adhoc

completed
2026-09-22T20:49:59.571869+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
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
490.2 s
total steps
281
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls sit in a row across the middle of the table. Moving the left arm above the leftmost bowl to get a close wrist view before grasping its rim.
move_to
left_x0.4000left_y-0.2100left_z0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3805, -0.0193, -0.0326, 0.9945, -0.0212, 0.7933, 0.6029, -0.3782, -0.0143, -0.0334, 0.9982] state[eef_state]: left_x=0.2949 left_y=0.0011 left_z=0.18 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9945 right_x=0.2948 right_y=-0.0001 right_z=0.18 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9982 state[joint_eff]: [-0.5128, -1.5932, 10.0581, 1.7802, -0.0562, 0.1929, -0.3834, -0.4308, -1.4838, 10.2496, 1.8828, -0.1197, 0.1978, -0.2027] 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": 0.4, "left_y": -0.21, "left_z": 0.25, "left_gripper": 1}, "note": "Three bowls sit in a row across the middle of the table. Moving the left arm above the leftmost bowl to get a close wrist view before grasping its rim."})
tool
executing move_to over 19 steps (1.9s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteWrist view shows the leftmost (white) bowl down-left of the jaws and the middle (purple) bowl near the jaw column. Shifting left and descending to line up over the leftmost bowl.
move_to
left_x0.4000left_y-0.2500left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6994, 1.5646, 1.346, -0.511, -0.5568, -0.448, 0.9946, -0.0216, 0.7975, 0.6041, -0.3889, -0.0162, -0.0299, 0.9981] state[eef_state]: left_x=0.395 left_y=-0.2057 left_z=0.2349 left_yaw=-0.0139 left_pitch=-0.0316 left_roll=0.0112 left_gripper=0.9946 right_x=0.2938 right_y=0.0001 right_z=0.1772 right_yaw=-0.0006 right_pitch=-0.0141 right_roll=0.0042 right_gripper=0.9981 state[joint_eff]: [-0.5812, -7.4051, 9.1419, 1.4725, -0.4127, -0.1099, -0.359, 0.0205, -1.5658, 7.1316, 1.8242, -0.0464, -0.0757, -0.022] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.25, "left_z": 0.18}, "note": "Wrist view shows the leftmost (white) bowl down-left of the jaws and the middle (purple) bowl near the jaw column. Shifting left and descending to line up over the leftmost bowl."})
tool
executing move_to over 4 steps (0.4s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe purple bowl is centred on the jaw column just below the fingertips. Shifting 7 cm toward the bowl's left rim and dropping to 12 cm so the jaws can straddle the rim wall.
move_to
left_x0.4000left_y-0.1750left_z0.1200left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7784, 1.7035, 1.3022, -0.4053, -0.5938, -0.4988, 0.9943, -0.0216, 0.7986, 0.6037, -0.3897, -0.0166, -0.0296, 0.998] state[eef_state]: left_x=0.395 left_y=-0.2457 left_z=0.1771 left_yaw=-0.0352 left_pitch=-0.0721 left_roll=0.0399 left_gripper=0.9943 right_x=0.2937 right_y=0.0002 right_z=0.1766 right_yaw=-0.0005 right_pitch=-0.0164 right_roll=0.0048 right_gripper=0.998 state[joint_eff]: [-0.1983, -9.5521, 6.5436, 1.7509, -0.4811, -0.1245, -0.0415, 0.0205, -1.306, 7.0496, 1.7411, -0.0415, -0.022, -0.0171] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.175, "left_z": 0.12, "left_gripper": 0.8}, "note": "The purple bowl is centred on the jaw column just below the fingertips. Shifting 7 cm toward the bowl's left rim and dropping to 12 cm so the jaws can straddle the rim wall."})
tool
executing move_to over 7 steps (0.7s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe arm barely tracked the last command (y stayed at -0.25), so I am re-issuing the move toward the bowl's left rim at 13 cm height.
move_to
left_x0.4000left_y-0.1800left_z0.1300left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7883, 1.7309, 1.2884, -0.3691, -0.6037, -0.5217, 0.8023, -0.0216, 0.7986, 0.6037, -0.3927, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.3963 left_y=-0.2513 left_z=0.1657 left_yaw=-0.0253 left_pitch=-0.0704 left_roll=0.0301 left_gripper=0.8023 right_x=0.2933 right_y=0.0002 right_z=0.1759 right_yaw=-0.0003 right_pitch=-0.0194 right_roll=0.0045 right_gripper=0.998 state[joint_eff]: [-0.0342, -10.2632, 7.241, 1.6288, -0.4371, -0.0513, 0.0757, -0.0068, -1.2103, 7.2547, 1.7656, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.18, "left_z": 0.13, "left_gripper": 0.8}, "note": "The arm barely tracked the last command (y stayed at -0.25), so I am re-issuing the move toward the bowl's left rim at 13 cm height."})
tool
executing move_to over 7 steps (0.7s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteJaws are in the gap between the white (left) and purple (right) bowls. Shifting 4 cm right onto the purple bowl's left rim and descending to rim height to prepare a grasp.
move_to
left_x0.3900left_y-0.2050left_z0.0500left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6132, 1.6402, 0.9886, -0.1989, -0.5194, -0.4259, 0.8011, -0.0219, 0.7986, 0.6018, -0.3923, -0.0162, -0.0299, 0.998] state[eef_state]: left_x=0.3935 left_y=-0.1653 left_z=0.1067 left_yaw=0.0387 left_pitch=-0.1436 left_roll=0.083 left_gripper=0.8011 right_x=0.2931 right_y=0.0 right_z=0.1751 right_yaw=-0.001 right_pitch=-0.0209 right_roll=0.0044 right_gripper=0.998 state[joint_eff]: [-1.1282, -10.6872, 7.8564, 2.0293, -0.0171, 0.1392, 0.1001, -0.0479, -1.2923, 7.159, 1.8046, -0.0317, -0.022, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.205, "left_z": 0.05, "left_gripper": 0.8}, "note": "Jaws are in the gap between the white (left) and purple (right) bowls. Shifting 4 cm right onto the purple bowl's left rim and descending to rim height to prepare a grasp."})
tool
executing move_to over 4 steps (0.4s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe purple bowl's left rim is right at the jaw centre with the right jaw inside the bowl. Lowering 2 cm so the jaws straddle the rim wall before closing.
move_to
left_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7086, 1.821, 0.973, -0.0845, -0.5522, -0.4843, 0.8011, -0.0216, 0.8017, 0.6003, -0.3931, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.3844 left_y=-0.2027 left_z=0.0468 left_yaw=0.0077 left_pitch=-0.1878 left_roll=0.1117 left_gripper=0.8011 right_x=0.293 right_y=0.0002 right_z=0.1734 right_yaw=-0.0003 right_pitch=-0.0263 right_roll=0.0047 right_gripper=0.998 state[joint_eff]: [0.1573, -9.6205, 5.641, 1.58, -0.4615, -0.1245, 0.1001, -0.0479, -1.4701, 7.3778, 1.707, -0.0024, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.025}, "note": "The purple bowl's left rim is right at the jaw centre with the right jaw inside the bowl. Lowering 2 cm so the jaws straddle the rim wall before closing."})
tool
executing move_to over 2 steps (0.2s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteJaws straddle the purple bowl's near-left rim. Closing to pinch the rim wall.
move_to
left_gripper0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7143, 1.8488, 0.9546, -0.0284, -0.5686, -0.506, 0.8012, -0.0216, 0.8024, 0.6003, -0.3931, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.3857 left_y=-0.2037 left_z=0.038 left_yaw=0.0243 left_pitch=-0.1704 left_roll=0.0988 left_gripper=0.8012 right_x=0.2931 right_y=0.0002 right_z=0.1732 right_yaw=-0.0003 right_pitch=-0.027 right_roll=0.0047 right_gripper=0.998 state[joint_eff]: [0.5812, -6.7487, 4.8479, 1.3895, -0.1294, 0.0659, -0.0024, -0.0342, -1.3744, 7.3368, 1.7167, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.05}, "note": "Jaws straddle the purple bowl's near-left rim. Closing to pinch the rim wall."})
tool
executing move_to over 8 steps (0.8s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteGripper settled at 0.15 (≈1.4 cm), suggesting something is held. Lifting 8 cm to check whether the purple bowl comes with it.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7136, 1.842, 0.9501, -0.0078, -0.577, -0.5068, 0.15, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.0296, 0.998] state[eef_state]: left_x=0.3882 left_y=-0.2039 left_z=0.0427 left_yaw=0.0289 left_pitch=-0.149 left_roll=0.0875 left_gripper=0.15 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=-0.0005 right_pitch=-0.0274 right_roll=0.005 right_gripper=0.998 state[joint_eff]: [-0.1436, -8.2803, 6.4889, 1.1453, -0.2418, -0.0171, 0.5446, -0.0342, -1.2513, 7.0222, 1.7314, -0.0611, -0.0073, -0.0122] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Gripper settled at 0.15 (\u22481.4 cm), suggesting something is held. Lifting 8 cm to check whether the purple bowl comes with it."})
tool
executing move_to over 5 steps (0.5s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe lift was clamped short; commanding a larger lift to 22 cm to clearly see whether a bowl is held.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7136, 1.734, 1.0782, -0.2611, -0.5762, -0.514, 0.1489, -0.0219, 0.8028, 0.5999, -0.3931, -0.0162, -0.0299, 0.998] state[eef_state]: left_x=0.3877 left_y=-0.2036 left_z=0.0976 left_yaw=0.0341 left_pitch=-0.1616 left_roll=0.0934 left_gripper=0.1489 right_x=0.293 right_y=0.0 right_z=0.173 right_yaw=-0.001 right_pitch=-0.0278 right_roll=0.0045 right_gripper=0.998 state[joint_eff]: [-0.0752, -10.3179, 8.5265, 1.2479, -0.3248, 0.0659, -0.1245, -0.1026, -1.0051, 7.0359, 1.7265, -0.0317, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "The lift was clamped short; commanding a larger lift to 22 cm to clearly see whether a bowl is held."})
tool
executing move_to over 8 steps (0.8s)
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 noteThe close was empty — the bowls stayed on the table, and they sit above the bottom edge of the wrist view, meaning they are farther out than my fingertips. Reaching 5 cm farther forward and opening the jaws again.
move_to
left_x0.4400left_z0.1000left_gripper0.9000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7136, 1.6772, 1.4338, -0.6827, -0.5735, -0.522, 0.1488, -0.0219, 0.8082, 0.5953, -0.4007, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.3914 left_y=-0.2073 left_z=0.1992 left_yaw=0.0376 left_pitch=-0.1694 left_roll=0.0921 left_gripper=0.1488 right_x=0.2917 right_y=0.0001 right_z=0.1679 right_yaw=-0.0007 right_pitch=-0.0454 right_roll=0.0051 right_gripper=0.998 state[joint_eff]: [-0.1299, -10.0855, 9.0735, 1.1893, -0.2808, 0.0611, -0.022, -0.0615, -1.5385, 7.4051, 1.8046, -0.0366, -0.0415, -0.0122] 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_x": 0.44, "left_z": 0.1, "left_gripper": 0.9}, "note": "The close was empty \u2014 the bowls stayed on the table, and they sit above the bottom edge of the wrist view, meaning they are farther out than my fingertips. Reaching 5 cm farther forward and opening the jaws again."})
tool
executing move_to over 8 steps (0.8s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteJaws are again straddling the gap between the white and purple bowls; the purple bowl's left rim is ~3 cm to the right of the jaw centre. Shifting right and descending to rim height.
move_to
left_y-0.2350left_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6365, 1.8645, 1.2846, -0.3508, -0.5289, -0.4686, 0.8953, -0.0219, 0.8101, 0.5945, -0.4118, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.4309 left_y=-0.2031 left_z=0.1023 left_yaw=0.0544 left_pitch=-0.1994 left_roll=0.1075 left_gripper=0.8953 right_x=0.2901 right_y=0.0002 right_z=0.1648 right_yaw=-0.0006 right_pitch=-0.0591 right_roll=0.0054 right_gripper=0.998 state[joint_eff]: [0.3897, -9.3744, 6.2974, 1.4383, -0.2271, 0.1832, -0.0904, -0.1299, -1.4564, 7.0496, 1.7656, -0.0415, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.235, "left_z": 0.05}, "note": "Jaws are again straddling the gap between the white and purple bowls; the purple bowl's left rim is ~3 cm to the right of the jaw centre. Shifting right and descending to rim height."})
tool
executing move_to over 4 steps (0.4s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteJaw centre is at the purple bowl's left rim; nudging 1 cm further onto the wall and lowering to 3 cm so the jaws clearly straddle the bowl wall.
move_to
left_y-0.2450left_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6979, 1.9968, 1.2751, -0.255, -0.548, -0.5068, 0.8965, -0.0219, 0.8108, 0.5945, -0.4152, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.4264 left_y=-0.2328 left_z=0.0527 left_yaw=0.0338 left_pitch=-0.2218 left_roll=0.1226 left_gripper=0.8965 right_x=0.2896 right_y=0.0002 right_z=0.1639 right_yaw=-0.0006 right_pitch=-0.0633 right_roll=0.0055 right_gripper=0.998 state[joint_eff]: [0.294, -10.4957, 6.612, 1.453, -0.4567, -0.1783, 0.1197, -0.3487, -1.0188, 6.9812, 1.6923, -0.0415, -0.0806, -0.0073] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.245, "left_z": 0.03}, "note": "Jaw centre is at the purple bowl's left rim; nudging 1 cm further onto the wall and lowering to 3 cm so the jaws clearly straddle the bowl wall."})
tool
executing move_to over 2 steps (0.2s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe purple bowl's left wall sits just right of the jaw convergence point; backing off 1 cm so the wall is centred, then closing fully to pinch it.
move_to
left_y-0.2280left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7059, 2.0258, 1.2751, -0.242, -0.5507, -0.524, 0.8966, -0.0216, 0.8112, 0.5945, -0.4152, -0.0166, -0.0296, 0.998] state[eef_state]: left_x=0.425 left_y=-0.2361 left_z=0.0412 left_yaw=0.0396 left_pitch=-0.2309 left_roll=0.123 left_gripper=0.8966 right_x=0.2896 right_y=0.0003 right_z=0.1638 right_yaw=-0.0005 right_pitch=-0.0637 right_roll=0.0058 right_gripper=0.998 state[joint_eff]: [-0.5675, -10.1265, 6.147, 1.3455, -0.3199, 0.0317, 0.0024, -0.0479, -1.1419, 6.9949, 1.6874, -0.0269, -0.0366, -0.0122] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.228, "left_gripper": 0.0}, "note": "The purple bowl's left wall sits just right of the jaw convergence point; backing off 1 cm so the wall is centred, then closing fully to pinch it."})
tool
executing move_to over 9 steps (0.9s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteClose was empty (0.02) — the jaws are skimming at rim height. Reopening and lowering to 1.5 cm so the jaws sit well down the bowl wall.
move_to
left_gripper0.7000left_z0.0150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7071, 2.022, 1.2812, -0.2115, -0.5545, -0.5304, 0.0192, -0.0219, 0.8112, 0.5945, -0.416, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.4308 left_y=-0.2411 left_z=0.0492 left_yaw=0.0387 left_pitch=-0.1987 left_roll=0.0926 left_gripper=0.0192 right_x=0.2895 right_y=0.0002 right_z=0.1636 right_yaw=-0.0006 right_pitch=-0.0644 right_roll=0.0055 right_gripper=0.998 state[joint_eff]: [-0.3214, -9.7436, 5.8872, 0.7888, -0.2857, 0.1245, 0.7937, -0.0068, -1.1556, 7.0085, 1.6874, -0.0855, -0.0562, -0.0122] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.7, "left_z": 0.015}, "note": "Close was empty (0.02) \u2014 the jaws are skimming at rim height. Reopening and lowering to 1.5 cm so the jaws sit well down the bowl wall."})
tool
executing move_to over 7 steps (0.7s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteLeft jaw is outside on the table, right jaw is inside the bowl, with the wall at the jaw convergence column. Closing to pinch the bowl wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7071, 2.0743, 1.2373, -0.1211, -0.5507, -0.5396, 0.6949, -0.0219, 0.8116, 0.5945, -0.4156, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.4295 left_y=-0.2407 left_z=0.0211 left_yaw=0.0418 left_pitch=-0.2045 left_roll=0.0876 left_gripper=0.6949 right_x=0.2896 right_y=0.0002 right_z=0.1636 right_yaw=-0.0006 right_pitch=-0.0644 right_roll=0.0055 right_gripper=0.998 state[joint_eff]: [-0.1846, -9.1009, 5.2581, 1.5263, -0.2711, 0.0269, -0.1734, -0.1846, -1.347, 6.9812, 1.6825, -0.0317, -0.0513, -0.0073] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Left jaw is outside on the table, right jaw is inside the bowl, with the wall at the jaw convergence column. Closing to pinch the bowl wall."})
tool
executing move_to over 7 steps (0.7s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteGripper settled at 0.10 (~1 cm), suggesting the bowl wall is pinched. Lifting 10 cm to verify the purple bowl comes up.
move_to
left_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7074, 2.0567, 1.2381, -0.0841, -0.5499, -0.5625, 0.1043, -0.0219, 0.8116, 0.5945, -0.416, -0.0162, -0.0299, 0.998] state[eef_state]: left_x=0.4357 left_y=-0.2464 left_z=0.0344 left_yaw=0.0464 left_pitch=-0.1637 left_roll=0.0317 left_gripper=0.1043 right_x=0.2895 right_y=0.0001 right_z=0.1635 right_yaw=-0.001 right_pitch=-0.0648 right_roll=0.0053 right_gripper=0.998 state[joint_eff]: [-0.2803, -9.5248, 5.9282, 0.9499, -0.2564, 0.188, 0.4762, -0.1162, -1.3197, 7.0222, 1.663, -0.0269, -0.0659, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.14}, "note": "Gripper settled at 0.10 (~1 cm), suggesting the bowl wall is pinched. Lifting 10 cm to verify the purple bowl comes up."})
tool
executing move_to over 7 steps (0.7s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteShoulder effort rose from -9.5 to -13.2 N·m, hinting at a load. Lifting higher to confirm the bowl is off the table.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7071, 1.9476, 1.4303, -0.4137, -0.5476, -0.5735, 0.1038, -0.0219, 0.8116, 0.5945, -0.416, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.4359 left_y=-0.2467 left_z=0.1114 left_yaw=0.0547 left_pitch=-0.1853 left_roll=0.0418 left_gripper=0.1038 right_x=0.2895 right_y=0.0002 right_z=0.1635 right_yaw=-0.0006 right_pitch=-0.0648 right_roll=0.0055 right_gripper=0.998 state[joint_eff]: [-0.1709, -13.2171, 8.5675, 1.2527, -0.3297, 0.0659, -0.0659, -0.1026, -1.2376, 6.9812, 1.6532, -0.0171, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Shoulder effort rose from -9.5 to -13.2 N\u00b7m, hinting at a load. Lifting higher to confirm the bowl is off the table."})
tool
executing move_to over 6 steps (0.6s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteI believe the purple bowl is hanging from its rim in the jaws (shoulder effort up ~3 N·m). Carrying it left to sit above the mint bowl, whose centre I estimate 14 cm to the left.
move_to
left_y-0.1000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7071, 1.9289, 1.6836, -0.6975, -0.5472, -0.5777, 0.1037, -0.0219, 0.812, 0.5945, -0.416, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.4381 left_y=-0.2487 left_z=0.1793 left_yaw=0.0583 left_pitch=-0.1939 left_roll=0.0468 left_gripper=0.1037 right_x=0.2896 right_y=0.0002 right_z=0.1634 right_yaw=-0.0006 right_pitch=-0.0652 right_roll=0.0055 right_gripper=0.998 state[joint_eff]: [0.0068, -12.0137, 9.306, 1.2869, -0.2418, 0.0171, -0.0171, -0.335, -1.3197, 6.9812, 1.663, -0.0757, -0.0806, -0.0122] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.1, "left_z": 0.2}, "note": "I believe the purple bowl is hanging from its rim in the jaws (shoulder effort up ~3 N\u00b7m). Carrying it left to sit above the mint bowl, whose centre I estimate 14 cm to the left."})
tool
executing move_to over 14 steps (1.4s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteTop view confirms all three bowls are still on the table — my rim pinch slipped. Returning over the purple bowl's left rim, this time with the wrist rolled 0.6 rad so the jaws close perpendicular to the sloping bowl wall.
move_to
left_y-0.2450left_z0.0800left_roll0.6000left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3702, 1.6447, 1.3682, -0.5819, -0.347, -0.3206, 0.1037, -0.0216, 0.812, 0.5945, -0.416, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.4388 left_y=-0.102 left_z=0.1875 left_yaw=0.0908 left_pitch=-0.2233 left_roll=0.0532 left_gripper=0.1037 right_x=0.2896 right_y=0.0003 right_z=0.1634 right_yaw=-0.0003 right_pitch=-0.0652 right_roll=0.0055 right_gripper=0.998 state[joint_eff]: [0.335, -10.4137, 6.2838, 1.619, -0.1001, 0.1343, -0.0122, -0.1162, -1.3333, 6.9812, 1.6581, -0.0122, -0.0269, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.245, "left_z": 0.08, "left_roll": 0.6, "left_gripper": 0.8}, "note": "Top view confirms all three bowls are still on the table \u2014 my rim pinch slipped. Returning over the purple bowl's left rim, this time with the wrist rolled 0.6 rad so the jaws close perpendicular to the sloping bowl wall."})
tool
executing move_to over 13 steps (1.3s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteWith the wrist rolled, the jaw centre still sits in the gap between mint and purple bowls; shifting ~2 cm right onto the purple wall and lowering to 4.5 cm.
move_to
left_y-0.2620left_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7715, 2.1838, 1.6455, -0.6739, -0.7929, -0.3634, 0.7968, -0.0219, 0.8158, 0.5945, -0.416, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.4351 left_y=-0.2426 left_z=0.0723 left_yaw=0.0767 left_pitch=-0.2581 left_roll=0.5549 left_gripper=0.7968 right_x=0.2898 right_y=0.0002 right_z=0.1624 right_yaw=-0.0006 right_pitch=-0.069 right_roll=0.0056 right_gripper=0.998 state[joint_eff]: [-0.4034, -12.0137, 7.9111, 0.6813, -0.6764, 0.1197, -0.0904, -0.1709, -1.1009, 7.1316, 1.6532, -0.0464, -0.0611, -0.0122] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.262, "left_z": 0.045}, "note": "With the wrist rolled, the jaw centre still sits in the gap between mint and purple bowls; shifting ~2 cm right onto the purple wall and lowering to 4.5 cm."})
tool
executing move_to over 2 steps (0.2s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe arm under-tracks each command, so I am over-commanding: pushing further right onto the purple bowl's wall and down to 3 cm.
move_to
left_y-0.2850left_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7902, 2.2337, 1.6699, -0.6815, -0.8215, -0.3828, 0.7978, -0.0216, 0.8154, 0.5945, -0.416, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.4339 left_y=-0.2492 left_z=0.0596 left_yaw=0.0879 left_pitch=-0.2535 left_roll=0.585 left_gripper=0.7978 right_x=0.2897 right_y=0.0003 right_z=0.1625 right_yaw=-0.0002 right_pitch=-0.0686 right_roll=0.0056 right_gripper=0.998 state[joint_eff]: [-0.9641, -9.8803, 7.7197, 0.8376, -0.3394, -0.0415, 0.0708, 0.1026, -1.1692, 7.1726, 1.6777, -0.0757, -0.0708, -0.0122] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.285, "left_z": 0.03}, "note": "The arm under-tracks each command, so I am over-commanding: pushing further right onto the purple bowl's wall and down to 3 cm."})
tool
executing move_to over 4 steps (0.4s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteLeft jaw is outside the purple bowl on the table, right jaw inside it, wall between them. Closing fully to clamp the wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8326, 2.36, 1.7866, -0.7177, -0.8177, -0.4469, 0.7979, -0.0219, 0.8165, 0.5945, -0.4187, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.4334 left_y=-0.2795 left_z=0.0321 left_yaw=0.0832 left_pitch=-0.2658 left_roll=0.5733 left_gripper=0.7979 right_x=0.2894 right_y=0.0002 right_z=0.1617 right_yaw=-0.0006 right_pitch=-0.0724 right_roll=0.0057 right_gripper=0.998 state[joint_eff]: [-0.6496, -12.2735, 7.4051, 0.6032, -0.6667, 0.0024, -0.0073, -0.1299, -1.4291, 7.0906, 1.6728, -0.0269, -0.0464, -0.0073] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Left jaw is outside the purple bowl on the table, right jaw inside it, wall between them. Closing fully to clamp the wall."})
tool
executing move_to over 8 steps (0.8s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteAnother empty close, and the contact nudged the bowl. Lifting to 13 cm with the jaws only partly open (3.8 cm) so the next close is a short, precise pinch; taking a look first.
move_to
left_z0.1300left_gripper0.4000left_roll0.5000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8513, 2.3451, 1.8439, -0.6601, -0.8604, -0.5148, 0.0243, -0.0219, 0.8181, 0.5945, -0.4217, -0.0166, -0.0296, 0.998] state[eef_state]: left_x=0.4474 left_y=-0.302 left_z=0.0658 left_yaw=0.0952 left_pitch=-0.1381 left_roll=0.4411 left_gripper=0.0243 right_x=0.289 right_y=0.0002 right_z=0.1607 right_yaw=-0.0008 right_pitch=-0.077 right_roll=0.0061 right_gripper=0.998 state[joint_eff]: [0.4581, -8.4171, 3.3436, -0.2076, -0.3101, 0.5153, 0.8718, -0.1299, -1.4838, 7.1863, 1.7363, -0.0415, -0.0317, -0.0122] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.13, "left_gripper": 0.4, "left_roll": 0.5}, "note": "Another empty close, and the contact nudged the bowl. Lifting to 13 cm with the jaws only partly open (3.8 cm) so the next close is a short, precise pinch; taking a look first."})
tool
executing move_to over 5 steps (0.5s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteRim pinching keeps slipping, so I will try an expanding grasp: closed jaws go inside the purple bowl and then open against its inner walls. Moving over the bowl's centre with the jaws closed.
move_to
left_y-0.3600left_z0.1000left_roll0.0000left_gripper0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8513, 2.384, 2.0129, -0.8627, -0.8585, -0.4973, 0.3961, -0.0216, 0.8185, 0.5945, -0.4225, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.448 left_y=-0.303 left_z=0.0855 left_yaw=0.0955 left_pitch=-0.1863 left_roll=0.513 left_gripper=0.3961 right_x=0.2889 right_y=0.0003 right_z=0.1604 right_yaw=-0.0002 right_pitch=-0.0782 right_roll=0.0058 right_gripper=0.998 state[joint_eff]: [-0.8957, -17.0872, 6.9538, 0.3834, -0.5739, 0.0513, -0.105, -0.1709, -1.3197, 6.9812, 1.6923, -0.0464, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.36, "left_z": 0.1, "left_roll": 0.0, "left_gripper": 0.05}, "note": "Rim pinching keeps slipping, so I will try an expanding grasp: closed jaws go inside the purple bowl and then open against its inner walls. Moving over the bowl's centre with the jaws closed."})
tool
executing move_to over 7 steps (0.7s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
assistant
agent noteClosed jaws are centred over the purple bowl's mouth; lowering them inside the bowl toward its floor.
move_to
left_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8623, 2.3638, 2.0319, -0.7513, -0.6731, -0.7475, 0.0528, -0.0219, 0.8181, 0.5945, -0.4229, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.4486 left_y=-0.3488 left_z=0.0903 left_yaw=0.0982 left_pitch=-0.1967 left_roll=0.1015 left_gripper=0.0528 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0006 right_pitch=-0.0782 right_roll=0.0058 right_gripper=0.998 state[joint_eff]: [-0.7453, -15.5966, 5.8872, 1.1306, -0.3053, -0.0855, 0.0122, -0.1983, -1.347, 6.9949, 1.6484, -0.022, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02}, "note": "Closed jaws are centred over the purple bowl's mouth; lowering them inside the bowl toward its floor."})
tool
executing move_to over 5 steps (0.5s)
step 172
assistant
agent noteJaws are inside the purple bowl near its floor; opening them fully to wedge against the inner walls.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8642, 2.4142, 1.8797, -0.5739, -0.6548, -0.7559, 0.0525, -0.0219, 0.8185, 0.5945, -0.4225, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.4431 left_y=-0.3479 left_z=0.0264 left_yaw=0.0949 left_pitch=-0.2239 left_roll=0.107 left_gripper=0.0525 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0006 right_pitch=-0.0782 right_roll=0.0058 right_gripper=0.998 state[joint_eff]: [0.0889, -12.8479, 6.1197, 1.0965, -0.5397, 0.0464, -0.0513, -0.1846, -1.306, 6.9812, 1.6386, -0.0806, -0.0757, -0.0122] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Jaws are inside the purple bowl near its floor; opening them fully to wedge against the inner walls."})
tool
executing move_to over 10 steps (1.0s)
step 182
assistant
agent noteThe jaws opened freely inside the bowl, so the interior is wider than the stroke. New plan: roll the wrist 90° so the jaws close vertically and can hook over the rim. Lifting clear and rolling first.
move_to
left_z0.1400left_y-0.2930left_roll1.4000left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8661, 2.4016, 1.8858, -0.5404, -0.6712, -0.7826, 0.9935, -0.0219, 0.8185, 0.5945, -0.4229, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.4493 left_y=-0.3533 left_z=0.0401 left_yaw=0.1082 left_pitch=-0.1811 left_roll=0.0519 left_gripper=0.9935 right_x=0.2889 right_y=0.0002 right_z=0.1603 right_yaw=-0.0006 right_pitch=-0.0785 right_roll=0.0058 right_gripper=0.998 state[joint_eff]: [-0.0342, -12.7795, 6.2154, 0.823, -0.1685, 0.2173, -0.3883, -0.0342, -1.1966, 7.0359, 1.6728, -0.022, -0.0562, -0.0122] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.14, "left_y": -0.293, "left_roll": 1.4, "left_gripper": 0.7}, "note": "The jaws opened freely inside the bowl, so the interior is wider than the stroke. New plan: roll the wrist 90\u00b0 so the jaws close vertically and can hook over the rim. Lifting clear and rolling first."})
tool
executing move_to over 18 steps (1.8s)
step 200
assistant
agent noteWrist is rolled so the jaws now close vertically (one above, one below). Lowering to rim height at the bowl's near-left rim so the rim ends up between the jaws.
move_to
left_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9031, 2.8128, 2.6938, -1.5616, -1.2488, -0.2192, 0.7014, -0.0216, 0.8196, 0.5945, -0.4225, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.4478 left_y=-0.2916 left_z=0.1027 left_yaw=0.1192 left_pitch=-0.2269 left_roll=1.326 left_gripper=0.7014 right_x=0.289 right_y=0.0003 right_z=0.1601 right_yaw=-0.0002 right_pitch=-0.0793 right_roll=0.0058 right_gripper=0.998 state[joint_eff]: [-0.1573, -19.1385, 5.4359, 0.0757, -0.9011, 0.2906, 0.0122, -0.0205, -1.0872, 7.1726, 1.6435, -0.0269, -0.0757, -0.0073] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.05}, "note": "Wrist is rolled so the jaws now close vertically (one above, one below). Lowering to rim height at the bowl's near-left rim so the rim ends up between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 204
assistant
agent noteDescent stopped at 7.9 cm, likely the lower jaw resting against the rim. Closing the vertical jaws to clamp over the bowl rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9035, 2.7857, 2.5, -1.4376, -1.3128, -0.2054, 0.7009, -0.0216, 0.8192, 0.5945, -0.4225, -0.0166, -0.0299, 0.9981] state[eef_state]: left_x=0.4475 left_y=-0.2862 left_z=0.0789 left_yaw=0.1241 left_pitch=-0.202 left_roll=1.4083 left_gripper=0.7009 right_x=0.289 right_y=0.0003 right_z=0.1602 right_yaw=-0.0002 right_pitch=-0.0789 right_roll=0.0058 right_gripper=0.9981 state[joint_eff]: [-0.0205, -13.1214, 3.7538, 0.7448, 0.1685, -0.1734, -0.0659, -0.0889, -1.3744, 7.0222, 1.6679, -0.0513, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Descent stopped at 7.9 cm, likely the lower jaw resting against the rim. Closing the vertical jaws to clamp over the bowl rim."})
tool
executing move_to over 8 steps (0.8s)
step 212
assistant
agent noteSingle-arm rim grasps keep slipping, so I will squeeze the purple bowl between both closed grippers. Bringing the left gripper to the bowl's left side and the right gripper to its right side at rim height.
