adhoc - adhoc_758bdf6c.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
max_speed_frac: 0.25
model: claude-opus-5-5
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: messages
wire_capture: true
seed: 0
max steps: 900
duration: 298.6 s
total steps: 299

operator

scenes

trials

errored

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a

Trial 0 transcript

Run video

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

user

Goal: Stack the bowls on the table.

step 0

assistant

agent noteThree bowls in a row (white left, blue middle, pink right). Moving the left arm over the white bowl to locate it in the wrist camera; plan is to stack white and pink onto the middle blue bowl.

move_to

left_x0.4000left_y-0.1700left_z0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.794, 0.6052, -0.3813, -0.0227, -0.0257, 0.9994, -0.0177, 0.7937, 0.6025, -0.3782, -0.0158, -0.033, 0.9965] state[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1803 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2948 right_y=0.0012 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9965 state[joint_eff]: [-0.5812, -1.4974, 10.0991, 1.7705, -0.0464, 0.1099, -0.0757, -0.4308, -1.4701, 10.1812, 1.9023, -0.0904, 0.1538, -0.3785] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.17, "left_z": 0.2}, "note": "Three bowls in a row (white left, blue middle, pink right). Moving the left arm over the white bowl to locate it in the wrist camera; plan is to stack white and pink onto the middle blue bowl."})

tool

executing move_to over 16 steps (1.6s)

step 16

assistant

agent noteGripper is just over the white bowl, whose centre looks ~4 cm to the gripper's left. Moving over the bowl's left (+y) rim so the jaws can straddle the wall.

move_to

left_x0.3800left_y-0.0700left_z0.1200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6022, 1.4822, 1.0622, -0.2893, -0.4828, -0.3676, 0.9993, -0.0196, 0.7975, 0.6037, -0.3893, -0.0154, -0.0307, 0.9961] state[eef_state]: left_x=0.392 left_y=-0.1656 left_z=0.1824 left_yaw=-0.0173 left_pitch=-0.0452 left_roll=0.0184 left_gripper=0.9993 right_x=0.2937 right_y=0.0005 right_z=0.1769 right_yaw=-0.0035 right_pitch=-0.0141 right_roll=0.002 right_gripper=0.9961 state[joint_eff]: [-0.3214, -7.0085, 9.1282, 1.6093, -0.4029, -0.0464, -0.0171, 0.0889, -1.5521, 6.9538, 1.8046, -0.0611, -0.1001, -0.0464] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.38, "left_y": -0.07, "left_z": 0.12}, "note": "Gripper is just over the white bowl, whose centre looks ~4 cm to the gripper's left. Moving over the bowl's left (+y) rim so the jaws can straddle the wall."})

tool

executing move_to over 9 steps (0.9s)

step 25

assistant

agent noteWhite bowl is now right of and slightly ahead of the jaws, its left wall falling between the fingers. Advancing ~2.5 cm forward so the wall's widest point is under the jaws.

move_to

left_x0.4000left_y-0.0580left_z0.1000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3191, 1.3651, 0.6846, -0.0216, -0.284, -0.205, 0.9993, -0.02, 0.7986, 0.6003, -0.3927, -0.0151, -0.0303, 0.9961] state[eef_state]: left_x=0.3749 left_y=-0.068 left_z=0.1083 left_yaw=0.0176 left_pitch=-0.0993 left_roll=0.0299 left_gripper=0.9993 right_x=0.2929 right_y=0.0004 right_z=0.1744 right_yaw=-0.0044 right_pitch=-0.0221 right_roll=0.0022 right_gripper=0.9961 state[joint_eff]: [0.294, -6.8171, 6.7761, 1.8779, -0.0952, 0.1245, -0.0122, -0.0752, -1.3607, 7.3094, 1.7949, -0.0464, -0.0122, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.058, "left_z": 0.1}, "note": "White bowl is now right of and slightly ahead of the jaws, its left wall falling between the fingers. Advancing ~2.5 cm forward so the wall's widest point is under the jaws."})

tool

executing move_to over 2 steps (0.2s)

step 27

assistant

agent noteBowl's left wall is between the open jaws. Descending so the fingers straddle the wall near the rim.

move_to

left_x0.4050left_y-0.0550left_z0.0300

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2764, 1.4326, 0.7013, 0.0219, -0.2508, -0.1795, 0.9993, -0.02, 0.7979, 0.6003, -0.3935, -0.0154, -0.0307, 0.9961] state[eef_state]: left_x=0.3874 left_y=-0.0606 left_z=0.0976 left_yaw=0.0193 left_pitch=-0.1134 left_roll=0.0317 left_gripper=0.9993 right_x=0.2927 right_y=0.0005 right_z=0.1744 right_yaw=-0.0038 right_pitch=-0.0221 right_roll=0.0021 right_gripper=0.9961 state[joint_eff]: [0.4991, -5.8462, 7.9932, 1.5946, 0.022, 0.149, -0.0122, -0.0479, -1.1556, 7.2547, 1.6825, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.405, "left_y": -0.055, "left_z": 0.03}, "note": "Bowl's left wall is between the open jaws. Descending so the fingers straddle the wall near the rim."})

tool

executing move_to over 5 steps (0.5s)

step 32

assistant

agent noteDescent stalled at z≈0.085 with no clear contact; the bowl wall sits between the jaws. Retrying the descent slightly nearer and a bit to the left so the right finger clears the rim.

move_to

left_x0.3850left_y-0.0500left_z0.0200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2543, 1.4776, 0.709, 0.0277, -0.239, -0.1795, 0.9993, -0.0196, 0.8024, 0.6003, -0.3927, -0.0151, -0.0303, 0.9961] state[eef_state]: left_x=0.3905 left_y=-0.0546 left_z=0.0847 left_yaw=0.0328 left_pitch=-0.146 left_roll=0.0333 left_gripper=0.9993 right_x=0.2931 right_y=0.0005 right_z=0.1733 right_yaw=-0.004 right_pitch=-0.0259 right_roll=0.0022 right_gripper=0.9961 state[joint_eff]: [-0.4034, -6.0923, 8.294, 1.7411, -0.1148, 0.1245, -0.0122, -0.0205, -1.5521, 7.1863, 1.7363, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.385, "left_y": -0.05, "left_z": 0.02}, "note": "Descent stalled at z\u22480.085 with no clear contact; the bowl wall sits between the jaws. Retrying the descent slightly nearer and a bit to the left so the right finger clears the rim."})

tool

executing move_to over 5 steps (0.5s)

step 37

assistant

agent noteDescent is blocked at z≈0.085, likely the right finger resting on the bowl rim. Lifting and shifting 2 cm right so that finger drops inside the bowl while the left finger stays outside.

move_to

left_x0.3900left_y-0.0750left_z0.1100

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2543, 1.4776, 0.709, 0.0277, -0.2356, -0.1795, 0.9993, -0.02, 0.8043, 0.5999, -0.3931, -0.0151, -0.0303, 0.9961] state[eef_state]: left_x=0.3905 left_y=-0.0552 left_z=0.0846 left_yaw=0.0299 left_pitch=-0.1467 left_roll=0.031 left_gripper=0.9993 right_x=0.2931 right_y=0.0004 right_z=0.1725 right_yaw=-0.0044 right_pitch=-0.0286 right_roll=0.0023 right_gripper=0.9961 state[joint_eff]: [-0.2803, -6.612, 8.0752, 1.7363, -0.0952, 0.1538, -0.0122, -0.1573, -1.4427, 7.0496, 1.7265, -0.0464, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": -0.075, "left_z": 0.11}, "note": "Descent is blocked at z\u22480.085, likely the right finger resting on the bowl rim. Lifting and shifting 2 cm right so that finger drops inside the bowl while the left finger stays outside."})

tool

executing move_to over 2 steps (0.2s)

step 39

assistant

agent notePrevious short moves were rate-clamped and barely executed. Now the jaws are positioned to straddle the white bowl's left wall; descending toward rim-grasp height.

move_to

left_x0.3900left_y-0.0780left_z0.0300

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2966, 1.4879, 0.709, 0.0277, -0.2638, -0.2039, 0.9993, -0.0196, 0.8051, 0.5999, -0.3931, -0.0154, -0.0303, 0.9961] state[eef_state]: left_x=0.388 left_y=-0.0667 left_z=0.0816 left_yaw=0.0248 left_pitch=-0.1502 left_roll=0.034 left_gripper=0.9993 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0037 right_pitch=-0.0294 right_roll=0.0025 right_gripper=0.9961 state[joint_eff]: [-0.4855, -4.9573, 7.6239, 1.5849, -0.2711, -0.0562, -0.0122, -0.0752, -1.3607, 7.0085, 1.6874, -0.0464, -0.0171, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.39, "left_y": -0.078, "left_z": 0.03}, "note": "Previous short moves were rate-clamped and barely executed. Now the jaws are positioned to straddle the white bowl's left wall; descending toward rim-grasp height."})

tool

executing move_to over 4 steps (0.4s)

step 43

assistant

agent noteJaws are down at z≈0.02 with the left finger outside and the right finger inside the white bowl's wall. Closing to pinch the wall.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3279, 1.6478, 0.6312, 0.1932, -0.2852, -0.2287, 0.9993, -0.0196, 0.8051, 0.5999, -0.3931, -0.0154, -0.0303, 0.9961] state[eef_state]: left_x=0.3799 left_y=-0.073 left_z=0.0229 left_yaw=0.0292 left_pitch=-0.2124 left_roll=0.0545 left_gripper=0.9993 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0037 right_pitch=-0.0294 right_roll=0.0025 right_gripper=0.9961 state[joint_eff]: [-0.7726, -6.8581, 5.5863, 1.9267, -0.1538, -0.0806, -0.0122, -0.1026, -1.306, 7.0085, 1.7314, -0.0366, -0.0122, -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": 0.0}, "note": "Jaws are down at z\u22480.02 with the left finger outside and the right finger inside the white bowl's wall. Closing to pinch the wall."})

tool

executing move_to over 10 steps (1.0s)

step 53

assistant

agent noteGripper closed to 0.037 with the bowl wall visibly between the jaws (thin wall, so a low reading is expected). Lifting to confirm the white bowl comes up.

move_to

left_z0.1000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.334, 1.66, 0.6228, 0.3038, -0.281, -0.2543, 0.0367, -0.0196, 0.8051, 0.5999, -0.3931, -0.0154, -0.0303, 0.9961] state[eef_state]: left_x=0.3933 left_y=-0.0808 left_z=0.0341 left_yaw=0.0282 left_pitch=-0.1287 left_roll=0.0004 left_gripper=0.0367 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0037 right_pitch=-0.0294 right_roll=0.0025 right_gripper=0.9961 state[joint_eff]: [-0.3624, -6.3658, 5.7504, 0.9402, -0.2076, 0.1929, 0.7009, -0.1436, -1.3333, 7.159, 1.7363, -0.0659, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.1}, "note": "Gripper closed to 0.037 with the bowl wall visibly between the jaws (thin wall, so a low reading is expected). Lifting to confirm the white bowl comes up."})

tool

executing move_to over 5 steps (0.5s)

step 58

assistant

agent noteWhite bowl appears held (reading 0.046, bowl stays fixed in wrist view). Carrying it ~15 cm right to hover over the blue bowl.

move_to

left_z0.1600left_y-0.2300left_x0.3900

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.334, 1.5093, 0.7208, 0.0376, -0.2848, -0.2588, 0.0455, -0.0196, 0.8051, 0.5999, -0.3927, -0.0151, -0.0303, 0.9961] state[eef_state]: left_x=0.39 left_y=-0.079 left_z=0.0807 left_yaw=0.0347 left_pitch=-0.1441 left_roll=0.0057 left_gripper=0.0455 right_x=0.2932 right_y=0.0005 right_z=0.1724 right_yaw=-0.004 right_pitch=-0.029 right_roll=0.0023 right_gripper=0.9961 state[joint_eff]: [-0.1709, -7.5829, 9.0188, 1.6337, -0.1538, -0.0073, 1.0281, -0.1026, -1.1966, 7.0222, 1.7705, -0.0366, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.16, "left_y": -0.23, "left_x": 0.39}, "note": "White bowl appears held (reading 0.046, bowl stays fixed in wrist view). Carrying it ~15 cm right to hover over the blue bowl."})

tool

executing move_to over 14 steps (1.4s)

step 72

assistant

agent noteWhite bowl is hovering over the blue bowl in the overhead view. Lowering it to nest inside.

move_to

left_z0.0500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7437, 1.7, 1.2457, -0.4496, -0.5426, -0.5774, 0.0469, -0.0196, 0.8097, 0.5999, -0.3935, -0.0154, -0.0307, 0.9961] state[eef_state]: left_x=0.3861 left_y=-0.2264 left_z=0.1464 left_yaw=0.0137 left_pitch=-0.1683 left_roll=0.0096 left_gripper=0.0469 right_x=0.2934 right_y=0.0006 right_z=0.171 right_yaw=-0.0035 right_pitch=-0.0343 right_roll=0.0023 right_gripper=0.9961 state[joint_eff]: [-0.3624, -8.1983, 9.4427, 1.2137, -0.5006, -0.0415, 1.0281, -0.0752, -1.6615, 7.159, 1.6972, -0.0806, -0.0659, -0.0122] 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_z": 0.05}, "note": "White bowl is hovering over the blue bowl in the overhead view. Lowering it to nest inside."})

tool

executing move_to over 7 steps (0.7s)

step 79

assistant

agent noteThe white bowl has settled into the blue bowl (blue rim visible just below it, descent stopped at z≈0.064). Opening to release.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7479, 1.8133, 1.0298, -0.1246, -0.5488, -0.5926, 0.0471, -0.02, 0.8101, 0.5999, -0.3927, -0.0154, -0.0307, 0.9961] state[eef_state]: left_x=0.3842 left_y=-0.2258 left_z=0.0639 left_yaw=0.0227 left_pitch=-0.1678 left_roll=0.0046 left_gripper=0.0471 right_x=0.2935 right_y=0.0004 right_z=0.1711 right_yaw=-0.0038 right_pitch=-0.034 right_roll=0.0023 right_gripper=0.9961 state[joint_eff]: [0.294, -6.4342, 5.0667, 1.0427, -0.2173, 0.105, 0.7741, -0.1846, -1.3333, 7.0359, 1.7118, -0.0513, -0.0708, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "The white bowl has settled into the blue bowl (blue rim visible just below it, descent stopped at z\u22480.064). Opening to release."})

tool

executing move_to over 10 steps (1.0s)

step 89

assistant

Next I'll lift the left arm and send it home.

agent noteWhite bowl released into the blue bowl. Lifting the left arm away and parking it at home so the right arm can bring the pink bowl.

move_to

left_z0.1800left_x0.3000left_y0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7483, 1.8256, 1.0206, -0.1265, -0.548, -0.5995, 0.9952, -0.02, 0.8101, 0.5999, -0.3931, -0.0154, -0.0307, 0.9961] state[eef_state]: left_x=0.3812 left_y=-0.2235 left_z=0.0554 left_yaw=0.0284 left_pitch=-0.1848 left_roll=0.0155 left_gripper=0.9952 right_x=0.2935 right_y=0.0004 right_z=0.171 right_yaw=-0.0038 right_pitch=-0.0343 right_roll=0.0023 right_gripper=0.9961 state[joint_eff]: [-0.3214, -9.853, 6.5983, 1.3553, -0.3248, 0.0171, -0.1197, -0.0752, -1.306, 7.0632, 1.7558, -0.0562, -0.0708, -0.0122] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]

assistant

Next I'll lift the left arm and send it home.

move_to({"targets": {"left_z": 0.18, "left_x": 0.3, "left_y": 0.0}, "note": "White bowl released into the blue bowl. Lifting the left arm away and parking it at home so the right arm can bring the pink bowl."})

tool

executing move_to over 20 steps (2.0s)

step 109

assistant

agent noteWhite bowl is nested in the blue bowl; the left arm is parked. Moving the right arm over the pink bowl's right-hand wall to set up a rim grasp.

