHV0BEWLlbYx3/+BPrSCGqPPBGa57yBGyWv8By5xXjsXdBOjaAydxI5ustu3sHJT8VRimUPsLg+ksaBQFvuGVG93jcveeKUCIX8AzehBNPFtggSMps8tK/vWDZOtyYUV7t/ihsEekxIEHV0skTHwI7Y8qek1iNYJVYqxFKqTStpHMfWm3GVlPKYk16XoXS6jbOX127z9AUCVUsKU04UJ37wz25KZCjfuRTEwfyC/8BAJO2wQrMJ2D8uuOzIflzHMBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ADB5BrdpeYrKuqqXrVHtsK",
      "input": {
        "note": "Right wrist view shows the pink bowl nested on top of the white/blue stack. Retracting the right arm to home to clear the stack.",
        "targets": {
          "right_x": 0.29,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01ADB5BrdpeYrKuqqXrVHtsK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8455, 0.6914, -0.5465, -0.0605, -0.0715, 0.9958, -0.0002, 0.873, 0.6861, -0.5167, 0.0433, -0.1024, 0.9956]\nstate[eef_state]: left_x=0.285 left_y=0.003 left_z=0.1725 left_yaw=0.0286 left_pitch=-0.1287 left_roll=0.0035 left_gripper=0.9958 right_x=0.2904 right_y=-0.0041 right_z=0.1683 right_yaw=0.0054 right_pitch=-0.1363 right_roll=-0.0901 right_gripper=0.9956\nstate[joint_eff]: [-0.0342, -1.5248, 6.9812, 1.6337, -0.0757, -0.0562, -0.0073, -0.1299, -2.1402, 9.2376, 1.6972, -0.0611, 0.0366, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa75b40ab768bbe38d09b838d70d8f16b91b5aa9b3427df7ee4b6f4faab6d527",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89f527f4cdf81ec135a469471791fbe6e21f9f9584d33e6002dcd302d146342e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ace6fc8e44a7b29cb197c0da61a53671fe1c73d66438a1a6371d74defa94a4ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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