move_to
left_roll0.0000left_gripper0.0000left_y-0.2900left_z0.0600left_x0.4500right_x0.4500right_y0.2400right_z0.0600right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9035, 2.7911, 2.4699, -1.346, -1.2488, -0.2096, 0.0086, -0.0216, 0.823, 0.5945, -0.4229, -0.0166, -0.0299, 0.998] state[eef_state]: left_x=0.4482 left_y=-0.2923 left_z=0.057 left_yaw=0.115 left_pitch=-0.2249 left_roll=1.322 left_gripper=0.0086 right_x=0.2891 right_y=0.0003 right_z=0.1591 right_yaw=-0.0002 right_pitch=-0.0831 right_roll=0.0059 right_gripper=0.998 state[joint_eff]: [-0.1846, -13.9009, 5.5043, 0.1587, -0.6081, -0.1148, 0.652, -0.0068, -1.4564, 7.2, 1.6386, -0.0317, -0.0562, -0.0171] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_roll": 0.0, "left_gripper": 0.0, "left_y": -0.29, "left_z": 0.06, "left_x": 0.45, "right_x": 0.45, "right_y": 0.24, "right_z": 0.06, "right_gripper": 0.0}, "note": "Single-arm rim grasps keep slipping, so I will squeeze the purple bowl between both closed grippers. Bringing the left gripper to the bowl's left side and the right gripper to its right side at rim height."})
tool
executing move_to over 20 steps (2.0s)
step 232
assistant
agent noteThe left gripper is already pressed against the purple bowl's left side (high shoulder torque). Bringing the right gripper across to the bowl's right side so the two can pinch it between them.
move_to
right_x0.4700right_y0.3100right_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6357, 2.265, 1.6272, -0.519, -0.6579, -0.6903, 0.0066, 0.6613, 1.8744, 1.1343, 0.0788, 0.5114, 0.3794, 0.0082] state[eef_state]: left_x=0.4733 left_y=-0.2105 left_z=0.0252 left_yaw=0.2987 left_pitch=-0.2555 left_roll=0.1958 left_gripper=0.0066 right_x=0.4434 right_y=0.24 right_z=0.1055 right_yaw=0.026 right_pitch=0.0027 right_roll=0.0336 right_gripper=0.0082 state[joint_eff]: [-10.8513, -18.4684, 5.7094, 1.3016, 0.1832, -0.0562, 0.6764, -1.388, -0.8137, 8.5675, 1.2625, -0.149, 0.3053, 0.7302] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.31, "right_z": 0.05}, "note": "The left gripper is already pressed against the purple bowl's left side (high shoulder torque). Bringing the right gripper across to the bowl's right side so the two can pinch it between them."})
tool
executing move_to over 6 steps (0.6s)
step 238
assistant
agent noteBoth arms are deflecting against the bowls with high torque and neither grasp has held. Retracting both arms to a safe home pose before ending.
move_to
left_x0.3000left_y-0.0500left_z0.2000left_yaw0.0000left_roll0.0000left_gripper0.5000right_x0.3000right_y0.0500right_z0.2000right_gripper0.5000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5171, 2.3013, 1.6413, -0.4904, -0.7456, -0.704, 0.0066, 0.7185, 2.093, 1.3468, 0.1326, 0.6361, 0.4702, 0.0107] state[eef_state]: left_x=0.5026 left_y=-0.1438 left_z=0.0235 left_yaw=0.4694 left_pitch=-0.1845 left_roll=0.2275 left_gripper=0.0066 right_x=0.4777 right_y=0.2831 right_z=0.0965 right_yaw=-0.0649 right_pitch=0.0846 right_roll=0.0869 right_gripper=0.0107 state[joint_eff]: [-10.2632, -15.7333, 4.8889, 0.6276, 0.5934, 0.0366, 0.6764, 2.3863, -3.8769, 8.6906, 1.3553, -0.569, -0.5153, 0.2418] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.2, "left_yaw": 0.0, "left_roll": 0.0, "left_gripper": 0.5, "right_x": 0.3, "right_y": 0.05, "right_z": 0.2, "right_gripper": 0.5}, "note": "Both arms are deflecting against the bowls with high torque and neither grasp has held. Retracting both arms to a safe home pose before ending."})
tool
executing move_to over 20 steps (2.0s)
step 258
assistant
agent noteClear view now: white shallow bowl left, deep purple bowl centre, pink bowl right. Making a last attempt on the deep purple bowl, whose wall is near-vertical: positioning the half-open jaws at its left rim.
move_to
left_x0.4700left_y-0.2350left_z0.0700left_gripper0.5000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3222, 1.0416, 0.8944, -0.6167, -0.2764, -0.2829, 0.4976, 0.3481, 0.8509, 0.6205, -0.2596, 0.3477, 0.263, 0.4985] state[eef_state]: left_x=0.3117 left_y=-0.0494 left_z=0.1974 left_yaw=0.053 left_pitch=-0.1582 left_roll=-0.0057 left_gripper=0.4976 right_x=0.3076 right_y=0.0514 right_z=0.202 right_yaw=-0.0955 right_pitch=0.1074 right_roll=0.0965 right_gripper=0.4985 state[joint_eff]: [0.4718, -3.3299, 7.788, 1.5995, 0.0366, 0.2515, -0.022, -0.1436, -1.1556, 7.159, 1.9414, -0.0464, -0.0611, -0.0611] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.235, "left_z": 0.07, "left_gripper": 0.5}, "note": "Clear view now: white shallow bowl left, deep purple bowl centre, pink bowl right. Making a last attempt on the deep purple bowl, whose wall is near-vertical: positioning the half-open jaws at its left rim."})
tool
executing move_to over 17 steps (1.7s)
step 275
assistant
agent noteThe purple bowl's right wall sits ~2 cm to the left of the jaw column; shifting onto it and closing the jaws around the wall in one motion.
move_to
left_y-0.2070left_z0.0480left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6231, 2.0262, 1.3293, -0.2008, -0.4736, -0.5217, 0.4992, 0.3466, 0.8551, 0.6174, -0.2878, 0.3325, 0.2501, 0.4997] state[eef_state]: left_x=0.4585 left_y=-0.2259 left_z=0.0602 left_yaw=0.052 left_pitch=-0.1998 left_roll=0.0128 left_gripper=0.4992 right_x=0.3045 right_y=0.0525 right_z=0.1931 right_yaw=-0.076 right_pitch=0.0726 right_roll=0.0767 right_gripper=0.4997 state[joint_eff]: [-0.5265, -11.0564, 8.1162, 1.4676, -0.3199, 0.0024, -0.1001, -0.0615, -2.0171, 7.2821, 2.0049, 0.2271, 0.0562, 0.1148] camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.207, "left_z": 0.048, "left_gripper": 0.0}, "note": "The purple bowl's right wall sits ~2 cm to the left of the jaw column; shifting onto it and closing the jaws around the wall in one motion."})
tool
executing move_to over 5 steps (0.5s)
step 280
assistant
agent noteI could not get a reliable grasp on any bowl: every rim pinch closed empty or slipped during the lift, so no bowl was ever lifted and nothing could be stacked. Budget exhausted.
give_up
hindsightScene: three bowls in a row across the middle of the table, roughly 12-13 cm apart, at left-arm coords x≈0.43-0.47 with the white/mint bowl at left_y≈-0.19, the deep purple bowl at left_y≈-0.30 and the pink bowl at left_y≈-0.43 (right arm: right_y≈+0.22). Bowl diameter ~12 cm, so they cannot be grasped across the mouth (9.5 cm stroke), and the interior at the floor is also wider than the stroke, so an "open the jaws inside the bowl" wedge grasp does nothing (gripper reads a full 1.0). Rim pinching (one jaw inside, one outside, jaws closing along y) is the only option I found, but every attempt read <0.05 after closing or slipped on the first lift; a settled reading of 0.10-0.15 appeared once yet still did not carry the bowl. Also useful: this arm badly under-tracks small Cartesian commands near the table (commands get clamped, 1-3 cm shortfalls are routine, so over-command by ~50%); contact with a bowl deflects the whole arm and silently changes yaw and y by several cm while the bowl gets pushed; the wrist camera at ~10 cm height gives ~10 px/cm near the bottom edge, and the gap between two adjacent bowls repeatedly sat exactly on the jaw column when I thought I was on a rim. A future attempt should probably try a rolled wrist that puts one jaw flat under the bowl's rim lip, or push a bowl against a fixed obstacle (the other gripper) before closing, and budget many more than 40 calls.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.59, 2.0335, 1.2636, -0.1448, -0.4763, -0.4938, 0.0218, 0.3466, 0.8558, 0.6167, -0.2947, 0.3313, 0.2497, 0.4999] state[eef_state]: left_x=0.4576 left_y=-0.2046 left_z=0.041 left_yaw=0.074 left_pitch=-0.2121 left_roll=0.0455 left_gripper=0.0218 right_x=0.3037 right_y=0.0524 right_z=0.1911 right_yaw=-0.0746 right_pitch=0.0648 right_roll=0.0735 right_gripper=0.4999 state[joint_eff]: [0.3214, -11.9316, 4.9709, 1.4823, 0.0269, 0.0073, 0.9841, -0.1026, -1.7162, 7.1316, 1.8437, 0.0562, -0.0269, -0.0024] approver: 5 step(s) modified (delta_clamped ×5). 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
give_up({"reason": "I could not get a reliable grasp on any bowl: every rim pinch closed empty or slipped during the lift, so no bowl was ever lifted and nothing could be stacked. Budget exhausted.", "hindsight": "Scene: three bowls in a row across the middle of the table, roughly 12-13 cm apart, at left-arm coords x\u22480.43-0.47 with the white/mint bowl at left_y\u2248-0.19, the deep purple bowl at left_y\u2248-0.30 and the pink bowl at left_y\u2248-0.43 (right arm: right_y\u2248+0.22). Bowl diameter ~12 cm, so they cannot be grasped across the mouth (9.5 cm stroke), and the interior at the floor is also wider than the stroke, so an \"open the jaws inside the bowl\" wedge grasp does nothing (gripper reads a full 1.0). Rim pinching (one jaw inside, one outside, jaws closing along y) is the only option I found, but every attempt read <0.05 after closing or slipped on the first lift; a settled reading of 0.10-0.15 appeared once yet still did not carry the bowl. Also useful: this arm badly under-tracks small Cartesian commands near the table (commands get clamped, 1-3 cm shortfalls are routine, so over-command by ~50%); contact with a bowl deflects the whole arm and silently changes yaw and y by several cm while the bowl gets pushed; the wrist camera at ~10 cm height gives ~10 px/cm near the bottom edge, and the gap between two adjacent bowls repeatedly sat exactly on the jaw column when I thought I was on a rim. A future attempt should probably try a rolled wrist that puts one jaw flat under the bowl's rim lip, or push a bowl against a fixed obstacle (the other gripper) before closing, and budget many more than 40 calls."})
tool
give_up: I could not get a reliable grasp on any bowl: every rim pinch closed empty or slipped during the lift, so no bowl was ever lifted and nothing could be stacked. Budget exhausted.
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 · 16.91 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3805, -0.0193, -0.0326, 0.9945, -0.0212, 0.7933, 0.6029, -0.3782, -0.0143, -0.0334, 0.9982]\nstate[eef_state]: left_x=0.2949 left_y=0.0011 left_z=0.18 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9945 right_x=0.2948 right_y=-0.0001 right_z=0.18 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9982\nstate[joint_eff]: [-0.5128, -1.5932, 10.0581, 1.7802, -0.0562, 0.1929, -0.3834, -0.4308, -1.4838, 10.2496, 1.8828, -0.1197, 0.1978, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e474c5713e69b9c750abfd86cdf109c98388d5d7cfdeb71c6e97f426cef065f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:403c64de217240a85dde43609acc6ab4c862ab926713a4931db2e027698cc3ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3741891fcdfa51f759fc8187c9b32acfe28c10a16dbc20f179d77bbdf908b319",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 15.63 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3805, -0.0193, -0.0326, 0.9945, -0.0212, 0.7933, 0.6029, -0.3782, -0.0143, -0.0334, 0.9982]\nstate[eef_state]: left_x=0.2949 left_y=0.0011 left_z=0.18 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9945 right_x=0.2948 right_y=-0.0001 right_z=0.18 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9982\nstate[joint_eff]: [-0.5128, -1.5932, 10.0581, 1.7802, -0.0562, 0.1929, -0.3834, -0.4308, -1.4838, 10.2496, 1.8828, -0.1197, 0.1978, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e474c5713e69b9c750abfd86cdf109c98388d5d7cfdeb71c6e97f426cef065f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:403c64de217240a85dde43609acc6ab4c862ab926713a4931db2e027698cc3ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3741891fcdfa51f759fc8187c9b32acfe28c10a16dbc20f179d77bbdf908b319",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2hUKjgEIEhgCKkD9CxcEqjAkJLbDYTMXznNdM7FXS7CccfpIIIDZjgjXRVg/FVOwPXdg5AqIg2WFtFfkP+tEnEEHJxAn/cBqAd59Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZPUy9UGEgxqRBM9Ub/CpueYgX8aDHiLJzD/QnxXhSL3CyIwXwzaaekNthw62sMikmJrJaPCg9rnydlKCdItv1xcsK/HbXnx3+tV4w+riaWFLItrKvgTL1PBiuvKg0RI2y6Babnb6dqKBB0/eJQ0LXWBkbOoTJgz0y6JY5PqHVblMNaZOHZWCpNLNE9XwBIkVOyoOYKzJBnQS+Xroz2dzi8TLFChm9vgTkoUPvdcG4Y+SXqfZizS/kW6IvdnlL7jzpyXvz0RxL0z/sgcq1inw0SI4XgkDxT/l6yqQ66wRxFC89/dMFJV5zumtMupSfGHNC4Kn4MuaWZRxsPJ+jkYxcK2wAVRIPLne6ZBhM9hDjdMLGmUKvrjGZgxxH5QqBkTNcLE9nbHpuhc4uV1dq3ODXs3p+niixuRpuO+5UaOE32Wy7lfoPa0ZROORE/2GMLfOLydQpzmeIXd5HmS008eQ6Po74PjJfqPDKbuJ8iNPwodi5u8WEHihk/LvdpGiUo+i14jIq/Puay26zyMlTsCm3H9wv/Tay/ITc29eehTFK/L91VbvX2aa2VZII2FoOn0UeVvEXM0zWAo8+sJi3G3QRZFYR5xaCpLcvlJ5tFPl4nzlQnid2bA+FWZ4frcwbghaQyd8xqcORInOLRHREx5SSIeU7SxyZ+BIbqXcs7DxGYD44c0+St4zbKLQON1nhkh2/jmQ+ZFePE9MXsv1LppMuordmPcdoBMXM3/EvHpwiHoqnYYETIedYJkGSylCTRJZpiXFnGCsoS429uXqmQABQuSCnI7UZ7Lr6JTBFQuOwvY153GgS100wcfBveXaCJkW9g8yCd7ny/FLwbXVHqVN1Jfmq2PuwJ9loBAWdf6h7gQLXIv9QbLhuuTlPlTtpHvpClDERYJ46EoYh5AKHowuXRm284AiYPifo7qcPGsuhWp3TqMwEKrkfwjvINRzbi2+xTdO6UAfwSqXw6Zn4syiKsB1vj9wPCwZHFYuZF42nmnqq1E1ASnhrRvcOiPwIPus/4tAbLGRKeTCRKskpc7UUJBOYpL2MXWrnYOXko5hQC9iZhsGENNHgAjFMf+YXFBbIYteNnlnQOdu8Hnk0/BDLzMUr7QfXqalbeuyijmLJU+emh9GVP+OFvMyjlTydnmiYG7oKfb8dK3XHPldzwAdu7MG6ALeWGafCfbg92+lHWXLvNu5ojt7aNhrs3uLbvwKulaw/g54QD1lTF8cXmj5uj5HyGIdEmvL86UJbMk2GUchvzMoi5cD92dcDrCB1oeFnqlmXbLKI/r681/a5foPerQiY/ZXQF09hT700xVZqBISTveD3QDTMK6TmuMdzcATbiu+IZkfVhdmgVvgJx1zxINx5RfcmZ+U7f7aTsUYBylH2ZQ0ndtMBJDijrd/+KUkZJnowngNKQ2Wd1eAIBj7vdNyED+TupOP29WHG0WEDISe3/x1c1aNgxCH1p0/s4hcGK84fyYO+J5+R7YCJ/g8lcQ2z+dVzFpIYD2YLsPlVjf4YtpZ3Tv0HnBVhGKGpVyfoPT6i8rDIGs6jukQ3MliNb0hj/6Ddz0+xrpBukyg7pRU4CoBHKxNHOMqoQ6Kvos639M8vEkZZd/uTAV/kdj6dl6LmPmH8rYCmV4Dp57X8CxKT/+jkIagtBdBghFlBnnq0SpPOxkajTrls9KVRe0SUApKEBAJLIunuwYPuvDB+UHx9qQiOXuGx+Yjlq8lbk91xvrshwSiDhhLiWNq50eF+pqAaqI0fV9qdxGcjYhP1KkOLzFybVvH+odDG5IVcozly2aLxIU23KjCgRkA4LTBGXuaQiYTFVjToLFmqadN16UGLn0193/cb/oSBR5ae1QtMRwAZP4QTadpGGWdbeyLqQfGC/7Wza1GR07cEfVyfRRBR0dGLoDi5WyRFl8LBTOBmjBL20Ef7SC8UudiQ++nfOy2pOeUMc6DN1WSk/WMvDORSWvRFDcU+yK1UyMxn7JadDpGF6g5TfgjzmN3kORxVkEk/QZfmX4XyCUSyT4fmcgSbW/qZxcxgDXYI8/ekTJHYVVVEDxB/pinQJjRX1i9GBu2En5wXuokq0OEsx0RwTgEuLglTU9A113j8QaMNKfUvRr58knbhfq+fk5Hv1kqMCNI+/vYOidGFPagkH1FtICl8QmVDZ7A77LdN/U/d2Vwa6IMxzBjWI1xDSeSOnf3a0P07AiN0MdfmSxP5VNlap9VCmvvimcM59s1RsGWqlK9cLiKlCAzxzYrhiM1scK7WUbXqG7908mn/QBUcgH0VoEbRFIms3PNodq1lX+ztnpJ2XiQM7fSofV2pGwGydj4yje+wBo059bkWZ9HgSN8JErytthuGJzA4cjW4lgUBEUVPaHcqwWDw+vttQFu8kRNAFJygHD6tA8hwMTrnlrhhQfXRFWIiY7Zn7lg/UoyXtDtj2SR0YKnffRboUvyg70gxxigR3jRQxS5B082adphVx65pu74kwFPHVYC7ldL+3VMmfiKNkRoVtXN/idXrEhwBQJTfzlNW0xtn3EVgzhC9EefsKiasAmVq+Uc193CzGUd6huTiA/0bIO/1muGwNmxKTqDmXpBnV4xGc2qUPMpGW20XfIMzFzvpU2OLP/fVIspYSe59RocT/VgcJCnbf7UGTQIg17EwxnOPyry9x54kEzIBJwJ0w8DoikuVibhSaJYT4owqVmRq8LyXnoogBvTSvyLDuFqhaP+uyO2upBT0dvzMNmyplW3dwzHTIfgVVaQPEatRNOEp2Rpa3GgfuDMRFVwnCCgWGHltbtn34GsWrXsuKbizblpL2bKbXfkRuPe1PhY5DFtH4UcNAAg7CN1+4+oslrevkm8J7d6e5+uGFEpgtgt3ZxjyvPQz8A9L5EAISUFXY7wjoUKW7ktSv5J1lmH8LMQXFKAOxVBoPuJovoAqggMfoy84mEBAEYiwFCDs2bVMn4LT+HL0ANRcGga82RQS2sm3aYnUdIpCyGFkQ3hSzU3NPcFHircbuNdLRzR+GGRot/lnMrGmxr+8bd/bb6xpVxSvN17YYBcaJLH264YmzDbfyuLEXu7fZUIhVkEKn6wHg450indu9cO8mWc5+tiSFmsq1BSYha7Q+JZOLaGMpU423nu/jEAcJYb9F/KpW0WFAi0VMl2/iBR0suGArPS4hSEu4DusiA/npOPMijhBTkY3hEMjukkpFq0GlLoL+ozi5Si1zElTyOne4G+JbTSY1IEMm9Y2/wNbq50Eht/adRviSdx1oZuNEG+P0h6rX8dwUrtVy7K2Ra5OMc33IYmEodAL6eFvQZEe2pVv8uXvgaaBGX0oEKk/V8jUs1dbn15WrwljiG5zVM3Lk5jkWlSgjk0O9VqeUmsUD8++XpseegrYJrB65WVMTcHePodqFv5J3xPyWYp5CqxQur+gJcYtWVQVHG2LEz4HfnLKgi3PVPsMPeNGVy2JvofHeei/vYqVLDb4coNQ+8geOPmaWF+HRYhq5KMOA8xqvZGKsf7Cwl0UhGyyxDNHC80+oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sakz19cPTbrCxBMyC1rv1s",
      "input": {
        "note": "Three bowls sit in a row across the middle of the table. Moving the left arm above the leftmost bowl to get a close wrist view before grasping its rim.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.4,
          "left_y": -0.21,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01Sakz19cPTbrCxBMyC1rv1s",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6994, 1.5646, 1.346, -0.511, -0.5568, -0.448, 0.9946, -0.0216, 0.7975, 0.6041, -0.3889, -0.0162, -0.0299, 0.9981]\nstate[eef_state]: left_x=0.395 left_y=-0.2057 left_z=0.2349 left_yaw=-0.0139 left_pitch=-0.0316 left_roll=0.0112 left_gripper=0.9946 right_x=0.2938 right_y=0.0001 right_z=0.1772 right_yaw=-0.0006 right_pitch=-0.0141 right_roll=0.0042 right_gripper=0.9981\nstate[joint_eff]: [-0.5812, -7.4051, 9.1419, 1.4725, -0.4127, -0.1099, -0.359, 0.0205, -1.5658, 7.1316, 1.8242, -0.0464, -0.0757, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a7f7b3e519038863a84a4953d0758012a3c03086ebbfb084e472323d707fc0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:388f15cfe4b37584d53580d7b100e0ebbc938581627a2b5d3d5c56a1d9250abb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77424cbb18f5af1e981296d45fbd500437ccca2bb7f4a13dcd738d00df7a374f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 19.73 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3805, -0.0193, -0.0326, 0.9945, -0.0212, 0.7933, 0.6029, -0.3782, -0.0143, -0.0334, 0.9982]\nstate[eef_state]: left_x=0.2949 left_y=0.0011 left_z=0.18 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9945 right_x=0.2948 right_y=-0.0001 right_z=0.18 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9982\nstate[joint_eff]: [-0.5128, -1.5932, 10.0581, 1.7802, -0.0562, 0.1929, -0.3834, -0.4308, -1.4838, 10.2496, 1.8828, -0.1197, 0.1978, -0.2027]",
      "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]: [-0.6994, 1.5646, 1.346, -0.511, -0.5568, -0.448, 0.9946, -0.0216, 0.7975, 0.6041, -0.3889, -0.0162, -0.0299, 0.9981]\nstate[eef_state]: left_x=0.395 left_y=-0.2057 left_z=0.2349 left_yaw=-0.0139 left_pitch=-0.0316 left_roll=0.0112 left_gripper=0.9946 right_x=0.2938 right_y=0.0001 right_z=0.1772 right_yaw=-0.0006 right_pitch=-0.0141 right_roll=0.0042 right_gripper=0.9981\nstate[joint_eff]: [-0.5812, -7.4051, 9.1419, 1.4725, -0.4127, -0.1099, -0.359, 0.0205, -1.5658, 7.1316, 1.8242, -0.0464, -0.0757, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a7f7b3e519038863a84a4953d0758012a3c03086ebbfb084e472323d707fc0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:388f15cfe4b37584d53580d7b100e0ebbc938581627a2b5d3d5c56a1d9250abb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77424cbb18f5af1e981296d45fbd500437ccca2bb7f4a13dcd738d00df7a374f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018kTQVkL2j6Rxc6JU4Qq58Y",
      "input": {
        "note": "Wrist view shows the leftmost (white) bowl down-left of the jaws and the middle (purple) bowl near the jaw column. Shifting left and descending to line up over the leftmost bowl.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.25,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018kTQVkL2j6Rxc6JU4Qq58Y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7784, 1.7035, 1.3022, -0.4053, -0.5938, -0.4988, 0.9943, -0.0216, 0.7986, 0.6037, -0.3897, -0.0166, -0.0296, 0.998]\nstate[eef_state]: left_x=0.395 left_y=-0.2457 left_z=0.1771 left_yaw=-0.0352 left_pitch=-0.0721 left_roll=0.0399 left_gripper=0.9943 right_x=0.2937 right_y=0.0002 right_z=0.1766 right_yaw=-0.0005 right_pitch=-0.0164 right_roll=0.0048 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -9.5521, 6.5436, 1.7509, -0.4811, -0.1245, -0.0415, 0.0205, -1.306, 7.0496, 1.7411, -0.0415, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3600830ac230fb3df04ee2a324fdf9a65c1e9834449c91a667e2a695ca91a3c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cc897231508e9a1cce0e415e2b1a86194a1c5b34b6679cb28f824914aef2547",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:edac4d81cc8a191abb92acfe25f7958292fe4cd560bb2b54260ef630ffcec1cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 6.229 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3805, -0.0193, -0.0326, 0.9945, -0.0212, 0.7933, 0.6029, -0.3782, -0.0143, -0.0334, 0.9982]\nstate[eef_state]: left_x=0.2949 left_y=0.0011 left_z=0.18 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9945 right_x=0.2948 right_y=-0.0001 right_z=0.18 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9982\nstate[joint_eff]: [-0.5128, -1.5932, 10.0581, 1.7802, -0.0562, 0.1929, -0.3834, -0.4308, -1.4838, 10.2496, 1.8828, -0.1197, 0.1978, -0.2027]",
      "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]: [-0.6994, 1.5646, 1.346, -0.511, -0.5568, -0.448, 0.9946, -0.0216, 0.7975, 0.6041, -0.3889, -0.0162, -0.0299, 0.9981]\nstate[eef_state]: left_x=0.395 left_y=-0.2057 left_z=0.2349 left_yaw=-0.0139 left_pitch=-0.0316 left_roll=0.0112 left_gripper=0.9946 right_x=0.2938 right_y=0.0001 right_z=0.1772 right_yaw=-0.0006 right_pitch=-0.0141 right_roll=0.0042 right_gripper=0.9981\nstate[joint_eff]: [-0.5812, -7.4051, 9.1419, 1.4725, -0.4127, -0.1099, -0.359, 0.0205, -1.5658, 7.1316, 1.8242, -0.0464, -0.0757, -0.022]",
      "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]: [-0.7784, 1.7035, 1.3022, -0.4053, -0.5938, -0.4988, 0.9943, -0.0216, 0.7986, 0.6037, -0.3897, -0.0166, -0.0296, 0.998]\nstate[eef_state]: left_x=0.395 left_y=-0.2457 left_z=0.1771 left_yaw=-0.0352 left_pitch=-0.0721 left_roll=0.0399 left_gripper=0.9943 right_x=0.2937 right_y=0.0002 right_z=0.1766 right_yaw=-0.0005 right_pitch=-0.0164 right_roll=0.0048 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -9.5521, 6.5436, 1.7509, -0.4811, -0.1245, -0.0415, 0.0205, -1.306, 7.0496, 1.7411, -0.0415, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3600830ac230fb3df04ee2a324fdf9a65c1e9834449c91a667e2a695ca91a3c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cc897231508e9a1cce0e415e2b1a86194a1c5b34b6679cb28f824914aef2547",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edac4d81cc8a191abb92acfe25f7958292fe4cd560bb2b54260ef630ffcec1cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JTZvB67wtLE7Ei8cE2sWZV",
      "input": {
        "note": "The purple bowl is centred on the jaw column just below the fingertips. Shifting 7 cm toward the bowl's left rim and dropping to 12 cm so the jaws can straddle the rim wall.",
        "targets": {
          "left_gripper": 0.8,
          "left_x": 0.4,
          "left_y": -0.175,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01JTZvB67wtLE7Ei8cE2sWZV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7883, 1.7309, 1.2884, -0.3691, -0.6037, -0.5217, 0.8023, -0.0216, 0.7986, 0.6037, -0.3927, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3963 left_y=-0.2513 left_z=0.1657 left_yaw=-0.0253 left_pitch=-0.0704 left_roll=0.0301 left_gripper=0.8023 right_x=0.2933 right_y=0.0002 right_z=0.1759 right_yaw=-0.0003 right_pitch=-0.0194 right_roll=0.0045 right_gripper=0.998\nstate[joint_eff]: [-0.0342, -10.2632, 7.241, 1.6288, -0.4371, -0.0513, 0.0757, -0.0068, -1.2103, 7.2547, 1.7656, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55b9095f2f4289cb50e598cd7453200dce3f1a3d4a1a6f91d3b017c597a75bd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4712c37aed20f8ff1f813c07e51a132181d106d564fb6739ce67694143749e3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9cbd3772ccb65f0725757c0633b073d39f3ef509335cec4ce7e909f803eac5e9",
        "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 · 18.98 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6994, 1.5646, 1.346, -0.511, -0.5568, -0.448, 0.9946, -0.0216, 0.7975, 0.6041, -0.3889, -0.0162, -0.0299, 0.9981]\nstate[eef_state]: left_x=0.395 left_y=-0.2057 left_z=0.2349 left_yaw=-0.0139 left_pitch=-0.0316 left_roll=0.0112 left_gripper=0.9946 right_x=0.2938 right_y=0.0001 right_z=0.1772 right_yaw=-0.0006 right_pitch=-0.0141 right_roll=0.0042 right_gripper=0.9981\nstate[joint_eff]: [-0.5812, -7.4051, 9.1419, 1.4725, -0.4127, -0.1099, -0.359, 0.0205, -1.5658, 7.1316, 1.8242, -0.0464, -0.0757, -0.022]",