move_to

right_x0.3900right_y0.1000right_z0.1200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0814, 0.981, 0.762, -0.5652, -0.1287, -0.1207, 0.9956, -0.0196, 0.812, 0.5999, -0.3931, -0.0151, -0.0303, 0.9961] state[eef_state]: left_x=0.3002 left_y=0.0019 left_z=0.1637 left_yaw=0.0821 left_pitch=-0.2061 left_roll=0.0115 left_gripper=0.9956 right_x=0.2936 right_y=0.0005 right_z=0.1705 right_yaw=-0.004 right_pitch=-0.0362 right_roll=0.0024 right_gripper=0.9961 state[joint_eff]: [0.2667, -3.1385, 10.4, 1.4872, -0.0708, 0.1099, 0.0269, -0.1026, -1.0325, 7.4051, 1.6972, -0.0562, -0.0464, -0.0122] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.1, "right_z": 0.12}, "note": "White bowl is nested in the blue bowl; the left arm is parked. Moving the right arm over the pink bowl's right-hand wall to set up a rim grasp."})

tool

executing move_to over 9 steps (0.9s)

step 118

assistant

agent noteRight wrist view shows the pink bowl centred between the jaws, so I'm over its middle. Shifting ~5 cm right so the bowl's right wall lands between the fingers.

move_to

right_x0.3900right_y0.0500right_z0.1000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0822, 0.9855, 0.7654, -0.5865, -0.1284, -0.12, 0.9957, 0.3672, 1.4109, 0.6884, -0.0181, 0.2623, 0.1661, 0.9961] state[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1602 left_yaw=0.0814 left_pitch=-0.2284 left_roll=0.0155 left_gripper=0.9957 right_x=0.369 right_y=0.0967 right_z=0.0934 right_yaw=0.041 right_pitch=-0.1413 right_roll=-0.0336 right_gripper=0.9961 state[joint_eff]: [0.0615, -2.7829, 6.5709, 1.6923, -0.1148, -0.0464, -0.0073, 0.2393, -6.694, 8.7863, 1.8535, 0.2955, 0.1929, -0.0122] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.05, "right_z": 0.1}, "note": "Right wrist view shows the pink bowl centred between the jaws, so I'm over its middle. Shifting ~5 cm right so the bowl's right wall lands between the fingers."})

tool

executing move_to over 4 steps (0.4s)

step 122

assistant

agent notePink bowl's right wall is now centred between the open jaws. Descending to grasp the wall low.

move_to

right_x0.3850right_y0.0450right_z0.0200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 0.9874, 0.7647, -0.5907, -0.1284, -0.1204, 0.9957, 0.1818, 1.4307, 0.6987, -0.0219, 0.1604, 0.0673, 0.9961] state[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1586 left_yaw=0.0815 left_pitch=-0.2351 left_roll=0.0164 left_gripper=0.9957 right_x=0.3819 right_y=0.0452 right_z=0.0871 right_yaw=-0.0056 right_pitch=-0.1738 right_roll=-0.0441 right_gripper=0.9961 state[joint_eff]: [-0.1436, -2.441, 6.9538, 1.5409, -0.1294, -0.0464, -0.0122, -0.1436, -6.0376, 8.3077, 1.7656, -0.0024, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.385, "right_y": 0.045, "right_z": 0.02}, "note": "Pink bowl's right wall is now centred between the open jaws. Descending to grasp the wall low."})

tool

executing move_to over 5 steps (0.5s)

step 127

assistant

agent noteDescent didn't execute (arm held at z≈0.086, same behaviour the left arm showed). Re-commanding a lower target to get the jaws down around the pink bowl's wall.

move_to

right_x0.3800right_y0.0420right_z0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0822, 0.9874, 0.7647, -0.5911, -0.1284, -0.1204, 0.9957, 0.1692, 1.4307, 0.6987, -0.0254, 0.1173, 0.0322, 0.9961] state[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1586 left_yaw=0.0819 left_pitch=-0.2355 left_roll=0.0165 left_gripper=0.9957 right_x=0.3814 right_y=0.0478 right_z=0.0858 right_yaw=0.0375 right_pitch=-0.1826 right_roll=-0.0411 right_gripper=0.9961 state[joint_eff]: [-0.0479, -2.441, 7.159, 1.5214, -0.1294, -0.0513, -0.0122, 0.0889, -6.0376, 8.2803, 1.6728, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_y": 0.042, "right_z": 0.0}, "note": "Descent didn't execute (arm held at z\u22480.086, same behaviour the left arm showed). Re-commanding a lower target to get the jaws down around the pink bowl's wall."})

tool

executing move_to over 6 steps (0.6s)

step 133

assistant

agent noteRight arm is frozen at z≈0.086 and ignoring descent commands. Backing up and raising to break out of the stuck IK state before trying the descent again.

move_to

right_x0.3600right_y0.0400right_z0.1300

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 0.9874, 0.7647, -0.5911, -0.1284, -0.1204, 0.9957, 0.1688, 1.4307, 0.6987, -0.0257, 0.1173, 0.0322, 0.9961] state[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1586 left_yaw=0.0815 left_pitch=-0.2355 left_roll=0.0165 left_gripper=0.9957 right_x=0.3813 right_y=0.0476 right_z=0.0857 right_yaw=0.0371 right_pitch=-0.183 right_roll=-0.0412 right_gripper=0.9961 state[joint_eff]: [-0.1709, -2.4137, 6.8855, 1.5165, -0.1148, -0.0806, -0.0122, -0.0889, -6.106, 8.3487, 1.6532, 0.0171, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.04, "right_z": 0.13}, "note": "Right arm is frozen at z\u22480.086 and ignoring descent commands. Backing up and raising to break out of the stuck IK state before trying the descent again."})

tool

executing move_to over 3 steps (0.3s)

step 136

assistant

agent noteArm has come down to z≈0.06 with the pink bowl's right wall between the jaws. Continuing down to grasp height and slightly forward to the wall's widest point.

move_to

right_x0.3800right_y0.0420right_z0.0200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 0.9928, 0.7647, -0.5957, -0.1284, -0.1204, 0.9957, 0.1551, 1.3922, 0.606, -0.0502, 0.1101, 0.0246, 0.9961] state[eef_state]: left_x=0.2959 left_y=0.0018 left_z=0.1563 left_yaw=0.0819 left_pitch=-0.2453 left_roll=0.0181 left_gripper=0.9957 right_x=0.3515 right_y=0.0389 right_z=0.0586 right_yaw=0.0316 right_pitch=-0.2618 right_roll=-0.0517 right_gripper=0.9961 state[joint_eff]: [-0.1709, -2.6051, 6.8171, 1.5263, -0.1197, -0.0659, -0.0122, -0.294, -8.3487, 9.1556, 2.0879, -0.0366, -0.0757, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_y": 0.042, "right_z": 0.02}, "note": "Arm has come down to z\u22480.06 with the pink bowl's right wall between the jaws. Continuing down to grasp height and slightly forward to the wall's widest point."})

tool

executing move_to over 3 steps (0.3s)

step 139

assistant

agent noteJaws are at z≈0.02 straddling the pink bowl's right wall. Closing to pinch it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 0.997, 0.7647, -0.5987, -0.1284, -0.12, 0.9957, 0.1539, 1.5635, 0.6147, 0.041, 0.1024, 0.0238, 0.9961] state[eef_state]: left_x=0.2955 left_y=0.0018 left_z=0.1547 left_yaw=0.082 left_pitch=-0.2525 left_roll=0.0196 left_gripper=0.9957 right_x=0.3589 right_y=0.041 right_z=0.0183 right_yaw=0.0349 right_pitch=-0.3333 right_roll=-0.0552 right_gripper=0.9961 state[joint_eff]: [-0.1846, -2.3453, 7.159, 1.5556, -0.1099, -0.0073, -0.0122, -0.3214, -9.2239, 6.7897, 1.9853, 0.0415, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "Jaws are at z\u22480.02 straddling the pink bowl's right wall. Closing to pinch it."})

tool

executing move_to over 10 steps (1.0s)

step 149

assistant

agent notePink bowl wall is pinched (reading 0.04, wall visible between jaws). Lifting and carrying it left toward the white-in-blue stack.

move_to

right_z0.1700right_y0.2600right_x0.3800

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 0.997, 0.7647, -0.5991, -0.1284, -0.1204, 0.9957, 0.1551, 1.5459, 0.606, 0.1101, 0.0746, 0.0341, 0.0398] state[eef_state]: left_x=0.2954 left_y=0.0018 left_z=0.1546 left_yaw=0.0822 left_pitch=-0.2528 left_roll=0.0194 left_gripper=0.9957 right_x=0.3697 right_y=0.0481 right_z=0.0319 right_yaw=0.0572 right_pitch=-0.2581 right_roll=-0.0173 right_gripper=0.0398 state[joint_eff]: [-0.0615, -2.3043, 6.8991, 1.4579, -0.1001, -0.0708, -0.0122, -0.253, -5.1077, 6.147, 0.9792, 0.5055, -0.1587, 0.8034] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.17, "right_y": 0.26, "right_x": 0.38}, "note": "Pink bowl wall is pinched (reading 0.04, wall visible between jaws). Lifting and carrying it left toward the white-in-blue stack."})

tool

executing move_to over 18 steps (1.8s)

step 167

assistant

agent notePink bowl is held over the stack; the white bowl's rim peeks out just to the left, so shifting ~1.5 cm left while lowering to nest it.

move_to

right_y0.2720right_z0.0800

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 0.997, 0.7647, -0.5999, -0.1284, -0.1204, 0.9957, 0.7559, 1.7596, 1.4189, -0.6392, 0.424, 0.4805, 0.0413] state[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1545 left_yaw=0.0823 left_pitch=-0.2536 left_roll=0.0195 left_gripper=0.9957 right_x=0.3743 right_y=0.2579 right_z=0.1542 right_yaw=0.1001 right_pitch=-0.29 right_roll=-0.0322 right_gripper=0.0413 state[joint_eff]: [-0.1709, -2.4274, 6.9402, 1.4823, -0.0952, -0.0513, -0.0122, 0.253, -8.7453, 9.388, 1.1941, 0.4713, 0.2418, 0.5299] 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": {"right_y": 0.272, "right_z": 0.08}, "note": "Pink bowl is held over the stack; the white bowl's rim peeks out just to the left, so shifting ~1.5 cm left while lowering to nest it."})

tool

executing move_to over 5 steps (0.5s)

step 172

assistant

agent noteOverhead view shows the white/blue stack further left and forward than the pink bowl I'm holding. Raising and moving ~7 cm left and ~6 cm forward to get over it.

move_to

right_y0.3300right_x0.4300right_z0.1500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0822, 0.997, 0.7647, -0.5999, -0.1284, -0.1204, 0.9957, 0.7761, 1.8584, 1.2556, -0.4564, 0.4297, 0.498, 0.0438] state[eef_state]: left_x=0.2953 left_y=0.002 left_z=0.1545 left_yaw=0.0826 left_pitch=-0.2536 left_roll=0.0195 left_gripper=0.9957 right_x=0.3656 right_y=0.2608 right_z=0.0747 right_yaw=0.0898 right_pitch=-0.3486 right_roll=-0.0765 right_gripper=0.0438 state[joint_eff]: [-0.0752, -2.4821, 6.9265, 1.4481, -0.105, -0.0415, -0.0122, 0.759, -10.1402, 6.735, 1.6044, 0.2369, 0.0464, 0.652] 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": {"right_y": 0.33, "right_x": 0.43, "right_z": 0.15}, "note": "Overhead view shows the white/blue stack further left and forward than the pink bowl I'm holding. Raising and moving ~7 cm left and ~6 cm forward to get over it."})

tool

executing move_to over 6 steps (0.6s)

step 178

assistant

agent noteOverhead now shows white and blue bowls sitting separately (first stack didn't hold); the blue bowl is directly ahead of the held pink bowl. Moving forward ~8 cm and up to place pink onto blue.

move_to

right_x0.4400right_y0.2700right_z0.1200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 0.997, 0.7647, -0.5995, -0.1284, -0.1204, 0.9957, 0.7792, 1.8778, 1.2411, -0.4126, 0.4294, 0.4976, 0.0434] state[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1545 left_yaw=0.0822 left_pitch=-0.2532 left_roll=0.0195 left_gripper=0.9957 right_x=0.3675 right_y=0.2646 right_z=0.0664 right_yaw=0.0956 right_pitch=-0.3412 right_roll=-0.0698 right_gripper=0.0434 state[joint_eff]: [-0.1436, -2.4957, 7.0496, 1.4921, -0.1343, -0.0659, -0.0171, 0.1709, -10.7556, 6.735, 1.5165, 0.2662, 0.0611, 0.6374] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.44, "right_y": 0.27, "right_z": 0.12}, "note": "Overhead now shows white and blue bowls sitting separately (first stack didn't hold); the blue bowl is directly ahead of the held pink bowl. Moving forward ~8 cm and up to place pink onto blue."})

tool

executing move_to over 6 steps (0.6s)

step 184

assistant

agent noteThe right arm is sagging (z≈0.058) instead of rising while holding the pink bowl. Commanding a pure lift to regain clearance before moving forward over the blue bowl.

move_to

right_z0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 0.9974, 0.7647, -0.6022, -0.1284, -0.1204, 0.9957, 0.7353, 1.9697, 1.3701, -0.5068, 0.3935, 0.4461, 0.046] state[eef_state]: left_x=0.2949 left_y=0.0019 left_z=0.154 left_yaw=0.0824 left_pitch=-0.2562 left_roll=0.02 left_gripper=0.9957 right_x=0.3865 right_y=0.2631 right_z=0.0581 right_yaw=0.0944 right_pitch=-0.4082 right_roll=-0.1133 right_gripper=0.046 state[joint_eff]: [-0.1026, -2.4137, 6.8308, 1.536, -0.1099, -0.0464, -0.0122, -3.0974, -10.0991, 6.7624, 0.6325, 0.1392, 0.0952, 0.5641] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.2}, "note": "The right arm is sagging (z\u22480.058) instead of rising while holding the pink bowl. Commanding a pure lift to regain clearance before moving forward over the blue bowl."})

tool

executing move_to over 10 steps (1.0s)

step 194

assistant

agent notePink bowl now lifted to z≈0.18; the blue bowl is ~8 cm ahead and slightly right in the overhead view. Moving the pink bowl over it.

move_to

right_x0.4600right_y0.2350right_z0.1800

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0822, 1.0016, 0.7647, -0.6079, -0.128, -0.1204, 0.9956, 0.7376, 1.9373, 1.8164, -1.0176, 0.3805, 0.4263, 0.0486] state[eef_state]: left_x=0.294 left_y=0.002 left_z=0.1519 left_yaw=0.0829 left_pitch=-0.266 left_roll=0.0214 left_gripper=0.9956 right_x=0.3844 right_y=0.2655 right_z=0.1761 right_yaw=0.1096 right_pitch=-0.4422 right_roll=-0.1358 right_gripper=0.0486 state[joint_eff]: [-0.0205, -2.8513, 7.0085, 1.4823, -0.1294, -0.0611, -0.0122, -0.4718, -10.906, 9.2376, 1.1893, 0.2564, 0.2173, 0.2515] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.46, "right_y": 0.235, "right_z": 0.18}, "note": "Pink bowl now lifted to z\u22480.18; the blue bowl is ~8 cm ahead and slightly right in the overhead view. Moving the pink bowl over it."})

tool

executing move_to over 6 steps (0.6s)

step 200

assistant

agent noteOverhead view shows the pink bowl roughly covering the blue bowl. Lowering to nest pink onto blue.

move_to

right_z0.0800

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 1.0027, 0.7647, -0.6102, -0.1284, -0.1204, 0.9957, 0.5819, 2.104, 2.0235, -1.0847, 0.3115, 0.2798, 0.0513] state[eef_state]: left_x=0.2936 left_y=0.002 left_z=0.1512 left_yaw=0.083 left_pitch=-0.2694 left_roll=0.0223 left_gripper=0.9957 right_x=0.4431 right_y=0.231 right_z=0.1607 right_yaw=0.0901 right_pitch=-0.5105 right_roll=-0.1748 right_gripper=0.0513 state[joint_eff]: [-0.1162, -2.6051, 6.7897, 1.4872, -0.0904, -0.0366, -0.0073, -0.5675, -11.8222, 9.1145, 1.2088, 0.2418, 0.1245, 0.2808] 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": {"right_z": 0.08}, "note": "Overhead view shows the pink bowl roughly covering the blue bowl. Lowering to nest pink onto blue."})

tool

executing move_to over 6 steps (0.6s)

step 206

assistant

agent noteWrist view shows the blue bowl still ahead of the pink bowl, not under it. Raising a bit and moving ~6 cm forward to bring pink over blue.