      "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]: [-0.7784, 1.7035, 1.3022, -0.4053, -0.5938, -0.4988, 0.9943, -0.0216, 0.7986, 0.6037, -0.3897, -0.0166, -0.0296, 0.998]\nstate[eef_state]: left_x=0.395 left_y=-0.2457 left_z=0.1771 left_yaw=-0.0352 left_pitch=-0.0721 left_roll=0.0399 left_gripper=0.9943 right_x=0.2937 right_y=0.0002 right_z=0.1766 right_yaw=-0.0005 right_pitch=-0.0164 right_roll=0.0048 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -9.5521, 6.5436, 1.7509, -0.4811, -0.1245, -0.0415, 0.0205, -1.306, 7.0496, 1.7411, -0.0415, -0.022, -0.0171]",
      "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]: [-0.7883, 1.7309, 1.2884, -0.3691, -0.6037, -0.5217, 0.8023, -0.0216, 0.7986, 0.6037, -0.3927, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3963 left_y=-0.2513 left_z=0.1657 left_yaw=-0.0253 left_pitch=-0.0704 left_roll=0.0301 left_gripper=0.8023 right_x=0.2933 right_y=0.0002 right_z=0.1759 right_yaw=-0.0003 right_pitch=-0.0194 right_roll=0.0045 right_gripper=0.998\nstate[joint_eff]: [-0.0342, -10.2632, 7.241, 1.6288, -0.4371, -0.0513, 0.0757, -0.0068, -1.2103, 7.2547, 1.7656, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55b9095f2f4289cb50e598cd7453200dce3f1a3d4a1a6f91d3b017c597a75bd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4712c37aed20f8ff1f813c07e51a132181d106d564fb6739ce67694143749e3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cbd3772ccb65f0725757c0633b073d39f3ef509335cec4ce7e909f803eac5e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmAYKjgEIEhgCKkDjvw50Zol/vHdvjsQEANIYWGZMATYAlK/QCrTCmesR+WsewZvVQIak60BSsJSJO4BdWUtvkSbTwLJzSdpvYj2GMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcDUy9UGEgyIG2kv62PAefm01poaDGBv5LJ0CucIH1BlGiIww77wbcLQO1ACH8ao7pz1lACw8ytJNADE9lfOeqA6TaT6HInBQWVsFAudaTl59EKEKrYE8QA1+1jZaIR78rVIcPvAlnp/4ZY2JAgcN9JgKFPxoAGj6YY/ww53NEZizSxLntEDfQQhQi7g55+jwSazclgdlJIwboFWh35d7RVLP2xBJmdcZjcrZl+5Lw/ypUgugKoHe6vnchM4sBvGcEzgGS+5SF0DrxPrsRy9MQoJivmuJsRt7XiM/4CbB8V8IxSKQ9WRl8ZvCUhbSD9i4Bc8C5pGXTKbHPiYX9D4L+8HDdUrwUegJykqkzChXCLy68EEVCCs+XDoub1jMByam1s32+3JEIU+0gWiE4DVwUuMZGd+7O8WTwomPq/R2iOTLlLq6JUigabbRe1fwEiGOh7lLHkJtEe6skMcRpV9f82RjQ2TIS3jLSb78Hz2IEpYOWbZkKjGJin59fkVbPZdSB9tP4f9SCWp1OMUTyq1cP9oEOOvnePVS6a7EuS2ZJjOPYSGLUHlUaAI7Aal+btE3lErXEPL+ETJ28hP9oInxv//6nWyvQu9zxAg7/BcduTXjWwvx45q5RnpWtYRJQxZn5+vExLhfBo2d6mKZ7wyzW03cezkYwfvJ+Fq5wAc9TECiarhlJxhLO2Zxi4WaUYpS3YHQjZj4iF0tyw1HYmoye0Az9UZ5xU4ntaSd13fl+0hY5TBcVeYDm6NtZBxse2XzV1mqUksFf3bbpvVVa8TOlevTmUgwfRGzkxuRqWUWbrr9F8pLj6pErUp0VT5iouVX9CWjGGwPhPYz022w63UMz6BSbZYv5JznLJpvLoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DjWZjWWLqHpJr7egAqjJFB",
      "input": {
        "note": "The arm barely tracked the last command (y stayed at -0.25), so I am re-issuing the move toward the bowl's left rim at 13 cm height.",
        "targets": {
          "left_gripper": 0.8,
          "left_x": 0.4,
          "left_y": -0.18,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01DjWZjWWLqHpJr7egAqjJFB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6132, 1.6402, 0.9886, -0.1989, -0.5194, -0.4259, 0.8011, -0.0219, 0.7986, 0.6018, -0.3923, -0.0162, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3935 left_y=-0.1653 left_z=0.1067 left_yaw=0.0387 left_pitch=-0.1436 left_roll=0.083 left_gripper=0.8011 right_x=0.2931 right_y=0.0 right_z=0.1751 right_yaw=-0.001 right_pitch=-0.0209 right_roll=0.0044 right_gripper=0.998\nstate[joint_eff]: [-1.1282, -10.6872, 7.8564, 2.0293, -0.0171, 0.1392, 0.1001, -0.0479, -1.2923, 7.159, 1.8046, -0.0317, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:731cb298e6c821f02c5d82bcab8c71d061bee3ed316f396fd1b8ff41a55071e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcba4b2de4392e0d1fba5adfb346f7a69ae83f1cd90c7b2c7bd92282512ce0c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:322292ff8a0bca29e30afab344353c0f0c5423a38f4755a3ffac6ea910d97885",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 10.18 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7784, 1.7035, 1.3022, -0.4053, -0.5938, -0.4988, 0.9943, -0.0216, 0.7986, 0.6037, -0.3897, -0.0166, -0.0296, 0.998]\nstate[eef_state]: left_x=0.395 left_y=-0.2457 left_z=0.1771 left_yaw=-0.0352 left_pitch=-0.0721 left_roll=0.0399 left_gripper=0.9943 right_x=0.2937 right_y=0.0002 right_z=0.1766 right_yaw=-0.0005 right_pitch=-0.0164 right_roll=0.0048 right_gripper=0.998\nstate[joint_eff]: [-0.1983, -9.5521, 6.5436, 1.7509, -0.4811, -0.1245, -0.0415, 0.0205, -1.306, 7.0496, 1.7411, -0.0415, -0.022, -0.0171]",
      "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]: [-0.7883, 1.7309, 1.2884, -0.3691, -0.6037, -0.5217, 0.8023, -0.0216, 0.7986, 0.6037, -0.3927, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3963 left_y=-0.2513 left_z=0.1657 left_yaw=-0.0253 left_pitch=-0.0704 left_roll=0.0301 left_gripper=0.8023 right_x=0.2933 right_y=0.0002 right_z=0.1759 right_yaw=-0.0003 right_pitch=-0.0194 right_roll=0.0045 right_gripper=0.998\nstate[joint_eff]: [-0.0342, -10.2632, 7.241, 1.6288, -0.4371, -0.0513, 0.0757, -0.0068, -1.2103, 7.2547, 1.7656, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6132, 1.6402, 0.9886, -0.1989, -0.5194, -0.4259, 0.8011, -0.0219, 0.7986, 0.6018, -0.3923, -0.0162, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3935 left_y=-0.1653 left_z=0.1067 left_yaw=0.0387 left_pitch=-0.1436 left_roll=0.083 left_gripper=0.8011 right_x=0.2931 right_y=0.0 right_z=0.1751 right_yaw=-0.001 right_pitch=-0.0209 right_roll=0.0044 right_gripper=0.998\nstate[joint_eff]: [-1.1282, -10.6872, 7.8564, 2.0293, -0.0171, 0.1392, 0.1001, -0.0479, -1.2923, 7.159, 1.8046, -0.0317, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:731cb298e6c821f02c5d82bcab8c71d061bee3ed316f396fd1b8ff41a55071e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcba4b2de4392e0d1fba5adfb346f7a69ae83f1cd90c7b2c7bd92282512ce0c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:322292ff8a0bca29e30afab344353c0f0c5423a38f4755a3ffac6ea910d97885",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS+hUKjgEIEhgCKkDY3cjDMmLH7V5AZGljEcP+PsqmodgHFb9nj/yKoweqS2DNDvT6qWsIppWUmtbnL1o6jaFoHEoUt0ioVpttDH9sMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdPUy9UGEgz45nA9WtHCnNn6IloaDHQ8BQVHXLhb0yqxWyIw2/iE+SHKkj+wqodobJP+nqrcStEVDNqfFnZI/fVjuB6Q4hV8XFa/1Cj+fbEcAOPGKpgUUrYRoBXvFhjoRgGzV6gGW5ytPV5yIfwyLBmHAEdpQf377uSiKPZt+JwV60BJnLUwcVZQUvhS3UK4aUdn+iQ0O1d7njkmWXyBKG+dNJSnK2s10GNvef96D+dkXJ/FS5OAnQMwo95u6+hWgB2n0+nkh944ibZW4+LXTvPOyJf/OnQIzFAguhDkUZScZmxRbAj2NYU5Ei9OxhZVRgWj93NfsjFHd/AB0BClDahhTFZZzCI8y+epooBIUUXmd8Gt9ALZ1aJQG9ekW7dYcrO7trC35gbV/OjaFUOG3n+S0hly72lWj1uUhoxlA/5xnLmV8idqbduLouA8/HpY574ijEPP4UzE3uyzdobG5w0qzE1Z1yvIhcoM3O2ctzrm6riBd+W/GEVX1IEt57NVAuBo5Ybfw9GciZehTwqeVvD+kHz7xdsL2sI96LUi0oNXR02ZVUd7skX2b9o3N4WGtA0j9MzMKUqIl5t9TSstg6w8CIbxtyjAk45armPgD8+XO+1aey/mflFp0qWRnKmOET1b8nk+HRhF7RGlkNVjtMSjVQA/2y1iZBhuc3dIlQ+xsqJtkbzEXrLo8mRhKJOyPxLwMI/5uJQSPQrZN7hvOBv6KOgOSJqT+fbsrzp7Xa0QMcBdsP5U3wHg/91ctaZ6BDclOuf5T9ZIHX3JLoAX/JOfVLHSnRSs7ky7yualWVUomms6BbM5cPJLLRthTIAQ7paROdcHAZ148T15PrdRNnIPTB0o06WJhk5+OuIDGQ/KO4yBQJb+c0ETeUIGMnmcdW2v4XPcoDAKKsP8j51XhHwsQE+Z2SAvh7fYCy9TRJTYUftEm2P9yDESi9+pJ+T7qcNK6SfaphXsZrutPsf7wEfBujsYQci50+yPC8hjBEA/i8wa0t4cBsVcNJqBscqdSMQ+APLd0wxfb6IDjXkRyJnL1rDb1xrdPdp+8OnruVn2UOI6pkKxZtxVKczl7oxfZSId6VllTVB7xBcBNWtzNfqbHmNm1RX+kEfxix6LIsEHYAltnOpKeNLJjWTr1KusUu4q8yaPgj8Sdc+YIIgn7MVMKxY6yLk3TT77p/ndjEo4i8ymaVtTmMUH+av3QMyOrLE9eoCvQ0iIjI4w4R4+jlCxa0Yb4zOzke6Pc+LEQ9p+fhrchXkWldPLHCEMdfFShpFruGA1FOqB7F8+2gwngzgxCYQWgkt2GNvNamCcE88VmSVQ1llxoKf36k59sLqrFP+z1UfbMvCMLPFKnFUuGgrJm12AOWqBGq8NXPEYRhlaYmcQDdZPPDi9gU797FNlL9J+EyrvBCTK9UJuQ4FPKio3xSUxsqJR86q7PT/W9tMAJ7Hry7eHMu/k1qhwKX7eKVB+tn+tztSAwje2ki/EPdrnvVgFVfDlx9g5brsmg5K/IB0cFGpXj8PlOT1GJbjftwwCk+Bsc88/zrnQDWr8dWJojzjCrIoQ1rXmVFeHRcsNnXBZDjiyAoD2wjdniUH5VvGbMjPw6jsu5PFaPYx+3u/R6haLUdPQ1JT9IDCA8cS8Ea6tTpz0NKUTZbcKNl6fCn+ExJSRPD98q49y0jubxaHgBSAjOlnVx67NlKcuoICjYJ15Tcf1trCwnpz7TV2ZCC5/Pds8mSxSWZsH4lRZ+qsI42kJb6XrKL09IcwmllEM/nMnvCrEc9rV2xsAjoWRbldChHSIj0AuVurQ2JY/tI9YrpIvDN4AP0RJBIPmUTSC3i5UpSjASDAJe6I4jN+S2SxfAFdCA4U95qp00i1SUt+Wb6HP/mmjx6jQpmktO0bcp/UsWZ5kEOhOkqTPYFwPTqrJ69dBQL4k+QFJvC0zOun1kgmbAMAoX7jdylSX198+8m5RWDihPYQrcAABEazixoaAtOx5xBPR4tcbs9a3V4ee0SxNapgH9SUhJKezxyfUCQAb8usIFxehx52iC9Nae+fnxhbiPF8JLDyiJNAiKV6WS/itrQMQmGaVaMIDSHe2EJFL2nyZqVa0UkeK3DPw7/YHEWf0Ly0cmWnmISLayzS5Fhs4iV+kgkfawqoMH2ogo5fRaurf7mmW/z+RBFudXCDgsocblt183aFnn35V0ryzinaXCrrTjgee5QvB5V96QM1Jjt09+ciE9tzDGm0TuIr/fH6iVaWpJqZYvQY4jYZwPSNhW8hTqFnmcK8koihG5ttTzqiENb1O5EiA6bqdBU4TxG273hXo44ZRCkg3A/Na4QgeEe2Fw1vBKfCVbYmzliSoNsAaP5Kd64O8qvE7frn9CjY5ij2GMxLQBWBf9WbmDnypydO45rmQUhJQ3dWSpeRQ+25JUic7YinChz6tyGpNEdrpvMK25FsgBwW49FDydOQOy760B14XjkNpiLXd2Og3rdQ3j60+0JFKR+zS+esZQDHfOEgW6Wr0MNw+6pAlDtYGUDWVPL+umJMMH14ZILBzEPm//g9gOrYvxQStZW/obDgYO5DlVj+7ZWGT39qi7vNSA0u/qNbueOqQ6tuUk523NvBEo368qE7ufus9aouQzgfIM1f4RO/tl3ZWjV3u/s+uKsEFsn5xcRhhm9JrbfTIRlK3yNDTrc8hhFTSyGz/LTOgdVNnO/uwns6IWpN8y9gDogRjZFbpIZM36zOguG4fFT/tyzq33EKHXjThvKXuZBneBApZlb/RXGdhY/P3pUTnsoVvzP9VpCmPHdh8457KVWrzdoHG+cqjrRrO3BmBHD6n9DzMh3b0SjGeE+SNlc/ETwL3058rfxms7o5F9EFSZQgVqLNSBxTVG7LwVONG3P4Wqj3BYKHG54G1AirYnImuz4Pa/s+RtycEV4oe85zfqePkguf2K+fpJtghM7yibdFXNoPCwg9cVZexGpCN2y/wAr5zO1d6igXNt2P48jDZNQWIVpw0LjmpMKR3fr9tbbKrorXF+qIrIX04GOfUnrLs0uqm4rLVI2qxJ8ZTmtS/A8Iqrylrtrmm/NWK6WOK+ZFv6ui8HU/xcAfYLVOwct8HQHRUl7wDRz1gywyEmX3oqUS053GifhGV0WW/czrN1sj2gRzuS2ZIXxKdAQXOtHM4BVtdEBbK10skkLnApDYsVM5Aj5/DTw7m2cxXk518Sofv4p8ltcJEZbKj21lGKG1rrb5UJHTYAryiIQIITBdWO099uRSHQ+J/fG3LGx1E58ymofhZLmB5AHxQqiEkETEYDMmOvedu4a6Z9buph8xQZmK/p7R0fWd6RhUDU1k/PegLo0s+nDIblNgHFHRGpbB29tZOamb0jDDS8RgW92x3MTid+f53tiJOxAHQ5veousaKiKj8mo0rf5IV1o1xv7Tnp93Wu1tDkz4oS0UVzNdwGBT6hDakGu+WY6maObpXbkl/CPL5sTxULgYSouI8WnTPNio3RLyi3YiIEvkd6iwVFYnsuqiubqg73zY9IH3UDAvCprrL21AnKDzCVxDAKR/NXp/EdW5/TPrtgRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TM1G8PsaShMt2XfMxQ7siF",
      "input": {
        "note": "Jaws are in the gap between the white (left) and purple (right) bowls. Shifting 4 cm right onto the purple bowl's left rim and descending to rim height to prepare a grasp.",
        "targets": {
          "left_gripper": 0.8,
          "left_x": 0.39,
          "left_y": -0.205,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01TM1G8PsaShMt2XfMxQ7siF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7086, 1.821, 0.973, -0.0845, -0.5522, -0.4843, 0.8011, -0.0216, 0.8017, 0.6003, -0.3931, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3844 left_y=-0.2027 left_z=0.0468 left_yaw=0.0077 left_pitch=-0.1878 left_roll=0.1117 left_gripper=0.8011 right_x=0.293 right_y=0.0002 right_z=0.1734 right_yaw=-0.0003 right_pitch=-0.0263 right_roll=0.0047 right_gripper=0.998\nstate[joint_eff]: [0.1573, -9.6205, 5.641, 1.58, -0.4615, -0.1245, 0.1001, -0.0479, -1.4701, 7.3778, 1.707, -0.0024, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0b0ca0481903235e824a023a9442f32f7fd7978b0bad4be9c3d75645d052a79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30a2de29049500b0e35c390de1f739ced3ea639ba75cf47093a4f1d181df9104",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f266d906f4d86c33ca9361ffab535298ffd79d47256d743c195522243de9cbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 8.719 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7883, 1.7309, 1.2884, -0.3691, -0.6037, -0.5217, 0.8023, -0.0216, 0.7986, 0.6037, -0.3927, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3963 left_y=-0.2513 left_z=0.1657 left_yaw=-0.0253 left_pitch=-0.0704 left_roll=0.0301 left_gripper=0.8023 right_x=0.2933 right_y=0.0002 right_z=0.1759 right_yaw=-0.0003 right_pitch=-0.0194 right_roll=0.0045 right_gripper=0.998\nstate[joint_eff]: [-0.0342, -10.2632, 7.241, 1.6288, -0.4371, -0.0513, 0.0757, -0.0068, -1.2103, 7.2547, 1.7656, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6132, 1.6402, 0.9886, -0.1989, -0.5194, -0.4259, 0.8011, -0.0219, 0.7986, 0.6018, -0.3923, -0.0162, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3935 left_y=-0.1653 left_z=0.1067 left_yaw=0.0387 left_pitch=-0.1436 left_roll=0.083 left_gripper=0.8011 right_x=0.2931 right_y=0.0 right_z=0.1751 right_yaw=-0.001 right_pitch=-0.0209 right_roll=0.0044 right_gripper=0.998\nstate[joint_eff]: [-1.1282, -10.6872, 7.8564, 2.0293, -0.0171, 0.1392, 0.1001, -0.0479, -1.2923, 7.159, 1.8046, -0.0317, -0.022, -0.0073]\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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7086, 1.821, 0.973, -0.0845, -0.5522, -0.4843, 0.8011, -0.0216, 0.8017, 0.6003, -0.3931, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3844 left_y=-0.2027 left_z=0.0468 left_yaw=0.0077 left_pitch=-0.1878 left_roll=0.1117 left_gripper=0.8011 right_x=0.293 right_y=0.0002 right_z=0.1734 right_yaw=-0.0003 right_pitch=-0.0263 right_roll=0.0047 right_gripper=0.998\nstate[joint_eff]: [0.1573, -9.6205, 5.641, 1.58, -0.4615, -0.1245, 0.1001, -0.0479, -1.4701, 7.3778, 1.707, -0.0024, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0b0ca0481903235e824a023a9442f32f7fd7978b0bad4be9c3d75645d052a79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30a2de29049500b0e35c390de1f739ced3ea639ba75cf47093a4f1d181df9104",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f266d906f4d86c33ca9361ffab535298ffd79d47256d743c195522243de9cbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpAoKjgEIEhgCKkAih/WHHNVoo7lhAR7mL1tJwea5IdUdlbYfDwqeWKvJTS8KDQn9OERoSXY814IBbOaOaKPk4rGTf0aVpx3VeRiTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd7Uy9UGEgypfeS6jqjxsWCvL9MaDNTlz7nopJI4C7YUTyIwF9kfjkNgX5LXbVIOreoMbz0tLpINTeVegimkTmFqrFZY5foOyTSnq7Lb6L6fzV9NKsIIofpOrIfzh/2X9YMyL05NCfYY8kqHgfgRE3rVtmV0bUXaq2vNDOJkd14mGa/K0P9lzp99rZkhOSQWmkdflnOaHEiaQKC2EpajthiljwK48n5FTuvpYvcAitu0mc8a9tPDl941uDi1fDrOEOd4wVYJUjaYb/SKW3f2bTia4TSNldKRWxN+sLjrp3HGnV143B4UCuPyhEHD+Q1ubaAXcry9oGoL9AY1z9lu95o826djeobIp8yHiNotbPlFXWjzY/VA+tUmI/vkq0JgkKpsHcvquJMKBMKxvk2sTtDpP9dfUY4AkoV0Pr3ZUX0F4lCAn8P7buCPXA4gKzx1/zwYnTP6zZuq749Fn355iSMNk75hTlbLl+etKpK5J6/oxWGUMfFA8ho9FKtLu9SjEpQNDb4DK0sgczcGJo1U2GdvTLAdNKMkHh3iMJHRtK3yf8u4CnOIhraDujICLAvkSaoyD+4Shd9gWExoJ4vEqtcZ66yJ9Dw6BTZk70RQAbeL114vfdwlpKu98j5y3CNHxuGbChsGhQ6uFMFe+UljkTva3pNUxCbObdY9jxICmbqXBsTgKDko45ktfoy9DC0Mobg/Y5sFZxVPJSzlqZuB8GHq7IkwiA1Q9pwc0TXY25oUZvW9Uw6t5Zi9Aj1DfstCVap3w6bqcKrKwrY8XCvHdUylYYdR8i3AMzJnrUOoSrE9t8GuaeyWisaEUqdiZE+oZpS54mbtcj9FuLqPglO6Vz8OyjCNcCavATyesZktBTjEJzrXULaMQsgmz3GkKFxTgvvbz6SLUF7DncP4/ouflJzUYXpasIl77qg+RJdNqVDhHDGbZVmtxdYGnH1ZF1p/oEI+oYzS8XLxVvKgkRZmJnb7k2D85d+tlh7Ws5/03Pj/cSAPskq1tlEc+W9y7+VzaViY74jvJQbZRdxAc8OtOfYpQckEcyQeRzT0Wse4xlIJIWFa6FCMfmmPxeo/kWXCAZqJjRRsXYIw4sj/T9uHeahIbMjxgybnKozAD764QBDx6dHxLU4Lbkm9UrmxwWkfc7VS020lUX26eqTLwBzBQ/HdTsR/SCO2IRNkr62Iz8Q32vArFdoF8WrRVjLInyki8MfJh0OEv98ScQ5iwCKBBUSrl2/FeZ2lg3lzOv1EFndPW5VJ3uQZjkyOlWlAIJKGNSuxfn098F+vgQZ4hkVzLXm6n05iIt26urvmZlKbwRaO/IbMHc92l0x6wafXeVn4iLxr7tN8fO7msrBfVth9CMDLwCXUYxc9QL3hv812qR/M11frbbjQP+T93UpgZStrl2i5UVuZZTajzvVBlEW6xt6qpVdKqfr+I0WfaKCXQqy5SbhQZuAFR758cUZnS6t5bx13lEiPatrHaAEQbjn9KhlHengqVVrKMp6JEV0G9K1v9u1zPQubBjWeDv44DOu1alUhm/h6ubUSzA+knCwL1QJtJR0ALikm7RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FH7XjdgPsiT21QkiiDJ7oM",
      "input": {
        "note": "The purple bowl's left rim is right at the jaw centre with the right jaw inside the bowl. Lowering 2 cm so the jaws straddle the rim wall before closing.",
        "targets": {
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01FH7XjdgPsiT21QkiiDJ7oM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7143, 1.8488, 0.9546, -0.0284, -0.5686, -0.506, 0.8012, -0.0216, 0.8024, 0.6003, -0.3931, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3857 left_y=-0.2037 left_z=0.038 left_yaw=0.0243 left_pitch=-0.1704 left_roll=0.0988 left_gripper=0.8012 right_x=0.2931 right_y=0.0002 right_z=0.1732 right_yaw=-0.0003 right_pitch=-0.027 right_roll=0.0047 right_gripper=0.998\nstate[joint_eff]: [0.5812, -6.7487, 4.8479, 1.3895, -0.1294, 0.0659, -0.0024, -0.0342, -1.3744, 7.3368, 1.7167, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94f816c41114795485323cb18e07dd392bb863e0cec3008152ebb3aae7ac686d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76ecad781e740d28d7493645ba131f35b45726e511fb1b091cd23f442936940c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fca6b758b737b9e9a84e248d757bfe1e7da122a986ade0177cb5e3df4ac9c8df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 7.186 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6132, 1.6402, 0.9886, -0.1989, -0.5194, -0.4259, 0.8011, -0.0219, 0.7986, 0.6018, -0.3923, -0.0162, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3935 left_y=-0.1653 left_z=0.1067 left_yaw=0.0387 left_pitch=-0.1436 left_roll=0.083 left_gripper=0.8011 right_x=0.2931 right_y=0.0 right_z=0.1751 right_yaw=-0.001 right_pitch=-0.0209 right_roll=0.0044 right_gripper=0.998\nstate[joint_eff]: [-1.1282, -10.6872, 7.8564, 2.0293, -0.0171, 0.1392, 0.1001, -0.0479, -1.2923, 7.159, 1.8046, -0.0317, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.7086, 1.821, 0.973, -0.0845, -0.5522, -0.4843, 0.8011, -0.0216, 0.8017, 0.6003, -0.3931, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3844 left_y=-0.2027 left_z=0.0468 left_yaw=0.0077 left_pitch=-0.1878 left_roll=0.1117 left_gripper=0.8011 right_x=0.293 right_y=0.0002 right_z=0.1734 right_yaw=-0.0003 right_pitch=-0.0263 right_roll=0.0047 right_gripper=0.998\nstate[joint_eff]: [0.1573, -9.6205, 5.641, 1.58, -0.4615, -0.1245, 0.1001, -0.0479, -1.4701, 7.3778, 1.707, -0.0024, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7143, 1.8488, 0.9546, -0.0284, -0.5686, -0.506, 0.8012, -0.0216, 0.8024, 0.6003, -0.3931, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3857 left_y=-0.2037 left_z=0.038 left_yaw=0.0243 left_pitch=-0.1704 left_roll=0.0988 left_gripper=0.8012 right_x=0.2931 right_y=0.0002 right_z=0.1732 right_yaw=-0.0003 right_pitch=-0.027 right_roll=0.0047 right_gripper=0.998\nstate[joint_eff]: [0.5812, -6.7487, 4.8479, 1.3895, -0.1294, 0.0659, -0.0024, -0.0342, -1.3744, 7.3368, 1.7167, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94f816c41114795485323cb18e07dd392bb863e0cec3008152ebb3aae7ac686d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76ecad781e740d28d7493645ba131f35b45726e511fb1b091cd23f442936940c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fca6b758b737b9e9a84e248d757bfe1e7da122a986ade0177cb5e3df4ac9c8df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3AkKjgEIEhgCKkAn45ZaEC6cuxlW3RimiMwZ5i7hykhF/X9OSbGhr33d2u5zeaT3IUQg+gwURNJu1gQ47xtW6jZ1ql45S5RSpQ4PMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAefUy9UGEgxP8L/kEI40uM3zkMoaDMoJ+PLXQIDVmrXt0CIwa6hnHqxbt9J6BXoHJuN7nY5cgT/eVXtCJF99BW4ZmizTRqUdHfhikE82PfNh40dbKvoHoPm8fc8COpSV+3XDi4Ls7pZ3nDajUlq85WFKy7PnevSK6XTZxZWvBKHsl58LYN2/CnDhrczFVHsDWB+brMORCnZYhty3UnZMSlOv7Ii713kpcr5NsVZ0LdXZLZfA93w+cIZUiMX0SHyX03UipSTKLThP4OxGCYCifb7BuzthqAeE7ryimkZRqfHNyH0xNPSwlGmvcH/XGZQiq5amUb/uBKEuAAKfPQHb/2/KZqdsyTPoDDWN3Bw9CDr8A3uvPLtc6zjyRk4WXwN2WkfAefeP+qUW01rHFNlLzto/9LrnHPTf/GxSBo06sSVAcF1odyxnv8KhGC77NIsDsKtzBdrnzEYU92gcQLgJVv1U8JZ641h4h68m3R26T8PxxRZBehVGSHEho1R0jy3w2KKaOhOE2j0qz/pItEAWHqM5pOgZ/cvF5TbJXuCoox9w/oKVSE/ATZsu3Ck45YlVXPdAE3Xve89+rJXQJzYvkVxrbJj6RKsS8gAJrO0qYPNe3yftvmJuQKz9iC1ehqtW5WAocuXiTU36IPQooR0rStT5f3E/wHL1U5bGb60jmtvLNb9hcKEnTG5bQ4m0oOEN7VAZpFjNEqdBrWsWxzZMft3yV81SMCSWbOLFFpbcUaB0tOvEciqWMj2DxUw92YGZNKhWjpB95nw11w7pu6sufSWi2fbFeM50+0LXEgJ+ACSi8wJQG00o9cJRhioY4GrojnvQ5bulBnRLJlMetA2nazb3Najifl9iG6XWpr+O+k9T9H0q47RPepQerOzKZi7FK9Bn8mcIGJk9ltw7T9dxwQGH55iLf6FdXiutaOuF/AKVkJgcz/32ZnsrFegcCi955o5M574wGAIRDU5jmSONs8RwAOGDWru7YlrpP42Ig0hSx5aNkAYHGben9QkbPxVfXhk8QFxvK0vC367o2P+75MLgjtYUci/zWNHQgtX2rGHgz2kK/Y4vcLjBeS9s/Q3Z1KOIynP3MzLjJiY9pPCHXE3SJK5AgBgpe8/vRIfdlznwoWsn3AMNKG+AResObBdrH2DGMXyNuSxNbIBZ3w+IKOBc0k4mMPgHXvzvwbHurCtVG/C/ywJG113g8FUTuVD74DA5v1sLZLKhUG2cjj5jxdMFgUSAHcLoFwE9XlGPZ+/CkBf1UbAzs13l38Bxc9EWxKfkfUVF8/FoX1Qdq381zoe591gkiQ64s2UyPX6kCFvAhY5ZRCViWz5nip1wGDG1AiP0++YGBmDdmDTj3IvIgO8f6SE/J6XKAJhRtvEToli8DyEvoFe1WQeM2mTroMp0WZr5GFnovKLHIAcOGlNrAAB37WJEhsmx/IG7LO6FIpH4RsTozrrTpHonr6NA6SmcpBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0134t3MWqvaTun9umDcW9F3J",
      "input": {
        "note": "Jaws straddle the purple bowl's near-left rim. Closing to pinch the rim wall.",
        "targets": {
          "left_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_0134t3MWqvaTun9umDcW9F3J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7136, 1.842, 0.9501, -0.0078, -0.577, -0.5068, 0.15, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.0296, 0.998]\nstate[eef_state]: left_x=0.3882 left_y=-0.2039 left_z=0.0427 left_yaw=0.0289 left_pitch=-0.149 left_roll=0.0875 left_gripper=0.15 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=-0.0005 right_pitch=-0.0274 right_roll=0.005 right_gripper=0.998\nstate[joint_eff]: [-0.1436, -8.2803, 6.4889, 1.1453, -0.2418, -0.0171, 0.5446, -0.0342, -1.2513, 7.0222, 1.7314, -0.0611, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7b9140ab0f0688b998d0c251fb6329fde52908955773574104046cd915fef80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4147c520ca99e80e0488c0976d51e812a259ee68a23b512e9335c28ab66dc05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01af76e9d1294177eb0f0ae165bfe55adecec39b574f2f0e3a8641601fe5fa95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 7.622 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7086, 1.821, 0.973, -0.0845, -0.5522, -0.4843, 0.8011, -0.0216, 0.8017, 0.6003, -0.3931, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3844 left_y=-0.2027 left_z=0.0468 left_yaw=0.0077 left_pitch=-0.1878 left_roll=0.1117 left_gripper=0.8011 right_x=0.293 right_y=0.0002 right_z=0.1734 right_yaw=-0.0003 right_pitch=-0.0263 right_roll=0.0047 right_gripper=0.998\nstate[joint_eff]: [0.1573, -9.6205, 5.641, 1.58, -0.4615, -0.1245, 0.1001, -0.0479, -1.4701, 7.3778, 1.707, -0.0024, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7143, 1.8488, 0.9546, -0.0284, -0.5686, -0.506, 0.8012, -0.0216, 0.8024, 0.6003, -0.3931, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3857 left_y=-0.2037 left_z=0.038 left_yaw=0.0243 left_pitch=-0.1704 left_roll=0.0988 left_gripper=0.8012 right_x=0.2931 right_y=0.0002 right_z=0.1732 right_yaw=-0.0003 right_pitch=-0.027 right_roll=0.0047 right_gripper=0.998\nstate[joint_eff]: [0.5812, -6.7487, 4.8479, 1.3895, -0.1294, 0.0659, -0.0024, -0.0342, -1.3744, 7.3368, 1.7167, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7136, 1.842, 0.9501, -0.0078, -0.577, -0.5068, 0.15, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.0296, 0.998]\nstate[eef_state]: left_x=0.3882 left_y=-0.2039 left_z=0.0427 left_yaw=0.0289 left_pitch=-0.149 left_roll=0.0875 left_gripper=0.15 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=-0.0005 right_pitch=-0.0274 right_roll=0.005 right_gripper=0.998\nstate[joint_eff]: [-0.1436, -8.2803, 6.4889, 1.1453, -0.2418, -0.0171, 0.5446, -0.0342, -1.2513, 7.0222, 1.7314, -0.0611, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7b9140ab0f0688b998d0c251fb6329fde52908955773574104046cd915fef80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4147c520ca99e80e0488c0976d51e812a259ee68a23b512e9335c28ab66dc05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01af76e9d1294177eb0f0ae165bfe55adecec39b574f2f0e3a8641601fe5fa95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5gMKjgEIEhgCKkCVbfXVrCsreJfMYV6IBYuxAvS11YoMYJ2YhVE5vEOOIH9PPzERBnIJgIpdjDQwJmkUgjmDXNY8ObjDEU1G9z5HMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe/Uy9UGEgwohzCO+dBDKUWhlB4aDPj+DG1WLhNY0cdcMiIw5Lp0kL2TuCLAZczIsdIWdMf9OZvkCjCtqHJH0Ts2oicdfEpeJDMMAuVaFCXmXidZKoQC6+3UIUJVQPXb5GyUjbCYeVS1NpP9XQQh+sXfLvYAV5dQE5GVfJRslxebISfPqDeaN4bNal6nBTjw0bw6BhpRftflqIJ3oBsO8Zv8CpbIGpdcmXP/lAiissGvEQNlkikG3Wt+Qe21nyk7olEMliZbvCql5+A5/SojRuXcRRkJXYcvfWq8q49dtz0RE+7Q6Kfj7lr2p0kLpql+PkBdJT/8iZwvN6Mzi+8Yq5JbD8uvFaS7ouUwROAqs73nNbqtAQULHpQvGhxznM6u4o08p61gdVGnd1SeLYM+8RQ1CGsPPCSigswsfYd4B1hmbFYtjWij+P3LcVkMC85ZFN87yGT5tkQj5R8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015nMAq7taUvrAggvjPUbeKy",
      "input": {
        "note": "Gripper settled at 0.15 (≈1.4 cm), suggesting something is held. Lifting 8 cm to check whether the purple bowl comes with it.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_015nMAq7taUvrAggvjPUbeKy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7136, 1.734, 1.0782, -0.2611, -0.5762, -0.514, 0.1489, -0.0219, 0.8028, 0.5999, -0.3931, -0.0162, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3877 left_y=-0.2036 left_z=0.0976 left_yaw=0.0341 left_pitch=-0.1616 left_roll=0.0934 left_gripper=0.1489 right_x=0.293 right_y=0.0 right_z=0.173 right_yaw=-0.001 right_pitch=-0.0278 right_roll=0.0045 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -10.3179, 8.5265, 1.2479, -0.3248, 0.0659, -0.1245, -0.1026, -1.0051, 7.0359, 1.7265, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c65a7b012a41c4b21cc2aaa07386bdc5cb4ce3dc6ac3db1466cc980e67ad0ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef6dfd0ad226662b2ca5635e1237561c34fd07c72eef9168bf2420b863056c9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b80a4545a9b2927219abdb83494c8dcf193155213d4b5d6f4f500140f825b0c5",
        "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 · 23.01 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7143, 1.8488, 0.9546, -0.0284, -0.5686, -0.506, 0.8012, -0.0216, 0.8024, 0.6003, -0.3931, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3857 left_y=-0.2037 left_z=0.038 left_yaw=0.0243 left_pitch=-0.1704 left_roll=0.0988 left_gripper=0.8012 right_x=0.2931 right_y=0.0002 right_z=0.1732 right_yaw=-0.0003 right_pitch=-0.027 right_roll=0.0047 right_gripper=0.998\nstate[joint_eff]: [0.5812, -6.7487, 4.8479, 1.3895, -0.1294, 0.0659, -0.0024, -0.0342, -1.3744, 7.3368, 1.7167, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7136, 1.842, 0.9501, -0.0078, -0.577, -0.5068, 0.15, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.0296, 0.998]\nstate[eef_state]: left_x=0.3882 left_y=-0.2039 left_z=0.0427 left_yaw=0.0289 left_pitch=-0.149 left_roll=0.0875 left_gripper=0.15 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=-0.0005 right_pitch=-0.0274 right_roll=0.005 right_gripper=0.998\nstate[joint_eff]: [-0.1436, -8.2803, 6.4889, 1.1453, -0.2418, -0.0171, 0.5446, -0.0342, -1.2513, 7.0222, 1.7314, -0.0611, -0.0073, -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]: [-0.7136, 1.734, 1.0782, -0.2611, -0.5762, -0.514, 0.1489, -0.0219, 0.8028, 0.5999, -0.3931, -0.0162, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3877 left_y=-0.2036 left_z=0.0976 left_yaw=0.0341 left_pitch=-0.1616 left_roll=0.0934 left_gripper=0.1489 right_x=0.293 right_y=0.0 right_z=0.173 right_yaw=-0.001 right_pitch=-0.0278 right_roll=0.0045 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -10.3179, 8.5265, 1.2479, -0.3248, 0.0659, -0.1245, -0.1026, -1.0051, 7.0359, 1.7265, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c65a7b012a41c4b21cc2aaa07386bdc5cb4ce3dc6ac3db1466cc980e67ad0ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef6dfd0ad226662b2ca5635e1237561c34fd07c72eef9168bf2420b863056c9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b80a4545a9b2927219abdb83494c8dcf193155213d4b5d6f4f500140f825b0c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/gcKjgEIEhgCKkCmAkKPqnEOlMFsS+VC+w+pvV8NBkE/ZFCWdHlqfzqbo2avHV1ZQnEB/n3qfvISHtEyWzXxJs2NhX6Hd5zqXuY7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAffUy9UGEgywNtkbNgwo8QbPmBgaDCX+D6XKGCC3v8WMgyIwyGakWNdUM0bxVYffhgx2Ki9GE14ogfOLhspe7bkM0uMmNJWQ7oU+DbmOSvU75d+SKpwGiIPcpHj9eBxGH+vvDxTBWtszba7PSN14oofksoFVeeWRURm44B2qzwTf5XN+PrKyN5bCnZgHslGl3bPBODxzl5F/QSK3o2bPyHHNIsqYphbvPjYgzUrEUEl6U01ZqHfWwT78ckC97lipFmn2cu1D3rV/D+g0Q6/N5hw2WgjqKXB1oQIlZXTE5XcwMPDAxykUNHnlyHJqfcS2mHwhS2xH0ZoWomu3ZcLowGNgP815UP4+KAddlJpRlDKH2+U4XbkjnPvXafhTqjYCgtS4GGrBFsXPa3w1S+V9RhZXLc0Qm+2Nbm00gf6yqwSNmrnDhvuyQdRSbKwIuXXcUQ0BEkLwHBzH1uQ8tfuME8eAKHj2jLbPh6bbQBCdOYPpGXXTA6uYMXI+peY2tnphuTNtD2wPOc9JiT8rOFRJkhxnRVRW4ytyNBH8ZktksKYLEZ34EZTBb4kwb9QjAtFB6shg1hTXZXZjXLSciJ299uqeYMjJINKnzYjSL7ddfmYCyJqcnI4i5T86icQ/SgOm36tAP4uUaaM2Ka2mTa1VsTurX/D0AaXpWzSkB5uPejx5AJsBs+IqT/2jXaiIZp0wRF8dJEN13uerIWEKzlWm0HR/2aMksNwbssALAbkusKJn5qQTy9yZm2zBSxfFJ0WTh2zoGL1Yd8g/4xC+P1c0N7LC8WgGWBLj6mrGeDrgJFlHkRI7I2hVZpxylL6ywgtWPdbWNlux9SzkTdKv/dMd6ntdI3WU2hS95at9QeQqjmAqGA2zNwX4TtACeF3v6qOH8JxgKJwfRe+pG9DygeBGcNe0U8ZL2EQ+7yA7C0t7XgjcG7HivXIrjHqzI2gasO7DfYMza1msCJiJDew2PRzbr7h2FTmTmaW0hFZGQj+Ri+Maq6pLs2mlpu1AeeK2pprwuEpczBlI18rICUv9456OlXTDd8VFJiHCUGyWJI1HgaYftcDYlKJL1l0D6BwKfNmF5b0wcF3jhQ6Jc1SYfRJPuMcyQyVuve4PZ4wqul9tZXj/NTCb5d37qGXmYGVdBnP5fy1+TCAqdixdAxrQVjr3Rm8VPRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019VgRjexsRprw1D84H8Lfg1",
      "input": {
        "note": "The lift was clamped short; commanding a larger lift to 22 cm to clearly see whether a bowl is held.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_019VgRjexsRprw1D84H8Lfg1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7136, 1.6772, 1.4338, -0.6827, -0.5735, -0.522, 0.1488, -0.0219, 0.8082, 0.5953, -0.4007, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3914 left_y=-0.2073 left_z=0.1992 left_yaw=0.0376 left_pitch=-0.1694 left_roll=0.0921 left_gripper=0.1488 right_x=0.2917 right_y=0.0001 right_z=0.1679 right_yaw=-0.0007 right_pitch=-0.0454 right_roll=0.0051 right_gripper=0.998\nstate[joint_eff]: [-0.1299, -10.0855, 9.0735, 1.1893, -0.2808, 0.0611, -0.022, -0.0615, -1.5385, 7.4051, 1.8046, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:027e873c1f0290876afc220616acb4e1f4176967d4e0e1757f07645f7f7ca4bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0c0019fe667042ddaf8db3ff09720c1e74a91fbd7bec665f42314bb75b2eb2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c43c2613637d34e47df877f15b06753d8b1056715416fe9f9eaa5f80c10090a0",
        "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 · 7.394 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7136, 1.842, 0.9501, -0.0078, -0.577, -0.5068, 0.15, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.0296, 0.998]\nstate[eef_state]: left_x=0.3882 left_y=-0.2039 left_z=0.0427 left_yaw=0.0289 left_pitch=-0.149 left_roll=0.0875 left_gripper=0.15 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=-0.0005 right_pitch=-0.0274 right_roll=0.005 right_gripper=0.998\nstate[joint_eff]: [-0.1436, -8.2803, 6.4889, 1.1453, -0.2418, -0.0171, 0.5446, -0.0342, -1.2513, 7.0222, 1.7314, -0.0611, -0.0073, -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]: [-0.7136, 1.734, 1.0782, -0.2611, -0.5762, -0.514, 0.1489, -0.0219, 0.8028, 0.5999, -0.3931, -0.0162, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3877 left_y=-0.2036 left_z=0.0976 left_yaw=0.0341 left_pitch=-0.1616 left_roll=0.0934 left_gripper=0.1489 right_x=0.293 right_y=0.0 right_z=0.173 right_yaw=-0.001 right_pitch=-0.0278 right_roll=0.0045 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -10.3179, 8.5265, 1.2479, -0.3248, 0.0659, -0.1245, -0.1026, -1.0051, 7.0359, 1.7265, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7136, 1.6772, 1.4338, -0.6827, -0.5735, -0.522, 0.1488, -0.0219, 0.8082, 0.5953, -0.4007, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3914 left_y=-0.2073 left_z=0.1992 left_yaw=0.0376 left_pitch=-0.1694 left_roll=0.0921 left_gripper=0.1488 right_x=0.2917 right_y=0.0001 right_z=0.1679 right_yaw=-0.0007 right_pitch=-0.0454 right_roll=0.0051 right_gripper=0.998\nstate[joint_eff]: [-0.1299, -10.0855, 9.0735, 1.1893, -0.2808, 0.0611, -0.022, -0.0615, -1.5385, 7.4051, 1.8046, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:027e873c1f0290876afc220616acb4e1f4176967d4e0e1757f07645f7f7ca4bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0c0019fe667042ddaf8db3ff09720c1e74a91fbd7bec665f42314bb75b2eb2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c43c2613637d34e47df877f15b06753d8b1056715416fe9f9eaa5f80c10090a0",
        "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_01QAv2pFWWHWSWZEr4uEmsLL",
      "input": {
        "note": "The close was empty — the bowls stayed on the table, and they sit above the bottom edge of the wrist view, meaning they are farther out than my fingertips. Reaching 5 cm farther forward and opening the jaws again.",
        "targets": {
          "left_gripper": 0.9,
          "left_x": 0.44,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01QAv2pFWWHWSWZEr4uEmsLL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6365, 1.8645, 1.2846, -0.3508, -0.5289, -0.4686, 0.8953, -0.0219, 0.8101, 0.5945, -0.4118, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4309 left_y=-0.2031 left_z=0.1023 left_yaw=0.0544 left_pitch=-0.1994 left_roll=0.1075 left_gripper=0.8953 right_x=0.2901 right_y=0.0002 right_z=0.1648 right_yaw=-0.0006 right_pitch=-0.0591 right_roll=0.0054 right_gripper=0.998\nstate[joint_eff]: [0.3897, -9.3744, 6.2974, 1.4383, -0.2271, 0.1832, -0.0904, -0.1299, -1.4564, 7.0496, 1.7656, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd6d3f6d2ec0b86a5d4a045a88379e0cdcad3ad07f1223df8d9eb8219606c8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94501f2c29110c273d328956a16e9415f0d647611029da1d0db8969d16709136",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c7623880121df85facf908d54580631f0bceb66a9358b8280f7372061a84659",
        "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 · 14.11 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7136, 1.734, 1.0782, -0.2611, -0.5762, -0.514, 0.1489, -0.0219, 0.8028, 0.5999, -0.3931, -0.0162, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3877 left_y=-0.2036 left_z=0.0976 left_yaw=0.0341 left_pitch=-0.1616 left_roll=0.0934 left_gripper=0.1489 right_x=0.293 right_y=0.0 right_z=0.173 right_yaw=-0.001 right_pitch=-0.0278 right_roll=0.0045 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -10.3179, 8.5265, 1.2479, -0.3248, 0.0659, -0.1245, -0.1026, -1.0051, 7.0359, 1.7265, -0.0317, -0.0513, -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]: [-0.7136, 1.6772, 1.4338, -0.6827, -0.5735, -0.522, 0.1488, -0.0219, 0.8082, 0.5953, -0.4007, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3914 left_y=-0.2073 left_z=0.1992 left_yaw=0.0376 left_pitch=-0.1694 left_roll=0.0921 left_gripper=0.1488 right_x=0.2917 right_y=0.0001 right_z=0.1679 right_yaw=-0.0007 right_pitch=-0.0454 right_roll=0.0051 right_gripper=0.998\nstate[joint_eff]: [-0.1299, -10.0855, 9.0735, 1.1893, -0.2808, 0.0611, -0.022, -0.0615, -1.5385, 7.4051, 1.8046, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6365, 1.8645, 1.2846, -0.3508, -0.5289, -0.4686, 0.8953, -0.0219, 0.8101, 0.5945, -0.4118, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4309 left_y=-0.2031 left_z=0.1023 left_yaw=0.0544 left_pitch=-0.1994 left_roll=0.1075 left_gripper=0.8953 right_x=0.2901 right_y=0.0002 right_z=0.1648 right_yaw=-0.0006 right_pitch=-0.0591 right_roll=0.0054 right_gripper=0.998\nstate[joint_eff]: [0.3897, -9.3744, 6.2974, 1.4383, -0.2271, 0.1832, -0.0904, -0.1299, -1.4564, 7.0496, 1.7656, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fd6d3f6d2ec0b86a5d4a045a88379e0cdcad3ad07f1223df8d9eb8219606c8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94501f2c29110c273d328956a16e9415f0d647611029da1d0db8969d16709136",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c7623880121df85facf908d54580631f0bceb66a9358b8280f7372061a84659",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISogcKjgEIEhgCKkAwC1cM6Eq/X51gNJnjL6z/9MWHEIUBBgx48o2zIW2rkbhfsYCNC5loL/QbRg+r0AAYq8T15csIMD7/W8NFQU9vMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZfVy9UGEgz0UhqxqMoqOYS3rYEaDBHUE2T9gsw05FzfESIweJJ+QCevWxOPgSgLgFtAr9QQ3d5M8jj19RRdZoO9EksvneIuVgTZcGvUtnD/axmbKsAFAG8oJjXUDJKv0onT3g1uGRiTZFBDnNggRbezjIPOHtkkIQqnz2pCDLfz5l2AwrR4yVwyHGoNEvvt4HBY7GCNWTHMYIvVcfgUdZ2LTptu6uMeC3jf7OitHAuiBnNBvbY6/5ElBHWKZ+cCSh+qc6PSWDc1keRiZ6L7Fn7N9t5LKNWLjfgamiZcAEoBg3JEUaT2/9l2eK/c0wUaWCAIvSBTfURpsQRhZgh+F0CfbYCp3uLH3Drr0zn6UDrvNjrdpbaUpYWVvd0+rNFD/rqCu6Q9A2vj0XkQp37nQklK+ejRnq9WKpYQuD14sQ6vmNz/JfLzQtMlyantVvtgdlL1ffKuImlJb265hYM54pcR2ehtrTCOlMzSReSag4NA3OpkPJM/gdFMyER5B0IS7vhbmyPVcXW+4zg+jZCPCqUJOsx84x+gANUQY8j13Dm7eRB2Wq0MBkVGe0H2HeDNxMxtTU04flTXCIsDA3DHubU7TJtsRz7pdgGNdkyRYAaqD0MsD2guWseA7rd60W5wTthLl8qpNbBeJXszOJ9kfZWZDDV+6zWaPbHoVRSCMTH2Zi/BmKiTdEscseExkIgs7HfKv6aTluxwCbxVrwxVvnxiwfGBNG4dtNwd/XQB59LpCYFWY9OkbxrMYJ4OXabgupIv7/HsG0ofpU2c+17sJjv6pR4/vUTEAy66AUuAHj3DOEJ6GGTT6ZRUWzEG0PkHPlV2S5LU46+ZqgHIx/T1fUAxIhsVEfX1if/zHXHNTXvPUVijq3bY6YSGbjnSnqkClx2Dt0ErgcvmjAivF2WbizcRO+0aEDg7VGTSr609SJm7z+dzuEFnclhHzHKMI0C5+9wBPaiG2qBISq1/7yJXupZ9WJvSqxJKkJLHBDL+HPK7WKqjSnu/3u7MlnmIWZNGke/WpvJR77CDl8YF4TyOGAHVoffSLD0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013r9xdF5xSpmzD8nN6tG92a",
      "input": {
        "note": "Jaws are again straddling the gap between the white and purple bowls; the purple bowl's left rim is ~3 cm to the right of the jaw centre. Shifting right and descending to rim height.",
        "targets": {
          "left_y": -0.235,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013r9xdF5xSpmzD8nN6tG92a",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6979, 1.9968, 1.2751, -0.255, -0.548, -0.5068, 0.8965, -0.0219, 0.8108, 0.5945, -0.4152, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4264 left_y=-0.2328 left_z=0.0527 left_yaw=0.0338 left_pitch=-0.2218 left_roll=0.1226 left_gripper=0.8965 right_x=0.2896 right_y=0.0002 right_z=0.1639 right_yaw=-0.0006 right_pitch=-0.0633 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [0.294, -10.4957, 6.612, 1.453, -0.4567, -0.1783, 0.1197, -0.3487, -1.0188, 6.9812, 1.6923, -0.0415, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd3cbc38d7c03e2422d9b31f5fa60de458c9f98eaba054a0f754a0e44c7ac5d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87c9be130596332c40de0a1f5c5bee7e6aecdcd956eb9790262f853312707a59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:97519a375aec1d890e7daab4186e39c94d89cc226b5a550f82917e3f13ad771a",
        "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 · 11.21 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7136, 1.6772, 1.4338, -0.6827, -0.5735, -0.522, 0.1488, -0.0219, 0.8082, 0.5953, -0.4007, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.3914 left_y=-0.2073 left_z=0.1992 left_yaw=0.0376 left_pitch=-0.1694 left_roll=0.0921 left_gripper=0.1488 right_x=0.2917 right_y=0.0001 right_z=0.1679 right_yaw=-0.0007 right_pitch=-0.0454 right_roll=0.0051 right_gripper=0.998\nstate[joint_eff]: [-0.1299, -10.0855, 9.0735, 1.1893, -0.2808, 0.0611, -0.022, -0.0615, -1.5385, 7.4051, 1.8046, -0.0366, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6365, 1.8645, 1.2846, -0.3508, -0.5289, -0.4686, 0.8953, -0.0219, 0.8101, 0.5945, -0.4118, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4309 left_y=-0.2031 left_z=0.1023 left_yaw=0.0544 left_pitch=-0.1994 left_roll=0.1075 left_gripper=0.8953 right_x=0.2901 right_y=0.0002 right_z=0.1648 right_yaw=-0.0006 right_pitch=-0.0591 right_roll=0.0054 right_gripper=0.998\nstate[joint_eff]: [0.3897, -9.3744, 6.2974, 1.4383, -0.2271, 0.1832, -0.0904, -0.1299, -1.4564, 7.0496, 1.7656, -0.0415, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6979, 1.9968, 1.2751, -0.255, -0.548, -0.5068, 0.8965, -0.0219, 0.8108, 0.5945, -0.4152, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4264 left_y=-0.2328 left_z=0.0527 left_yaw=0.0338 left_pitch=-0.2218 left_roll=0.1226 left_gripper=0.8965 right_x=0.2896 right_y=0.0002 right_z=0.1639 right_yaw=-0.0006 right_pitch=-0.0633 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [0.294, -10.4957, 6.612, 1.453, -0.4567, -0.1783, 0.1197, -0.3487, -1.0188, 6.9812, 1.6923, -0.0415, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd3cbc38d7c03e2422d9b31f5fa60de458c9f98eaba054a0f754a0e44c7ac5d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87c9be130596332c40de0a1f5c5bee7e6aecdcd956eb9790262f853312707a59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97519a375aec1d890e7daab4186e39c94d89cc226b5a550f82917e3f13ad771a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017VwJLru7retXJqWaXtRDmH",
      "input": {
        "note": "Jaw centre is at the purple bowl's left rim; nudging 1 cm further onto the wall and lowering to 3 cm so the jaws clearly straddle the bowl wall.",
        "targets": {
          "left_y": -0.245,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_017VwJLru7retXJqWaXtRDmH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7059, 2.0258, 1.2751, -0.242, -0.5507, -0.524, 0.8966, -0.0216, 0.8112, 0.5945, -0.4152, -0.0166, -0.0296, 0.998]\nstate[eef_state]: left_x=0.425 left_y=-0.2361 left_z=0.0412 left_yaw=0.0396 left_pitch=-0.2309 left_roll=0.123 left_gripper=0.8966 right_x=0.2896 right_y=0.0003 right_z=0.1638 right_yaw=-0.0005 right_pitch=-0.0637 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.5675, -10.1265, 6.147, 1.3455, -0.3199, 0.0317, 0.0024, -0.0479, -1.1419, 6.9949, 1.6874, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e5b16f731fb209525bdde112b733b3b33a3a5406b33ea97ec62c51d804e569a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f679df0ad08d911c3a29a949da42f451859d8247db924fac2ef8d7677d998de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2633a05bde0d41ea39a0c70886d822776b00b63ff6e601a1a80cc8fc9e8e819",
        "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 · 10.56 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6365, 1.8645, 1.2846, -0.3508, -0.5289, -0.4686, 0.8953, -0.0219, 0.8101, 0.5945, -0.4118, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4309 left_y=-0.2031 left_z=0.1023 left_yaw=0.0544 left_pitch=-0.1994 left_roll=0.1075 left_gripper=0.8953 right_x=0.2901 right_y=0.0002 right_z=0.1648 right_yaw=-0.0006 right_pitch=-0.0591 right_roll=0.0054 right_gripper=0.998\nstate[joint_eff]: [0.3897, -9.3744, 6.2974, 1.4383, -0.2271, 0.1832, -0.0904, -0.1299, -1.4564, 7.0496, 1.7656, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6979, 1.9968, 1.2751, -0.255, -0.548, -0.5068, 0.8965, -0.0219, 0.8108, 0.5945, -0.4152, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4264 left_y=-0.2328 left_z=0.0527 left_yaw=0.0338 left_pitch=-0.2218 left_roll=0.1226 left_gripper=0.8965 right_x=0.2896 right_y=0.0002 right_z=0.1639 right_yaw=-0.0006 right_pitch=-0.0633 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [0.294, -10.4957, 6.612, 1.453, -0.4567, -0.1783, 0.1197, -0.3487, -1.0188, 6.9812, 1.6923, -0.0415, -0.0806, -0.0073]",
      "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]: [-0.7059, 2.0258, 1.2751, -0.242, -0.5507, -0.524, 0.8966, -0.0216, 0.8112, 0.5945, -0.4152, -0.0166, -0.0296, 0.998]\nstate[eef_state]: left_x=0.425 left_y=-0.2361 left_z=0.0412 left_yaw=0.0396 left_pitch=-0.2309 left_roll=0.123 left_gripper=0.8966 right_x=0.2896 right_y=0.0003 right_z=0.1638 right_yaw=-0.0005 right_pitch=-0.0637 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.5675, -10.1265, 6.147, 1.3455, -0.3199, 0.0317, 0.0024, -0.0479, -1.1419, 6.9949, 1.6874, -0.0269, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e5b16f731fb209525bdde112b733b3b33a3a5406b33ea97ec62c51d804e569a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f679df0ad08d911c3a29a949da42f451859d8247db924fac2ef8d7677d998de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2633a05bde0d41ea39a0c70886d822776b00b63ff6e601a1a80cc8fc9e8e819",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxAsKjgEIEhgCKkBLaHDU8+SgICDpBsJ0R3Q99nqr41egefU+6dLOzJ+xsQnN31JJkS+Z1K5OIj2IFu8vA0OItMKQCr3NxyTWct3tMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbDVy9UGEgyH8MDAyLjOFoW+hdQaDB/t8bbzCnRenOKyEyIwdZZdsefoU00C7ir/iuWOgKMoIMk6nbHESWN+YryBFbMxmPWAIM3DXjoXY3wDAGT+KuIJARdDC301Tuc0/jyae8rtTuzfEazlK5MvuKp4dT8pMOOmR22FViKulw7DKgc4XjdmnrnPot97aGUAu5lzlDtZ4EQqouRkF2pp3AUTFDPmlsLhCoxJKm1hvxpNBKY6dCD4CBsYtp7azTfAd0ofBpa4TblwOak/vbXYAwpz4nikh6Q48sPPVM0jy6357s/QfOtJe8lyYtFWDx33zDmu1TxMJoxcpooacBORsDidOSZcLAaZjsytC/0XkEF1TImpypJlgmCpIJNG+7alph6FyJXsbUTGxG/zs0+cxBUIxjUBP3WL49kju0ooBJnQ/6uEprc2B7DvSDYWfdRdBtIRDqHOGfS7x+3TsxnuLbd+HkGy9aoseG7tmJ4GWD5GyuX1zMZ0wNrVDboGtxi9tLmAXl48w8oFYkkWSLqf92ezmC75yxEe17erSASIr8dPL3x4xs+7UzFVeGWgDVUuqS98wHqDOmynjM+gBOEXDv/kk5f1qT4xoW1eQNDoS8SL57m1pJG9WlX8wRaRjZbQLmCAEoczQXCDiFzrE+WCYKxazeSvdgJ6zVwjGYwYrgGUFuqmRPeaL/S2k54DahngoywmcPbOAPXOVPZ2aEJO2uLNiq/QaDio5YcexOAtXfixLUgtnmEkmG13gvOfS2+u953s0kYhI0Tg8nobcFLqy4DWO6YHk0ZSh2EjPQSczCJnVTeAqEPcaFG8CfXBBOlJkiDjdV0PomsY4f7JQHx3e9LNdaTwaUX5Zq4Ax0nYJZRy68N28LhbyJME7+tNJAq4kaU3FgpeFMZiN5sJRT1zw+14oxEpMvpHKAFg5BmjcJgnaEMd+ap/p6tmEUUUX05XeVgLVf5qsUA5EzKFwwRNfu/CXJ6NvpnfKuchoPVF8SGjK2N++b/0cxfKoJwIPklL3yUohnzXEQFaljhFyL8wnkbUgYyrQ4rhqHZUMqPFhoQyJMSApiOP5RJ5FwTfPyQ/a4j1H4QMRd1wgtttwdrOBrXnqoxxgrplw27TYr3WJquhpNKO7XD7bIIdtsNkjLO1z8ash78+cS0vN3VtIJokgjNJUx9yfoWrJV113JXl+tFoS8Yo+QlGpvboNAVHw0JyiY7/5grYAzutb85sbTdcB67S/sml8XGwta5vzO+SacwTKBgVJYNX01QjeCLLAXaB/bSEQ4E8tt4pQmMeiayxBxDo6r7BNuhG1MgZ+xos0sEohRJcGtiuMlmmVpnjFOBnUVGxbGDOT0L9EpNpyxKnGWnF7y8MDKPCD8NRrQsIu67vPM/aQR0xwqZ9xWTK8g3jgA/LCWDCfdWIno5lcO3ZjNDLJdB4BLXtN91pP0djVMWTEIf7gStqIpe2mXArMlZAkFlzXyjAaRN0+5fULqOz14neJnfgPlNfsRnmN1+foOTtN61soMdrFArvujXGEFtBDcnrpqaBtCsdxSMCJub/Jy/DBZD6zWhSwmQFzAAHewEBnviagS2sv36cOdB0G6L63lkhqLXAacOt1BhH8vs+3TzSDNk9lKP/CsShvaU5TPiKtXvV73u0vpHnI35bZ47E1n4FIluItKiVGG8Ks7lUGEbmOskqyUid6zQnyPBJ+arzXwFCXPFI7e2xmXOaZL63dK7B/G8Nshhr+21CmXI/QDRxogAoBPYKw1CCEQj10f4RiJev8uWIDUEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PxdC14Gtb5VwwLS4C4dQLz",
      "input": {
        "note": "The purple bowl's left wall sits just right of the jaw convergence point; backing off 1 cm so the wall is centred, then closing fully to pinch it.",
        "targets": {
          "left_gripper": 0.0,
          "left_y": -0.228
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01PxdC14Gtb5VwwLS4C4dQLz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7071, 2.022, 1.2812, -0.2115, -0.5545, -0.5304, 0.0192, -0.0219, 0.8112, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4308 left_y=-0.2411 left_z=0.0492 left_yaw=0.0387 left_pitch=-0.1987 left_roll=0.0926 left_gripper=0.0192 right_x=0.2895 right_y=0.0002 right_z=0.1636 right_yaw=-0.0006 right_pitch=-0.0644 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [-0.3214, -9.7436, 5.8872, 0.7888, -0.2857, 0.1245, 0.7937, -0.0068, -1.1556, 7.0085, 1.6874, -0.0855, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:508762c9c41833a6ae91e2e7b110f3dfbde62aac43051f928a8114c7a6d51136",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b04d309642f339259a2a08cd5f6d4e37e3d79464d25ac124af889eb61f88e74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:93ed8b3849f0c5a7cf1acd732af3ea65dcbed9057ef40ae60eab3270aa63339f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 4.905 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6979, 1.9968, 1.2751, -0.255, -0.548, -0.5068, 0.8965, -0.0219, 0.8108, 0.5945, -0.4152, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4264 left_y=-0.2328 left_z=0.0527 left_yaw=0.0338 left_pitch=-0.2218 left_roll=0.1226 left_gripper=0.8965 right_x=0.2896 right_y=0.0002 right_z=0.1639 right_yaw=-0.0006 right_pitch=-0.0633 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [0.294, -10.4957, 6.612, 1.453, -0.4567, -0.1783, 0.1197, -0.3487, -1.0188, 6.9812, 1.6923, -0.0415, -0.0806, -0.0073]",