move_to

right_x0.5000right_y0.2250right_z0.1200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 1.0027, 0.7647, -0.6102, -0.128, -0.1204, 0.9957, 0.5785, 2.1017, 1.7153, -0.8406, 0.3054, 0.2684, 0.0529] state[eef_state]: left_x=0.2936 left_y=0.0019 left_z=0.1512 left_yaw=0.0826 left_pitch=-0.2694 left_roll=0.022 left_gripper=0.9957 right_x=0.4319 right_y=0.2229 right_z=0.0784 right_yaw=0.0814 right_pitch=-0.5688 right_roll=-0.2091 right_gripper=0.0529 state[joint_eff]: [-0.0479, -2.5094, 6.8308, 1.4237, -0.1001, -0.0708, -0.0122, 0.2393, -11.453, 6.5709, 1.1111, 0.1783, 0.0708, 0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.5, "right_y": 0.225, "right_z": 0.12}, "note": "Wrist view shows the blue bowl still ahead of the pink bowl, not under it. Raising a bit and moving ~6 cm forward to bring pink over blue."})

tool

executing move_to over 6 steps (0.6s)

step 212

assistant

agent notePink bowl now overlaps the near edge of the blue bowl in the wrist view; nudging ~2.5 cm forward and 2 cm right to centre it.

move_to

right_x0.5200right_y0.2100right_z0.1100

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 1.0065, 0.7647, -0.6109, -0.1284, -0.12, 0.9957, 0.5159, 2.3749, 2.2906, -1.1282, 0.2752, 0.1959, 0.0544] state[eef_state]: left_x=0.2936 left_y=0.002 left_z=0.1501 left_yaw=0.083 left_pitch=-0.2739 left_roll=0.0233 left_gripper=0.9957 right_x=0.4946 right_y=0.2295 right_z=0.1096 right_yaw=0.0952 right_pitch=-0.5764 right_roll=-0.2077 right_gripper=0.0544 state[joint_eff]: [-0.1983, -2.7829, 6.8171, 1.4628, -0.0855, -0.0415, -0.0122, -0.841, -13.3949, 8.0752, 0.6032, 0.1538, -0.0024, 0.149] 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": {"right_x": 0.52, "right_y": 0.21, "right_z": 0.11}, "note": "Pink bowl now overlaps the near edge of the blue bowl in the wrist view; nudging ~2.5 cm forward and 2 cm right to centre it."})

tool

executing move_to over 2 steps (0.2s)

step 214

assistant

agent noteThe arm is at its forward reach limit with the pink bowl still only half over the blue one. Yawing the wrist clockwise swings the held bowl (offset to the gripper's left) forward by ~3 cm onto the blue bowl.

move_to

right_yaw-0.7000right_z0.1100

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 1.0073, 0.7647, -0.617, -0.128, -0.1204, 0.9957, 0.495, 2.4306, 2.3985, -1.1961, 0.2596, 0.16, 0.0559] state[eef_state]: left_x=0.2925 left_y=0.002 left_z=0.1489 left_yaw=0.0832 left_pitch=-0.2807 left_roll=0.0239 left_gripper=0.9957 right_x=0.5018 right_y=0.2234 right_z=0.1097 right_yaw=0.1072 right_pitch=-0.6006 right_roll=-0.2165 right_gripper=0.0559 state[joint_eff]: [-0.3487, -2.5915, 6.8444, 1.4921, -0.0952, -0.0659, -0.0171, -2.4684, -12.547, 8.2667, 0.9988, 0.3053, 0.1636, 0.1392] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_yaw": -0.7, "right_z": 0.11}, "note": "The arm is at its forward reach limit with the pink bowl still only half over the blue one. Yawing the wrist clockwise swings the held bowl (offset to the gripper's left) forward by ~3 cm onto the blue bowl."})

tool

executing move_to over 6 steps (0.6s)

step 220

assistant

agent noteBlue bowl is still beyond the pink bowl and the wrist has pitched back to its limit. Raising and pitching the tool forward, which the rig notes say extends reach to ~0.59 m at z≈0.15, to carry pink over blue.

move_to

right_x0.5600right_y0.2200right_z0.1700right_pitch0.2000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 1.0103, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.5419, 2.7155, 2.8708, -1.5597, 0.3538, 0.5621, 0.0572] state[eef_state]: left_x=0.2925 left_y=0.0021 left_z=0.1479 left_yaw=0.0837 left_pitch=-0.2844 left_roll=0.0249 left_gripper=0.9957 right_x=0.4856 right_y=0.2251 right_z=0.0859 right_yaw=-0.2574 right_pitch=-0.6475 right_roll=-0.2458 right_gripper=0.0572 state[joint_eff]: [-0.212, -2.7009, 6.8308, 1.409, -0.0952, -0.0513, -0.0122, -0.8137, -16.2803, 7.8838, 0.7302, 0.3639, 0.2222, 0.1245] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.56, "right_y": 0.22, "right_z": 0.17, "right_pitch": 0.2, "right_yaw": 0.0}, "note": "Blue bowl is still beyond the pink bowl and the wrist has pitched back to its limit. Raising and pitching the tool forward, which the rig notes say extends reach to ~0.59 m at z\u22480.15, to carry pink over blue."})

tool

executing move_to over 29 steps (2.9s)

step 249

assistant

agent noteThe forward-pitched move overshot to x≈0.62; the blue bowl now shows just under/behind the jaws. Pulling back and right so the pink bowl's centre sits over the blue bowl.

move_to

right_x0.5600right_y0.2000right_z0.1500right_pitch0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 1.0103, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.5629, 2.8655, 3.1104, -0.8459, 0.6281, 0.0299, 0.0579] state[eef_state]: left_x=0.2925 left_y=0.0021 left_z=0.1479 left_yaw=0.0837 left_pitch=-0.2844 left_roll=0.0249 left_gripper=0.9957 right_x=0.6226 right_y=0.2743 right_z=0.1813 right_yaw=0.0159 right_pitch=0.068 right_roll=-0.293 right_gripper=0.0579 state[joint_eff]: [-0.212, -2.4274, 6.8034, 1.4042, -0.1099, -0.0415, -0.0122, -0.8957, -14.1197, 8.7863, 2.1612, 0.3687, -0.0024, 0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.56, "right_y": 0.2, "right_z": 0.15, "right_pitch": 0.2}, "note": "The forward-pitched move overshot to x\u22480.62; the blue bowl now shows just under/behind the jaws. Pulling back and right so the pink bowl's centre sits over the blue bowl."})

tool

executing move_to over 7 steps (0.7s)

step 256

assistant

agent noteThe right arm has run out to full extension (x≈0.64, elbow at its limit) and is drifting outward. Pulling back and up to regain control before placing.

move_to

right_x0.5000right_y0.2200right_z0.2000right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 1.0138, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.5297, 2.9139, 3.1104, -0.757, 0.6205, -0.049, 0.0586] state[eef_state]: left_x=0.2926 left_y=0.0021 left_z=0.147 left_yaw=0.0839 left_pitch=-0.2878 left_roll=0.0255 left_gripper=0.9957 right_x=0.6429 right_y=0.2616 right_z=0.1648 right_yaw=0.0278 right_pitch=0.0878 right_roll=-0.3388 right_gripper=0.0586 state[joint_eff]: [-0.1436, -2.8513, 6.9402, 1.453, -0.0904, -0.0757, -0.0122, -0.8274, -15.4462, 8.8137, 2.4884, 0.2906, 0.0317, 0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.5, "right_y": 0.22, "right_z": 0.2, "right_pitch": 0.0}, "note": "The right arm has run out to full extension (x\u22480.64, elbow at its limit) and is drifting outward. Pulling back and up to regain control before placing."})

tool

executing move_to over 11 steps (1.1s)

step 267

assistant

agent noteWrist view shows the blue bowl right under the jaws with the pink bowl hanging to its left. Shifting ~5 cm right so the pink bowl's centre lines up over the blue bowl.

move_to

right_x0.5600right_y0.2250right_z0.1900right_pitch0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 1.0138, 0.7647, -0.6178, -0.128, -0.1204, 0.9957, 0.6147, 2.7548, 3.1104, -1.1431, 0.6498, 0.054, 0.0588] state[eef_state]: left_x=0.2926 left_y=0.002 left_z=0.147 left_yaw=0.0835 left_pitch=-0.2879 left_roll=0.0252 left_gripper=0.9957 right_x=0.5677 right_y=0.2744 right_z=0.2039 right_yaw=0.0381 right_pitch=-0.0783 right_roll=-0.3839 right_gripper=0.0588 state[joint_eff]: [-0.1983, -2.4684, 6.7897, 1.453, -0.1245, -0.0513, -0.0122, 0.4444, -18.6051, 8.1573, 1.4872, 0.3736, 0.1734, 0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.56, "right_y": 0.225, "right_z": 0.19, "right_pitch": 0.0}, "note": "Wrist view shows the blue bowl right under the jaws with the pink bowl hanging to its left. Shifting ~5 cm right so the pink bowl's centre lines up over the blue bowl."})

tool

executing move_to over 5 steps (0.5s)

step 272

assistant

agent notePink bowl is held just beside/over the blue bowl near the arm's reach limit. Lowering it onto the blue bowl.

move_to

right_z0.0900

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 1.0138, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.564, 2.7834, 3.1176, -1.1194, 0.6292, -0.0154, 0.0594] state[eef_state]: left_x=0.2926 left_y=0.0021 left_z=0.147 left_yaw=0.0839 left_pitch=-0.2878 left_roll=0.0255 left_gripper=0.9957 right_x=0.5858 right_y=0.2518 right_z=0.1912 right_yaw=0.0377 right_pitch=-0.0987 right_roll=-0.4257 right_gripper=0.0594 state[joint_eff]: [-0.0889, -2.5368, 6.9675, 1.3895, -0.0855, -0.0708, -0.0171, -0.294, -14.9538, 7.665, 2.0488, 0.3541, 0.105, 0.0513] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.09}, "note": "Pink bowl is held just beside/over the blue bowl near the arm's reach limit. Lowering it onto the blue bowl."})

tool

executing move_to over 7 steps (0.7s)

step 279

assistant

agent notePink bowl is sitting beside the blue bowl, about 10 cm to its left. Lifting and shifting right so pink is over blue.

move_to

right_y0.1650right_z0.1600

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 1.0138, 0.7647, -0.6178, -0.128, -0.1204, 0.9957, 0.5629, 2.965, 3.1229, -1.0134, 0.6205, -0.0196, 0.0602] state[eef_state]: left_x=0.2926 left_y=0.002 left_z=0.147 left_yaw=0.0835 left_pitch=-0.2879 left_roll=0.0252 left_gripper=0.9957 right_x=0.6049 right_y=0.2644 right_z=0.0949 right_yaw=0.0407 right_pitch=-0.1636 right_roll=-0.4588 right_gripper=0.0602 state[joint_eff]: [-0.3487, -2.5778, 6.7761, 1.4335, -0.1294, -0.0757, -0.0122, 0.4308, -14.7077, 7.8291, 1.6581, 0.3199, 0.1148, 0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.165, "right_z": 0.16}, "note": "Pink bowl is sitting beside the blue bowl, about 10 cm to its left. Lifting and shifting right so pink is over blue."})

tool

executing move_to over 9 steps (0.9s)

step 288

assistant

agent noteThe pink bowl is now partly over the blue bowl at z≈0.12. I'm nearly out of budget, so I'm releasing it here to drop it onto the blue bowl.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 1.0176, 0.7647, -0.6174, -0.1284, -0.1204, 0.9957, 0.4175, 2.8906, 3.1229, -1.129, 0.5205, -0.1474, 0.0614] state[eef_state]: left_x=0.2928 left_y=0.0021 left_z=0.146 left_yaw=0.084 left_pitch=-0.2912 left_roll=0.0261 left_gripper=0.9957 right_x=0.619 right_y=0.1824 right_z=0.118 right_yaw=0.0331 right_pitch=-0.266 right_roll=-0.5009 right_gripper=0.0614 state[joint_eff]: [-0.2256, -2.906, 6.8718, 1.4335, -0.1343, -0.0806, -0.0122, -0.5812, -20.4786, 7.5145, 1.5116, 0.2808, 0.1343, 0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1.0}, "note": "The pink bowl is now partly over the blue bowl at z\u22480.12. I'm nearly out of budget, so I'm releasing it here to drop it onto the blue bowl."})

tool

executing move_to over 10 steps (1.0s)

step 298

assistant

agent noteThe bowls are not stacked. The final images show the pink bowl beside the blue bowl, not inside it. The white bowl is by itself on the table. - **Pink bowl:** the right arm picked it up by its wall and carried it to the blue bowl, which sits near the far edge at about x≈0.58 in the right arm's frame. I released it from z≈0.12 when it was only partly over the blue bowl. In the last wrist image it rests beside the blue bowl, touching or tilted against its rim. - **White bowl:** the left arm picked it up by its wall and put it down where I thought the blue bowl was. Afterwards the overhead camera showed the white and blue bowls apart, further forward than I had estimated. So that first stack either never nested or got knocked apart. I ran out of calls before I could stack them properly.

done

hindsight- Before each place, look at the actual overhead image to find the bowls. My position guesses drifted a long way from where the bowls really were: I didn't check the white-on-blue placement in the overhead view, and it had failed. - In this setup the bowls sit far out, at about x 0.5–0.6 in the arm frame. That is at the edge of reach, so plan placements early. Pitching the tool forward (pitch +0.2) extended reach to x≈0.62, but the elbow then hit its limit and wouldn't track well. - Grasping a bowl by its wall works. Put one jaw outside and one inside the wall, go down to z≈0.02, then close fully. The settled reading of about 0.04–0.05 is a real grasp, because the wall is thin. It doesn't mean the gripper is empty. - Short moves are often held back by the approver's speed limit (delta_clamped) and don't happen. A descent can stall at z≈0.085 with nothing touching. Sending a changed target, like a small x/y shift, usually gets the arm moving again. - A loaded arm at long reach sags a lot. Commanding it up sometimes made it go down, and pitch drifted to −0.6. - The held bowl hangs about 5.5 cm off to the side of the grasp point. Yawing the wrist swings it around, but yaw tracked poorly. - Bowls are about 12 cm across, too wide to grip from side to side. - Overhead scale is about 2.5 px/cm in the working area.

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0826, 1.018, 0.7647, -0.6174, -0.128, -0.1204, 0.9957, 0.4374, 2.8727, 3.1229, -1.1778, 0.5156, -0.1474, 0.9951] state[eef_state]: left_x=0.2928 left_y=0.002 left_z=0.1459 left_yaw=0.0837 left_pitch=-0.2916 left_roll=0.0258 left_gripper=0.9957 right_x=0.6072 right_y=0.1917 right_z=0.122 right_yaw=0.0537 right_pitch=-0.2961 right_roll=-0.5092 right_gripper=0.9951 state[joint_eff]: [-0.3487, -2.6325, 6.9402, 1.3944, -0.0708, -0.0415, -0.0171, -0.1162, -14.3111, 7.3504, 1.4823, 0.3736, 0.188, -0.0708] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]

assistant

done({"summary": "The bowls are not stacked. The final images show the pink bowl beside the blue bowl, not inside it. The white bowl is by itself on the table.\n- **Pink bowl:** the right arm picked it up by its wall and carried it to the blue bowl, which sits near the far edge at about x\u22480.58 in the right arm's frame. I released it from z\u22480.12 when it was only partly over the blue bowl. In the last wrist image it rests beside the blue bowl, touching or tilted against its rim.\n- **White bowl:** the left arm picked it up by its wall and put it down where I thought the blue bowl was. Afterwards the overhead camera showed the white and blue bowls apart, further forward than I had estimated. So that first stack either never nested or got knocked apart. I ran out of calls before I could stack them properly.", "hindsight": "- Before each place, look at the actual overhead image to find the bowls. My position guesses drifted a long way from where the bowls really were: I didn't check the white-on-blue placement in the overhead view, and it had failed.\n- In this setup the bowls sit far out, at about x 0.5\u20130.6 in the arm frame. That is at the edge of reach, so plan placements early. Pitching the tool forward (pitch +0.2) extended reach to x\u22480.62, but the elbow then hit its limit and wouldn't track well.\n- Grasping a bowl by its wall works. Put one jaw outside and one inside the wall, go down to z\u22480.02, then close fully. The settled reading of about 0.04\u20130.05 is a real grasp, because the wall is thin. It doesn't mean the gripper is empty.\n- Short moves are often held back by the approver's speed limit (delta_clamped) and don't happen. A descent can stall at z\u22480.085 with nothing touching. Sending a changed target, like a small x/y shift, usually gets the arm moving again.\n- A loaded arm at long reach sags a lot. Commanding it up sometimes made it go down, and pitch drifted to \u22120.6.\n- The held bowl hangs about 5.5 cm off to the side of the grasp point. Yawing the wrist swings it around, but yaw tracked poorly.\n- Bowls are about 12 cm across, too wide to grip from side to side.\n- Overhead scale is about 2.5 px/cm in the working area."})

tool

done: The bowls are not stacked. The final images show the pink bowl beside the blue bowl, not inside it. The white bowl is by itself on the table. - **Pink bowl:** the right arm picked it up by its wall and carried it to the blue bowl, which sits near the far edge at about x≈0.58 in the right arm's frame. I released it from z≈0.12 when it was only partly over the blue bowl. In the last wrist image it rests beside the blue bowl, touching or tilted against its rim. - **White bowl:** the left arm picked it up by its wall and put it down where I thought the blue bowl was. Afterwards the overhead camera showed the white and blue bowls apart, further forward than I had estimated. So that first stack either never nested or got knocked apart. I ran out of calls before I could stack them properly.