      "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]: [-0.7059, 2.0258, 1.2751, -0.242, -0.5507, -0.524, 0.8966, -0.0216, 0.8112, 0.5945, -0.4152, -0.0166, -0.0296, 0.998]\nstate[eef_state]: left_x=0.425 left_y=-0.2361 left_z=0.0412 left_yaw=0.0396 left_pitch=-0.2309 left_roll=0.123 left_gripper=0.8966 right_x=0.2896 right_y=0.0003 right_z=0.1638 right_yaw=-0.0005 right_pitch=-0.0637 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.5675, -10.1265, 6.147, 1.3455, -0.3199, 0.0317, 0.0024, -0.0479, -1.1419, 6.9949, 1.6874, -0.0269, -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]: [-0.7071, 2.022, 1.2812, -0.2115, -0.5545, -0.5304, 0.0192, -0.0219, 0.8112, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4308 left_y=-0.2411 left_z=0.0492 left_yaw=0.0387 left_pitch=-0.1987 left_roll=0.0926 left_gripper=0.0192 right_x=0.2895 right_y=0.0002 right_z=0.1636 right_yaw=-0.0006 right_pitch=-0.0644 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [-0.3214, -9.7436, 5.8872, 0.7888, -0.2857, 0.1245, 0.7937, -0.0068, -1.1556, 7.0085, 1.6874, -0.0855, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:508762c9c41833a6ae91e2e7b110f3dfbde62aac43051f928a8114c7a6d51136",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b04d309642f339259a2a08cd5f6d4e37e3d79464d25ac124af889eb61f88e74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93ed8b3849f0c5a7cf1acd732af3ea65dcbed9057ef40ae60eab3270aa63339f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyQkKjgEIEhgCKkBynPhb42/2Xt2pfnaXwJ73LGoR68b3O9i3fh5keLWDD1hnH5zuo2SdSlqRDxWIPeNghOAPYNLEzFRIqawhxYiZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbzVy9UGEgx7aowEl+pWozipjrgaDNWBO9fWExqThlXM2SIwwfX0msPqGdncSdx4cY7FXXThS0PV61+4Iy6VlXdEb9PTeyEBitKHpEZag87ZFcZAKucHM8I/jDv0qWzWDG2W4WGZGMIf32CfiA9MvzRxMMlIOsBo2sq/QKj7jjb+ABE7TpPeXF7hM9sdV23QNiGTTkJw3YBPvFPRabkE/+EUc5xZ5QjJ+lWveGPbp/YskT0V0X5h+iYJtTMByrsYbnXtkXFyBLh6AuqYbuAUyjXC5gzsgec2t4h7XU2MMWaYb6Lf27twkO02BHsqMPtfzoeeSSzSomXhhQXgYAqxW23kRyPyi+WcDCgoCf3waDlCESExEUgCl0LxA0uqK/QUoOGGNBtJE1WCDzh6yYqCJjiO4vMPPcDrzN/6FwhQOlVNTxSXuKxEoGdkC6bmJrv079OoKfSBrOtW+UtCfJ6Yp1ZJ6RIqtfJ0+JceWLcdJKrTZpF7lijlC0tc94Da/3MsTs2o8ghYwSlZXYw3+9BGb8rA1YDcxw8yscsh0gUwhpL27NCvS0qJvGiOipag+rmLQlf3lG9rFkz/kzmw/gUcID4/6mQJmZA33QxX3lte40nSMSy4FiosBo2c1rBaZkHy2Nm4QbGbwnAvW/tLFuu7lnoX5PphRSd/2mnjV2+gqvuT++swPRyqt4M6ixauxqezpMCeOjXU/DGbNZk0qjdz9psUZcHWndZgVT5IRsJvvK4Z7x2D8hR324s8XGNeotlONDfOJZtm9pphe1eopTxpvVmnoWEVs3daxefEFs1DDd0yAT+nYHH7LZjlR0K7EJyMWJAIsLXUF8Or7gV2VIRxq4+Troq9MrQHFMRa+3mqxvTwdT3oMF8uJMJsTZOg8ZcdniqVDAAGRFVqk+3awZYQICWjadIaSRYvtSwrbCoznw3wvyDNMz4t+0Q2b1iQSZhPTDwik5uvft3Ra4TVps5pCgpmbymGOpGlctdyX1xWyVaqtW32KyNfkAlb96oSQQLT+oQS68ZTeVhDmaN73BHmAGFUNVo8g+gXtu2lpNjiEtR4+nMPiobGkZ2GLyk/G8zfovh9SqqungtrrwMEqawjKNTfwJeDS7fjw/fhm3eaGQiYaqAzeNFfmWUSnPK5YWWpZ09FIbVy7sYCPdOpxfX837A+C2QBD52EA0BB7ELUbSRyBPiAlynxIfHvFez5tbkgxqnmsxXYgX/O2HDbMcUeawbjznn/5siFUOt3ejR4OQ5raf1pW+rJmPP1wKDsHHczuMMcxHSbfkewJVIRTTRiubhCJ7rQQ1IiO7RcoU3QXaUS8393/FIfcrVIv8HKVQGzJnEnwN68TtngeGtCaEWCNkOYZpRkw9ZRuHRG9ofUwfD6zhdM/xshFLczKzBHpbt92++DquQVtyGu6wsxTcAd1AL0axiV0malIy7AEWsoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R1CyFmGo8qqBrjLwUcr8EN",
      "input": {
        "note": "Close was empty (0.02) — the jaws are skimming at rim height. Reopening and lowering to 1.5 cm so the jaws sit well down the bowl wall.",
        "targets": {
          "left_gripper": 0.7,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01R1CyFmGo8qqBrjLwUcr8EN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7071, 2.0743, 1.2373, -0.1211, -0.5507, -0.5396, 0.6949, -0.0219, 0.8116, 0.5945, -0.4156, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4295 left_y=-0.2407 left_z=0.0211 left_yaw=0.0418 left_pitch=-0.2045 left_roll=0.0876 left_gripper=0.6949 right_x=0.2896 right_y=0.0002 right_z=0.1636 right_yaw=-0.0006 right_pitch=-0.0644 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -9.1009, 5.2581, 1.5263, -0.2711, 0.0269, -0.1734, -0.1846, -1.347, 6.9812, 1.6825, -0.0317, -0.0513, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83b9545294eaceb0ba86505ed7e6e6d08954f87b77bb057c5536a2a5febfcc2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a19c929a0d617323e90d701ac193d2ac07de9d61e6dbb152bde990e4d6828385",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a751d4cab7aefbc65f4d4eab42efbf1f965a3df6ca8e7b3b1c9d9c88a625bf9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 3.78 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7059, 2.0258, 1.2751, -0.242, -0.5507, -0.524, 0.8966, -0.0216, 0.8112, 0.5945, -0.4152, -0.0166, -0.0296, 0.998]\nstate[eef_state]: left_x=0.425 left_y=-0.2361 left_z=0.0412 left_yaw=0.0396 left_pitch=-0.2309 left_roll=0.123 left_gripper=0.8966 right_x=0.2896 right_y=0.0003 right_z=0.1638 right_yaw=-0.0005 right_pitch=-0.0637 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.5675, -10.1265, 6.147, 1.3455, -0.3199, 0.0317, 0.0024, -0.0479, -1.1419, 6.9949, 1.6874, -0.0269, -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]: [-0.7071, 2.022, 1.2812, -0.2115, -0.5545, -0.5304, 0.0192, -0.0219, 0.8112, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4308 left_y=-0.2411 left_z=0.0492 left_yaw=0.0387 left_pitch=-0.1987 left_roll=0.0926 left_gripper=0.0192 right_x=0.2895 right_y=0.0002 right_z=0.1636 right_yaw=-0.0006 right_pitch=-0.0644 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [-0.3214, -9.7436, 5.8872, 0.7888, -0.2857, 0.1245, 0.7937, -0.0068, -1.1556, 7.0085, 1.6874, -0.0855, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7071, 2.0743, 1.2373, -0.1211, -0.5507, -0.5396, 0.6949, -0.0219, 0.8116, 0.5945, -0.4156, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4295 left_y=-0.2407 left_z=0.0211 left_yaw=0.0418 left_pitch=-0.2045 left_roll=0.0876 left_gripper=0.6949 right_x=0.2896 right_y=0.0002 right_z=0.1636 right_yaw=-0.0006 right_pitch=-0.0644 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -9.1009, 5.2581, 1.5263, -0.2711, 0.0269, -0.1734, -0.1846, -1.347, 6.9812, 1.6825, -0.0317, -0.0513, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83b9545294eaceb0ba86505ed7e6e6d08954f87b77bb057c5536a2a5febfcc2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a19c929a0d617323e90d701ac193d2ac07de9d61e6dbb152bde990e4d6828385",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a751d4cab7aefbc65f4d4eab42efbf1f965a3df6ca8e7b3b1c9d9c88a625bf9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsgQKjgEIEhgCKkB5HhCSwm/PAEW9imn2U3BYzu+lE8Zn+czQv1ZBnY67oADWvrMOeOV9Rhij3GugpBaB9bZoesG2qoxnbED2uukvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcHVy9UGEgwjQKpa6wHe8MM+ycEaDNWVyIgmafn/hEwZjyIwdbeAPsmAvqJ0moCdYjw+/bxZCcsWPlowlPJph0dyUSJt0JR8btEIjTyyDpD2rTG/KtACMtshg0uprUfRc30v6XHdBjCmNNW0L9VQSk/HaQLnEmgP8Rg9q1WlmQ7co5PAIeTLemCKhge0P19nPAnSgU4cWuRCgvZoowg292W0xcgX3EE7MvoHG1k61KcOqSWCPUugylU7cEbBlTWiOtRicJAZnSIgjKFNzhiSJPCsd7DjzVhNJQs3+fpNKfYwX23S5MqQqoD5WyWu7dFWMkT8l4Smpsj6A0zIv92qkxA/llDHo+WcMoxs6erLQPKwLc33gbMdl+51KQ1nuqH1VBcd1F3YFJI8AigrVWy7ypidUQvib1BnxdOaeXR/zBu6ko3xnT5DACYj8Gi/yyiPrdLYUk/M6vyeMbsGVU6ZWI4N3BkwT9srVTQwUkZAaY2fSkQzRYt4tPc84peVp/L8xordxLF9pSpjsMwDqnOmwtmyT5y8zOa1BbnA6Dsp7QsKja+RVbijGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XWoCbtpAnY1fXvqLNyzsUH",
      "input": {
        "note": "Left jaw is outside on the table, right jaw is inside the bowl, with the wall at the jaw convergence column. Closing to pinch the bowl wall.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01XWoCbtpAnY1fXvqLNyzsUH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7074, 2.0567, 1.2381, -0.0841, -0.5499, -0.5625, 0.1043, -0.0219, 0.8116, 0.5945, -0.416, -0.0162, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4357 left_y=-0.2464 left_z=0.0344 left_yaw=0.0464 left_pitch=-0.1637 left_roll=0.0317 left_gripper=0.1043 right_x=0.2895 right_y=0.0001 right_z=0.1635 right_yaw=-0.001 right_pitch=-0.0648 right_roll=0.0053 right_gripper=0.998\nstate[joint_eff]: [-0.2803, -9.5248, 5.9282, 0.9499, -0.2564, 0.188, 0.4762, -0.1162, -1.3197, 7.0222, 1.663, -0.0269, -0.0659, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0475cba589cde119e1b069874115d48aecdbbbf5b465ac7bb516af41ffa3ce1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97d6607a0927632295304dc801e546fb153bced1b1e39c1ab599da4fc6e01d3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1dbe39fdc7c9de819db8fd4560fa5de817543cc5c05d86417c8059c267f9654",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 8.727 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7071, 2.022, 1.2812, -0.2115, -0.5545, -0.5304, 0.0192, -0.0219, 0.8112, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4308 left_y=-0.2411 left_z=0.0492 left_yaw=0.0387 left_pitch=-0.1987 left_roll=0.0926 left_gripper=0.0192 right_x=0.2895 right_y=0.0002 right_z=0.1636 right_yaw=-0.0006 right_pitch=-0.0644 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [-0.3214, -9.7436, 5.8872, 0.7888, -0.2857, 0.1245, 0.7937, -0.0068, -1.1556, 7.0085, 1.6874, -0.0855, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7071, 2.0743, 1.2373, -0.1211, -0.5507, -0.5396, 0.6949, -0.0219, 0.8116, 0.5945, -0.4156, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4295 left_y=-0.2407 left_z=0.0211 left_yaw=0.0418 left_pitch=-0.2045 left_roll=0.0876 left_gripper=0.6949 right_x=0.2896 right_y=0.0002 right_z=0.1636 right_yaw=-0.0006 right_pitch=-0.0644 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -9.1009, 5.2581, 1.5263, -0.2711, 0.0269, -0.1734, -0.1846, -1.347, 6.9812, 1.6825, -0.0317, -0.0513, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.7074, 2.0567, 1.2381, -0.0841, -0.5499, -0.5625, 0.1043, -0.0219, 0.8116, 0.5945, -0.416, -0.0162, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4357 left_y=-0.2464 left_z=0.0344 left_yaw=0.0464 left_pitch=-0.1637 left_roll=0.0317 left_gripper=0.1043 right_x=0.2895 right_y=0.0001 right_z=0.1635 right_yaw=-0.001 right_pitch=-0.0648 right_roll=0.0053 right_gripper=0.998\nstate[joint_eff]: [-0.2803, -9.5248, 5.9282, 0.9499, -0.2564, 0.188, 0.4762, -0.1162, -1.3197, 7.0222, 1.663, -0.0269, -0.0659, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0475cba589cde119e1b069874115d48aecdbbbf5b465ac7bb516af41ffa3ce1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97d6607a0927632295304dc801e546fb153bced1b1e39c1ab599da4fc6e01d3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1dbe39fdc7c9de819db8fd4560fa5de817543cc5c05d86417c8059c267f9654",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6QIKjgEIEhgCKkCZKHx9NKIjnzIv+PBVdBUa1DR4tDuxzGERhAh4vYFi9XQ7tlPFni1rrlRullcAQsk1N+Bf3mtEL9iwWJKLwf2FMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcbVy9UGEgycnloQQ0CfPkZBWeUaDAKtdKyc0zm+jfJxhSIw+O+RrsnULfYp6LwTJDgOFH0L9q6qXVon4CnuqhgutHCQ8sz1Siz0GHU37tMuFgHwKocBHi8kYVY+XAp3c8SUxT8WU41+ZVNkBdNJzeUvba0v4wEQj1UBRlItP+pMJJ+QTNoaawEXyeHS9z9HmEpzoDOe8q3N/u2bZin83Q3AJR7aRzsne+iQ1r4Bw27rj06LFiRS01PGNr22UKY1e60qXlADoHXA3G+ZaIqaZNLuCiTikm++7AdKlL5nGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CKBAVc2MHUkYcvui7mnukN",
      "input": {
        "note": "Gripper settled at 0.10 (~1 cm), suggesting the bowl wall is pinched. Lifting 10 cm to verify the purple bowl comes up.",
        "targets": {
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01CKBAVc2MHUkYcvui7mnukN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7071, 1.9476, 1.4303, -0.4137, -0.5476, -0.5735, 0.1038, -0.0219, 0.8116, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4359 left_y=-0.2467 left_z=0.1114 left_yaw=0.0547 left_pitch=-0.1853 left_roll=0.0418 left_gripper=0.1038 right_x=0.2895 right_y=0.0002 right_z=0.1635 right_yaw=-0.0006 right_pitch=-0.0648 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -13.2171, 8.5675, 1.2527, -0.3297, 0.0659, -0.0659, -0.1026, -1.2376, 6.9812, 1.6532, -0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11b1875c4e4e1b4b25d3ace2e531066061fbce7d8f90a40a45ffcbae973c8b58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b057090504d5adf9d96aa98880dd468bc4a9e6b0160a1ee23752dc9d6cc7ebb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:923bb8013afdc07ed30f30d65190e3fe0925e4f4a2b171dc1445d115c5162dbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 15.57 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7071, 2.0743, 1.2373, -0.1211, -0.5507, -0.5396, 0.6949, -0.0219, 0.8116, 0.5945, -0.4156, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4295 left_y=-0.2407 left_z=0.0211 left_yaw=0.0418 left_pitch=-0.2045 left_roll=0.0876 left_gripper=0.6949 right_x=0.2896 right_y=0.0002 right_z=0.1636 right_yaw=-0.0006 right_pitch=-0.0644 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -9.1009, 5.2581, 1.5263, -0.2711, 0.0269, -0.1734, -0.1846, -1.347, 6.9812, 1.6825, -0.0317, -0.0513, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.7074, 2.0567, 1.2381, -0.0841, -0.5499, -0.5625, 0.1043, -0.0219, 0.8116, 0.5945, -0.416, -0.0162, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4357 left_y=-0.2464 left_z=0.0344 left_yaw=0.0464 left_pitch=-0.1637 left_roll=0.0317 left_gripper=0.1043 right_x=0.2895 right_y=0.0001 right_z=0.1635 right_yaw=-0.001 right_pitch=-0.0648 right_roll=0.0053 right_gripper=0.998\nstate[joint_eff]: [-0.2803, -9.5248, 5.9282, 0.9499, -0.2564, 0.188, 0.4762, -0.1162, -1.3197, 7.0222, 1.663, -0.0269, -0.0659, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.7071, 1.9476, 1.4303, -0.4137, -0.5476, -0.5735, 0.1038, -0.0219, 0.8116, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4359 left_y=-0.2467 left_z=0.1114 left_yaw=0.0547 left_pitch=-0.1853 left_roll=0.0418 left_gripper=0.1038 right_x=0.2895 right_y=0.0002 right_z=0.1635 right_yaw=-0.0006 right_pitch=-0.0648 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -13.2171, 8.5675, 1.2527, -0.3297, 0.0659, -0.0659, -0.1026, -1.2376, 6.9812, 1.6532, -0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11b1875c4e4e1b4b25d3ace2e531066061fbce7d8f90a40a45ffcbae973c8b58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b057090504d5adf9d96aa98880dd468bc4a9e6b0160a1ee23752dc9d6cc7ebb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:923bb8013afdc07ed30f30d65190e3fe0925e4f4a2b171dc1445d115c5162dbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvwkKjgEIEhgCKkDTKRX1xSve1aNfbUDLuS2+8e3+gmCE0QvI3rkVCBh21DVXh3TKag2KcObPycZqDXdtQlEt1Afb/BKEOU1ol61JMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc/Vy9UGEgyVjFvr14LPzqBlIUYaDILfy9CoF/uUe22WlSIwGm/84CP3RGB6AtL1+ms0Z19YyGAzbDdjFAnPnHl/12GX+bJ0+5aaUVvred8ZHagUKt0HntmGOkE5ypatbS1RiwNofaHEyB+ZnejRcbgbiiwnOEDyl4g2RlCbb+pip3+qfkfir1QT9sIXB7SHyxeQ1H269JMbPeLIhi94GIS3cPRh3Kg3D/CzzqJbzOcWU8GRaoYOo8IgO3dQmO9MIKslfztspEJTEAnZ69mSOQesSEEVquqdJLk9b6QyWAnyrPnAJ8DFsIfDHlhHjj+Wb9pIGK9N+j27GTtazJXrj0OUCRnXREtMeejeQMILZig1esNEb4tFlyEy23M/d44bbqSTbiWxs0TH4Kc0TUdhWwNNwdSk85Z1801ReWDr5LHxWBHEIYqOIeIeihkVP9jie0yc4hvNbLQyf+ceqjhWirjqQOV6lCnEo9Eb1wAk1IOs/FM1LxXG1GZxPgpQPzU2NIk1zkZVdKnLARoqq4OZLJHU6e+hs4fC8YCCgyVlC9yDxUcQHHFlr1/YVJKZwym/jgwbhrZLqn8rJ0wuFlNk0/SWecYWwEQky3Mjuf0kUZ05i6bUxZsd7nJRUVGLv0Lhc0jVY3yT4IYGr2pNMkGr3SpYJr6QZOO1pDhUSeMUdEHU87NCBwYYGKtY41XD6Rz3GW9HwrndrufhdNyrsSHMbWDRQsiftHMO60WRzupI79g23wnQNmbFo6pb2sQab9IZAWuQJhHO2ddTZoe0S6PhecXbZupvxVFgPWL3fBWupnoPpG5WYCOSyLWj61JDtAw1cRfGHicyzlpp7Xhg4dQCvElQuT55t9xC0c+4/mHmYIl+rYHLhyn5gtLi/23cQNXN8xmJTLMo8voHbUfIv9y90ot0Y1dmoTL30na3orMaBx9HuwdCPFLC/u8RLrtAJyvB50++NFeB1GTR9vmKFrEKh2OH8em2R9l5YeHOQSR3mETlEXvlY6qyn3HQkJg1MmjRnWWHLXSA9HzorBJkpGX5jua9eLCabx6HC+4cdJdYLN3ahsnqkhGknlm7xUnPsuYIpJ7anIFrjslbcjFwVM8MUx3ZC0/+hf+ssNIpTiAIR8Q4NezFQsFHxr5JppzXSs3Zzu5IYyUDwlZZ8HYyQGEE4kJbY81m5ONYMZUAROzkXFOjAdX/ROKiTqU/tyPPXG0UEXEzqbID+c35iwLrv3kZBgERRGRiM1i9+cqxGPrRZnq+b/BxCF/3UA6kOguocgNoPJACWtxa+09RZjXwDa3mQ2VSn/ybNXLTt8KUesCK5LGWoFfL5KZbU7fJbYWYUjCTj6VGA/OJfG7UJmX0jqpgO/Ka9V0YaHK88ClNaQKoeukoeA/QoseMs1QfbcJOZqRQWq38UPeILv6mh+hP9S4qRMv76jMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KLnDLAfpaXzDGwSkMAt17p",
      "input": {
        "note": "Shoulder effort rose from -9.5 to -13.2 N·m, hinting at a load. Lifting higher to confirm the bowl is off the table.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01KLnDLAfpaXzDGwSkMAt17p",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7071, 1.9289, 1.6836, -0.6975, -0.5472, -0.5777, 0.1037, -0.0219, 0.812, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4381 left_y=-0.2487 left_z=0.1793 left_yaw=0.0583 left_pitch=-0.1939 left_roll=0.0468 left_gripper=0.1037 right_x=0.2896 right_y=0.0002 right_z=0.1634 right_yaw=-0.0006 right_pitch=-0.0652 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [0.0068, -12.0137, 9.306, 1.2869, -0.2418, 0.0171, -0.0171, -0.335, -1.3197, 6.9812, 1.663, -0.0757, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:020dc8a4c5605a6c6ab9a8cce6014b4c795ae857abca0e6dace75011fcf4a18f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18d5b7756637aadd2904a2068ce2fafab82b5af1ac4b71570210737106a13adb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:93c1441925d99ea660dbd411fcc30112371f239d5367d0ac8785afa5554fe6a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 28.77 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7074, 2.0567, 1.2381, -0.0841, -0.5499, -0.5625, 0.1043, -0.0219, 0.8116, 0.5945, -0.416, -0.0162, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4357 left_y=-0.2464 left_z=0.0344 left_yaw=0.0464 left_pitch=-0.1637 left_roll=0.0317 left_gripper=0.1043 right_x=0.2895 right_y=0.0001 right_z=0.1635 right_yaw=-0.001 right_pitch=-0.0648 right_roll=0.0053 right_gripper=0.998\nstate[joint_eff]: [-0.2803, -9.5248, 5.9282, 0.9499, -0.2564, 0.188, 0.4762, -0.1162, -1.3197, 7.0222, 1.663, -0.0269, -0.0659, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.7071, 1.9476, 1.4303, -0.4137, -0.5476, -0.5735, 0.1038, -0.0219, 0.8116, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4359 left_y=-0.2467 left_z=0.1114 left_yaw=0.0547 left_pitch=-0.1853 left_roll=0.0418 left_gripper=0.1038 right_x=0.2895 right_y=0.0002 right_z=0.1635 right_yaw=-0.0006 right_pitch=-0.0648 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -13.2171, 8.5675, 1.2527, -0.3297, 0.0659, -0.0659, -0.1026, -1.2376, 6.9812, 1.6532, -0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7071, 1.9289, 1.6836, -0.6975, -0.5472, -0.5777, 0.1037, -0.0219, 0.812, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4381 left_y=-0.2487 left_z=0.1793 left_yaw=0.0583 left_pitch=-0.1939 left_roll=0.0468 left_gripper=0.1037 right_x=0.2896 right_y=0.0002 right_z=0.1634 right_yaw=-0.0006 right_pitch=-0.0652 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [0.0068, -12.0137, 9.306, 1.2869, -0.2418, 0.0171, -0.0171, -0.335, -1.3197, 6.9812, 1.663, -0.0757, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:020dc8a4c5605a6c6ab9a8cce6014b4c795ae857abca0e6dace75011fcf4a18f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18d5b7756637aadd2904a2068ce2fafab82b5af1ac4b71570210737106a13adb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93c1441925d99ea660dbd411fcc30112371f239d5367d0ac8785afa5554fe6a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KhwNWjau2dx6uhye4r9KLs",
      "input": {
        "note": "I believe the purple bowl is hanging from its rim in the jaws (shoulder effort up ~3 N·m). Carrying it left to sit above the mint bowl, whose centre I estimate 14 cm to the left.",
        "targets": {
          "left_y": -0.1,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01KhwNWjau2dx6uhye4r9KLs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3702, 1.6447, 1.3682, -0.5819, -0.347, -0.3206, 0.1037, -0.0216, 0.812, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4388 left_y=-0.102 left_z=0.1875 left_yaw=0.0908 left_pitch=-0.2233 left_roll=0.0532 left_gripper=0.1037 right_x=0.2896 right_y=0.0003 right_z=0.1634 right_yaw=-0.0003 right_pitch=-0.0652 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [0.335, -10.4137, 6.2838, 1.619, -0.1001, 0.1343, -0.0122, -0.1162, -1.3333, 6.9812, 1.6581, -0.0122, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92dd1889a3a30c1968d049a01e3e50116f909731a0bb77f24280d38a6f28e358",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:048367298255af66997be31bfa9411c90ecbfcd8dabc01cc429e0a36118045f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47d5a116049e0308038b04aafef1d39a4eb5abb6aa1df4574628a13fbb8db5d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 5.364 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7071, 1.9476, 1.4303, -0.4137, -0.5476, -0.5735, 0.1038, -0.0219, 0.8116, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4359 left_y=-0.2467 left_z=0.1114 left_yaw=0.0547 left_pitch=-0.1853 left_roll=0.0418 left_gripper=0.1038 right_x=0.2895 right_y=0.0002 right_z=0.1635 right_yaw=-0.0006 right_pitch=-0.0648 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -13.2171, 8.5675, 1.2527, -0.3297, 0.0659, -0.0659, -0.1026, -1.2376, 6.9812, 1.6532, -0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7071, 1.9289, 1.6836, -0.6975, -0.5472, -0.5777, 0.1037, -0.0219, 0.812, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4381 left_y=-0.2487 left_z=0.1793 left_yaw=0.0583 left_pitch=-0.1939 left_roll=0.0468 left_gripper=0.1037 right_x=0.2896 right_y=0.0002 right_z=0.1634 right_yaw=-0.0006 right_pitch=-0.0652 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [0.0068, -12.0137, 9.306, 1.2869, -0.2418, 0.0171, -0.0171, -0.335, -1.3197, 6.9812, 1.663, -0.0757, -0.0806, -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]: [-0.3702, 1.6447, 1.3682, -0.5819, -0.347, -0.3206, 0.1037, -0.0216, 0.812, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4388 left_y=-0.102 left_z=0.1875 left_yaw=0.0908 left_pitch=-0.2233 left_roll=0.0532 left_gripper=0.1037 right_x=0.2896 right_y=0.0003 right_z=0.1634 right_yaw=-0.0003 right_pitch=-0.0652 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [0.335, -10.4137, 6.2838, 1.619, -0.1001, 0.1343, -0.0122, -0.1162, -1.3333, 6.9812, 1.6581, -0.0122, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92dd1889a3a30c1968d049a01e3e50116f909731a0bb77f24280d38a6f28e358",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:048367298255af66997be31bfa9411c90ecbfcd8dabc01cc429e0a36118045f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47d5a116049e0308038b04aafef1d39a4eb5abb6aa1df4574628a13fbb8db5d0",
        "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_01947xNaNbdi6mgcN7EdzwEv",
      "input": {
        "note": "Top view confirms all three bowls are still on the table — my rim pinch slipped. Returning over the purple bowl's left rim, this time with the wrist rolled 0.6 rad so the jaws close perpendicular to the sloping bowl wall.",
        "targets": {
          "left_gripper": 0.8,
          "left_roll": 0.6,
          "left_y": -0.245,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01947xNaNbdi6mgcN7EdzwEv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7715, 2.1838, 1.6455, -0.6739, -0.7929, -0.3634, 0.7968, -0.0219, 0.8158, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4351 left_y=-0.2426 left_z=0.0723 left_yaw=0.0767 left_pitch=-0.2581 left_roll=0.5549 left_gripper=0.7968 right_x=0.2898 right_y=0.0002 right_z=0.1624 right_yaw=-0.0006 right_pitch=-0.069 right_roll=0.0056 right_gripper=0.998\nstate[joint_eff]: [-0.4034, -12.0137, 7.9111, 0.6813, -0.6764, 0.1197, -0.0904, -0.1709, -1.1009, 7.1316, 1.6532, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:296f33b5bbec0a23648b92edbbf3ab7825669233afc30ec5c624022ce37483ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1c68608115fd82a8cf746c16571565537131ac46f80ad6c57d2c795322addb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5321aea50cdf39493a1229f1016775af7c145fd6116069ee399e04921f9618d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 5.621 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7071, 1.9289, 1.6836, -0.6975, -0.5472, -0.5777, 0.1037, -0.0219, 0.812, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4381 left_y=-0.2487 left_z=0.1793 left_yaw=0.0583 left_pitch=-0.1939 left_roll=0.0468 left_gripper=0.1037 right_x=0.2896 right_y=0.0002 right_z=0.1634 right_yaw=-0.0006 right_pitch=-0.0652 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [0.0068, -12.0137, 9.306, 1.2869, -0.2418, 0.0171, -0.0171, -0.335, -1.3197, 6.9812, 1.663, -0.0757, -0.0806, -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]: [-0.3702, 1.6447, 1.3682, -0.5819, -0.347, -0.3206, 0.1037, -0.0216, 0.812, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4388 left_y=-0.102 left_z=0.1875 left_yaw=0.0908 left_pitch=-0.2233 left_roll=0.0532 left_gripper=0.1037 right_x=0.2896 right_y=0.0003 right_z=0.1634 right_yaw=-0.0003 right_pitch=-0.0652 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [0.335, -10.4137, 6.2838, 1.619, -0.1001, 0.1343, -0.0122, -0.1162, -1.3333, 6.9812, 1.6581, -0.0122, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7715, 2.1838, 1.6455, -0.6739, -0.7929, -0.3634, 0.7968, -0.0219, 0.8158, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4351 left_y=-0.2426 left_z=0.0723 left_yaw=0.0767 left_pitch=-0.2581 left_roll=0.5549 left_gripper=0.7968 right_x=0.2898 right_y=0.0002 right_z=0.1624 right_yaw=-0.0006 right_pitch=-0.069 right_roll=0.0056 right_gripper=0.998\nstate[joint_eff]: [-0.4034, -12.0137, 7.9111, 0.6813, -0.6764, 0.1197, -0.0904, -0.1709, -1.1009, 7.1316, 1.6532, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:296f33b5bbec0a23648b92edbbf3ab7825669233afc30ec5c624022ce37483ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1c68608115fd82a8cf746c16571565537131ac46f80ad6c57d2c795322addb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5321aea50cdf39493a1229f1016775af7c145fd6116069ee399e04921f9618d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/AQKjgEIEhgCKkBDAg+U2qCUL/KhSMCKW70pUXhTbOidL6MP3fRG8u3W6sCdOGeqHErNUlrDvil9zkdCLF4iQXxGlN3ZqYLpAHN5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYTWy9UGEgwdRH7klq10IGVjY04aDGYLDcAttHO26QRj5yIw7+88sZiy9RdvV69QS22dBiAAlpXlwlJDBknwjaGZYyKrpuPOy0xezpX5lrKafiOHKpoDftLyd4uz1BGyX4CEBQLQcfXUTYMWv6OkWecnN+vMidpPz6Oz+rXvCiLUaB33vsWdGSE4cen9uke68AUL6YmGvN/BLHNrb8nu7VYC/rlSSTgiTi/aRgZEm53biESjcUAV+BMILes0TV+FlObcafc6nsIDZHJS9zFXd+Q3lYVziOXnUqhftXwFJ0i9EObw0a3HXY5hPNd9d9EY/YqdoK5nu8dHawCZ/utdbAxN7E9ofLfCOtVHMIM0Iqt4hxGC2iIAQ894gs0/OSeH5mv9qIlMdegEP/0vG26+iKggGQmnT4Fg7DOqLMtpYAx1jU1DUqZU3sdnk2ddfWbEMIVn0y+kJPIhsgHjzA/ETdQ7d+EgpnYHquxLO3aEw6nj8mBx0GTxfFga1Fl33ZVsv1Dowud2qKOeY94bg5NHiCWfCFXEzvRMD3ucBrOoQ2FxYC7asNZQDXb5YvQ3FGUsvsPlDz8uAUAhO8K17ZgVIZfQ+fLBZk+8FHrZsLOsGWTs8tlSdsliRztVWLYD1zTYAdBVcFiRqLHk4ztJYEC1cZYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bpm2Wv83GgBtioQgkWJVY7",
      "input": {
        "note": "With the wrist rolled, the jaw centre still sits in the gap between mint and purple bowls; shifting ~2 cm right onto the purple wall and lowering to 4.5 cm.",
        "targets": {
          "left_y": -0.262,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Bpm2Wv83GgBtioQgkWJVY7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7902, 2.2337, 1.6699, -0.6815, -0.8215, -0.3828, 0.7978, -0.0216, 0.8154, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4339 left_y=-0.2492 left_z=0.0596 left_yaw=0.0879 left_pitch=-0.2535 left_roll=0.585 left_gripper=0.7978 right_x=0.2897 right_y=0.0003 right_z=0.1625 right_yaw=-0.0002 right_pitch=-0.0686 right_roll=0.0056 right_gripper=0.998\nstate[joint_eff]: [-0.9641, -9.8803, 7.7197, 0.8376, -0.3394, -0.0415, 0.0708, 0.1026, -1.1692, 7.1726, 1.6777, -0.0757, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b7a91cf3b3e0bd2642f8fb722b278421b8d23a6865790a5a15d81d140365e45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69f638c84a10e964f661f90dded3bd690082d0cb80298797d5a8fa3c2e06667c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a13144192088d248cdefae36aaeb8c48043099aa9fcb959604245719058a258f",
        "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 · 11.98 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3702, 1.6447, 1.3682, -0.5819, -0.347, -0.3206, 0.1037, -0.0216, 0.812, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4388 left_y=-0.102 left_z=0.1875 left_yaw=0.0908 left_pitch=-0.2233 left_roll=0.0532 left_gripper=0.1037 right_x=0.2896 right_y=0.0003 right_z=0.1634 right_yaw=-0.0003 right_pitch=-0.0652 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [0.335, -10.4137, 6.2838, 1.619, -0.1001, 0.1343, -0.0122, -0.1162, -1.3333, 6.9812, 1.6581, -0.0122, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7715, 2.1838, 1.6455, -0.6739, -0.7929, -0.3634, 0.7968, -0.0219, 0.8158, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4351 left_y=-0.2426 left_z=0.0723 left_yaw=0.0767 left_pitch=-0.2581 left_roll=0.5549 left_gripper=0.7968 right_x=0.2898 right_y=0.0002 right_z=0.1624 right_yaw=-0.0006 right_pitch=-0.069 right_roll=0.0056 right_gripper=0.998\nstate[joint_eff]: [-0.4034, -12.0137, 7.9111, 0.6813, -0.6764, 0.1197, -0.0904, -0.1709, -1.1009, 7.1316, 1.6532, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7902, 2.2337, 1.6699, -0.6815, -0.8215, -0.3828, 0.7978, -0.0216, 0.8154, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4339 left_y=-0.2492 left_z=0.0596 left_yaw=0.0879 left_pitch=-0.2535 left_roll=0.585 left_gripper=0.7978 right_x=0.2897 right_y=0.0003 right_z=0.1625 right_yaw=-0.0002 right_pitch=-0.0686 right_roll=0.0056 right_gripper=0.998\nstate[joint_eff]: [-0.9641, -9.8803, 7.7197, 0.8376, -0.3394, -0.0415, 0.0708, 0.1026, -1.1692, 7.1726, 1.6777, -0.0757, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b7a91cf3b3e0bd2642f8fb722b278421b8d23a6865790a5a15d81d140365e45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69f638c84a10e964f661f90dded3bd690082d0cb80298797d5a8fa3c2e06667c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a13144192088d248cdefae36aaeb8c48043099aa9fcb959604245719058a258f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpAQKjgEIEhgCKkB7FUkk5s56GxhU4DTNB5b9yDy5tMJ48lALH3nTXjijUalmIfJ24DWcSorJciQ+sKVM7u5v14h0nG/p0eO8K9fYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYrWy9UGEgwEA3FQqTsphvaPDEMaDDS3COK15C6WU4cpoSIwRVx9DgF9qJBiWx2zVjP4leFk/Mq3EtKA1hGXjS6HrxjDHDH+9ZgXt94U6PHRpO3fKsICIcFsbSMV8FhOFIUFCSyXETVqFhUpx6FZbxxxYDL5qMt4W84b6jbagsFuHTLwauphFbwcKoEW73jfpftto4UXvT5HmQHS6jZh2EPjP0+MuhrPeQe8BRrOVSP5GjzAde8OFJABcMYCjrNjk2nAI6YPzEtaw1+8RmEdqm8dKlJCrERM5iCtWsXknshVbrr10lvDj5j+heTg2NxZE4RW9bnk7vKChhrhrSZI5XhpFTa6R7WqAlo3DxfWhGULWRwCvTiCcrxwNk7+GHssyCG5shOJOO4lNpnHr9/oIzQuKIDavus9Rn/iD6IPbAsh4R5MGUZsYs3wkngpph4LVHU406zc7JDiucfgG0B9pc74qHG9cRGQUCq9ld+DPBGBte8RL54hSib0eCWP1CoYXB+uDazTFuzvgNYLZ/JjCRwj18KXWmFvsBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019ZB1qfkmDbRNndBZ9VYQro",
      "input": {
        "note": "The arm under-tracks each command, so I am over-commanding: pushing further right onto the purple bowl's wall and down to 3 cm.",
        "targets": {
          "left_y": -0.285,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019ZB1qfkmDbRNndBZ9VYQro",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8326, 2.36, 1.7866, -0.7177, -0.8177, -0.4469, 0.7979, -0.0219, 0.8165, 0.5945, -0.4187, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4334 left_y=-0.2795 left_z=0.0321 left_yaw=0.0832 left_pitch=-0.2658 left_roll=0.5733 left_gripper=0.7979 right_x=0.2894 right_y=0.0002 right_z=0.1617 right_yaw=-0.0006 right_pitch=-0.0724 right_roll=0.0057 right_gripper=0.998\nstate[joint_eff]: [-0.6496, -12.2735, 7.4051, 0.6032, -0.6667, 0.0024, -0.0073, -0.1299, -1.4291, 7.0906, 1.6728, -0.0269, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0996d4abbbd646bfaae5c23a71a4b962eb48853d4e14f1096602b0ddee8913e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7b36af08ae60df8b2267138803b94bbe989553fe889d517d263fef4f953a14e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30e8de9ce063fe33e4036ee3439d3907af3d9a2a36d82199ae0cbcc9ee85b694",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 14.24 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7715, 2.1838, 1.6455, -0.6739, -0.7929, -0.3634, 0.7968, -0.0219, 0.8158, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4351 left_y=-0.2426 left_z=0.0723 left_yaw=0.0767 left_pitch=-0.2581 left_roll=0.5549 left_gripper=0.7968 right_x=0.2898 right_y=0.0002 right_z=0.1624 right_yaw=-0.0006 right_pitch=-0.069 right_roll=0.0056 right_gripper=0.998\nstate[joint_eff]: [-0.4034, -12.0137, 7.9111, 0.6813, -0.6764, 0.1197, -0.0904, -0.1709, -1.1009, 7.1316, 1.6532, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7902, 2.2337, 1.6699, -0.6815, -0.8215, -0.3828, 0.7978, -0.0216, 0.8154, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4339 left_y=-0.2492 left_z=0.0596 left_yaw=0.0879 left_pitch=-0.2535 left_roll=0.585 left_gripper=0.7978 right_x=0.2897 right_y=0.0003 right_z=0.1625 right_yaw=-0.0002 right_pitch=-0.0686 right_roll=0.0056 right_gripper=0.998\nstate[joint_eff]: [-0.9641, -9.8803, 7.7197, 0.8376, -0.3394, -0.0415, 0.0708, 0.1026, -1.1692, 7.1726, 1.6777, -0.0757, -0.0708, -0.0122]",
      "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]: [-0.8326, 2.36, 1.7866, -0.7177, -0.8177, -0.4469, 0.7979, -0.0219, 0.8165, 0.5945, -0.4187, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4334 left_y=-0.2795 left_z=0.0321 left_yaw=0.0832 left_pitch=-0.2658 left_roll=0.5733 left_gripper=0.7979 right_x=0.2894 right_y=0.0002 right_z=0.1617 right_yaw=-0.0006 right_pitch=-0.0724 right_roll=0.0057 right_gripper=0.998\nstate[joint_eff]: [-0.6496, -12.2735, 7.4051, 0.6032, -0.6667, 0.0024, -0.0073, -0.1299, -1.4291, 7.0906, 1.6728, -0.0269, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0996d4abbbd646bfaae5c23a71a4b962eb48853d4e14f1096602b0ddee8913e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7b36af08ae60df8b2267138803b94bbe989553fe889d517d263fef4f953a14e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30e8de9ce063fe33e4036ee3439d3907af3d9a2a36d82199ae0cbcc9ee85b694",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgQ0KjgEIEhgCKkAR4nLDjENs5GwPRVrn4Zyu1AwfTAFLJQhLXxcXaGaWYtA9pJeY+X6xc4/oajawF5rlhkQBFblYJwV2f4+SiHJ/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZbWy9UGEgwThhc+PRD+/92ROWUaDNPsI6rxG4I7uOdxPyIwfJaPRK8naXDicxML2l5aFvmxoq6w7Gmkg6s8jRcGRT/e+UPMsEJHLAvFr2C8A8V/Kp8LZbu90v7Dugr5OC2MgEMqYyZ0jbr+sADIjRfrfE5zkUrFh90o8B4EgZkeJfutVXq/GCk7Q1LU2J2+j0+g4nvPjJhSQp2rd/mw90aUczze/oz/TzlXai4sj2fBPuWMWg92k+GTTtGwEc6zkfMXZNrCi+f5mF7y8hMA0a05m5rKydF02Hm/nP6KMedxGoK40Ay5nL8Omadma8JbhLOarwgz2I7WszMBEzXdVLVqbec/fSfgZh4n5Sd7Jsem+aL2PJDO3/JxnVcvcsXAbgrRkmJoAVwujB26K/EZFym3D9ZVFBExdDLSghSka+XDPevfbiiMgunCcP/E1ERkxmJSNI6Cl+ulKKStbQz9Rn5TPtAJC4IvakLzVwyxoTOg8Hh/UQP5QaQUzNRQD4OPxlWzA7SAfr/kky+o5bWL4WG9p26BO8m4X/UwO39h8YVhGmcb0LeKsfpA71JNfQU3oCrhfAoNvD72p/dR6veJ5xbe5k92/8jwqPjQVYgXJcoGwUVs5gxoZ1q/Pap6aTixlMog99KqtwSEDyiKOpmIWmtoAftwgIUUCg/AmgQYq3l+O7z+ZcHMLmsBJUOEPtASfPym1UGgVPUOwohzpQ3wq3z6dXbmuGY4SjyFhKcy3JH9P/eWgKEfAdTek0Xfn3VSA0KAglZaHd2vMElOdq9T8r2KbOMIDVBsub0cEfWIPk6eE2HlqgDmYZSlSMfj6sFUJYIgCG05Fr0Qe0V4CTH4MplVFIBh659xexVksxA9nQxOuFwqjfh+cs4yOXdEjsH70RMSdZ7+Yi53YokvQyE1vc3Bdx1nGpf/M37jD6RWah3NDfKerablThtLZpYkFGimehMZuiKIe7BiTaSLrNqITJedYOSFjRaMhrAKlP4n76TGlYbWbvSYzAZPQkkawXSeHMbWmMS//damGi4npvb/jMDdQchpN8cr3g0rVHHhpnwCPrnx/pjsoimvUoagjit6vmY3tFGZVgEBpCqLCYWJ2gBVkhfQqiPkqdKalbq2Frn9ag1fsrVtIsdvv9iVCMts/ZKdL7kVdu3kdGLkzb+Wf8sxJ6E/XOthVKFhyk6GdDIPR8gvQqq1oKJBnZytbVjxo4fmx1wKBeRPc3ib2MUnI6de2PBGIm9/6x8VXMh1O3OmnP1OACC3ovSV0S0N0mbBiKdsqfr2q3V4u5iH9CjxDRsQRmCkL4Jv5t52JaeQJ6gHJAGDEJUljgwJ8hifMwT+iJWXgh8AEN5cVC8IXJjEOce0enUnxXsVBPjP0JkqRLOp5jImkqUrVFc2loWrX+0mMwkZ4i7bbktWtLCiugSHJdbm0I3o2b5w2VHhriJxGNTvXMFD8/2NR7ZcDTm7vZGgeWqOeekZqSj8Gm+MVuc74bMcUuIc49UclqqfKed0fksmKuL4ijZoq2Du88YPwML5zXxQtrRY4842YLzmhg959XXwVy+m8WzkW5HqQpfZqxIrIFeu/EYAQiA6xMgdOQszdbfoQgXObUXPTV6Wo6gTvsJmiySmZO0QMIWTHSplRNo5/sRSLXuNMtgRoKQhVINoJMs7cPBNhVSkCKWt3NwJgZhPulOqTINUzIUpgTR3hBRH7SxWNM8urvopedWvqLHAa2atvB1B6xVcGmD4xDM3CgCvjL3tC4c4RsuN4tVgXMQnnTpGfRBHp3EDX043vLaq8vIBFMWPOahWNwVttDsuLETi9MUSStaviopJo/6q0A+mDVzQcY+zESHbsMSiRl/KX/V2LOBA+C3oK6kkkDhAp0Ce5ng3SAYikPHV0ONq66O4UVuYBvoD3o8FqVo+VpL/DgPLR8PjR5qj3lZMg9sq0sSUDMIwKhWu3u4YS9DPt7/bS+HufilRZgai2fZo2Buxuq0VDYdwa+YCGA6T4Hf2cOv01QtV6BHs2eMPFEF4th9QFV2imiEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KWY8rfTJ5zSUk58ihnHbGC",
      "input": {
        "note": "Left jaw is outside the purple bowl on the table, right jaw inside it, wall between them. Closing fully to clamp the wall.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KWY8rfTJ5zSUk58ihnHbGC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8513, 2.3451, 1.8439, -0.6601, -0.8604, -0.5148, 0.0243, -0.0219, 0.8181, 0.5945, -0.4217, -0.0166, -0.0296, 0.998]\nstate[eef_state]: left_x=0.4474 left_y=-0.302 left_z=0.0658 left_yaw=0.0952 left_pitch=-0.1381 left_roll=0.4411 left_gripper=0.0243 right_x=0.289 right_y=0.0002 right_z=0.1607 right_yaw=-0.0008 right_pitch=-0.077 right_roll=0.0061 right_gripper=0.998\nstate[joint_eff]: [0.4581, -8.4171, 3.3436, -0.2076, -0.3101, 0.5153, 0.8718, -0.1299, -1.4838, 7.1863, 1.7363, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b18f5cc66ae6d30f5f7b261a5de4cdf7eeaa47f3c86422a046acd38f3aff0458",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfd3f197114b8ffea19be31c76228b6a5019e5aa9811cba870ad0ebf254960ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a10def0690b614d219ad98ae2fbb43a7347f6ee6ecc145ab3c30e7ab93ac7d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 27.19 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7902, 2.2337, 1.6699, -0.6815, -0.8215, -0.3828, 0.7978, -0.0216, 0.8154, 0.5945, -0.416, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4339 left_y=-0.2492 left_z=0.0596 left_yaw=0.0879 left_pitch=-0.2535 left_roll=0.585 left_gripper=0.7978 right_x=0.2897 right_y=0.0003 right_z=0.1625 right_yaw=-0.0002 right_pitch=-0.0686 right_roll=0.0056 right_gripper=0.998\nstate[joint_eff]: [-0.9641, -9.8803, 7.7197, 0.8376, -0.3394, -0.0415, 0.0708, 0.1026, -1.1692, 7.1726, 1.6777, -0.0757, -0.0708, -0.0122]",
      "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]: [-0.8326, 2.36, 1.7866, -0.7177, -0.8177, -0.4469, 0.7979, -0.0219, 0.8165, 0.5945, -0.4187, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4334 left_y=-0.2795 left_z=0.0321 left_yaw=0.0832 left_pitch=-0.2658 left_roll=0.5733 left_gripper=0.7979 right_x=0.2894 right_y=0.0002 right_z=0.1617 right_yaw=-0.0006 right_pitch=-0.0724 right_roll=0.0057 right_gripper=0.998\nstate[joint_eff]: [-0.6496, -12.2735, 7.4051, 0.6032, -0.6667, 0.0024, -0.0073, -0.1299, -1.4291, 7.0906, 1.6728, -0.0269, -0.0464, -0.0073]",
      "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]: [-0.8513, 2.3451, 1.8439, -0.6601, -0.8604, -0.5148, 0.0243, -0.0219, 0.8181, 0.5945, -0.4217, -0.0166, -0.0296, 0.998]\nstate[eef_state]: left_x=0.4474 left_y=-0.302 left_z=0.0658 left_yaw=0.0952 left_pitch=-0.1381 left_roll=0.4411 left_gripper=0.0243 right_x=0.289 right_y=0.0002 right_z=0.1607 right_yaw=-0.0008 right_pitch=-0.077 right_roll=0.0061 right_gripper=0.998\nstate[joint_eff]: [0.4581, -8.4171, 3.3436, -0.2076, -0.3101, 0.5153, 0.8718, -0.1299, -1.4838, 7.1863, 1.7363, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b18f5cc66ae6d30f5f7b261a5de4cdf7eeaa47f3c86422a046acd38f3aff0458",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfd3f197114b8ffea19be31c76228b6a5019e5aa9811cba870ad0ebf254960ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a10def0690b614d219ad98ae2fbb43a7347f6ee6ecc145ab3c30e7ab93ac7d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/g8KjgEIEhgCKkBJSTcdTkXBEfp8MIV83jcB7wl+X3EJuH436lB2lvgbQAqdyHaThOz5fGW/Z08dIUXnt7gMnqvYhQXnPahsw2ADMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaTWy9UGEgwnTMhiN9egZlHNGFEaDLzYvgUQpmK3nzPm4iIwDT2yYlivMrLUqHVENiwDznjh/eC0vwVY/DyYVAN6W7W59c6S1UKhDKS0FvdPR3fBKpwOXWkrF7bQZk+MGWdrecAV+C6iHQrNrCb5XgNvjTjEQf+4CeBXRV25KScZ2qk5XvMev/UuFg5LtqFhRmT4nlDTTyozYzRYiB7FH1gSI+kCow5CWC0pj3xHl1+N9e/JpvQ/9SrwGx6h7qs/MHKx8beZQZp4YKA1NhnK/ThN4uCcs51iTlkSqnC5Be1uAItdK5Smruc07Y4bHj/vbcprZhglDAaCr364cdX0cJ4a+rQMS1XscSNcT1nqKjiVpbzM54R07gEKIjGQLIvM8RAiqXq67K0/TNj4X9afDYyenzPgYi7GABlwSmvDDVOg/6Bc4Xjz5ZimT/5I15VqBQsxjRn2Cs8vJjIrj87Dp5KW5mbfyAu23X47sfXvgYcem16rdhRQAIvJjy+3gHxjeu4y57g5wjIrptnnHJrxeX297tyQYlm37/nEkHV6bbGqDiZhromXfTCUCTYr40OBnhDp1YLDz125bI9oQK/y27WQIh+8wZtIkxSmWt6u8OgGKjNNbz+Lv9vf65du5bEO4UZ++t39dAI7ERSiC8r0K+wmVw9A0fq2Fks4gELZtgBIvU2Y2sTq1pQewnrESgmazKCfzqXKEndpjPha5eUsVmqkuTX3gBkPvrSwA6YWaoYMjcRdg1PejgF9j+lj73aWObV4+A572PmziVc/aq7UPEADHDbLMhAwmtsUYrzRdANxYr0+xrrnc/TzhvhoviAIW20IptnWEHckCkxaNADusrEaaFlL+dhgTYI8wXoyq4xx+/Y2MB+jXjdGj32FH4/wqzNgMUcBv1asBLla1cmJZNX9Uft30w4GTid15JJPpVjfDwHnKR2eX+5sUrpkLRi43vs9xP+9CfoDlSbd3GiXnI4AnB4aidTZW1O2rxj9otZFy10AEfBdQTRVpFly1/OLUzIaka2BJEtYka1Etqn3yIxK/IpzcFs4POC2bsuulsl3DYMHx23DOXymtm6SZvYIulTPOgmAtqzD7pXqYevUPb8W9CberaTITJXhEnhfbQJkYIltEam1+B6MwJA7mmpWAwMGyoAeZ+90CedZgZsMvebVEth1KTs7xaZoSmfD3m5TKUglsuFsfxBZSaitoeOQyptKKlxAnonMEd9WFMPKk9R3c4hJ9uYoFWN1WKxQ1TDr3fFDzS8V922DrleT1z8YUuMaLlRMJHN9oDmN7I/meEMn0q2QUZDNWTeBWuwRKdATFgUS+YYTCHA99LiXv+GD7huhZSH14Nf84hkH7Xt2QbB8ePGKA9Mtr9EyNjezzkbDb9AQmmubMlF08Z2TjOPOi1fc0jKb0yAWg6iK99kpd8XCxOiERuXUhFc54RJhyxWumzBFuhSnmemJfzYDvGtYq39Lz1po+zOI30QQ9fbmyciyWGBdIk4Afnz5OErz1tcSFh6kGtkBrPyClMWfsbOLTtXKGeOGyYS0O7gb8FCOA5JjQXZxIc5GApKOc6gvWhSCEzqFP2+ZWK60ktb4rBMdwPGXGK0REYkPd77MdcpPT2VLphnDRHBGiS6fc5SiT14gHZvF4WoLHhDwfc1Vq8x8fg4suLQkvjugua3slOcu/LPvvsgQfi+T7WvPJxeXFN1SCEUsFC6YResW3Y2H4ma4F45BQcTRrB5k4ez8EBb1NWUcthvxCEO1SKpm/YYW7qJJwv1rRoWDS7E+lxeUER8jppFT6pNAc6Som7t+WvoKhaPkElYN9P+CwHEt8918l0l9FTOuDXkq3qF3YhRhypT/dg0bxfAC0jQaFHEVtsV4fYaIhRtN5O2g/PS29+b6wc8CM34FYxdASQeFndiM4ZxqQDuqa03ciNpeTxHisA5HWuyx9xkRiN4QViIUh9SSG0bVpKDQeHDfkixiu5ri6x4N1IlVEndBo7LSsVG29TBjheodrn1UvUEP1EsPHrVnsYgUMSvyiYtYt0qYWHn/5IrToawawG2WAqBxd66QLQ6+pC8IQckBByaVTqk4GLjXs34OlU59sBIIB02lfq2b2xnfSQgwJjbdytBsQoApDXGfSkUAAw5FtgV8q02rRZQJeYO+MtNYgdq9VuxclAGdPSaUoVf54GH/4RtujbqasrAZw1g9cYuS/YRxtnFy7nCnj5lj4sdvotrVuiWf1l94ORv8b0HK/yJuSDKVgK9IUi6MXF4anQp078iRIzQD3NgTyTxOVye2irwXYca8TulSVM3ntiW75c7SqyDqbfn4HYV5Ca4TjS/a6PM93dT1IH10Id+K3Zutu+LU03cPm6CH9DGMaz5L5c2NR0V2oNZjwQv0H+86pVOqvO5EsVIncoKDI65jpmxIEy4hdebfclNahZv6U6GMhJcZZag/HsZbIUyybTF8C0hhhPbrBxmNPn6grwroJG4apZlq2AoaNAIja5ZbIxf3OWKsl6EVzYYpzotVcJhINpD2ZcJjotiKDay80h8rXbsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J89BuWkyDUrcsk2RtSX48b",
      "input": {
        "note": "Another empty close, and the contact nudged the bowl. Lifting to 13 cm with the jaws only partly open (3.8 cm) so the next close is a short, precise pinch; taking a look first.",
        "targets": {
          "left_gripper": 0.4,
          "left_roll": 0.5,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01J89BuWkyDUrcsk2RtSX48b",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8513, 2.384, 2.0129, -0.8627, -0.8585, -0.4973, 0.3961, -0.0216, 0.8185, 0.5945, -0.4225, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.448 left_y=-0.303 left_z=0.0855 left_yaw=0.0955 left_pitch=-0.1863 left_roll=0.513 left_gripper=0.3961 right_x=0.2889 right_y=0.0003 right_z=0.1604 right_yaw=-0.0002 right_pitch=-0.0782 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.8957, -17.0872, 6.9538, 0.3834, -0.5739, 0.0513, -0.105, -0.1709, -1.3197, 6.9812, 1.6923, -0.0464, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c88a6a9209122b0e3ea0496515b53c43e61dce037371976f4152aabcc81c189b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71ec639852adbbe57e2a80a1bd28f213c29ed550e694d021f40bfa2abe68eafc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a580c2a16f10b0594a96f827c895b6afd447f82e73fea56741c88a1782ae4c8",
        "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 · 3.719 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8326, 2.36, 1.7866, -0.7177, -0.8177, -0.4469, 0.7979, -0.0219, 0.8165, 0.5945, -0.4187, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4334 left_y=-0.2795 left_z=0.0321 left_yaw=0.0832 left_pitch=-0.2658 left_roll=0.5733 left_gripper=0.7979 right_x=0.2894 right_y=0.0002 right_z=0.1617 right_yaw=-0.0006 right_pitch=-0.0724 right_roll=0.0057 right_gripper=0.998\nstate[joint_eff]: [-0.6496, -12.2735, 7.4051, 0.6032, -0.6667, 0.0024, -0.0073, -0.1299, -1.4291, 7.0906, 1.6728, -0.0269, -0.0464, -0.0073]",
      "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]: [-0.8513, 2.3451, 1.8439, -0.6601, -0.8604, -0.5148, 0.0243, -0.0219, 0.8181, 0.5945, -0.4217, -0.0166, -0.0296, 0.998]\nstate[eef_state]: left_x=0.4474 left_y=-0.302 left_z=0.0658 left_yaw=0.0952 left_pitch=-0.1381 left_roll=0.4411 left_gripper=0.0243 right_x=0.289 right_y=0.0002 right_z=0.1607 right_yaw=-0.0008 right_pitch=-0.077 right_roll=0.0061 right_gripper=0.998\nstate[joint_eff]: [0.4581, -8.4171, 3.3436, -0.2076, -0.3101, 0.5153, 0.8718, -0.1299, -1.4838, 7.1863, 1.7363, -0.0415, -0.0317, -0.0122]",
      "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]: [-0.8513, 2.384, 2.0129, -0.8627, -0.8585, -0.4973, 0.3961, -0.0216, 0.8185, 0.5945, -0.4225, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.448 left_y=-0.303 left_z=0.0855 left_yaw=0.0955 left_pitch=-0.1863 left_roll=0.513 left_gripper=0.3961 right_x=0.2889 right_y=0.0003 right_z=0.1604 right_yaw=-0.0002 right_pitch=-0.0782 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.8957, -17.0872, 6.9538, 0.3834, -0.5739, 0.0513, -0.105, -0.1709, -1.3197, 6.9812, 1.6923, -0.0464, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c88a6a9209122b0e3ea0496515b53c43e61dce037371976f4152aabcc81c189b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71ec639852adbbe57e2a80a1bd28f213c29ed550e694d021f40bfa2abe68eafc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a580c2a16f10b0594a96f827c895b6afd447f82e73fea56741c88a1782ae4c8",
        "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_01M9xHpFjKfLJQxjEGfKvk4N",
      "input": {
        "note": "Rim pinching keeps slipping, so I will try an expanding grasp: closed jaws go inside the purple bowl and then open against its inner walls. Moving over the bowl's centre with the jaws closed.",
        "targets": {
          "left_gripper": 0.05,
          "left_roll": 0.0,
          "left_y": -0.36,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01M9xHpFjKfLJQxjEGfKvk4N",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8623, 2.3638, 2.0319, -0.7513, -0.6731, -0.7475, 0.0528, -0.0219, 0.8181, 0.5945, -0.4229, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4486 left_y=-0.3488 left_z=0.0903 left_yaw=0.0982 left_pitch=-0.1967 left_roll=0.1015 left_gripper=0.0528 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0006 right_pitch=-0.0782 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.7453, -15.5966, 5.8872, 1.1306, -0.3053, -0.0855, 0.0122, -0.1983, -1.347, 6.9949, 1.6484, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8037375a521db7cf34014ab3d6c2d8dc7dacc72b5cca45886baa1de167a3cd61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e73d3362a8085d965c870766f78ecdc1ebcfba2cbede52d8eb05fe3c05de1cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf099ee47b5a7ef32b6ab2c73a00ab0d0be9cdd44191c3c2e745e2748833918c",
        "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 · 3.706 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8513, 2.3451, 1.8439, -0.6601, -0.8604, -0.5148, 0.0243, -0.0219, 0.8181, 0.5945, -0.4217, -0.0166, -0.0296, 0.998]\nstate[eef_state]: left_x=0.4474 left_y=-0.302 left_z=0.0658 left_yaw=0.0952 left_pitch=-0.1381 left_roll=0.4411 left_gripper=0.0243 right_x=0.289 right_y=0.0002 right_z=0.1607 right_yaw=-0.0008 right_pitch=-0.077 right_roll=0.0061 right_gripper=0.998\nstate[joint_eff]: [0.4581, -8.4171, 3.3436, -0.2076, -0.3101, 0.5153, 0.8718, -0.1299, -1.4838, 7.1863, 1.7363, -0.0415, -0.0317, -0.0122]",