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 · 17.86 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.794, 0.6052, -0.3813, -0.0227, -0.0257, 0.9994, -0.0177, 0.7937, 0.6025, -0.3782, -0.0158, -0.033, 0.9965]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1803 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2948 right_y=0.0012 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -1.4974, 10.0991, 1.7705, -0.0464, 0.1099, -0.0757, -0.4308, -1.4701, 10.1812, 1.9023, -0.0904, 0.1538, -0.3785]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce3194775fa0b5335d7c7d92e6b1abdde9045efb6c1375ca5e5a7f17ab33ca76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5518a747dc41711dac287aa5b4c9fa0cd8a1811f04f880dbd58e3b3a87c8917",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c252fd6733832790398907f881eea8d5a8c6881a087001ef02ada2416276ee7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 9.457 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.794, 0.6052, -0.3813, -0.0227, -0.0257, 0.9994, -0.0177, 0.7937, 0.6025, -0.3782, -0.0158, -0.033, 0.9965]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1803 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2948 right_y=0.0012 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -1.4974, 10.0991, 1.7705, -0.0464, 0.1099, -0.0757, -0.4308, -1.4701, 10.1812, 1.9023, -0.0904, 0.1538, -0.3785]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce3194775fa0b5335d7c7d92e6b1abdde9045efb6c1375ca5e5a7f17ab33ca76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5518a747dc41711dac287aa5b4c9fa0cd8a1811f04f880dbd58e3b3a87c8917",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c252fd6733832790398907f881eea8d5a8c6881a087001ef02ada2416276ee7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QT3U5MWCgpvSPYUptM1YuB",
      "input": {
        "note": "Three bowls in a row (white left, blue middle, pink right). Moving the left arm over the white bowl to locate it in the wrist camera; plan is to stack white and pink onto the middle blue bowl.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.17,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01QT3U5MWCgpvSPYUptM1YuB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6022, 1.4822, 1.0622, -0.2893, -0.4828, -0.3676, 0.9993, -0.0196, 0.7975, 0.6037, -0.3893, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.392 left_y=-0.1656 left_z=0.1824 left_yaw=-0.0173 left_pitch=-0.0452 left_roll=0.0184 left_gripper=0.9993 right_x=0.2937 right_y=0.0005 right_z=0.1769 right_yaw=-0.0035 right_pitch=-0.0141 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -7.0085, 9.1282, 1.6093, -0.4029, -0.0464, -0.0171, 0.0889, -1.5521, 6.9538, 1.8046, -0.0611, -0.1001, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:890c94a7b32db5ff99dd7fa134f4c7df649b25dc10543f810dcaca7f2743c246",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a27140515a83490ccacc4d0607dfc58f21649e002b95f63c963e5227671d8ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd159765ccfddc7b782b7ce37417b2eba42b3793ca7c4d43c4b3d1fb831a80d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 11.97 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.794, 0.6052, -0.3813, -0.0227, -0.0257, 0.9994, -0.0177, 0.7937, 0.6025, -0.3782, -0.0158, -0.033, 0.9965]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1803 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2948 right_y=0.0012 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -1.4974, 10.0991, 1.7705, -0.0464, 0.1099, -0.0757, -0.4308, -1.4701, 10.1812, 1.9023, -0.0904, 0.1538, -0.3785]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6022, 1.4822, 1.0622, -0.2893, -0.4828, -0.3676, 0.9993, -0.0196, 0.7975, 0.6037, -0.3893, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.392 left_y=-0.1656 left_z=0.1824 left_yaw=-0.0173 left_pitch=-0.0452 left_roll=0.0184 left_gripper=0.9993 right_x=0.2937 right_y=0.0005 right_z=0.1769 right_yaw=-0.0035 right_pitch=-0.0141 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -7.0085, 9.1282, 1.6093, -0.4029, -0.0464, -0.0171, 0.0889, -1.5521, 6.9538, 1.8046, -0.0611, -0.1001, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:890c94a7b32db5ff99dd7fa134f4c7df649b25dc10543f810dcaca7f2743c246",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a27140515a83490ccacc4d0607dfc58f21649e002b95f63c963e5227671d8ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd159765ccfddc7b782b7ce37417b2eba42b3793ca7c4d43c4b3d1fb831a80d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nxp4e4n2UU3PRRyMsztpwL",
      "input": {
        "note": "Gripper is just over the white bowl, whose centre looks ~4 cm to the gripper's left. Moving over the bowl's left (+y) rim so the jaws can straddle the wall.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.07,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Nxp4e4n2UU3PRRyMsztpwL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3191, 1.3651, 0.6846, -0.0216, -0.284, -0.205, 0.9993, -0.02, 0.7986, 0.6003, -0.3927, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3749 left_y=-0.068 left_z=0.1083 left_yaw=0.0176 left_pitch=-0.0993 left_roll=0.0299 left_gripper=0.9993 right_x=0.2929 right_y=0.0004 right_z=0.1744 right_yaw=-0.0044 right_pitch=-0.0221 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [0.294, -6.8171, 6.7761, 1.8779, -0.0952, 0.1245, -0.0122, -0.0752, -1.3607, 7.3094, 1.7949, -0.0464, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c3825a112428b5018094195d9db792a90f7d1af441906d43cb58cb96d943c4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad3431bb12e2ea2f590ea74abd1fc7e5150ff1da0ff3786eef643b75c02972a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:212c75ed50dc652e27e9ae18c673ed90168d4fa9ca92d74eac0258892375bdb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 3.786 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.794, 0.6052, -0.3813, -0.0227, -0.0257, 0.9994, -0.0177, 0.7937, 0.6025, -0.3782, -0.0158, -0.033, 0.9965]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1803 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9994 right_x=0.2948 right_y=0.0012 right_z=0.1798 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -1.4974, 10.0991, 1.7705, -0.0464, 0.1099, -0.0757, -0.4308, -1.4701, 10.1812, 1.9023, -0.0904, 0.1538, -0.3785]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6022, 1.4822, 1.0622, -0.2893, -0.4828, -0.3676, 0.9993, -0.0196, 0.7975, 0.6037, -0.3893, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.392 left_y=-0.1656 left_z=0.1824 left_yaw=-0.0173 left_pitch=-0.0452 left_roll=0.0184 left_gripper=0.9993 right_x=0.2937 right_y=0.0005 right_z=0.1769 right_yaw=-0.0035 right_pitch=-0.0141 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -7.0085, 9.1282, 1.6093, -0.4029, -0.0464, -0.0171, 0.0889, -1.5521, 6.9538, 1.8046, -0.0611, -0.1001, -0.0464]",
      "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]: [-0.3191, 1.3651, 0.6846, -0.0216, -0.284, -0.205, 0.9993, -0.02, 0.7986, 0.6003, -0.3927, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3749 left_y=-0.068 left_z=0.1083 left_yaw=0.0176 left_pitch=-0.0993 left_roll=0.0299 left_gripper=0.9993 right_x=0.2929 right_y=0.0004 right_z=0.1744 right_yaw=-0.0044 right_pitch=-0.0221 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [0.294, -6.8171, 6.7761, 1.8779, -0.0952, 0.1245, -0.0122, -0.0752, -1.3607, 7.3094, 1.7949, -0.0464, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c3825a112428b5018094195d9db792a90f7d1af441906d43cb58cb96d943c4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad3431bb12e2ea2f590ea74abd1fc7e5150ff1da0ff3786eef643b75c02972a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:212c75ed50dc652e27e9ae18c673ed90168d4fa9ca92d74eac0258892375bdb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KGRxGsQ9fY15Vm5rFZxJM7",
      "input": {
        "note": "White bowl is now right of and slightly ahead of the jaws, its left wall falling between the fingers. Advancing ~2.5 cm forward so the wall's widest point is under the jaws.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.058,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01KGRxGsQ9fY15Vm5rFZxJM7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2764, 1.4326, 0.7013, 0.0219, -0.2508, -0.1795, 0.9993, -0.02, 0.7979, 0.6003, -0.3935, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.3874 left_y=-0.0606 left_z=0.0976 left_yaw=0.0193 left_pitch=-0.1134 left_roll=0.0317 left_gripper=0.9993 right_x=0.2927 right_y=0.0005 right_z=0.1744 right_yaw=-0.0038 right_pitch=-0.0221 right_roll=0.0021 right_gripper=0.9961\nstate[joint_eff]: [0.4991, -5.8462, 7.9932, 1.5946, 0.022, 0.149, -0.0122, -0.0479, -1.1556, 7.2547, 1.6825, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5695874ccd00986db6a64c338995613abf9e2cbde6215ac29e192dd4a03bc764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0eea308fe3d3ddc1dddfd5badd7b9416cd41396a3076152be6d2c2c65a64309",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:542fea8cc37ab1b31f441f33583eb37b382c37235172d9f7533d53c29d5591fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 8.735 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6022, 1.4822, 1.0622, -0.2893, -0.4828, -0.3676, 0.9993, -0.0196, 0.7975, 0.6037, -0.3893, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.392 left_y=-0.1656 left_z=0.1824 left_yaw=-0.0173 left_pitch=-0.0452 left_roll=0.0184 left_gripper=0.9993 right_x=0.2937 right_y=0.0005 right_z=0.1769 right_yaw=-0.0035 right_pitch=-0.0141 right_roll=0.002 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -7.0085, 9.1282, 1.6093, -0.4029, -0.0464, -0.0171, 0.0889, -1.5521, 6.9538, 1.8046, -0.0611, -0.1001, -0.0464]",
      "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]: [-0.3191, 1.3651, 0.6846, -0.0216, -0.284, -0.205, 0.9993, -0.02, 0.7986, 0.6003, -0.3927, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3749 left_y=-0.068 left_z=0.1083 left_yaw=0.0176 left_pitch=-0.0993 left_roll=0.0299 left_gripper=0.9993 right_x=0.2929 right_y=0.0004 right_z=0.1744 right_yaw=-0.0044 right_pitch=-0.0221 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [0.294, -6.8171, 6.7761, 1.8779, -0.0952, 0.1245, -0.0122, -0.0752, -1.3607, 7.3094, 1.7949, -0.0464, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2764, 1.4326, 0.7013, 0.0219, -0.2508, -0.1795, 0.9993, -0.02, 0.7979, 0.6003, -0.3935, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.3874 left_y=-0.0606 left_z=0.0976 left_yaw=0.0193 left_pitch=-0.1134 left_roll=0.0317 left_gripper=0.9993 right_x=0.2927 right_y=0.0005 right_z=0.1744 right_yaw=-0.0038 right_pitch=-0.0221 right_roll=0.0021 right_gripper=0.9961\nstate[joint_eff]: [0.4991, -5.8462, 7.9932, 1.5946, 0.022, 0.149, -0.0122, -0.0479, -1.1556, 7.2547, 1.6825, -0.0317, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5695874ccd00986db6a64c338995613abf9e2cbde6215ac29e192dd4a03bc764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0eea308fe3d3ddc1dddfd5badd7b9416cd41396a3076152be6d2c2c65a64309",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:542fea8cc37ab1b31f441f33583eb37b382c37235172d9f7533d53c29d5591fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7QYKEAgSGAI4AUIIdGhpbmtpbmcSDIK9yTKpNpgbXmsKShoM5HPl+mg/BOqTaCurIjApb62TEppRy79OqvgbiYEDtNLxXLGQgCb44ij5kyJHjrzWuNN8cTJ+EikuedHXNO4qigZ/zIZJrHbLHIAR73hghR7+4b1ifOIQaDtFBPAieJReHAZ3IZfGap2xBbk14SoKmMsX9nK3ped9sH5s7Nwi1zz6IPwiLdP1XAHPk3sjyI7bTwpyriZ/BOSozIqbSbu/5ZwhFFHyzobY1wO4IKFkR6aIU48QBcB9wFugpOXxF7m6oI5RHF9SktD8NmG30+k7VSYkwrdTbzQ8jp0JWmInGMuhgeWkXECWtHmqSlbILE2bMzScwe/W/8sFPgnSTsMFrjfEesO029X3iNSxEFcsMyOxcdANfYFl6j/NmfBmvi3Y62ybzpIxvbCFNZF7BXTpKWoWdFYivcmcuVAvKX9vRyZAcTtKHBMx/Xzv3RoU45HWxRQh1KbuaJVny+I85ZBuDJZseENUQDfXqoDV/ztmiEwedb1JvkMJ80oUGQBJU57TNMvtHG9KMbqVRo1zXRDema/V2Jr45ZB/D625K0Hc5vdV6yh9CDc0u9Hf8VMspCOoi/PP5BToyoh58xmBf0hBwuaKwDZakVHsy7wZhWokxE9opfaSNOPPqnCo/4AlWRrk0QYsOuaD/N+KDUARlwjm+qlBeEwFvMblTgwI+cGQ6NZFNkRc3PVa77GsAFEMjAQAVjX0zKXwo7QNocz3kJodLTEAd8CI1uP5g7KSGQUyez57+ojxJ7qLzivFdg7ngsvJNsL58PswnkxIWf8v2LNlJj52WB9SyCDUe6dzCVrwkKPfv3TpIsV4GRA2T1F3FR/VCvvedn/+tAC9a4/LXyndVYJvFCnSFheqMtKNr9Wc91BZlDapIfXa3mqJttLMWn1txWP8cf5yxCFBizV071KO+wQuf3B/vcC+ahMcclpDh+WdhodZo13WG3Ky2fpd2sn/wKrAfyNbgmlP9t27WK2y4uHf6/zj3yjnVzynvg2M6Q+c1XkLKnqAinf//m496cyhYzOS9pf+f/yPsYgtTSip3MoJ5RHUrLIcUgrEmG4J9NqkDt6ru9kDOBYXsRkIQKejJNGfXG6YtWjfGYq0lQDFSYzZ4Gdp0IjbZJk/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B46RoX9ufENLTMX1Bq9fYL",
      "input": {
        "note": "Bowl's left wall is between the open jaws. Descending so the fingers straddle the wall near the rim.",
        "targets": {
          "left_x": 0.405,