      "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]: [-0.8513, 2.384, 2.0129, -0.8627, -0.8585, -0.4973, 0.3961, -0.0216, 0.8185, 0.5945, -0.4225, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.448 left_y=-0.303 left_z=0.0855 left_yaw=0.0955 left_pitch=-0.1863 left_roll=0.513 left_gripper=0.3961 right_x=0.2889 right_y=0.0003 right_z=0.1604 right_yaw=-0.0002 right_pitch=-0.0782 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.8957, -17.0872, 6.9538, 0.3834, -0.5739, 0.0513, -0.105, -0.1709, -1.3197, 6.9812, 1.6923, -0.0464, -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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8623, 2.3638, 2.0319, -0.7513, -0.6731, -0.7475, 0.0528, -0.0219, 0.8181, 0.5945, -0.4229, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4486 left_y=-0.3488 left_z=0.0903 left_yaw=0.0982 left_pitch=-0.1967 left_roll=0.1015 left_gripper=0.0528 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0006 right_pitch=-0.0782 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.7453, -15.5966, 5.8872, 1.1306, -0.3053, -0.0855, 0.0122, -0.1983, -1.347, 6.9949, 1.6484, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8037375a521db7cf34014ab3d6c2d8dc7dacc72b5cca45886baa1de167a3cd61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e73d3362a8085d965c870766f78ecdc1ebcfba2cbede52d8eb05fe3c05de1cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf099ee47b5a7ef32b6ab2c73a00ab0d0be9cdd44191c3c2e745e2748833918c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqwMKjgEIEhgCKkCJBo1w7HXtedgT+/KmLrC/oz1QJg4j8S1le/EPSTUmQ1rMKITe1Dv+ttGGq5FakrqZsGSuWulbT21qYIhlN8aeMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcXWy9UGEgw2flc8s1+ubmoYkWgaDHM5BFUdKJmUZFtbgCIwzfO6qHn9Gr1VvEYHniwpQffKZzC9QblGtsYwgnP6uZw7dthsBnPbHu8nh0t+fMk7KskBYgU2SQZoWqZLrdYLoq84HuYWXPAJCtmbxTUhPKTeQVPDoI6GxWmpxVr2QSlkVGRZQ/iko2d/s5zxy0ZZgyLf2Km3AB2pWcsgmkKHiccqht7Lv/anolGaUX2odfP4f5QCBOk1xW2YCUh8/zxbol2YS7GDj80X/Az22jSxhg7UxF1kC1kRQq1Ym8Z/fnq1sW/eztWTz6vBaxbeIC1wRteU+xP4Ds6FW6ny0RaVfmNqsq2rMJ34IbOh5LHw5woPizCfW2Dyu09bEn7vGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XymjnvrSqDbiMiRuxAxwoZ",
      "input": {
        "note": "Closed jaws are centred over the purple bowl's mouth; lowering them inside the bowl toward its floor.",
        "targets": {
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XymjnvrSqDbiMiRuxAxwoZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8642, 2.4142, 1.8797, -0.5739, -0.6548, -0.7559, 0.0525, -0.0219, 0.8185, 0.5945, -0.4225, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4431 left_y=-0.3479 left_z=0.0264 left_yaw=0.0949 left_pitch=-0.2239 left_roll=0.107 left_gripper=0.0525 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0006 right_pitch=-0.0782 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [0.0889, -12.8479, 6.1197, 1.0965, -0.5397, 0.0464, -0.0513, -0.1846, -1.306, 6.9812, 1.6386, -0.0806, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4aebd8eb26bbb67b60a4c0fd48293624a24f1702bb538e81d06a49a4cce9110b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84152141adf1c1f3637b84ad91f1973ee6687995b03978c03894bdad1035e2ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7adefa2ca1a64be28703fc14482c4d27b14b7fadedd6255f5b03704bf1d0f17d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 38.37 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8513, 2.384, 2.0129, -0.8627, -0.8585, -0.4973, 0.3961, -0.0216, 0.8185, 0.5945, -0.4225, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.448 left_y=-0.303 left_z=0.0855 left_yaw=0.0955 left_pitch=-0.1863 left_roll=0.513 left_gripper=0.3961 right_x=0.2889 right_y=0.0003 right_z=0.1604 right_yaw=-0.0002 right_pitch=-0.0782 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.8957, -17.0872, 6.9538, 0.3834, -0.5739, 0.0513, -0.105, -0.1709, -1.3197, 6.9812, 1.6923, -0.0464, -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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8623, 2.3638, 2.0319, -0.7513, -0.6731, -0.7475, 0.0528, -0.0219, 0.8181, 0.5945, -0.4229, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4486 left_y=-0.3488 left_z=0.0903 left_yaw=0.0982 left_pitch=-0.1967 left_roll=0.1015 left_gripper=0.0528 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0006 right_pitch=-0.0782 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.7453, -15.5966, 5.8872, 1.1306, -0.3053, -0.0855, 0.0122, -0.1983, -1.347, 6.9949, 1.6484, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8642, 2.4142, 1.8797, -0.5739, -0.6548, -0.7559, 0.0525, -0.0219, 0.8185, 0.5945, -0.4225, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4431 left_y=-0.3479 left_z=0.0264 left_yaw=0.0949 left_pitch=-0.2239 left_roll=0.107 left_gripper=0.0525 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0006 right_pitch=-0.0782 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [0.0889, -12.8479, 6.1197, 1.0965, -0.5397, 0.0464, -0.0513, -0.1846, -1.306, 6.9812, 1.6386, -0.0806, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4aebd8eb26bbb67b60a4c0fd48293624a24f1702bb538e81d06a49a4cce9110b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84152141adf1c1f3637b84ad91f1973ee6687995b03978c03894bdad1035e2ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7adefa2ca1a64be28703fc14482c4d27b14b7fadedd6255f5b03704bf1d0f17d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStQIKjgEIEhgCKkAthMZAAw09bVCpbXiFRofSAIYLz/joxxbGDzjlsVMvFV0NOYaZIxvqUKMnHK6/256609lCHDypKpQrJN7ITboiMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcnWy9UGEgwoFyIJ+0xXP1SzqUsaDBrVbMSxz86XFrxKJCIwmGNiJDjazxHyxdVhUyeRfEDeWwG/Wz0rmq83IrZRNfe/cWXncZzyWz/9gVIxcIHIKlQifBRQQJXSlDjOpetsozVp4db2NXhjgkbJz71eQRrvOyhQSWQ8ygyOURcUTWfSGvhw7i5Hm5PnDshpmssFCtimyCIfeHK1v/5spiGcgrPuNsT/scYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K8HJEDopA8pgC5bgqGw8Ms",
      "input": {
        "note": "Jaws are inside the purple bowl near its floor; opening them fully to wedge against the inner walls.",
        "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_01K8HJEDopA8pgC5bgqGw8Ms",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8661, 2.4016, 1.8858, -0.5404, -0.6712, -0.7826, 0.9935, -0.0219, 0.8185, 0.5945, -0.4229, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4493 left_y=-0.3533 left_z=0.0401 left_yaw=0.1082 left_pitch=-0.1811 left_roll=0.0519 left_gripper=0.9935 right_x=0.2889 right_y=0.0002 right_z=0.1603 right_yaw=-0.0006 right_pitch=-0.0785 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.0342, -12.7795, 6.2154, 0.823, -0.1685, 0.2173, -0.3883, -0.0342, -1.1966, 7.0359, 1.6728, -0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95a422b1ee077b3afc5fbd17ddd160b8ab4ac6b6e0d8f1dfd77d65c829e50f34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c6abc4df952c28dcc0a36440918b00cbcbd687dc2a2573b57940dde272bdac3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d60ce9d35928b1737d0857f4633f00bf4244ff401959b9c0cc2e1678aeb40fa",
        "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 · 16.25 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8623, 2.3638, 2.0319, -0.7513, -0.6731, -0.7475, 0.0528, -0.0219, 0.8181, 0.5945, -0.4229, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4486 left_y=-0.3488 left_z=0.0903 left_yaw=0.0982 left_pitch=-0.1967 left_roll=0.1015 left_gripper=0.0528 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0006 right_pitch=-0.0782 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.7453, -15.5966, 5.8872, 1.1306, -0.3053, -0.0855, 0.0122, -0.1983, -1.347, 6.9949, 1.6484, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8642, 2.4142, 1.8797, -0.5739, -0.6548, -0.7559, 0.0525, -0.0219, 0.8185, 0.5945, -0.4225, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4431 left_y=-0.3479 left_z=0.0264 left_yaw=0.0949 left_pitch=-0.2239 left_roll=0.107 left_gripper=0.0525 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0006 right_pitch=-0.0782 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [0.0889, -12.8479, 6.1197, 1.0965, -0.5397, 0.0464, -0.0513, -0.1846, -1.306, 6.9812, 1.6386, -0.0806, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8661, 2.4016, 1.8858, -0.5404, -0.6712, -0.7826, 0.9935, -0.0219, 0.8185, 0.5945, -0.4229, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4493 left_y=-0.3533 left_z=0.0401 left_yaw=0.1082 left_pitch=-0.1811 left_roll=0.0519 left_gripper=0.9935 right_x=0.2889 right_y=0.0002 right_z=0.1603 right_yaw=-0.0006 right_pitch=-0.0785 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.0342, -12.7795, 6.2154, 0.823, -0.1685, 0.2173, -0.3883, -0.0342, -1.1966, 7.0359, 1.6728, -0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95a422b1ee077b3afc5fbd17ddd160b8ab4ac6b6e0d8f1dfd77d65c829e50f34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c6abc4df952c28dcc0a36440918b00cbcbd687dc2a2573b57940dde272bdac3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d60ce9d35928b1737d0857f4633f00bf4244ff401959b9c0cc2e1678aeb40fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KgJEuEm49vDMnYjcRieQXp",
      "input": {
        "note": "The jaws opened freely inside the bowl, so the interior is wider than the stroke. New plan: roll the wrist 90° so the jaws close vertically and can hook over the rim. Lifting clear and rolling first.",
        "targets": {
          "left_gripper": 0.7,
          "left_roll": 1.4,
          "left_y": -0.293,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01KgJEuEm49vDMnYjcRieQXp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9031, 2.8128, 2.6938, -1.5616, -1.2488, -0.2192, 0.7014, -0.0216, 0.8196, 0.5945, -0.4225, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4478 left_y=-0.2916 left_z=0.1027 left_yaw=0.1192 left_pitch=-0.2269 left_roll=1.326 left_gripper=0.7014 right_x=0.289 right_y=0.0003 right_z=0.1601 right_yaw=-0.0002 right_pitch=-0.0793 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.1573, -19.1385, 5.4359, 0.0757, -0.9011, 0.2906, 0.0122, -0.0205, -1.0872, 7.1726, 1.6435, -0.0269, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df1e7574a84ffa642b85e795563b58e61a330ea9e5530164ef78c29112bc2218",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54d7ff90fb8328b3c2088b800ac645cc80da390dfc1edfaa1dc5bdee455883b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e2b235f9c486e81b8cd82403121464b8f6748f564f997f097dbf68298661a6c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 4.857 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8642, 2.4142, 1.8797, -0.5739, -0.6548, -0.7559, 0.0525, -0.0219, 0.8185, 0.5945, -0.4225, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4431 left_y=-0.3479 left_z=0.0264 left_yaw=0.0949 left_pitch=-0.2239 left_roll=0.107 left_gripper=0.0525 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0006 right_pitch=-0.0782 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [0.0889, -12.8479, 6.1197, 1.0965, -0.5397, 0.0464, -0.0513, -0.1846, -1.306, 6.9812, 1.6386, -0.0806, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8661, 2.4016, 1.8858, -0.5404, -0.6712, -0.7826, 0.9935, -0.0219, 0.8185, 0.5945, -0.4229, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4493 left_y=-0.3533 left_z=0.0401 left_yaw=0.1082 left_pitch=-0.1811 left_roll=0.0519 left_gripper=0.9935 right_x=0.2889 right_y=0.0002 right_z=0.1603 right_yaw=-0.0006 right_pitch=-0.0785 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.0342, -12.7795, 6.2154, 0.823, -0.1685, 0.2173, -0.3883, -0.0342, -1.1966, 7.0359, 1.6728, -0.022, -0.0562, -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]: [-0.9031, 2.8128, 2.6938, -1.5616, -1.2488, -0.2192, 0.7014, -0.0216, 0.8196, 0.5945, -0.4225, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4478 left_y=-0.2916 left_z=0.1027 left_yaw=0.1192 left_pitch=-0.2269 left_roll=1.326 left_gripper=0.7014 right_x=0.289 right_y=0.0003 right_z=0.1601 right_yaw=-0.0002 right_pitch=-0.0793 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.1573, -19.1385, 5.4359, 0.0757, -0.9011, 0.2906, 0.0122, -0.0205, -1.0872, 7.1726, 1.6435, -0.0269, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df1e7574a84ffa642b85e795563b58e61a330ea9e5530164ef78c29112bc2218",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54d7ff90fb8328b3c2088b800ac645cc80da390dfc1edfaa1dc5bdee455883b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2b235f9c486e81b8cd82403121464b8f6748f564f997f097dbf68298661a6c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1RMKjgEIEhgCKkDq+YENSikH+3G61jI4lkJ1Y7ObSSNJYyshtZwMYpLCrThhOeYsj9pApGBDnzAmumkVlEufqvtuzmAoVoMV8hyXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYLXy9UGEgygUhim9lcgEPKpGasaDGRxtssy332jaGn6oyIwXP9FvnuJ0/5m+1wxo1gy0qNdKqgXrYw0PXBQGdlneDQ4jtjHzt+qQtZJ42yqWnMSKvMRpKU0qYv/iBoh0PtX5+kjQFedjaSMGztNZt2HgI3CjmiVH/0AYp1w8cuIiUF8N0yZuEIAlKB/yIWi1DMyK3/+Rl0JevV2AQmfsLBj+C8+DN0ShOXNhjoElbrPTBuaTyAHNB+lcHuJp+cQedYGbe1aD+p+nOoZ1RX9pbqpOYTC12a6VAfJFNDUedFezWzIdcqkLEAI0UtJO2ZhsKqWadixNo3sIetX/jpaxoEQiCCn0oK31Sg+H0o2EErHn4FUEi/kES+rsk2S8oYp7fnAnjY0DI1dLxadAT4a2VbCLzM70+rg1KYYq4LkJzNGP5EQkoA6rp5ASiDvislPTWOA6GiW08a9x9Nt2/P9hyNhkZHzPrI4rcclNFdYXD2sj8wzct8t+sn1KZBQ6XQkdWy5kOA4QffgiAr0yRFGqkANV16EKs3Ir3YMyPs8vrLhJ+9XFF8u967RXohYM3llvpRLwtu3SfcWMVe1hR9FfK0gXHcJyWMcLN0A/5Bqgey0xHDv9HWRQj1zu5gR9ryLF606+KoNriybLsv4HLp79BB9lq6u7LvicMCEF8xr8MdJTdcTZFFHB2Kl7W294pq71wUZTjras0s54PStqeJIQwE1OBFxhylcDt8fW2/tamm7yxr15XziEnnN2HAqzDkwvb+EgfDSEufpdvvvkUfgG+kDzqARzn74ywJM55OM5zUl7K+G7cYDNYA1liqETRRE0wZlNzd69D78bVEACsf2AfRwmUrzqDSw8ctTRxBP4Rpzfa2Qid9WrZsLB1ysnPk9r0qBFGDKWB7VIrjssquOlejbQDjIeppjS8qCcGi7aNM0UOMcqIBLnhplmfJvXZ53V0Wf4b6LXBv8k6+bZLCdvdK/uvmrZZXGYDbKymdcFxAi8KklZj06aGeClaOF6wRH+qgERDwWJ6GX3m20ThCAxzEEffiguYA1uTe3W09Rs123NnhtCt+Rb3GtKwFQUO/vtDDkhkIbtRpHUhygHZqsI+l958IXkELHDkjT1m7te5OU6eG7F1hYyowBqQCuGaqD2v7TLFWBLKhMPf022zoaJz+Eh5QRPgGYk3S6cU+gu3RHswfPLGw8FFAq8CaE6ooNhAuh3LVmoY42OsXwdXjtZUqJxiGyvYLdZKqTBcGZSvuXcwr6lzbvTxK6fFOpBX+q65pMN+RCj91pxE3Hi7j20+xKJcjpKieFCcsTGNjoN42qj/zCiGttAlXY0cxqd/gIhKn21Xtn0VftIMn+U5pnQcKoJ1hDSpame2iQXO+9kFjBeVMlfZp690RxJUJrqSjel31rZxDeFk8p4K4eg5VxuZjiGhg17rw3SKQ12VP18Z0CGXBFVhQe7yF9yiu3ou35VZ7LjlV85P4a8QXHCdEXguMVB2Kquf+Uic78EEr8ah9kflQxVlc1WVhLFRopiUdvb77dw4MjgkRE+BEb7NnA1VL+9uQ/FlayZbSDIP9faij4ghfAw3+yASvL4U95iMuaW2NaWQp+owA5VBQefscp390aVJZCkqySJ2SbXliJ80zMIFmB2G5VgDkZ+mbevzzRCssivdIEmkC3umPq3WD4deoD37TXGKr5CrlruNkPevNsWk1ZVsj3kQPT9rAq748wHaXqGHKRA45Xdt1DqcE8H3Xul1vbVixBfEbH/16wG8cutAZiu1BPrvwHxt+kKZskXs0Dmxxrn/B3wWJBv3V4dzdzWi9QMB4ynOfMw0iSZrDEbZ46VinGMwtW1A6c46N/BeLCsnuj84EkIx9fckuyvjuHjdWNWhs6OXJf5RR9dLATQbjtFguu8XFNFF1VqaLCOnAuXOaPBs4AK2Tnj/3A4r5ZdeXYW1n4HfZi0ZfCmzaFgrggksXUtDQjVVNaRYnetIpE+MJjOsY18exML6fROKCFeDit+FEsfByzWSOOkIhkX4y4Qp5mg12Ps68nZkXLj62ZSHRV6RlwPf+SyPiDaFadWHdvcjc2WPoc6If6PkBJl37PcXr0mZl/SE8/Ql8g+qgLPQWzwQphn7hJtfqMGk8+nsTFECKx1FPIWKyAGPCUtkCuT+H6vHIX8Pr7yXypXc18NUx0GswGt9sAjLNisye5EC+57ztwFDeqMILIavSHTzzQXtEVQxTxQnE3zmAWdTkLoCM0Hl3ed4Eon4+jta7aRewRDYiI8LuEEg+l/HeO3HW/WuDtEAFGMV/IE09s2F5EGKZw/fbB+m8Knfaor+JZE1OsNZTGJYE2hqh3uZLkKPksbILozEtPkVYc2NWcQXRxKHezE6FBDQlNee6/05cNFyOk+eXxtgBODn/zVV+I0pdhwNQYU1bCrgdZ9M4zAsFyMJlkLt8Y7k+3sRbhY+Nq+MauE/haIFiTnw+vwOWxeSkrnqCx2wKCoIp8czr79bMF3wD6onjnf9s7gkVryvDMjCdeGPYKuV7l0WMrR4AnpUS1lPrIfRRigr/ukiwv5MAZmgzypSreMPutBlp5CjdGIknz5v7i7oNHttr0CSTFB+1WHdOyrLWFHYRG0VU4JKOzaD8XapjpQ3WPz2ZyDvdW3qJ4fk6FyzqoJB/aDLzj0D0HSz0L3jZLjwolvtayHMScqaCa4cyTUjE0dC9ngxy3l5WYUUcQkLZR8EHZvoUIc5Fpk8fker4Ode2vrCK9kkPW1UlU3fv1kvFZbCdJS+psCABWeQgjuhieW7cT/iljOeLJupMZVTTrzY7SCxM3aJl7QhvUt5oUfboXZ4wYQFnfYce7yBe/dff8GuMjDg3IPDH7CdJp13WT367ut4UA88KD7wcJXL2gKeDjx72HJWZ1V3pxXw5f4pgsBRymjCpsNOWtzhd/2fStysg1VqyBuLs6eHLPKRSL49Cs9/SYcxM+dlFuoAB5dvd73xXS/NJN46PoWhoe79jYUKxp6RkeuiAqZ/GiErLHsf39LQ1+RRVmK+RpU4+ndPKf5LV3ytDP/Di7uycvKIJsbFAKpjTJTka8LL0gvIdK2HuD5K5AvwxXJw5POSzcrX2jnDYH3uoWGltNuEcIVJiz4vQ9zIYwtiyUUApwh4ki1DryWTkTkqw9l2afan0qiukYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FDuuHr2rtTetLmQFCLExtp",
      "input": {
        "note": "Wrist is rolled so the jaws now close vertically (one above, one below). Lowering to rim height at the bowl's near-left rim so the rim ends up between the jaws.",
        "targets": {
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01FDuuHr2rtTetLmQFCLExtp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9035, 2.7857, 2.5, -1.4376, -1.3128, -0.2054, 0.7009, -0.0216, 0.8192, 0.5945, -0.4225, -0.0166, -0.0299, 0.9981]\nstate[eef_state]: left_x=0.4475 left_y=-0.2862 left_z=0.0789 left_yaw=0.1241 left_pitch=-0.202 left_roll=1.4083 left_gripper=0.7009 right_x=0.289 right_y=0.0003 right_z=0.1602 right_yaw=-0.0002 right_pitch=-0.0789 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -13.1214, 3.7538, 0.7448, 0.1685, -0.1734, -0.0659, -0.0889, -1.3744, 7.0222, 1.6679, -0.0513, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ebc3b456779de33baeffac10b2db0e7287bd8f3d77a15bd091832b3c171c066",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6567d54f5f9f357bfbe4f7bd20928ece12dca614e05cb1b4dc8e1c0e3310eb03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb74f80809dd40b44f112d1f3bd979c7c2d93c7c8a5d09fc12d71aab099fe6d6",
        "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 · 30.25 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8661, 2.4016, 1.8858, -0.5404, -0.6712, -0.7826, 0.9935, -0.0219, 0.8185, 0.5945, -0.4229, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4493 left_y=-0.3533 left_z=0.0401 left_yaw=0.1082 left_pitch=-0.1811 left_roll=0.0519 left_gripper=0.9935 right_x=0.2889 right_y=0.0002 right_z=0.1603 right_yaw=-0.0006 right_pitch=-0.0785 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.0342, -12.7795, 6.2154, 0.823, -0.1685, 0.2173, -0.3883, -0.0342, -1.1966, 7.0359, 1.6728, -0.022, -0.0562, -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]: [-0.9031, 2.8128, 2.6938, -1.5616, -1.2488, -0.2192, 0.7014, -0.0216, 0.8196, 0.5945, -0.4225, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4478 left_y=-0.2916 left_z=0.1027 left_yaw=0.1192 left_pitch=-0.2269 left_roll=1.326 left_gripper=0.7014 right_x=0.289 right_y=0.0003 right_z=0.1601 right_yaw=-0.0002 right_pitch=-0.0793 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.1573, -19.1385, 5.4359, 0.0757, -0.9011, 0.2906, 0.0122, -0.0205, -1.0872, 7.1726, 1.6435, -0.0269, -0.0757, -0.0073]",
      "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]: [-0.9035, 2.7857, 2.5, -1.4376, -1.3128, -0.2054, 0.7009, -0.0216, 0.8192, 0.5945, -0.4225, -0.0166, -0.0299, 0.9981]\nstate[eef_state]: left_x=0.4475 left_y=-0.2862 left_z=0.0789 left_yaw=0.1241 left_pitch=-0.202 left_roll=1.4083 left_gripper=0.7009 right_x=0.289 right_y=0.0003 right_z=0.1602 right_yaw=-0.0002 right_pitch=-0.0789 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -13.1214, 3.7538, 0.7448, 0.1685, -0.1734, -0.0659, -0.0889, -1.3744, 7.0222, 1.6679, -0.0513, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ebc3b456779de33baeffac10b2db0e7287bd8f3d77a15bd091832b3c171c066",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6567d54f5f9f357bfbe4f7bd20928ece12dca614e05cb1b4dc8e1c0e3310eb03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb74f80809dd40b44f112d1f3bd979c7c2d93c7c8a5d09fc12d71aab099fe6d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxQMKjgEIEhgCKkBoDVy7/dzG9P9yFgC89XcPhr+9a+ws4HMw9FtOjra1B3GuY7S1O+AX+8PYj+t0RAVY1OwLvBvd6se1/vsCV0qEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYjXy9UGEgzRndokra2JCQHJ0V8aDBUAsYNSXeI3g7czFyIwG2cr7zcw8+ycpNHpjJoZvXbY2+GBtHPJ6vEbC/hDbeudEQ/jus6gcsGaEe7depIBKuMBhmk6CkI5qWhrSi4aikc4wlULmkhrB0XWBgFMkHSVwp9me+TdPeGZYhjN4k1Rivvk362Fs043ImQ1lBULka4o5mL9UDT5R1XoGMW6c61KQUdn0x34a2bdeOo4mYajZsnvVydT7i49hRI6+o/eKeWzICkSpcqfonuUMZfwcWb4udk3Oz5JSS8MPyW/uo/XQlTXNaVX9Fz4aFVJiLxtxMNG69B5ZfYk+a+U0g7nlMVtGD9nKGz//AAisoJgbw3fXGMAiyM6BejTvit1F2s3h4PR9mZgX0NaCi1Jz/EYmUhBLzrSGsAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GbRinL49vY4t26VPrGarbB",
      "input": {
        "note": "Descent stopped at 7.9 cm, likely the lower jaw resting against the rim. Closing the vertical jaws to clamp over the bowl rim.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01GbRinL49vY4t26VPrGarbB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9035, 2.7911, 2.4699, -1.346, -1.2488, -0.2096, 0.0086, -0.0216, 0.823, 0.5945, -0.4229, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4482 left_y=-0.2923 left_z=0.057 left_yaw=0.115 left_pitch=-0.2249 left_roll=1.322 left_gripper=0.0086 right_x=0.2891 right_y=0.0003 right_z=0.1591 right_yaw=-0.0002 right_pitch=-0.0831 right_roll=0.0059 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -13.9009, 5.5043, 0.1587, -0.6081, -0.1148, 0.652, -0.0068, -1.4564, 7.2, 1.6386, -0.0317, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6c8ef348312a98f0dccaf9026315f5322d1e4f03d228c8720c2bf63dae47710",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1c12ace9f0fd8e18649425729afcb8165a1ee1c3e14557fc17b2d7183769edd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c4cad8efd2e2961d961b529b0e1c2b5d27ff13f171b2b6fd425ebd4bd12a98d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 10.08 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9031, 2.8128, 2.6938, -1.5616, -1.2488, -0.2192, 0.7014, -0.0216, 0.8196, 0.5945, -0.4225, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4478 left_y=-0.2916 left_z=0.1027 left_yaw=0.1192 left_pitch=-0.2269 left_roll=1.326 left_gripper=0.7014 right_x=0.289 right_y=0.0003 right_z=0.1601 right_yaw=-0.0002 right_pitch=-0.0793 right_roll=0.0058 right_gripper=0.998\nstate[joint_eff]: [-0.1573, -19.1385, 5.4359, 0.0757, -0.9011, 0.2906, 0.0122, -0.0205, -1.0872, 7.1726, 1.6435, -0.0269, -0.0757, -0.0073]",