          "left_y": -0.055,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01B46RoX9ufENLTMX1Bq9fYL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2543, 1.4776, 0.709, 0.0277, -0.239, -0.1795, 0.9993, -0.0196, 0.8024, 0.6003, -0.3927, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3905 left_y=-0.0546 left_z=0.0847 left_yaw=0.0328 left_pitch=-0.146 left_roll=0.0333 left_gripper=0.9993 right_x=0.2931 right_y=0.0005 right_z=0.1733 right_yaw=-0.004 right_pitch=-0.0259 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [-0.4034, -6.0923, 8.294, 1.7411, -0.1148, 0.1245, -0.0122, -0.0205, -1.5521, 7.1863, 1.7363, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1486f1bc15c2b7d4ac064b921998d3ee27c19bb269c3fdc6772120474026207",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68a08d82295e794cd0fd05f8f5ca51ebfaa7d6506b46b057e59e1ed7e5140b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f1f13e44fc809b1f906475da741b7673a29ea130bc0e55598d3185d1f83824a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 11.84 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3191, 1.3651, 0.6846, -0.0216, -0.284, -0.205, 0.9993, -0.02, 0.7986, 0.6003, -0.3927, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3749 left_y=-0.068 left_z=0.1083 left_yaw=0.0176 left_pitch=-0.0993 left_roll=0.0299 left_gripper=0.9993 right_x=0.2929 right_y=0.0004 right_z=0.1744 right_yaw=-0.0044 right_pitch=-0.0221 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [0.294, -6.8171, 6.7761, 1.8779, -0.0952, 0.1245, -0.0122, -0.0752, -1.3607, 7.3094, 1.7949, -0.0464, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2764, 1.4326, 0.7013, 0.0219, -0.2508, -0.1795, 0.9993, -0.02, 0.7979, 0.6003, -0.3935, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.3874 left_y=-0.0606 left_z=0.0976 left_yaw=0.0193 left_pitch=-0.1134 left_roll=0.0317 left_gripper=0.9993 right_x=0.2927 right_y=0.0005 right_z=0.1744 right_yaw=-0.0038 right_pitch=-0.0221 right_roll=0.0021 right_gripper=0.9961\nstate[joint_eff]: [0.4991, -5.8462, 7.9932, 1.5946, 0.022, 0.149, -0.0122, -0.0479, -1.1556, 7.2547, 1.6825, -0.0317, -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]: [-0.2543, 1.4776, 0.709, 0.0277, -0.239, -0.1795, 0.9993, -0.0196, 0.8024, 0.6003, -0.3927, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3905 left_y=-0.0546 left_z=0.0847 left_yaw=0.0328 left_pitch=-0.146 left_roll=0.0333 left_gripper=0.9993 right_x=0.2931 right_y=0.0005 right_z=0.1733 right_yaw=-0.004 right_pitch=-0.0259 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [-0.4034, -6.0923, 8.294, 1.7411, -0.1148, 0.1245, -0.0122, -0.0205, -1.5521, 7.1863, 1.7363, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1486f1bc15c2b7d4ac064b921998d3ee27c19bb269c3fdc6772120474026207",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68a08d82295e794cd0fd05f8f5ca51ebfaa7d6506b46b057e59e1ed7e5140b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f1f13e44fc809b1f906475da741b7673a29ea130bc0e55598d3185d1f83824a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VdA6TDSBbL9MgBTVjyLUJo",
      "input": {
        "note": "Descent stalled at z≈0.085 with no clear contact; the bowl wall sits between the jaws. Retrying the descent slightly nearer and a bit to the left so the right finger clears the rim.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.05,
          "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_01VdA6TDSBbL9MgBTVjyLUJo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2543, 1.4776, 0.709, 0.0277, -0.2356, -0.1795, 0.9993, -0.02, 0.8043, 0.5999, -0.3931, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3905 left_y=-0.0552 left_z=0.0846 left_yaw=0.0299 left_pitch=-0.1467 left_roll=0.031 left_gripper=0.9993 right_x=0.2931 right_y=0.0004 right_z=0.1725 right_yaw=-0.0044 right_pitch=-0.0286 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -6.612, 8.0752, 1.7363, -0.0952, 0.1538, -0.0122, -0.1573, -1.4427, 7.0496, 1.7265, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d304e61a433649c7854417a81104c749e558ae9b872557a76c1c7fd8bce2cf94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a875f5ff322490c72ab9aaf1dc08614258209433538e20bc396e14f13da60fd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:18baaac895be21d5eba364d306c66f2a1607cf12c3e9be43846414c444c7f510",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 7.168 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2764, 1.4326, 0.7013, 0.0219, -0.2508, -0.1795, 0.9993, -0.02, 0.7979, 0.6003, -0.3935, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.3874 left_y=-0.0606 left_z=0.0976 left_yaw=0.0193 left_pitch=-0.1134 left_roll=0.0317 left_gripper=0.9993 right_x=0.2927 right_y=0.0005 right_z=0.1744 right_yaw=-0.0038 right_pitch=-0.0221 right_roll=0.0021 right_gripper=0.9961\nstate[joint_eff]: [0.4991, -5.8462, 7.9932, 1.5946, 0.022, 0.149, -0.0122, -0.0479, -1.1556, 7.2547, 1.6825, -0.0317, -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]: [-0.2543, 1.4776, 0.709, 0.0277, -0.239, -0.1795, 0.9993, -0.0196, 0.8024, 0.6003, -0.3927, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3905 left_y=-0.0546 left_z=0.0847 left_yaw=0.0328 left_pitch=-0.146 left_roll=0.0333 left_gripper=0.9993 right_x=0.2931 right_y=0.0005 right_z=0.1733 right_yaw=-0.004 right_pitch=-0.0259 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [-0.4034, -6.0923, 8.294, 1.7411, -0.1148, 0.1245, -0.0122, -0.0205, -1.5521, 7.1863, 1.7363, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2543, 1.4776, 0.709, 0.0277, -0.2356, -0.1795, 0.9993, -0.02, 0.8043, 0.5999, -0.3931, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3905 left_y=-0.0552 left_z=0.0846 left_yaw=0.0299 left_pitch=-0.1467 left_roll=0.031 left_gripper=0.9993 right_x=0.2931 right_y=0.0004 right_z=0.1725 right_yaw=-0.0044 right_pitch=-0.0286 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -6.612, 8.0752, 1.7363, -0.0952, 0.1538, -0.0122, -0.1573, -1.4427, 7.0496, 1.7265, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d304e61a433649c7854417a81104c749e558ae9b872557a76c1c7fd8bce2cf94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a875f5ff322490c72ab9aaf1dc08614258209433538e20bc396e14f13da60fd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18baaac895be21d5eba364d306c66f2a1607cf12c3e9be43846414c444c7f510",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UJPuJLegbGRmoqrnRUTRKm",
      "input": {
        "note": "Descent is blocked at z≈0.085, likely the right finger resting on the bowl rim. Lifting and shifting 2 cm right so that finger drops inside the bowl while the left finger stays outside.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.075,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01UJPuJLegbGRmoqrnRUTRKm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2966, 1.4879, 0.709, 0.0277, -0.2638, -0.2039, 0.9993, -0.0196, 0.8051, 0.5999, -0.3931, -0.0154, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.388 left_y=-0.0667 left_z=0.0816 left_yaw=0.0248 left_pitch=-0.1502 left_roll=0.034 left_gripper=0.9993 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0037 right_pitch=-0.0294 right_roll=0.0025 right_gripper=0.9961\nstate[joint_eff]: [-0.4855, -4.9573, 7.6239, 1.5849, -0.2711, -0.0562, -0.0122, -0.0752, -1.3607, 7.0085, 1.6874, -0.0464, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:440cd8fdcd3ce47bc9f9ced0f521f9393ad296b431aa49cd52a2c5f7b3ffb01a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd78a7c7f375896bd3110b26895d2dee038b4cea3deeaf4a60a591f277b048a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:206a3d15107a7553595474033e71b0c6106f897ac7b4f89ca496d0f13b578724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 3.447 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2543, 1.4776, 0.709, 0.0277, -0.239, -0.1795, 0.9993, -0.0196, 0.8024, 0.6003, -0.3927, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3905 left_y=-0.0546 left_z=0.0847 left_yaw=0.0328 left_pitch=-0.146 left_roll=0.0333 left_gripper=0.9993 right_x=0.2931 right_y=0.0005 right_z=0.1733 right_yaw=-0.004 right_pitch=-0.0259 right_roll=0.0022 right_gripper=0.9961\nstate[joint_eff]: [-0.4034, -6.0923, 8.294, 1.7411, -0.1148, 0.1245, -0.0122, -0.0205, -1.5521, 7.1863, 1.7363, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2543, 1.4776, 0.709, 0.0277, -0.2356, -0.1795, 0.9993, -0.02, 0.8043, 0.5999, -0.3931, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3905 left_y=-0.0552 left_z=0.0846 left_yaw=0.0299 left_pitch=-0.1467 left_roll=0.031 left_gripper=0.9993 right_x=0.2931 right_y=0.0004 right_z=0.1725 right_yaw=-0.0044 right_pitch=-0.0286 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -6.612, 8.0752, 1.7363, -0.0952, 0.1538, -0.0122, -0.1573, -1.4427, 7.0496, 1.7265, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2966, 1.4879, 0.709, 0.0277, -0.2638, -0.2039, 0.9993, -0.0196, 0.8051, 0.5999, -0.3931, -0.0154, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.388 left_y=-0.0667 left_z=0.0816 left_yaw=0.0248 left_pitch=-0.1502 left_roll=0.034 left_gripper=0.9993 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0037 right_pitch=-0.0294 right_roll=0.0025 right_gripper=0.9961\nstate[joint_eff]: [-0.4855, -4.9573, 7.6239, 1.5849, -0.2711, -0.0562, -0.0122, -0.0752, -1.3607, 7.0085, 1.6874, -0.0464, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:440cd8fdcd3ce47bc9f9ced0f521f9393ad296b431aa49cd52a2c5f7b3ffb01a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd78a7c7f375896bd3110b26895d2dee038b4cea3deeaf4a60a591f277b048a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:206a3d15107a7553595474033e71b0c6106f897ac7b4f89ca496d0f13b578724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WULjHhRz343dAVugTdBERA",
      "input": {
        "note": "Previous short moves were rate-clamped and barely executed. Now the jaws are positioned to straddle the white bowl's left wall; descending toward rim-grasp height.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.078,
          "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_01WULjHhRz343dAVugTdBERA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3279, 1.6478, 0.6312, 0.1932, -0.2852, -0.2287, 0.9993, -0.0196, 0.8051, 0.5999, -0.3931, -0.0154, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3799 left_y=-0.073 left_z=0.0229 left_yaw=0.0292 left_pitch=-0.2124 left_roll=0.0545 left_gripper=0.9993 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0037 right_pitch=-0.0294 right_roll=0.0025 right_gripper=0.9961\nstate[joint_eff]: [-0.7726, -6.8581, 5.5863, 1.9267, -0.1538, -0.0806, -0.0122, -0.1026, -1.306, 7.0085, 1.7314, -0.0366, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d9e7354725e42a866b86b9f32b773e1a0d08eaa592b4a6d8cf384379fd3a026",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ab03c50257d5374e2040f1a0fc0c32f1e4dda967f9f246a8789e215799fc8f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:744aaa531e69c72023864cdac85c8857a97ce12c51302d0f15e61ed5725517b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 3.845 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2543, 1.4776, 0.709, 0.0277, -0.2356, -0.1795, 0.9993, -0.02, 0.8043, 0.5999, -0.3931, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3905 left_y=-0.0552 left_z=0.0846 left_yaw=0.0299 left_pitch=-0.1467 left_roll=0.031 left_gripper=0.9993 right_x=0.2931 right_y=0.0004 right_z=0.1725 right_yaw=-0.0044 right_pitch=-0.0286 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.2803, -6.612, 8.0752, 1.7363, -0.0952, 0.1538, -0.0122, -0.1573, -1.4427, 7.0496, 1.7265, -0.0464, -0.0611, -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]: [-0.2966, 1.4879, 0.709, 0.0277, -0.2638, -0.2039, 0.9993, -0.0196, 0.8051, 0.5999, -0.3931, -0.0154, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.388 left_y=-0.0667 left_z=0.0816 left_yaw=0.0248 left_pitch=-0.1502 left_roll=0.034 left_gripper=0.9993 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0037 right_pitch=-0.0294 right_roll=0.0025 right_gripper=0.9961\nstate[joint_eff]: [-0.4855, -4.9573, 7.6239, 1.5849, -0.2711, -0.0562, -0.0122, -0.0752, -1.3607, 7.0085, 1.6874, -0.0464, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3279, 1.6478, 0.6312, 0.1932, -0.2852, -0.2287, 0.9993, -0.0196, 0.8051, 0.5999, -0.3931, -0.0154, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3799 left_y=-0.073 left_z=0.0229 left_yaw=0.0292 left_pitch=-0.2124 left_roll=0.0545 left_gripper=0.9993 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0037 right_pitch=-0.0294 right_roll=0.0025 right_gripper=0.9961\nstate[joint_eff]: [-0.7726, -6.8581, 5.5863, 1.9267, -0.1538, -0.0806, -0.0122, -0.1026, -1.306, 7.0085, 1.7314, -0.0366, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d9e7354725e42a866b86b9f32b773e1a0d08eaa592b4a6d8cf384379fd3a026",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ab03c50257d5374e2040f1a0fc0c32f1e4dda967f9f246a8789e215799fc8f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:744aaa531e69c72023864cdac85c8857a97ce12c51302d0f15e61ed5725517b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6gYKEAgSGAI4AUIIdGhpbmtpbmcSDG9Fo3/+Iqx48pKNRRoMbZYi3F1raJcU1TXnIjCyLbETVJE7unMlnkpFR06gYWdJ6wYuUtKzxwnPo/X1FEseQ+AhM/+aiJ3T3HDkegwqhwZuS6V1Yb72Evm/j6oKnR2g7DvN7Oq04od+N/JRR6i41YOuf3/CDviRkxmNYBz9OzWSPLNo4JtTkL+OUrcQVPdSOal/GJIbkFG8+vCY8JEQL7/K4QzC2/zvE36/wrUwjA7LC2iSY0JzT1vokzsN9uDco4HbSUFIdbDjbuLTdJIPNwq0uFhXICol87KyNhdn+OvbidtdtrREllnV0ck6+YU9kVHFhOyndmWQbWRRq17p8Ph9i77suusI0S8Wn6ZkwS4zBGbpoCP/JAjEf9Q2Bwtt7eh948JH+6dIoo3T1f8D/fEMo6DbuAugQmsNzIxpdwEvPfSZE7FlRO2BD/w6LlDL5m69DIpv1/PiOoQQQnESZMpISnwRZ7VqqQ2t47xxjd64+taL4xUNG6jQFSZBZu0SCNrj9K4PaLDs5+9WioGxMCwOvbTE+NtV/Ggn2sX04XqDoD63SzqPDpM+RITQXchvnrpPJb1KlZ2YbFFFJ2B9kge5qOvJ0VlvNvRkDatp4J0GArXh9nDanj7g5R/vQ6tSGOXwHjWB8y14yymLoIC7XZY/11+zLEY+HUthn9UcUzJuHoTYBPlfb10VfQrloExLk44nYwt16uD5d9pJ8ega0doXDQwIkMQbp5lUCl/uNHDnnptyiIsDQJlDotbUEKwvAb+6mZNnzkqVNazcwyOesJKZVB4gSu2USDvB3rI+rseavEjpOFjtESZqjqOSYZdMyxZLQw4MU6YL7w7bkDmLwKO187f2lj6oCHM2EhiJsmZ5WBk8OgG/13QHBQ09j9aRJ11ZVLYzUH3hlxXXky3SZnqKBSvkEMzfkXE2RtGub9K1tAxxW3jENGeOl63lDN/18wdY2wKT2+E6ww4XQ3SzZqsM9V4MSrgzlcqnOPMuo8E3ZstlykvAYDiEKH85ckQDumAdUl+IZE5yORP2BjeE7djE6BOC0YuaOu4EMoJUu1Vn3v9Q2t+GyQSqxLC7U/ipXRTcau7dcxPMhalbkjPMSrIS7qZUnzMOADFyiQdp5jFhhMubPHwtGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FzsNqzZV82WhnaR5QUBLvq",
      "input": {
        "note": "Jaws are down at z≈0.02 with the left finger outside and the right finger inside the white bowl's wall. Closing to pinch the wall.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FzsNqzZV82WhnaR5QUBLvq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.334, 1.66, 0.6228, 0.3038, -0.281, -0.2543, 0.0367, -0.0196, 0.8051, 0.5999, -0.3931, -0.0154, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3933 left_y=-0.0808 left_z=0.0341 left_yaw=0.0282 left_pitch=-0.1287 left_roll=0.0004 left_gripper=0.0367 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0037 right_pitch=-0.0294 right_roll=0.0025 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -6.3658, 5.7504, 0.9402, -0.2076, 0.1929, 0.7009, -0.1436, -1.3333, 7.159, 1.7363, -0.0659, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d26096cc7528346267a98058435cf2743804d29625dbac23289946f4d33f49f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f481eabf3f7e80da42cec07c127c7338576cc9b3b43663067720785f055792ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da90d727e985571c390421b1533a004356409902a7296d2709d857488f9d7faf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 6.988 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2966, 1.4879, 0.709, 0.0277, -0.2638, -0.2039, 0.9993, -0.0196, 0.8051, 0.5999, -0.3931, -0.0154, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.388 left_y=-0.0667 left_z=0.0816 left_yaw=0.0248 left_pitch=-0.1502 left_roll=0.034 left_gripper=0.9993 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0037 right_pitch=-0.0294 right_roll=0.0025 right_gripper=0.9961\nstate[joint_eff]: [-0.4855, -4.9573, 7.6239, 1.5849, -0.2711, -0.0562, -0.0122, -0.0752, -1.3607, 7.0085, 1.6874, -0.0464, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3279, 1.6478, 0.6312, 0.1932, -0.2852, -0.2287, 0.9993, -0.0196, 0.8051, 0.5999, -0.3931, -0.0154, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3799 left_y=-0.073 left_z=0.0229 left_yaw=0.0292 left_pitch=-0.2124 left_roll=0.0545 left_gripper=0.9993 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0037 right_pitch=-0.0294 right_roll=0.0025 right_gripper=0.9961\nstate[joint_eff]: [-0.7726, -6.8581, 5.5863, 1.9267, -0.1538, -0.0806, -0.0122, -0.1026, -1.306, 7.0085, 1.7314, -0.0366, -0.0122, -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]: [-0.334, 1.66, 0.6228, 0.3038, -0.281, -0.2543, 0.0367, -0.0196, 0.8051, 0.5999, -0.3931, -0.0154, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3933 left_y=-0.0808 left_z=0.0341 left_yaw=0.0282 left_pitch=-0.1287 left_roll=0.0004 left_gripper=0.0367 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0037 right_pitch=-0.0294 right_roll=0.0025 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -6.3658, 5.7504, 0.9402, -0.2076, 0.1929, 0.7009, -0.1436, -1.3333, 7.159, 1.7363, -0.0659, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d26096cc7528346267a98058435cf2743804d29625dbac23289946f4d33f49f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f481eabf3f7e80da42cec07c127c7338576cc9b3b43663067720785f055792ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da90d727e985571c390421b1533a004356409902a7296d2709d857488f9d7faf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS2AcKEAgSGAI4AUIIdGhpbmtpbmcSDNZpwvXqAZ07WxJLyRoMu3rLJsNQNAoxjBBnIjCKLKfcsX/IK7ZOSwpK6mxCf5NA9CWjs3gMvV68CVG8mo1+q0ZOxfRDzpQlXl/UgVoq9QY2wTgNIe/RYerGzvUZ4EiFQXGaRkwvxH3FO8+FF2aam91gD6etG+P5qpc9vL+Vojo4NpokPsHG4ADhToXrVFzWQSat8I26c6ye4qcST78fsC40IevgdHEPns5Q6ykyBdyFBCkY0T3FtRolVvL3Bt/i37b/upHaWefrUyfV6R4LRt0AM/Bb5krI9oqPvZeuUakJc6G/ghVsUx0jwMQiT/oPFhA/PPLfeB/mObylfic65lsmJfgQzhwoOo+dsjgTUjeLl1WhyR7BqdxBGWOwYwLnL75UF33srR20p3HfjG4tCV90a88vOUAkij7yMRjsUt1CJZeSqiw8OcRQTjW/3DvZJss2bp97SM5wkuRnuq3uBQ8eUYk2kq8/+D4D9sP/wGo0NMg+NuGivuadoYZ/txgOkVSeFBExg88uCI3g6Ew1iSXok54SGLQVnwM2BcZY2bPPOhLbT3WeceIMx1Ym528BwvRVjgWMczXV+Pfcjj1vLI2Y92ziPHX4L+Maplv8B+AXue+sxMkknsfsqKX1hX+1a55k5f9R8ndTNWTII9Z7UetNzMXaZON33OZ6J6ljOW1R2Qe4VLa1ZtqGF01DccodlLGaoY4hh4pUwfg0wft/DJ6SbqQljcOUoyrg0E7GCez7WYp3Vf6bD75GtEtGo5o1/+dNG3iHWTfAsMuADDPhtVciITcuVrCO0RAgTJ1S9bgiJLlcim4gtuUQWZMx5QgrBAZUzPrug4JAuAQIdxNCvTPzFPF6xdWbhDXDi3Z7gRbymieLIFMsdPtukN6Sm3aX509WqE29lCooN/A/QO+bIDR6ZLfCm6ExUSvgIRm+SNYmT5XdlDIgb0GnwCdOTIy038QrhIbejYdtIJA/C9LvPSAJOAmt4fVO/nuuSuT2OjZyJ6qiFbbOIGQTzaP5HYg/86O5RQ3Q1eZKPLcg6ZD5g66+npRgyKBym4OEeabGdKhFnyMXKqiViH/GY8uySJVgcX53Db1/rCUme3jA1uT/I9y1JF1HvZDzhoHOMukmpA/QsYKtte+s5xvrPKmv8X/gtLPJTmcstRCfWJyuGwGqbinJ+Gehk6I554HXXkGK0psnbXrcrvkePMrlqHoBl333OemD9io39IFc40+TiTxN+SfZH6P5eqpk1+VW67MtAJMmzlq/SP5rqDnbCtq3Qg84D4ITZwgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014vjeaQwEUnJKAX45SMPmaj",
      "input": {
        "note": "Gripper closed to 0.037 with the bowl wall visibly between the jaws (thin wall, so a low reading is expected). Lifting to confirm the white bowl comes up.",
        "targets": {
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014vjeaQwEUnJKAX45SMPmaj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.334, 1.5093, 0.7208, 0.0376, -0.2848, -0.2588, 0.0455, -0.0196, 0.8051, 0.5999, -0.3927, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.39 left_y=-0.079 left_z=0.0807 left_yaw=0.0347 left_pitch=-0.1441 left_roll=0.0057 left_gripper=0.0455 right_x=0.2932 right_y=0.0005 right_z=0.1724 right_yaw=-0.004 right_pitch=-0.029 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -7.5829, 9.0188, 1.6337, -0.1538, -0.0073, 1.0281, -0.1026, -1.1966, 7.0222, 1.7705, -0.0366, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2c6b67a35799667e40e20b57ffcefc2725553c623722dea910019bc26a3fe83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e81928b1cd61d9e3f1d1c94610f604c5be12cdbed30bbb68035515e8e5b9c3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7e433d5243d805374660ea2b61991c55e98035f5ad3d3467c71ff97a7d620af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 4.416 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3279, 1.6478, 0.6312, 0.1932, -0.2852, -0.2287, 0.9993, -0.0196, 0.8051, 0.5999, -0.3931, -0.0154, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3799 left_y=-0.073 left_z=0.0229 left_yaw=0.0292 left_pitch=-0.2124 left_roll=0.0545 left_gripper=0.9993 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0037 right_pitch=-0.0294 right_roll=0.0025 right_gripper=0.9961\nstate[joint_eff]: [-0.7726, -6.8581, 5.5863, 1.9267, -0.1538, -0.0806, -0.0122, -0.1026, -1.306, 7.0085, 1.7314, -0.0366, -0.0122, -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]: [-0.334, 1.66, 0.6228, 0.3038, -0.281, -0.2543, 0.0367, -0.0196, 0.8051, 0.5999, -0.3931, -0.0154, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3933 left_y=-0.0808 left_z=0.0341 left_yaw=0.0282 left_pitch=-0.1287 left_roll=0.0004 left_gripper=0.0367 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0037 right_pitch=-0.0294 right_roll=0.0025 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -6.3658, 5.7504, 0.9402, -0.2076, 0.1929, 0.7009, -0.1436, -1.3333, 7.159, 1.7363, -0.0659, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.334, 1.5093, 0.7208, 0.0376, -0.2848, -0.2588, 0.0455, -0.0196, 0.8051, 0.5999, -0.3927, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.39 left_y=-0.079 left_z=0.0807 left_yaw=0.0347 left_pitch=-0.1441 left_roll=0.0057 left_gripper=0.0455 right_x=0.2932 right_y=0.0005 right_z=0.1724 right_yaw=-0.004 right_pitch=-0.029 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -7.5829, 9.0188, 1.6337, -0.1538, -0.0073, 1.0281, -0.1026, -1.1966, 7.0222, 1.7705, -0.0366, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2c6b67a35799667e40e20b57ffcefc2725553c623722dea910019bc26a3fe83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e81928b1cd61d9e3f1d1c94610f604c5be12cdbed30bbb68035515e8e5b9c3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7e433d5243d805374660ea2b61991c55e98035f5ad3d3467c71ff97a7d620af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlAsKEAgSGAI4AUIIdGhpbmtpbmcSDF+OudubAWbThDXYlBoMIVmWBnYlwqKI0YrSIjCDIdOEgbT13vAvkj7T99Tomifndxto/5IMUr0e+0UuwvB2Wu1b5D/aG6G6ao/xPgQqsQr0OjwThWI7oPVz60DQX4OvMM7nmylS29wDZUn9k6zme4vnIIW5r697eA9yaMcFFGVM9Nj8tVK7qGFfvvvAJGhlWayH4kFcpMy+u7mUeiz2oqvT0Oay8QtyU14DW7ac3SbEJ5QNTQzJJUG/ogt8n3IUl7B17YlLFcs4aVQ9gytis6w//S5QZfy7xiZcWW0q7ZVwGrmQZIErn1yl4bjnc2Vaxfeu9YO0jgw4thmWTIPArQChELEJKrHg74xNCc4Hqz+GSgNiOxJeVYqayXYIfTMlEwneEnSLAx1/5T1rHl/+PLI8jCae364g6pDoltc528l2Bit5TSItVgLLTXQowuLYG4d5w+aaUWOpkGawxLX1HjHroWkUTfNqZrvYnPHcfReFstK7khrel6TGLRAiB+Ux6wDf/xhlo8oRI4v1JtbD0PUSuK2t9n2jiaMUBs/l0q+q/7vEJyp3E3t8hx/EcnSJcpE2vnUmOABRmH40rVsGSB8gC6ELhvbmrZcd8ccRnD0EaDKsd8GJ4sNo7kAiYk5tI/UAIrQSFuj6FO7UmPMOcpME0bwLiZCpShtnlgpsrwTcHUq0sru1/Dq/d6lFWdj05wqIYuhHT2dCB8j3562bjy0xhy6U+rWoe7LO4JFSFPnDL5qEjv1yekKBoPfaYkqBXAeQshSvGroPHsSuY+I9OeaNUcFc4O3hVt9tixrlmF6edlBF4hoak3RhP6iixCTjs8xVHkNSND8WqDp+3l3Loj52+mKMQ3PRjmMI+UiVJEpYGLEpfwojge3yPJ9RwKoFRm+EEys2Zi3n3IN+9rXkSVpVDWxQhy1HIw6lIbsHXuZ6TFFfA5OR1Z+Yhl5JkgHaMX//z1xKe9X7G2S2btYdOQ5VQz86IXjEchLRgEKZmXzdx+fcesXvfVt9gVm8QL4IS6JJPfLnmwlQbuF/142DTXD7SNyqnZDdtgtpE3l0a233gBTOcA6xHCaQsNWdD67QBFADtGK/KsQ9jx68hABdsuk3Fb7aar6dsiYNA6+B8lVSEL+M41H1Vx3ZFXxlDmIbog5hc3Du+IQ5fHOUouCqKV7DUU4nc9ojIocklpNNkFwYT08d9EhH0aWxRNqD9Eav8n3mjGtHJ1a3uTXUaa3vDjoaSIb2Qd6HO+7DCSItYdrxUqhPLOLriA7xxyqgtYrsyLY28qARq6JfBsYo5pbG4sxQxbsaXiPCUaF+FAHlZL9/J3PJ6k8sGG7BcbOHSOCo0dvb/1xQCg6qENKAndWiIQlAmbASVZjnve8JZJaXzmtaQ3XSWKkgXdeIfrK9tmXnHhsOSKEWJ5Z0Z9qZhGvPMI1JznfIztEo2HKMRPM0lc39ARSJqfc2m4ELepJmed49aD9ffVALdwkY/Rysf7Ik9VWVKkl9H684Jn5QFczMWjkq+QqOt015aanEX4PYMeW9L5OSyGA+w63nh6V2ipMMKwUxRIbjEvvxPn/Q0pzLypsEaTEXD90cSeAW1KAVxTWyuD0S7efbMEa8oOtwZ4uPbLy4n2dB3zNU1ZkoiEPbnCAI+fW77fcNvnqnC54yfF15688Jg62GHTQbXbiQFRvNwhAOBz1qIlHeuawtNlDFVKb3w6d3Um+d48J66015IoZjQ77ubEHAyWNHdahRUYlu6nXwH/KpKM2JO7t3UnD1twozqbn5H3dd/o3MNh3g6unyWUJ5uPK1NaED+f9kkFkPk53RonxGaeFPVBlwbFCvOYSNYp5RGu7t+ZUSUDAFqeApT2Nur6It/lLgHqS4kCje/igYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QTLAaqbX1FbtQbDkzyBtU6",
      "input": {
        "note": "White bowl appears held (reading 0.046, bowl stays fixed in wrist view). Carrying it ~15 cm right to hover over the blue bowl.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.23,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01QTLAaqbX1FbtQbDkzyBtU6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7437, 1.7, 1.2457, -0.4496, -0.5426, -0.5774, 0.0469, -0.0196, 0.8097, 0.5999, -0.3935, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.3861 left_y=-0.2264 left_z=0.1464 left_yaw=0.0137 left_pitch=-0.1683 left_roll=0.0096 left_gripper=0.0469 right_x=0.2934 right_y=0.0006 right_z=0.171 right_yaw=-0.0035 right_pitch=-0.0343 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -8.1983, 9.4427, 1.2137, -0.5006, -0.0415, 1.0281, -0.0752, -1.6615, 7.159, 1.6972, -0.0806, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b37d586d3a258f7e687a5e7884917e308540927611acb37f5703857484fb34c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2d77a1c287163dcb6e30cbc07f68dd145105a6e4796d8f9e93772c61a23c401",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b027c7a705238408f92232e22f904f8cd16354d857e273781880fffeb1b164b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 3.541 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.334, 1.66, 0.6228, 0.3038, -0.281, -0.2543, 0.0367, -0.0196, 0.8051, 0.5999, -0.3931, -0.0154, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3933 left_y=-0.0808 left_z=0.0341 left_yaw=0.0282 left_pitch=-0.1287 left_roll=0.0004 left_gripper=0.0367 right_x=0.2932 right_y=0.0006 right_z=0.1723 right_yaw=-0.0037 right_pitch=-0.0294 right_roll=0.0025 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -6.3658, 5.7504, 0.9402, -0.2076, 0.1929, 0.7009, -0.1436, -1.3333, 7.159, 1.7363, -0.0659, -0.0562, -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]: [-0.334, 1.5093, 0.7208, 0.0376, -0.2848, -0.2588, 0.0455, -0.0196, 0.8051, 0.5999, -0.3927, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.39 left_y=-0.079 left_z=0.0807 left_yaw=0.0347 left_pitch=-0.1441 left_roll=0.0057 left_gripper=0.0455 right_x=0.2932 right_y=0.0005 right_z=0.1724 right_yaw=-0.004 right_pitch=-0.029 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -7.5829, 9.0188, 1.6337, -0.1538, -0.0073, 1.0281, -0.1026, -1.1966, 7.0222, 1.7705, -0.0366, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7437, 1.7, 1.2457, -0.4496, -0.5426, -0.5774, 0.0469, -0.0196, 0.8097, 0.5999, -0.3935, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.3861 left_y=-0.2264 left_z=0.1464 left_yaw=0.0137 left_pitch=-0.1683 left_roll=0.0096 left_gripper=0.0469 