      "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]: [-0.9035, 2.7857, 2.5, -1.4376, -1.3128, -0.2054, 0.7009, -0.0216, 0.8192, 0.5945, -0.4225, -0.0166, -0.0299, 0.9981]\nstate[eef_state]: left_x=0.4475 left_y=-0.2862 left_z=0.0789 left_yaw=0.1241 left_pitch=-0.202 left_roll=1.4083 left_gripper=0.7009 right_x=0.289 right_y=0.0003 right_z=0.1602 right_yaw=-0.0002 right_pitch=-0.0789 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -13.1214, 3.7538, 0.7448, 0.1685, -0.1734, -0.0659, -0.0889, -1.3744, 7.0222, 1.6679, -0.0513, -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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9035, 2.7911, 2.4699, -1.346, -1.2488, -0.2096, 0.0086, -0.0216, 0.823, 0.5945, -0.4229, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4482 left_y=-0.2923 left_z=0.057 left_yaw=0.115 left_pitch=-0.2249 left_roll=1.322 left_gripper=0.0086 right_x=0.2891 right_y=0.0003 right_z=0.1591 right_yaw=-0.0002 right_pitch=-0.0831 right_roll=0.0059 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -13.9009, 5.5043, 0.1587, -0.6081, -0.1148, 0.652, -0.0068, -1.4564, 7.2, 1.6386, -0.0317, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6c8ef348312a98f0dccaf9026315f5322d1e4f03d228c8720c2bf63dae47710",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1c12ace9f0fd8e18649425729afcb8165a1ee1c3e14557fc17b2d7183769edd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4cad8efd2e2961d961b529b0e1c2b5d27ff13f171b2b6fd425ebd4bd12a98d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7SUKjgEIEhgCKkCRX9emLTvDO9QUU5jmySTULkE3hidF7eY8tBp3g/25Ltj1qZCXXcVGz/HZyc1NTi0eGJbKuVbBCdfT/Cy5Wr/0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAabXy9UGEgy/u5jUvK4XiVYxXNUaDPGiVsuU8Q0VN1SG/iIwjgXL8qvl6XXEc5doW6uIAgESw9fkVLh43ltKCL9xJpduEvmXhBT659s0EBG0AGorKosk8+DjOMM5UeDitT1zfSD/e2UiSdj0LNDw8X8GFbCWVcjJGmm7Ee9Gm5PrWIzGsCBVMYYKpdb+I6T3AQgcBAxvEWSjI4hjatvp/wWW8jSlzDjp7NlRUNko2UI79Q9ZpEbOYPCASS7FolOdmep59QCNCaSsNGdrZucdr1Fd3kGyfVJf4vFlBpIpoEf9TRAY36w9dFTfM0siiFZQE3E79cmtmkv2A79AcVCDY8a8OFEphqh+1qqkN/CM/bXSKCjVWnZbq5RftFlDGuGrKV73WPERTjben6cV2XKAaKt6VDsGzWJmX2TjWV4lXMPvS98jXlQls4mcNR0xMqoumb3uPI9tdWuvDJ53NMKopgvaXmOl1gsY+uayl9IgrlZAtFtNNq1LwS/JW3X2RFRlgvUhQiIYc8IFMrCIeB218Pt0wLuOGVK+vitTfT0hkD1+3nA8p8s0LGhPylxNtLFyt5JcXlUII2qMlpdiWKMy6h21AJVY7MyigOf/cY5TjeG+6vDD6wXhXiYOTQK8d0OJFm7WApaOujsK0fd7y/E1F79pKNkv/VeRBBK6omzTZ+ZL55xkI+W7/tgC55KBwjOjVIGZ4coUb6U66Ac6e4D+aNGYlObyCetLIBpdB35L18zl+izgKX+v/E7KFqWRtNE9eRkBL9ZOTVaMNqhMQf8jfNWxMsjGh3RCujIoXKS5KhFhUNuntbLGV5tnTVHoQWUw8CLQjLeXuKwXR5qtsZ5J0pi6Ix7kdlPlUQ+rRJibZuLD9vOE7cLlR20VNjQvDnqVeGTw0LsT6f3BFkEv+AmJnII0T1EuK0p7wsG9JXYBIfZy+AKayUAYWSSngul6nUPI4ryMshluNH3i5CnOb/pXunXPIC7Hpl1o9C9Xx39lhjHDu141Xs/G+wx33qOAjiub11Ea6PlBZmZxVrLQC/X68mmcpCHnttG3+8RuK+NzWySl06029uArEj4+96hQYSHk2CQi5QNnXmBsZuUyKd/ctpHWvC7wRDtxybgHZF97oXtwLAV0tZAwECtOLqYqIqxHLI1sU7vYajOjZ8BHvhXZBb/fuc04A4lmObyJGOm2ggQEE2GISlCr91rutvWv7B4EI/CkwHnnwe7AP091j/FPyNViva7wJgSLqjKDnKXdARVx1L26WEuhvoam3lNN6IOUWngJVc7RfB5BngsnZjip+lXnvlXmXBuGcnb+u5FKKE3IWkQi+koYQyANztePVIC+e+vQ83JgSL34fbs6OinslpzMnoqErI8qp4lKnscE3F6UyBU2AhW/pD+ws9Lyaat4vqcNJIbez4rm9+tNnpMZ8F5b5K83sCGP+U26U8+4tEx3GJfQYpUPoOwv9YbeF1Q5k28mXu1QyfKuUMeSauduHsoQrMeLoZWYI83YxUSPOACtQEqltcsUyoVxciOqB0me3uEDTEc3OPIEhQR1lOk3gw3pum+z2hchyUF3hbu6FnuBtcJsWhgoxutyVJoThycboPXoJqEz4sP2j6zgVObjVVoU25gi3FzdZ+NmfICZlRDCyTMhwss9XL0uQEM00xpPy4VKkBlwy03KMXPlcFucuzueuZZ2Peo6pCuiD6COSBB4bI0jfoluGKzSpPNoEt3KqcXwCvU6x9+GO5Cm/DfYFRC8XCF1gV+7yAAZ+oDyCbJ4nRxvLhmqKPeK2eQG4tUBYRFAzSYbER7Uaj4bXGbM0eM3Bc2kNS+qTQaSYBI0ccAAb/V2XCrJ5jdvXn17hS4L6AdYu/LGFJwqDCTp1cecC2j/zp7k76kbBAQEWGTGGseB+S7UCFTulJ6Nik7tPDz6FWH2x4SkrXOAOvgCDnHieOTRb3sw7HAX+4TaCQX7vfnVmAOU/nyOuDG01bvpENku74LoLxRxecN4O/rRJlugoD/Uj1z00KqmBb021JS3wj9tuOawzIBgGKAGwX8SJEi0l8bijIIm9c8srRkWtXWYgT+Daug0p7HZU9gzukej17O6HHNGLilbnymJobzs4J5JI+2UxnloU6iCO6PNRCUwUbViF6DQNtkMh07m+RavCK69b/lOBXmxbcQoe1bHvZiiN9ayCeU+MJW26PKCJrhDN9qx3I6DVezFtlt3ziaAp20WvJ2GuG9fUrACl+W2MWDQBl1N6Z1oj3SWUGuetqRz6dplGUJ686F4OTQLXGFVnaAGR/5X14rwmWQ463sAERhTzfaRhbgp//+XqdvzlBvSdWldAZneBciUnesrf7jUSmvKpYThhOCMBsmcN4E1qJtGpIQEl+xRwR1F9rugN74Q3B++GlRKmpDfqV4EDSZaQExsMB5fyK7ZVNtX21drNSU4EgSki6qLXyvr3qGNgx7/yXDKjIGlyCI5zquX5//iIn1OsliaIQf5T72PhbfIQwdioNkQY/o12ZmJqDlAi+/sDzKW7XxFRWjxi3HlDYJpbJ3ZNK2IsU1erjwLN382EeM52QQxmbMD90z3ZTiO0pEvrvTnTUnJwApRlCWanKinwlMlHFpywPoRos7I9RzgUDoy+c0c5ZjZqQMiVNlModoR2xn8WxUc5BUKvZBLkhdon9Ri1HbUyfqAtMVJq0wCveVLVC6wHZhXyJIiHt63dwFOyZ1M0NbIqXK+OoqbVQOkyGvuegRgplFwh61DEDML5yIKymkGWjDM3sEJP1jxdHU5jijpAVztWtqhgb11LsDVZtZIgq5w/VUNcyaOeeFq3vXwzCy9zpW8Gk3NmRJt4nlKUGRhOiNWqe23a9AbVweO1WdUj6obp7Sfq5B43KJYymKaJMPKWlW7opdD3vYoL07v+pYJvpp64638883HWogbO1o/FyBmjykV0BYCP8ogzM+O0pOj1VdAFkPo3e99lEtvDmokv+3MfgNWD3xlRibUuFuVfSTat7jGF1kRTZ14H9VDCWhWc6tqoHSmi95PwIJzzTxfXOqv5OahQ9UbG3uOSxzdAZTB2QvJMmUqnphnTlOBwN8XPLjJbQIGiTJYTxGHJ97ZLBLjQFnVc7w9B+Y0z5no8hfzv+lqhH5wS0mb/dd+06h8rGwfxKWfXhaD7hv1r5hIehlP0kft8F68NZrnokFPpd9IjbGSBQmzh31NEsbqDYaGjqEKEU9npBLIt40lN+qz1GdPJMTrKiiT6VWSfzna/s6YrsCUJ1jd1w+5s4wrEwDv+66CGF+EA9tlWsRIzeu55V7gPSk2dtQkiisR7dUGA+uHvd/3EqdqA9DjsgduEjIy2KwJLT0IYNFvBxZ+wZ96WivlQIHX1IJSohpVZ6C8n7zvGkbjl53O6PzMuNSoCfl5t2EfmGTLGVB+HybDh4Xta7avVkWfRHBzgUfrxBi2X0vyvE0h/ZBT+UNHjuLJ3iyGFozzdxUnw81tP5RUb7RaOLaRXW1knOE2PynxpthFAHAdrDggQyPwbMvFtSWZsRT1mRLI3tCcIywpRZL0TWjeZhxqv4MGPBmwIVjJO6vyZ6c7mSUEMNTsajlSI8rqaZZehnddgptvC9XsHjBKuQ6VSeg1KYaXOakyRfJf5uw7mualr1UrzUhW1JIAKT/cuQdeRbD0lMm52eL0MS1ZXkzkX2269g3rtEmbbeKJvOCC2Vl2AdlzaG+pf5pMfZSC+yvooSclnZ/qbD9Sqc0PQ5+E16ayWJazqR4f6fGSAvoUPOylyMG7tmrsOnJE6agAxG5TPQmdSovvHiso805X+33eOlqG9kwR6xOYByLyIDxKoc2Sngd39fHWqOFUh92/qBCGi1q2XE8OW/qabB/fnjmwcit2+MbzIRxrw9x7y/NY462zSICZWYf2F0eEDEyJzJv9g6aLCnrwHFUK8gzg6W38/n8zNi64xtUNsqbUWHbY30HMjfCeUj5chK0tl0S81/QarzfGb+Qu1a/gJhmS6SY9b2BDOfwujXYuTq5zcT/thJGOZvCUsst/js/05fsOxCAST3/tHZDj+YRc+EupOBHY1lpMV7Q+hHUAhZgcg8KwpgeSGi4JglS5FZyYdLKrfMRK8s+Rg8XorF743WKVg2v3WrsB4EElMe9rOMB5f8JCih0cERxwL4evdvyrKqKRMdqV2Ge6hFXA12s/CWATN/vLV2D1yXUCoL1auv4No9ee5LGHyRRkJ6rvOs0TCEWGLcbjKgDCpBgeN/hIiVJ0QKSGvxd2H5G2lCVSFXLPP1/50pEZVnWgsldhgnlYSMXIEjBUq14VVflIDlMwWLypGuokFoHFS3e6xenA3ogxsaiANzmJMVKnFZmOwQZsVoVlPyK6r7TTnKIONtEIw295vMGivX3WlfCel3JSJ8ePOUpK44EiekSTnJ4BgL5U20o5+Ub7iNhJ6Ea7uLD+fg6b2q+gKM8JzzsXh9AKeosL5832hHZQ/Vj2SvG9NyCsPO416TfAI89SxeshRCFfjLLxlqMjA2M8X9ACAckBZ7SsDla5vTswdaGiNCujccsRHkIej8YPQU2YZVTRvZ+Lxla9hdHT3y2tEGeMSIkrwExGZSxogqElrFHKN2pZiuh6fq+KNJCk/389Mzq73hM2WAgaex5+/QAjrFlRK6g9IDGxNm3JczXtO+2LFK605GwzY+c/6C/q4QIu48rNS9o6OhgdzzK1zc25InYmhRZLvEIuBrTiEc2c8I5JZQrUN5Weo18Yk3pCux3PqLwJlmo7vIP3AGU3Qug+LE2q3asYtSi3Lf+jIw09Ofojz9EOwcp7Zqy5Ug51lr4NScN1W7SbvSJzj0wRxVF34MMNnGguBA3bpUE77bkuGnsom7Lt46bH8YZwr/4JU/6e0sxrkfET0oLt7O+41ekTWnUnscLeBPgit1z2d40oFJz5f2a4LJuT7++tN+Rm5W9MAAl1y2UAmXtN1DfeSu7Ov/mMVUTHcFw4HTEhFbwit7zHU40+1XGxyxdhgf+tnqXLWc5I3rhjWbhnUB530ZdfFt8QJYWl0yVBcZV3xDc2zS0guP59sv249ynE+FKQtNGcFabuEWnJfLq38i6nrj6d2J3gpP+/W64GjSPRaB6SQc/cDmgjg/hUkTskUQJOaUxRlnQNrc5Kv2cRjRu/i01IToku0aYs1pZLzZeUygnRtELXEN9AbSldQ7Mm4KVR8XI30Cx9evS4w+CPqiYhZJP7gJRxdCOwsePc3BXII+L8B0VUQiBaTMEx0o3aE7Ra+tLQA9vFn6ZukmD8bLPwYwp8hM4I1t1+aByq+0p+4kvm8yi6mnDKOHGyxqOGcCNlJq6uw4n3SRwvtPNtgZFtGOcLA62f9WZdGhxutY1jJm97gXH+SGWTAk+fiKE63laZ6R7vtdFq2OzduIcxhQvRiPoEoDWkdZL31d2I+TBIyWSyYorWd6lO+r2aFLWQgNpEDva/mlaU5MswovXWOM8j77bMb9oiGf/ucT8HyEgGV8NcOkz9EbVaBg3zbVEevX+od+Gt9j06/ayZkObUADWTmPcIpn6Oz9DkQiopaYroaweIOyXtVNDaPXC2x91AGyvmDNRUqIhiPEKuGXPlE4/aaWVZrnqrX4c64SyiKvSqJIbQkx2IFbCcbx0FYGkZjPcHuh0/rbqtEG00xqn4UWd0B/BIb0OuE4/mCNIK/1Fo/etdf3o8bWNWUyqgrs96DE5F0Jsw6sxfIiSiHeIB1brivoNbGpG3NZcH3jiLwFIuvCYw+uj2ZqwgRbzTJyuxCBbb8MOk7VDXEVemTBtx7sEwrWFiVjoKqX5W9AocRkIf1UJnatYQM9Yx30xUZ78X59YCVbruJNBRpk4kHBLTV6DsYnuw717wjqogj0WX9BYfNL7J8hMmjBjncX5a77ktBInpovthoglD7fB1QzCpi4ckqSyFbu8gzceRuur/TFXS+Bs6c0e3tOrX2i/Tk29TR/72/7/zBgovdclfc7FRRvW1Vg1KTmxUPUg0OalwcZ/T8gnNR3z+UgvKg0WCKJ/hr20dYYA8UsVpuCU52uc+SfiRGUo0ipQC/TCZCT+uAFLrYtGnnwB/v2DR+QHDHaopjpPwHwVC4KKy7tUC43EcmQOCUpHrm3cJeldbCzMGAJqMYy3s9IyecuCFXogUb7UbGD79s10F/xi6xfTHstl8HQ3S3a+8EYb79SUHvYr1vHGB6J1jy1BkqFHptq340ynu0KBapSq+QWw3T5/4MWwPNrqK7ja/QomXHZgA/Ji+fjQXZRriGrtYQgD1/UWx5UQCMvwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UC3rx3GV4cXz6uRAB83pNZ",
      "input": {
        "note": "Single-arm rim grasps keep slipping, so I will squeeze the purple bowl between both closed grippers. Bringing the left gripper to the bowl's left side and the right gripper to its right side at rim height.",
        "targets": {
          "left_gripper": 0.0,
          "left_roll": 0.0,
          "left_x": 0.45,
          "left_y": -0.29,
          "left_z": 0.06,
          "right_gripper": 0.0,
          "right_x": 0.45,
          "right_y": 0.24,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01UC3rx3GV4cXz6uRAB83pNZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6357, 2.265, 1.6272, -0.519, -0.6579, -0.6903, 0.0066, 0.6613, 1.8744, 1.1343, 0.0788, 0.5114, 0.3794, 0.0082]\nstate[eef_state]: left_x=0.4733 left_y=-0.2105 left_z=0.0252 left_yaw=0.2987 left_pitch=-0.2555 left_roll=0.1958 left_gripper=0.0066 right_x=0.4434 right_y=0.24 right_z=0.1055 right_yaw=0.026 right_pitch=0.0027 right_roll=0.0336 right_gripper=0.0082\nstate[joint_eff]: [-10.8513, -18.4684, 5.7094, 1.3016, 0.1832, -0.0562, 0.6764, -1.388, -0.8137, 8.5675, 1.2625, -0.149, 0.3053, 0.7302]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e8c56beee831ed9ecc468049ef4e9b3765c88bb8d7d41580501e8ee78f9cec3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4b73cbf69b4cd411720d48de9ee00a51fa4584622fd2b148311058fc112f3c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e70a07c883de8ba70ea55074e832664a9ea39216828fc0c724d0f21038b722f",
        "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 · 8.606 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9035, 2.7857, 2.5, -1.4376, -1.3128, -0.2054, 0.7009, -0.0216, 0.8192, 0.5945, -0.4225, -0.0166, -0.0299, 0.9981]\nstate[eef_state]: left_x=0.4475 left_y=-0.2862 left_z=0.0789 left_yaw=0.1241 left_pitch=-0.202 left_roll=1.4083 left_gripper=0.7009 right_x=0.289 right_y=0.0003 right_z=0.1602 right_yaw=-0.0002 right_pitch=-0.0789 right_roll=0.0058 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -13.1214, 3.7538, 0.7448, 0.1685, -0.1734, -0.0659, -0.0889, -1.3744, 7.0222, 1.6679, -0.0513, -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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9035, 2.7911, 2.4699, -1.346, -1.2488, -0.2096, 0.0086, -0.0216, 0.823, 0.5945, -0.4229, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4482 left_y=-0.2923 left_z=0.057 left_yaw=0.115 left_pitch=-0.2249 left_roll=1.322 left_gripper=0.0086 right_x=0.2891 right_y=0.0003 right_z=0.1591 right_yaw=-0.0002 right_pitch=-0.0831 right_roll=0.0059 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -13.9009, 5.5043, 0.1587, -0.6081, -0.1148, 0.652, -0.0068, -1.4564, 7.2, 1.6386, -0.0317, -0.0562, -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]: [-0.6357, 2.265, 1.6272, -0.519, -0.6579, -0.6903, 0.0066, 0.6613, 1.8744, 1.1343, 0.0788, 0.5114, 0.3794, 0.0082]\nstate[eef_state]: left_x=0.4733 left_y=-0.2105 left_z=0.0252 left_yaw=0.2987 left_pitch=-0.2555 left_roll=0.1958 left_gripper=0.0066 right_x=0.4434 right_y=0.24 right_z=0.1055 right_yaw=0.026 right_pitch=0.0027 right_roll=0.0336 right_gripper=0.0082\nstate[joint_eff]: [-10.8513, -18.4684, 5.7094, 1.3016, 0.1832, -0.0562, 0.6764, -1.388, -0.8137, 8.5675, 1.2625, -0.149, 0.3053, 0.7302]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e8c56beee831ed9ecc468049ef4e9b3765c88bb8d7d41580501e8ee78f9cec3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4b73cbf69b4cd411720d48de9ee00a51fa4584622fd2b148311058fc112f3c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e70a07c883de8ba70ea55074e832664a9ea39216828fc0c724d0f21038b722f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0QsKjgEIEhgCKkBW49tsJdYOa5/mqRA+P38mmawxPG3lii9dHnjBqj681K0pP1gINj1K6lwsSAUqbUyXVEclPJr5kmugv5f74M4xMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbLXy9UGEgxfJ/cIsdrzkHlA2tEaDMuv3Zw9NnxittKB1CIwH+xTauGZA8AiE+EPwr8SKUYzl12VcWJqjHw4wfDGOOpAXdSrky0UERdIWGAthcMCKu8J830hDpY0aP0hhzVP1CvHScYf7gkNcu33Aav07N+5moM2rQA/F8FesKl9wYYHDVIa2MZxBpxwKVTq7bOYmixlf9CIompXlVAdTiYqONokcYdGZBGFT/+Xq/LaFsL9Bc9tDYyjdmNcZAuPlrRl29+lL3sMU2DnqLVpcGA7piapyQXFCcdBZKfBbk7uXorM/GYoFfNokcfKKvAbS40fMurPR2jIuNcQnmggszHabG5OTqVtccyn6Lx2ZE7ZgRvH6XD4PTP0cztX8X685HHeqmr4pLBOUO7GDJg5xzWu4FBqOKKZFowh+x9S8xdsECfYABmy4yRwcRndJDcTx7tS1Q+S/2ob0b39W/tz3ioebhfWsvzJhrCt4qq+04aQAKrO1fU+mvhaourB+CGWLNFMn03KeTMisCg6XTqlB0gqz4/PVaxoqBT7teJowWP5rGM0Gk1cJ8YauxuqfTzES2iL+Dpu4n2erIWBxZYJNAi7wyC6QzSUHvvJfRa8sqGLPCHeckK764pH4iTt/6rRvjPC/kxi+3+lixL+SUFRIIN+wEWqL3Xns8DsEYYg7/l6+GqfMv+9Mkog8PKCGBj+EpKklR4W9nph0BEiuzq5Ia6EDACoDDuILRzeV41aLmiSAmtdi8fPAkLYGMNhBnSC1MUJ9b8Otve6UW58bssAAXig9BEku3nTyT9DDiC6cj0LdTKWrKMmabyTmrl9Yg/NdBcbYR0vLBRP6csrCwoAS1Q80HKQFGdUM/6FKpyJqC6DmLRmeP2TUD7bG3bRodYlA2mtlZxBcWezEicx800llTQLge/Eh6o0tC4hM3LVMVQ1IKi0iEgtD5aflWM+ZyW0o8c1DNwcvJ/CTmte58d/VNlvsLC4N60xa9cgTThfs9SmvfeIGVW/qRCHkO/XMhg7mLgrXBIcfLAsITk0DBO6raolF9wRvso0HBEMGfwvTsGLWWCUAKlYQoZOr13JqsB5XsOU88BjH64GFinNVFtXxRNGvEJ5JwkjTM1/7NgTehQTELQHWkDmSns29KbUoCv/9IqL4xSYpGWOMtQWT2gDFLY1GbzvgIfVYmpM1n7qfSlf6N0Dy/9TJ3L70BGbJHSPbReGMFhU6ou2sCvTkxJ7sGlW61hYS6fOu7Zw3BABQXBqbkgJuIjzAlbqjXLjXiTUIrti+Ju6SrxdzDypOQ0M+ooX2MznUI0DAg/z2dGX51R0Uub4dkjvAtCwk1GgVyjTcacX+dwPyrrGy3G4bFFmhFqoczgaMFlt1xkrLySzlb8j0ECJGf0CkVCkiRj7woy7KU7hROIMwghw3H0i3S/i+TJBUc+f4OkVKO38o+xTvybcUZKP+pJYwT4D0Uy1/cFQDKhmXs+hynETPoj2Fvka8b1vO5lKPpTmUDNvcweHD7+PyIxeKqnvP0y/HBwEH2WgvHswoQIcEKA74IE/gDoBaKgx+UHjJy93+JMYFtR9sp45Re2DLBkgJGk3nQbksuWC6XvX1/XPNTaEXdEGjrUVipDTNxGO2Rdx/yE7FwLk6OO1paNgF0e/jzLK6Q8whO47Sh2j5/qm39IeB6pwY76rkGDaMbHe8O5qcFkd0qB4VCtIfijjED9HlzjiMhTjEpQUgq0cJl/iopFfjZcufthOgR1MlMoUlQHQ47WufrXQPV85p9F8FWbF6usxjh9bS11MirhRITn7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C9or8zm88kRrK2YMbFXf9M",
      "input": {
        "note": "The left gripper is already pressed against the purple bowl's left side (high shoulder torque). Bringing the right gripper across to the bowl's right side so the two can pinch it between them.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.31,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01C9or8zm88kRrK2YMbFXf9M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5171, 2.3013, 1.6413, -0.4904, -0.7456, -0.704, 0.0066, 0.7185, 2.093, 1.3468, 0.1326, 0.6361, 0.4702, 0.0107]\nstate[eef_state]: left_x=0.5026 left_y=-0.1438 left_z=0.0235 left_yaw=0.4694 left_pitch=-0.1845 left_roll=0.2275 left_gripper=0.0066 right_x=0.4777 right_y=0.2831 right_z=0.0965 right_yaw=-0.0649 right_pitch=0.0846 right_roll=0.0869 right_gripper=0.0107\nstate[joint_eff]: [-10.2632, -15.7333, 4.8889, 0.6276, 0.5934, 0.0366, 0.6764, 2.3863, -3.8769, 8.6906, 1.3553, -0.569, -0.5153, 0.2418]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:064cbccb77f1e57be53fbe7a5e29c94b67d9b4f699cc918be65c1b998f85efcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64a30b0ec16503ecee8b6231d1fc9826f4e47125180acf3094946d72c0f0c43c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dfec3de1507d89bca75652310c5ee17ecc65e90a98f245b493b4cf4252cbc061",
        "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 · 11.2 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9035, 2.7911, 2.4699, -1.346, -1.2488, -0.2096, 0.0086, -0.0216, 0.823, 0.5945, -0.4229, -0.0166, -0.0299, 0.998]\nstate[eef_state]: left_x=0.4482 left_y=-0.2923 left_z=0.057 left_yaw=0.115 left_pitch=-0.2249 left_roll=1.322 left_gripper=0.0086 right_x=0.2891 right_y=0.0003 right_z=0.1591 right_yaw=-0.0002 right_pitch=-0.0831 right_roll=0.0059 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -13.9009, 5.5043, 0.1587, -0.6081, -0.1148, 0.652, -0.0068, -1.4564, 7.2, 1.6386, -0.0317, -0.0562, -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]: [-0.6357, 2.265, 1.6272, -0.519, -0.6579, -0.6903, 0.0066, 0.6613, 1.8744, 1.1343, 0.0788, 0.5114, 0.3794, 0.0082]\nstate[eef_state]: left_x=0.4733 left_y=-0.2105 left_z=0.0252 left_yaw=0.2987 left_pitch=-0.2555 left_roll=0.1958 left_gripper=0.0066 right_x=0.4434 right_y=0.24 right_z=0.1055 right_yaw=0.026 right_pitch=0.0027 right_roll=0.0336 right_gripper=0.0082\nstate[joint_eff]: [-10.8513, -18.4684, 5.7094, 1.3016, 0.1832, -0.0562, 0.6764, -1.388, -0.8137, 8.5675, 1.2625, -0.149, 0.3053, 0.7302]",
      "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]: [-0.5171, 2.3013, 1.6413, -0.4904, -0.7456, -0.704, 0.0066, 0.7185, 2.093, 1.3468, 0.1326, 0.6361, 0.4702, 0.0107]\nstate[eef_state]: left_x=0.5026 left_y=-0.1438 left_z=0.0235 left_yaw=0.4694 left_pitch=-0.1845 left_roll=0.2275 left_gripper=0.0066 right_x=0.4777 right_y=0.2831 right_z=0.0965 right_yaw=-0.0649 right_pitch=0.0846 right_roll=0.0869 right_gripper=0.0107\nstate[joint_eff]: [-10.2632, -15.7333, 4.8889, 0.6276, 0.5934, 0.0366, 0.6764, 2.3863, -3.8769, 8.6906, 1.3553, -0.569, -0.5153, 0.2418]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:064cbccb77f1e57be53fbe7a5e29c94b67d9b4f699cc918be65c1b998f85efcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64a30b0ec16503ecee8b6231d1fc9826f4e47125180acf3094946d72c0f0c43c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfec3de1507d89bca75652310c5ee17ecc65e90a98f245b493b4cf4252cbc061",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnAgKjgEIEhgCKkA/BOBmRtVC2PH41KjDdgMDw1fAjwf536fYCcHte88wHG3KUH7arKiLw++x8n8Ih6yl18GVZ4LVx4WI186rx/RiMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbvXy9UGEgxAS9XV2aov2k6c4VkaDNr3/CAR7ygI3zZKFyIwA+Lf0kFULcGYldUANFieaMxNJQSLI11pCeDm1OZs2/FRnzqUCklYMyl7647ngXzdKroG1IymsV1850WfdJm+M2mSf/E2zsgGwtOVVK1EWuOygvpwvGbCN3K9saCGbuszCM0eic1AZDWCsKZ2Rxo6P5aZdAW8aiEd7+NznURtyrEUujAM4ZKn1nRBdNPzUeSk4pJFsqrU/JUf1A4BGh1OZdXXpCfmOZdbE0l/2GlAMUjOF02PxJRUHqMmpUyyKO+cDpQLaeTRFb2pNrrLlhjBuo/kcRUyhGszNxjo1uWcMpA+22MI38g/0mYZ7MYwIweN/aAeDRxdvvvfKwNAy1MnIGUmXoP9YPyYx2C1mPK2sWJax3NxWZfQFyF1RI9W90iruYj3P3mtaRncZh1N+jsyC/YVK5wz/ho9U+jdR7JCQ5YWNqhCBIj99fzkVNlejic8PPwfdRoweHmjdVlS05tvnjSW1GFSQvwL4tuqXXLVyl7j+H3G+E2HWg+EbSmuVrcJouNJ1UDa3POp0Bdd6S9+Ww73HEdVWJR5+7LoYICFITJfMVsxDiVoN1EKZ+SjQ6+/6mVDG7IygV1F12JUEt87iP9Tptpw6UH4PLN/cA20bVvQ82Qf5vpP6vRyJGl64G7QwBGm51fcxnjXyHU79Pu3UMW8W0W9dJosohza27VsSjhy7W1G01JPfKM4CO3MFQUG4mGOPqhMF7MKurGj9Ce+/BjC1aJ+v4Ks937ptVxjAGMQxT6ThsrZFqfOm9kHPjBZQqIS+9+8hxwf+yFR1qAiCIYbxPKdCYwuRCfxCv9PEW5SpkzoQ01ZMH6PHiHlUBDbYQNPscawjcgEAIAnyh+LRceCMmMww+QTC1QvPEsQQ+4F3O+o4gQJQ2BcAJ/qQFzqSpLbUeqjydEzr8YBenJzXsdCGtHbgYcSmzRSv9jdk6/ocQThJAE9R/yhtL3ZggHu5uFhZDreynqHAzEdubL0Z+72CoG1VgLPGSNuV1eHaxNdikd/Aw52eA7azabHyiem6ZoffPa5yA8sOv20J3VFqby5zFh1+GkFEhHwORs9xFBT9j9yfubfZLXP2fHbqm+2fNcPB/I/dXXfb159cMCi1oa6GtPYgEmbOjIgSs/vaI73HT0jY5hm0FMgCkdehwJFSFApUnHr634o5Xa/2RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CfriLMHzd9J2KZH4afZa5v",
      "input": {
        "note": "Both arms are deflecting against the bowls with high torque and neither grasp has held. Retracting both arms to a safe home pose before ending.",
        "targets": {
          "left_gripper": 0.5,
          "left_roll": 0.0,
          "left_x": 0.3,
          "left_y": -0.05,
          "left_yaw": 0.0,
          "left_z": 0.2,
          "right_gripper": 0.5,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01CfriLMHzd9J2KZH4afZa5v",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3222, 1.0416, 0.8944, -0.6167, -0.2764, -0.2829, 0.4976, 0.3481, 0.8509, 0.6205, -0.2596, 0.3477, 0.263, 0.4985]\nstate[eef_state]: left_x=0.3117 left_y=-0.0494 left_z=0.1974 left_yaw=0.053 left_pitch=-0.1582 left_roll=-0.0057 left_gripper=0.4976 right_x=0.3076 right_y=0.0514 right_z=0.202 right_yaw=-0.0955 right_pitch=0.1074 right_roll=0.0965 right_gripper=0.4985\nstate[joint_eff]: [0.4718, -3.3299, 7.788, 1.5995, 0.0366, 0.2515, -0.022, -0.1436, -1.1556, 7.159, 1.9414, -0.0464, -0.0611, -0.0611]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b07de9e849f7fb4c52a961bde521bddebf334da72eab030a47541ca9f02cc17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b129681d868b8745548a3872c40bd592aa4b0dbe3990502c05dd754703d6712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:37d94377b2da7b93d924ba8115c6db462796ee215d4262ec76647769905de5cf",
        "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 · 13.37 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6357, 2.265, 1.6272, -0.519, -0.6579, -0.6903, 0.0066, 0.6613, 1.8744, 1.1343, 0.0788, 0.5114, 0.3794, 0.0082]\nstate[eef_state]: left_x=0.4733 left_y=-0.2105 left_z=0.0252 left_yaw=0.2987 left_pitch=-0.2555 left_roll=0.1958 left_gripper=0.0066 right_x=0.4434 right_y=0.24 right_z=0.1055 right_yaw=0.026 right_pitch=0.0027 right_roll=0.0336 right_gripper=0.0082\nstate[joint_eff]: [-10.8513, -18.4684, 5.7094, 1.3016, 0.1832, -0.0562, 0.6764, -1.388, -0.8137, 8.5675, 1.2625, -0.149, 0.3053, 0.7302]",
      "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]: [-0.5171, 2.3013, 1.6413, -0.4904, -0.7456, -0.704, 0.0066, 0.7185, 2.093, 1.3468, 0.1326, 0.6361, 0.4702, 0.0107]\nstate[eef_state]: left_x=0.5026 left_y=-0.1438 left_z=0.0235 left_yaw=0.4694 left_pitch=-0.1845 left_roll=0.2275 left_gripper=0.0066 right_x=0.4777 right_y=0.2831 right_z=0.0965 right_yaw=-0.0649 right_pitch=0.0846 right_roll=0.0869 right_gripper=0.0107\nstate[joint_eff]: [-10.2632, -15.7333, 4.8889, 0.6276, 0.5934, 0.0366, 0.6764, 2.3863, -3.8769, 8.6906, 1.3553, -0.569, -0.5153, 0.2418]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.3222, 1.0416, 0.8944, -0.6167, -0.2764, -0.2829, 0.4976, 0.3481, 0.8509, 0.6205, -0.2596, 0.3477, 0.263, 0.4985]\nstate[eef_state]: left_x=0.3117 left_y=-0.0494 left_z=0.1974 left_yaw=0.053 left_pitch=-0.1582 left_roll=-0.0057 left_gripper=0.4976 right_x=0.3076 right_y=0.0514 right_z=0.202 right_yaw=-0.0955 right_pitch=0.1074 right_roll=0.0965 right_gripper=0.4985\nstate[joint_eff]: [0.4718, -3.3299, 7.788, 1.5995, 0.0366, 0.2515, -0.022, -0.1436, -1.1556, 7.159, 1.9414, -0.0464, -0.0611, -0.0611]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b07de9e849f7fb4c52a961bde521bddebf334da72eab030a47541ca9f02cc17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b129681d868b8745548a3872c40bd592aa4b0dbe3990502c05dd754703d6712",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37d94377b2da7b93d924ba8115c6db462796ee215d4262ec76647769905de5cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LDcNsc5p2MdrybS8smPDgE",
      "input": {
        "note": "Clear view now: white shallow bowl left, deep purple bowl centre, pink bowl right. Making a last attempt on the deep purple bowl, whose wall is near-vertical: positioning the half-open jaws at its left rim.",
        "targets": {
          "left_gripper": 0.5,
          "left_x": 0.47,
          "left_y": -0.235,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01LDcNsc5p2MdrybS8smPDgE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6231, 2.0262, 1.3293, -0.2008, -0.4736, -0.5217, 0.4992, 0.3466, 0.8551, 0.6174, -0.2878, 0.3325, 0.2501, 0.4997]\nstate[eef_state]: left_x=0.4585 left_y=-0.2259 left_z=0.0602 left_yaw=0.052 left_pitch=-0.1998 left_roll=0.0128 left_gripper=0.4992 right_x=0.3045 right_y=0.0525 right_z=0.1931 right_yaw=-0.076 right_pitch=0.0726 right_roll=0.0767 right_gripper=0.4997\nstate[joint_eff]: [-0.5265, -11.0564, 8.1162, 1.4676, -0.3199, 0.0024, -0.1001, -0.0615, -2.0171, 7.2821, 2.0049, 0.2271, 0.0562, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32aeb45baac9ba32093d3fffd4c29025acc91371de0c0f4d62e56939c078453a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74de2befc1474687006111e57480a2d6c5384e3554bdf7b74dcd9481ed08c5a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f6cac84151e4c82417bf1f6b7e20d2be856509bf65552c657081d71c24828dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 12.97 s
model
claude-opus-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]: [-0.5171, 2.3013, 1.6413, -0.4904, -0.7456, -0.704, 0.0066, 0.7185, 2.093, 1.3468, 0.1326, 0.6361, 0.4702, 0.0107]\nstate[eef_state]: left_x=0.5026 left_y=-0.1438 left_z=0.0235 left_yaw=0.4694 left_pitch=-0.1845 left_roll=0.2275 left_gripper=0.0066 right_x=0.4777 right_y=0.2831 right_z=0.0965 right_yaw=-0.0649 right_pitch=0.0846 right_roll=0.0869 right_gripper=0.0107\nstate[joint_eff]: [-10.2632, -15.7333, 4.8889, 0.6276, 0.5934, 0.0366, 0.6764, 2.3863, -3.8769, 8.6906, 1.3553, -0.569, -0.5153, 0.2418]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.3222, 1.0416, 0.8944, -0.6167, -0.2764, -0.2829, 0.4976, 0.3481, 0.8509, 0.6205, -0.2596, 0.3477, 0.263, 0.4985]\nstate[eef_state]: left_x=0.3117 left_y=-0.0494 left_z=0.1974 left_yaw=0.053 left_pitch=-0.1582 left_roll=-0.0057 left_gripper=0.4976 right_x=0.3076 right_y=0.0514 right_z=0.202 right_yaw=-0.0955 right_pitch=0.1074 right_roll=0.0965 right_gripper=0.4985\nstate[joint_eff]: [0.4718, -3.3299, 7.788, 1.5995, 0.0366, 0.2515, -0.022, -0.1436, -1.1556, 7.159, 1.9414, -0.0464, -0.0611, -0.0611]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.6231, 2.0262, 1.3293, -0.2008, -0.4736, -0.5217, 0.4992, 0.3466, 0.8551, 0.6174, -0.2878, 0.3325, 0.2501, 0.4997]\nstate[eef_state]: left_x=0.4585 left_y=-0.2259 left_z=0.0602 left_yaw=0.052 left_pitch=-0.1998 left_roll=0.0128 left_gripper=0.4992 right_x=0.3045 right_y=0.0525 right_z=0.1931 right_yaw=-0.076 right_pitch=0.0726 right_roll=0.0767 right_gripper=0.4997\nstate[joint_eff]: [-0.5265, -11.0564, 8.1162, 1.4676, -0.3199, 0.0024, -0.1001, -0.0615, -2.0171, 7.2821, 2.0049, 0.2271, 0.0562, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32aeb45baac9ba32093d3fffd4c29025acc91371de0c0f4d62e56939c078453a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74de2befc1474687006111e57480a2d6c5384e3554bdf7b74dcd9481ed08c5a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f6cac84151e4c82417bf1f6b7e20d2be856509bf65552c657081d71c24828dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FTKmttR3Bpt2ZqBMeQARmm",
      "input": {
        "note": "The purple bowl's right wall sits ~2 cm to the left of the jaw column; shifting onto it and closing the jaws around the wall in one motion.",
        "targets": {
          "left_gripper": 0.0,
          "left_y": -0.207,
          "left_z": 0.048
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FTKmttR3Bpt2ZqBMeQARmm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.59, 2.0335, 1.2636, -0.1448, -0.4763, -0.4938, 0.0218, 0.3466, 0.8558, 0.6167, -0.2947, 0.3313, 0.2497, 0.4999]\nstate[eef_state]: left_x=0.4576 left_y=-0.2046 left_z=0.041 left_yaw=0.074 left_pitch=-0.2121 left_roll=0.0455 left_gripper=0.0218 right_x=0.3037 right_y=0.0524 right_z=0.1911 right_yaw=-0.0746 right_pitch=0.0648 right_roll=0.0735 right_gripper=0.4999\nstate[joint_eff]: [0.3214, -11.9316, 4.9709, 1.4823, 0.0269, 0.0073, 0.9841, -0.1026, -1.7162, 7.1316, 1.8437, 0.0562, -0.0269, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db486aaca01fca01ffbee19d4b4c7412ed9fde25973ad26fae5ca3eb30b827d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebffdc0df756a0ad6b2e00f642b32d59fbbc8cb84a5d629a7b70034022eb0ea8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1265fd01b3fa96ca5d4d05aa38b71ace580551d8162574bce31300ab89fd6b13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]