right_x=0.2934 right_y=0.0006 right_z=0.171 right_yaw=-0.0035 right_pitch=-0.0343 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -8.1983, 9.4427, 1.2137, -0.5006, -0.0415, 1.0281, -0.0752, -1.6615, 7.159, 1.6972, -0.0806, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b37d586d3a258f7e687a5e7884917e308540927611acb37f5703857484fb34c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2d77a1c287163dcb6e30cbc07f68dd145105a6e4796d8f9e93772c61a23c401",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b027c7a705238408f92232e22f904f8cd16354d857e273781880fffeb1b164b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSuggKEAgSGAI4AUIIdGhpbmtpbmcSDEOcIfBZ96fL5SoRzxoMk+3pNy+NyytLURVLIjDkCblnSRh/s3brz95YxL95GC2XEQV2+zkzl+6D4ykOWarc7PRMq2WY1XJYnUj8FoUq1wcXQ8lH7OvDde5dzPILyaV0/mFOy1lw5JiOzcdHFi6xaN1pXVmSxxK0iKMS2ecvrMxHgZlxpPMdSnhnf5+N5JnzxkD1grx0bZt538t1bCnPT0NOnCNKk81P94P6YfWBRZofbG5nZQSwe3xsPMKSDVXpUVo0avXvysmE0UTrYBmmcKD6KCDCWS3FUtnoDxkXFZIVxVKi7iYt5IyuowH6JnID3Qlw/ruIMtFtrSqs+kl+1hPW6vGBwkCsSpSJvbMX/1e86hVAPUn7GwVSxefLvtq7rpNU7hz3goswtiDHaR7SfkagplT4G2GqlXRl284gFpzKvTNgI9U5/MUf2OmfBKeOfTYcTaxHyEAZ0tmag9THAlKS5hUC0Gbxs0KdTdGzgurDzWzO1iP4Nt4awfAiu7kO62VH7R4HNsJbfWGqprOKm8Xjm2ISlKX5r7zs8SW9joEIGJLR5o3cL0mzhbeVUVBzjTr09L2IJIXGHU13fFtgYeLFWEBxtA8U1X9qEvcKpO8hk/26RMO89n/wO+5YRUO6UoMqpe3N5nq7uC0GrKT3u2RxIedbV50owBDkvi4zVn84/Kra0/nwGaX/7PPShqILy2MPpFoK4BjyRHJn3pryT9DARggsrbVjDeK3QRpcPScufljI2svwFG4mXRnhG/Y/T25x4sgK/rrCXpIVK+TfpUIO8Vf+BZ1ZfFsGjAExbXH5lcbYiYvpLxavN5iB7HOfrkHjCiXozx8Q1CTq9piuDRnaztX8vzMDppVH7j4JL5g9To78dc1M4q8/NEVGoDgceFO1NVmCiTp/ZuIEV6txR8xGFRT3NJ/SHgdXKrqOHEsNKkWbgc2wFaPwixO+uzqgKUTbRxnw/+8TVK/ifRgp71DjYuNhaWdeg06bi53CKm3fuAYVNH56nQg0DCwoK0blysxR60Dq685NLGAqbXII+8BUaqWBnOVUh6b4ZavabPmdi/W0ODBZyYIJnZEau+gduk6b/FIgqCURaqUvAy9D4db1qFmVdltXDLT2z8WrICYsOuNHYVSIg10PBxpbdYk7TAi8ccfVmkHMZAyDTDMJB5fDcY5SeK+VIAieqss7g3qu8GaydPxgU2olZdiuECptXOxsuHTBIU+SxK9dsBkM87rn86mzCtNsNgNzVyJZCyK8gPRb+19Ez0Re0Rrp7ssZIG/M7gHxUOehbOlc50XDsVclyP1Lbyag4JKC4uKI4vXNT+HVZoadO78GNlEIUHMMi7Tk4zXZg+6bAoGKrPdssAio35TWMQu9M+aZQvOOdvtB8cRXu3qKonnAY7kAYoAeQe+bF17LFBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U75JMJrptW2Dso2cyDNFrr",
      "input": {
        "note": "White bowl is hovering over the blue bowl in the overhead view. Lowering it to nest inside.",
        "targets": {
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01U75JMJrptW2Dso2cyDNFrr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7479, 1.8133, 1.0298, -0.1246, -0.5488, -0.5926, 0.0471, -0.02, 0.8101, 0.5999, -0.3927, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.3842 left_y=-0.2258 left_z=0.0639 left_yaw=0.0227 left_pitch=-0.1678 left_roll=0.0046 left_gripper=0.0471 right_x=0.2935 right_y=0.0004 right_z=0.1711 right_yaw=-0.0038 right_pitch=-0.034 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [0.294, -6.4342, 5.0667, 1.0427, -0.2173, 0.105, 0.7741, -0.1846, -1.3333, 7.0359, 1.7118, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13c4b0f660ce377548e1bc63f5bfc4dee251d90255bc6734b4501a5b0ff951c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4861d94c8911e89cb395b3e39c1b33f6cc93cd5d1ee418abb147f7760af49e70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ca8d39606969263ea9604f9aad7de29899638994bfbb73350db6d1171644f45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 3.277 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.334, 1.5093, 0.7208, 0.0376, -0.2848, -0.2588, 0.0455, -0.0196, 0.8051, 0.5999, -0.3927, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.39 left_y=-0.079 left_z=0.0807 left_yaw=0.0347 left_pitch=-0.1441 left_roll=0.0057 left_gripper=0.0455 right_x=0.2932 right_y=0.0005 right_z=0.1724 right_yaw=-0.004 right_pitch=-0.029 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -7.5829, 9.0188, 1.6337, -0.1538, -0.0073, 1.0281, -0.1026, -1.1966, 7.0222, 1.7705, -0.0366, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7437, 1.7, 1.2457, -0.4496, -0.5426, -0.5774, 0.0469, -0.0196, 0.8097, 0.5999, -0.3935, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.3861 left_y=-0.2264 left_z=0.1464 left_yaw=0.0137 left_pitch=-0.1683 left_roll=0.0096 left_gripper=0.0469 right_x=0.2934 right_y=0.0006 right_z=0.171 right_yaw=-0.0035 right_pitch=-0.0343 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -8.1983, 9.4427, 1.2137, -0.5006, -0.0415, 1.0281, -0.0752, -1.6615, 7.159, 1.6972, -0.0806, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7479, 1.8133, 1.0298, -0.1246, -0.5488, -0.5926, 0.0471, -0.02, 0.8101, 0.5999, -0.3927, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.3842 left_y=-0.2258 left_z=0.0639 left_yaw=0.0227 left_pitch=-0.1678 left_roll=0.0046 left_gripper=0.0471 right_x=0.2935 right_y=0.0004 right_z=0.1711 right_yaw=-0.0038 right_pitch=-0.034 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [0.294, -6.4342, 5.0667, 1.0427, -0.2173, 0.105, 0.7741, -0.1846, -1.3333, 7.0359, 1.7118, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13c4b0f660ce377548e1bc63f5bfc4dee251d90255bc6734b4501a5b0ff951c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4861d94c8911e89cb395b3e39c1b33f6cc93cd5d1ee418abb147f7760af49e70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ca8d39606969263ea9604f9aad7de29899638994bfbb73350db6d1171644f45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlQcKEAgSGAI4AUIIdGhpbmtpbmcSDOf62mKFMiet6zsyPBoM/CkYLPdXCuu0ZLIrIjDtFXidN2PpeaJPiBytXxnB0apWmfUEV7OLlZsG1vWG6fdD0AoYoq0IHHWLb5PDqrYqsgYGNCeqjJDzo6NxeQRNm+OVxwVaNTE54m4LzwNufuQadZuO711JyNuDengqDKsCRP8Qt4RPNAw7rXGp69kwZMPFIyWe42SimW1OOEoez7YeUSxqx5TBF3iyz9Q7pekrCPSWJOsH2UolOlKPkwounvKC5gaxC7K/1oTHi8Db0IuCes9CeS1pehCCvtwyeJg1c+RHDTbaXxuvMvrP9Mxw2BKuBBDeKaxoSHMFZSC3lfIzCu9d2y2wmPMtHt+2S1X7c4kP6zGf6UgIRsENcZl8CSFsOnyjQT1pMEnvleSW6spwWeaXekYq0sXlogsvMuPmmANoLbyxh2UADRgeh5mHkdxNB4PWT7A7P3A2n+MiOXL5lnGVhuZrcW1Hg3SZy6OgR0ulP0hHK5UbnMkbkr/pP+AiJaoWu8+Q37FJOx5QFns8oKsEDFCm2dCUnIsxI/nLgziVmuPkDdT1rR1gThQHA/SqC/VjqcHs9Ony4Uoa7a5MoXEckk3u+aIFd1p7RUgmAFg9tm6ByQcjtBMrlme455ro7mAXMxvK7oG/fgzdZKDbQC8drtI+agq/vbmrkCUuT1bgetSHztYLVB8ywUqp8mGDeg4Qr1knT7ZhyXDL1Xo/qENLwZ2S2FcuA/OKk0MaHHoNA8zYRjWO2oaZV9kBC/AjDHZFCgR7nhupAccorF0OZ2exSwmd91BwT5lXgUhOfewEPFCJs7ET3jluex4/HzOr5WjZu5ySS69YgFENgAlF+o/oYFIQKPGXi1qpWqi9Z0BPiuwYWpsFlQt+VVeoKqqrX+nMgE2m7nFSRlPXf/P1ueNT3N1whsL1tkSdGZpp7qXectN/1q8wDCX/6+bd6V82qA2ttd/yywVHQdOiqjkQEmIYT8Ll2l9kFJYw0XWDOrFSnWdBi6WBA4fpace3iYfeqmMqLNtkoSNwrEapcRr/+5qU6Mj/vUeAjvlzcJe6x4tTTfXjCl+0znCXKyQV2fI1beKZmzt9OeRm2gml5tAIbj1c0wWI/AcXUgJSXQNmTnXDYl6cTzBdatO2UeVPe2fpm95hPPfnHmR4qessE76uNdyxwEyp9p0TNCGmp2xX62jWqxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JBvg4qDC94HmHLxpbkB2L2",
      "input": {
        "note": "The white bowl has settled into the blue bowl (blue rim visible just below it, descent stopped at z≈0.064). Opening to release.",
        "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_01JBvg4qDC94HmHLxpbkB2L2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7483, 1.8256, 1.0206, -0.1265, -0.548, -0.5995, 0.9952, -0.02, 0.8101, 0.5999, -0.3931, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.3812 left_y=-0.2235 left_z=0.0554 left_yaw=0.0284 left_pitch=-0.1848 left_roll=0.0155 left_gripper=0.9952 right_x=0.2935 right_y=0.0004 right_z=0.171 right_yaw=-0.0038 right_pitch=-0.0343 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -9.853, 6.5983, 1.3553, -0.3248, 0.0171, -0.1197, -0.0752, -1.306, 7.0632, 1.7558, -0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc70f3a3a18d0a36c09b928e870bb22ef363c201fdf4deeba050e0336d85f107",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9be38ef522f0fbf5bcc9ab2dae8b66fef0a1bf07042b0757662d206060161806",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da1a47256e347a4d22bef7b6f90291b2a4b3ff3fa4039f033b9ef47f746ee2a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 13.41 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7437, 1.7, 1.2457, -0.4496, -0.5426, -0.5774, 0.0469, -0.0196, 0.8097, 0.5999, -0.3935, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.3861 left_y=-0.2264 left_z=0.1464 left_yaw=0.0137 left_pitch=-0.1683 left_roll=0.0096 left_gripper=0.0469 right_x=0.2934 right_y=0.0006 right_z=0.171 right_yaw=-0.0035 right_pitch=-0.0343 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -8.1983, 9.4427, 1.2137, -0.5006, -0.0415, 1.0281, -0.0752, -1.6615, 7.159, 1.6972, -0.0806, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7479, 1.8133, 1.0298, -0.1246, -0.5488, -0.5926, 0.0471, -0.02, 0.8101, 0.5999, -0.3927, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.3842 left_y=-0.2258 left_z=0.0639 left_yaw=0.0227 left_pitch=-0.1678 left_roll=0.0046 left_gripper=0.0471 right_x=0.2935 right_y=0.0004 right_z=0.1711 right_yaw=-0.0038 right_pitch=-0.034 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [0.294, -6.4342, 5.0667, 1.0427, -0.2173, 0.105, 0.7741, -0.1846, -1.3333, 7.0359, 1.7118, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7483, 1.8256, 1.0206, -0.1265, -0.548, -0.5995, 0.9952, -0.02, 0.8101, 0.5999, -0.3931, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.3812 left_y=-0.2235 left_z=0.0554 left_yaw=0.0284 left_pitch=-0.1848 left_roll=0.0155 left_gripper=0.9952 right_x=0.2935 right_y=0.0004 right_z=0.171 right_yaw=-0.0038 right_pitch=-0.0343 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -9.853, 6.5983, 1.3553, -0.3248, 0.0171, -0.1197, -0.0752, -1.306, 7.0632, 1.7558, -0.0562, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc70f3a3a18d0a36c09b928e870bb22ef363c201fdf4deeba050e0336d85f107",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9be38ef522f0fbf5bcc9ab2dae8b66fef0a1bf07042b0757662d206060161806",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da1a47256e347a4d22bef7b6f90291b2a4b3ff3fa4039f033b9ef47f746ee2a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Next I'll lift the left arm and send it home.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015vFhmGnXXsjBHUhA3MsLTi",
      "input": {
        "note": "White bowl released into the blue bowl. Lifting the left arm away and parking it at home so the right arm can bring the pink bowl.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_015vFhmGnXXsjBHUhA3MsLTi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0814, 0.981, 0.762, -0.5652, -0.1287, -0.1207, 0.9956, -0.0196, 0.812, 0.5999, -0.3931, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3002 left_y=0.0019 left_z=0.1637 left_yaw=0.0821 left_pitch=-0.2061 left_roll=0.0115 left_gripper=0.9956 right_x=0.2936 right_y=0.0005 right_z=0.1705 right_yaw=-0.004 right_pitch=-0.0362 right_roll=0.0024 right_gripper=0.9961\nstate[joint_eff]: [0.2667, -3.1385, 10.4, 1.4872, -0.0708, 0.1099, 0.0269, -0.1026, -1.0325, 7.4051, 1.6972, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bf1c5c484875346351239961882f27ec7d3bf7e6a6ea8121e807cec5caac47d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4f6b6bcd64d12a3eabdb9180c51e0aa3610641e8e04eed0c10a5472ddf20ba5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d270f6a00eee82c292d8ff5f1dab230bf032d1f6c3e950d2955be5e65e109b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 6.295 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7479, 1.8133, 1.0298, -0.1246, -0.5488, -0.5926, 0.0471, -0.02, 0.8101, 0.5999, -0.3927, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.3842 left_y=-0.2258 left_z=0.0639 left_yaw=0.0227 left_pitch=-0.1678 left_roll=0.0046 left_gripper=0.0471 right_x=0.2935 right_y=0.0004 right_z=0.1711 right_yaw=-0.0038 right_pitch=-0.034 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [0.294, -6.4342, 5.0667, 1.0427, -0.2173, 0.105, 0.7741, -0.1846, -1.3333, 7.0359, 1.7118, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7483, 1.8256, 1.0206, -0.1265, -0.548, -0.5995, 0.9952, -0.02, 0.8101, 0.5999, -0.3931, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.3812 left_y=-0.2235 left_z=0.0554 left_yaw=0.0284 left_pitch=-0.1848 left_roll=0.0155 left_gripper=0.9952 right_x=0.2935 right_y=0.0004 right_z=0.171 right_yaw=-0.0038 right_pitch=-0.0343 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -9.853, 6.5983, 1.3553, -0.3248, 0.0171, -0.1197, -0.0752, -1.306, 7.0632, 1.7558, -0.0562, -0.0708, -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]: [-0.0814, 0.981, 0.762, -0.5652, -0.1287, -0.1207, 0.9956, -0.0196, 0.812, 0.5999, -0.3931, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3002 left_y=0.0019 left_z=0.1637 left_yaw=0.0821 left_pitch=-0.2061 left_roll=0.0115 left_gripper=0.9956 right_x=0.2936 right_y=0.0005 right_z=0.1705 right_yaw=-0.004 right_pitch=-0.0362 right_roll=0.0024 right_gripper=0.9961\nstate[joint_eff]: [0.2667, -3.1385, 10.4, 1.4872, -0.0708, 0.1099, 0.0269, -0.1026, -1.0325, 7.4051, 1.6972, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bf1c5c484875346351239961882f27ec7d3bf7e6a6ea8121e807cec5caac47d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4f6b6bcd64d12a3eabdb9180c51e0aa3610641e8e04eed0c10a5472ddf20ba5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d270f6a00eee82c292d8ff5f1dab230bf032d1f6c3e950d2955be5e65e109b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VH9XnnYqRdT5Hp4PNTpkhV",
      "input": {
        "note": "White bowl is nested in the blue bowl; the left arm is parked. Moving the right arm over the pink bowl's right-hand wall to set up a rim grasp.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.1,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01VH9XnnYqRdT5Hp4PNTpkhV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0822, 0.9855, 0.7654, -0.5865, -0.1284, -0.12, 0.9957, 0.3672, 1.4109, 0.6884, -0.0181, 0.2623, 0.1661, 0.9961]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1602 left_yaw=0.0814 left_pitch=-0.2284 left_roll=0.0155 left_gripper=0.9957 right_x=0.369 right_y=0.0967 right_z=0.0934 right_yaw=0.041 right_pitch=-0.1413 right_roll=-0.0336 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -2.7829, 6.5709, 1.6923, -0.1148, -0.0464, -0.0073, 0.2393, -6.694, 8.7863, 1.8535, 0.2955, 0.1929, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49a2bd014859a8f83058c3f23239e7a85c66b0eb93c8fe722c79fec6ded3fef1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebabfc6d6c6334319d439f9c251271c729b76e05eae81ae4df7f40ca58be3c0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a4c14e4b4aab9ecc6ce681c832010d71b3845400feca95d3e61bc6a6e913542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 3.31 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7483, 1.8256, 1.0206, -0.1265, -0.548, -0.5995, 0.9952, -0.02, 0.8101, 0.5999, -0.3931, -0.0154, -0.0307, 0.9961]\nstate[eef_state]: left_x=0.3812 left_y=-0.2235 left_z=0.0554 left_yaw=0.0284 left_pitch=-0.1848 left_roll=0.0155 left_gripper=0.9952 right_x=0.2935 right_y=0.0004 right_z=0.171 right_yaw=-0.0038 right_pitch=-0.0343 right_roll=0.0023 right_gripper=0.9961\nstate[joint_eff]: [-0.3214, -9.853, 6.5983, 1.3553, -0.3248, 0.0171, -0.1197, -0.0752, -1.306, 7.0632, 1.7558, -0.0562, -0.0708, -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]: [-0.0814, 0.981, 0.762, -0.5652, -0.1287, -0.1207, 0.9956, -0.0196, 0.812, 0.5999, -0.3931, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3002 left_y=0.0019 left_z=0.1637 left_yaw=0.0821 left_pitch=-0.2061 left_roll=0.0115 left_gripper=0.9956 right_x=0.2936 right_y=0.0005 right_z=0.1705 right_yaw=-0.004 right_pitch=-0.0362 right_roll=0.0024 right_gripper=0.9961\nstate[joint_eff]: [0.2667, -3.1385, 10.4, 1.4872, -0.0708, 0.1099, 0.0269, -0.1026, -1.0325, 7.4051, 1.6972, -0.0562, -0.0464, -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]: [-0.0822, 0.9855, 0.7654, -0.5865, -0.1284, -0.12, 0.9957, 0.3672, 1.4109, 0.6884, -0.0181, 0.2623, 0.1661, 0.9961]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1602 left_yaw=0.0814 left_pitch=-0.2284 left_roll=0.0155 left_gripper=0.9957 right_x=0.369 right_y=0.0967 right_z=0.0934 right_yaw=0.041 right_pitch=-0.1413 right_roll=-0.0336 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -2.7829, 6.5709, 1.6923, -0.1148, -0.0464, -0.0073, 0.2393, -6.694, 8.7863, 1.8535, 0.2955, 0.1929, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49a2bd014859a8f83058c3f23239e7a85c66b0eb93c8fe722c79fec6ded3fef1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebabfc6d6c6334319d439f9c251271c729b76e05eae81ae4df7f40ca58be3c0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a4c14e4b4aab9ecc6ce681c832010d71b3845400feca95d3e61bc6a6e913542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSnAsKEAgSGAI4AUIIdGhpbmtpbmcSDDGXnmIaXd9DBilh8hoMIzdnpHVhHp6XFqIuIjC/IrqREA1i4Hq+Rnv9et5fyeitDtYZHyOzoJGu1V4l66Fo3VeZ40ojrzRW96oCDZ0quQrFFMATHY7nmPT90s7eoGYFm0uZvXYEG8DdD275MP0tX9ejo3NdnHGOuwAYPPsXi+yLOXTrbE527KtdhflYL4dwLX709a0HrCPDwlGdDRWPyF3l+YKAIIta5tVe6JRbreP2wjqaDd8ReL5kN5734LjfiarGD2RMU0+TK/+av+C1R5Ow95RU1JnpbBlal5cmOPZ7Qv1yq7ck9zjtFiVT2xcYLPLxd04Rhp0/C8vCYnZxtBixDZMvOq6FYHPVwEiG26LuavaTC1nM3LpC1ykKtZeJTwqL2qUIor8uWDi5MpNZStt1/LeLBTzIKtaIhxph7J6HDnPuBiBxUjXUEZVSI/XlXZVKf4GeAiAZm/tFrPxpybOpBFHAYG2jrsDe+JNxzX8k8oEOcUpdbdbLT1uaOQZLWY+KUPq5r8PS46CYr6HkUUHCYr8o7F4yvB0Fcsqb1cVlIc2IIE+ChvowSxORzRt6tA77ewOWX25cHvMfS8pCgyONn7qrASUTTJE+dgd3dxwqv30JSTqNIne+1nRDOE74GcDSfp/Pcl+/tMtntx9qWvgvRgVXohK6NJ+rRH+5bYC0bEA2uCpaAvi6oy+Xql1kUNWaJt/PTPObPwXo7mdIwH6o4sCYmdPzR5QrdVs5Tqs5nAg0vfY+fgTLw202CvBiiZHKpDkitAafgMqlTjOP7OsHJAcKJUvwUAmBHOYYPUrSzaHI26DJ8rbhnKX5wPZXwR+GFYFe0W7Vp6lmUQX9RRtEbtT/IUKFB/1924iQGH/LAbt9vyvRwgs9VbaeuJCkY37oF75S+a9nskhyd+n8Wh4RRiIDk/+5QeR52NJxcPcqFHH+l+lbT0nN+nS5Ab6Lv1Nw3W8DM7d63fweP3SBF2ar+LXVwoBSUM1yxpkq7MaCu420HQtXMHfZUGSW5yAyl5QWvZhkK1yCkyBthyANsQXLWJjVMQ2tsisgbRr8OiCp5C5xsZ9l6wu0s/As5BPPWQuLFzmmzpqiJztN5ROxqBn2gStQ/MOVQLlnVymXvf9bFVPlryIPI1dK9sCAKMuA7+HCHS8ZfvSItUYUU9IOxbjZ5URyAdW35+YgCezJLvzXrOYMGk8W/7gggY+ZsttYi+7XMwykMtprARU744p0rY5S94cNbrlDg/2Ikq0zONTG4WbbAz4AxeE70WOjgRrb2ABTDfnf235mqUtdQL9YRu+iWk/QM4WKefnC9UQ9kH/U+OUUNG2VBf17pefL9bcYZ6KPv0S0julU6oNMJd7orNxPbNf61gOCYz4UoA9QRdo4xanKrH/syFyZ2KT1t+i1LsU7P1xGWiydlAB/E20mRCOOT81AGPXRV8UBNbfu/voWi+6epvzyC/5CVen5PWRl/PcVu4RDUxk6ph01r1gevSLPnYjWk6LkiB8jO3qwMCbrm9rHvc+znkq7BPW+kjyDY4sK3Qz5XExBlFe2CBOUKOpsEhByJ7ssyJfNVwWOHkR14rOp4y8HLjkZvDLCGuBGnCkWLGlqQjxOFQ6Qg+BHRtkOYi/54jkhq5W0efFtmCP8/LWPDj3aX4AwuUTL3UmXlGWlqZQ3Zxd6jD8Dyk/w3yTercyvcja4CaRYEcOa7Y+b9tbOBz9o0KIy1McUqAhnpFFSezJrpDV9UPdzYI1PVqq6r1Nr067BHeFDY9G/KTqpNRLZoNLEA3xWpkq1jfLGm/hFEoQfS6ttGC2L4tkwy44lulN1jq9FF4iHnjpqQQ2dX60pf32ScZbJEIg1YjtOKfROSuWbNcafbkb4mqFfkPpFjGzTqGJuIxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HmimAEu2Z7zXbW96Ei519z",
      "input": {
        "note": "Right wrist view shows the pink bowl centred between the jaws, so I'm over its middle. Shifting ~5 cm right so the bowl's right wall lands between the fingers.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.05,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HmimAEu2Z7zXbW96Ei519z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9874, 0.7647, -0.5907, -0.1284, -0.1204, 0.9957, 0.1818, 1.4307, 0.6987, -0.0219, 0.1604, 0.0673, 0.9961]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1586 left_yaw=0.0815 left_pitch=-0.2351 left_roll=0.0164 left_gripper=0.9957 right_x=0.3819 right_y=0.0452 right_z=0.0871 right_yaw=-0.0056 right_pitch=-0.1738 right_roll=-0.0441 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -2.441, 6.9538, 1.5409, -0.1294, -0.0464, -0.0122, -0.1436, -6.0376, 8.3077, 1.7656, -0.0024, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c65f0c3172f9eeac6b2cf44c1da82b3213ad3b07f2dbe16503b77460c58c58d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d249967bd5b5e8be465024e6fc985f30aba8e57f94c30f89dc4875dd6d774789",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d180d1427239c63bf34b2574bff3eca403ff91b6d0fa22ac6fe8fa229742245e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 4.648 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0814, 0.981, 0.762, -0.5652, -0.1287, -0.1207, 0.9956, -0.0196, 0.812, 0.5999, -0.3931, -0.0151, -0.0303, 0.9961]\nstate[eef_state]: left_x=0.3002 left_y=0.0019 left_z=0.1637 left_yaw=0.0821 left_pitch=-0.2061 left_roll=0.0115 left_gripper=0.9956 right_x=0.2936 right_y=0.0005 right_z=0.1705 right_yaw=-0.004 right_pitch=-0.0362 right_roll=0.0024 right_gripper=0.9961\nstate[joint_eff]: [0.2667, -3.1385, 10.4, 1.4872, -0.0708, 0.1099, 0.0269, -0.1026, -1.0325, 7.4051, 1.6972, -0.0562, -0.0464, -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]: [-0.0822, 0.9855, 0.7654, -0.5865, -0.1284, -0.12, 0.9957, 0.3672, 1.4109, 0.6884, -0.0181, 0.2623, 0.1661, 0.9961]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1602 left_yaw=0.0814 left_pitch=-0.2284 left_roll=0.0155 left_gripper=0.9957 right_x=0.369 right_y=0.0967 right_z=0.0934 right_yaw=0.041 right_pitch=-0.1413 right_roll=-0.0336 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -2.7829, 6.5709, 1.6923, -0.1148, -0.0464, -0.0073, 0.2393, -6.694, 8.7863, 1.8535, 0.2955, 0.1929, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9874, 0.7647, -0.5907, -0.1284, -0.1204, 0.9957, 0.1818, 1.4307, 0.6987, -0.0219, 0.1604, 0.0673, 0.9961]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1586 left_yaw=0.0815 left_pitch=-0.2351 left_roll=0.0164 left_gripper=0.9957 right_x=0.3819 right_y=0.0452 right_z=0.0871 right_yaw=-0.0056 right_pitch=-0.1738 right_roll=-0.0441 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -2.441, 6.9538, 1.5409, -0.1294, -0.0464, -0.0122, -0.1436, -6.0376, 8.3077, 1.7656, -0.0024, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c65f0c3172f9eeac6b2cf44c1da82b3213ad3b07f2dbe16503b77460c58c58d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d249967bd5b5e8be465024e6fc985f30aba8e57f94c30f89dc4875dd6d774789",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d180d1427239c63bf34b2574bff3eca403ff91b6d0fa22ac6fe8fa229742245e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS9gYKEAgSGAI4AUIIdGhpbmtpbmcSDD0uDKkbJ0ZrNm8vfRoMx351Y/0+Otgz7NUcIjAL0pGHIxCPjUIy98UBt02nPTI6T+96TfhDC3umo8QIDD2LytrrWlk5EfL2zoYjofAqkwbavbwBUiwF1AotoKnOM1mftowfc45efsnZbeejavpU//nu2qQaeO43+Cb1R8cSA/xciMJucqTKsGaJd+2o7YDWYl82ZWWZkLTrQ6i/RwjdQfgmTgM+Ffz7hCIqbGGhcHsyMpmi28lnZKxpZVtJYgH0Mu3g7HMyLWAPCythhGpXKFmcWWir4bIoqtrmZHo1pLod2phPFjhS4XpVRF5rlJgM2Hwpe9gU13ER9WqLIDQYZR3YOWJwpdDhA4LMF1RCXr3ir0YvLm71jn/hl0MGV54o29Udyzzs66OG0S0qhLE3rcjQ48UL6Jm3ovMf6VSlBnJ16I3TzfQYptQlCS2KZzyKCd4+HeR1xzY3IrAllGhuiR9qBolmwcMHz4I25Gh1ifE8TpYdcko04ykWMZPbSrSe8KfSvAf+kTeNRWiU5Iby1VmYL2vMtxlg10Gh2XZVG3Vpew03BpKZ4FgeoAQ4iuF94BIlXuGfh2CiqmLJEBuXFtWlgF0I1qO5z43xmGhkH2slwDrka+Eh44dmYTiG69gTDkjVdoDw/zYo6gEHEX3JplM4BMlSwNW3lmcWumHeiMG0xTxBIUm7mjHX7L+4WRUe1XQfBP6lf8uyuAC/DZSCXyTiptSzyf7H+M/RQFwKPQFtedxlVkzoj+bLskbN+ygnCCN/jPgV/iuUF/2wOoT1lmgFhIuqnRwDwxlSC+BoVP9moNbJ2PY/hIqUFpahaKM465xJn1Ff3CSa+KAi8RPcYLgZmz6SAPOO22lVuJzZi/iLbA3XcM1GjWJj44Lwaj5q0DSWRzqzr7ra++SZz3aYuPfijb7yBiQMQAslhSL/DrJbss9i1DijQ5y2jHw9iPUsh1flHGuPs5+PSE9CO6f0sV3QtTKOOLf+53IzuuMl7dyfXg9zRixXObMCrVkSYeUL5+4Yt7DwoT9BUYeO9deQGX9XH0E0LjbdPocnMNytAqxSKxx5VZplrTbN4gs02s9/9D94ty0hQOTwe8+RWH2z1mDX+BzQPc6tI71cw8R5+JKV+D8vPaFC3xXeAOrEK6qYjud9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Liw2nNMtBKwyr2smoAA1yd",
      "input": {
        "note": "Pink bowl's right wall is now centred between the open jaws. Descending to grasp the wall low.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.045,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Liw2nNMtBKwyr2smoAA1yd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0822, 0.9874, 0.7647, -0.5911, -0.1284, -0.1204, 0.9957, 0.1692, 1.4307, 0.6987, -0.0254, 0.1173, 0.0322, 0.9961]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1586 left_yaw=0.0819 left_pitch=-0.2355 left_roll=0.0165 left_gripper=0.9957 right_x=0.3814 right_y=0.0478 right_z=0.0858 right_yaw=0.0375 right_pitch=-0.1826 right_roll=-0.0411 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -2.441, 7.159, 1.5214, -0.1294, -0.0513, -0.0122, 0.0889, -6.0376, 8.2803, 1.6728, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:494ccfbd55a7e66b1f809319116b94a2293723e71dd371ac9221ef023f563585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:978806b2e48ba0fca33a3d4ee528e97bf6e2940b91b036dec2f9994e22da8e75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1af995dc7bce909ce24fd36ac2d47100106fc8eb11dba6eadb0ba7b54a38b54a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 4.621 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0822, 0.9855, 0.7654, -0.5865, -0.1284, -0.12, 0.9957, 0.3672, 1.4109, 0.6884, -0.0181, 0.2623, 0.1661, 0.9961]\nstate[eef_state]: left_x=0.2973 left_y=0.0018 left_z=0.1602 left_yaw=0.0814 left_pitch=-0.2284 left_roll=0.0155 left_gripper=0.9957 right_x=0.369 right_y=0.0967 right_z=0.0934 right_yaw=0.041 right_pitch=-0.1413 right_roll=-0.0336 right_gripper=0.9961\nstate[joint_eff]: [0.0615, -2.7829, 6.5709, 1.6923, -0.1148, -0.0464, -0.0073, 0.2393, -6.694, 8.7863, 1.8535, 0.2955, 0.1929, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9874, 0.7647, -0.5907, -0.1284, -0.1204, 0.9957, 0.1818, 1.4307, 0.6987, -0.0219, 0.1604, 0.0673, 0.9961]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1586 left_yaw=0.0815 left_pitch=-0.2351 left_roll=0.0164 left_gripper=0.9957 right_x=0.3819 right_y=0.0452 right_z=0.0871 right_yaw=-0.0056 right_pitch=-0.1738 right_roll=-0.0441 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -2.441, 6.9538, 1.5409, -0.1294, -0.0464, -0.0122, -0.1436, -6.0376, 8.3077, 1.7656, -0.0024, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0822, 0.9874, 0.7647, -0.5911, -0.1284, -0.1204, 0.9957, 0.1692, 1.4307, 0.6987, -0.0254, 0.1173, 0.0322, 0.9961]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1586 left_yaw=0.0819 left_pitch=-0.2355 left_roll=0.0165 left_gripper=0.9957 right_x=0.3814 right_y=0.0478 right_z=0.0858 right_yaw=0.0375 right_pitch=-0.1826 right_roll=-0.0411 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -2.441, 7.159, 1.5214, -0.1294, -0.0513, -0.0122, 0.0889, -6.0376, 8.2803, 1.6728, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:494ccfbd55a7e66b1f809319116b94a2293723e71dd371ac9221ef023f563585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:978806b2e48ba0fca33a3d4ee528e97bf6e2940b91b036dec2f9994e22da8e75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1af995dc7bce909ce24fd36ac2d47100106fc8eb11dba6eadb0ba7b54a38b54a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS9AcKEAgSGAI4AUIIdGhpbmtpbmcSDKdcu2TaqSNau33FbRoMSbqCEoxKT412jKpmIjCBxWnTC9k2r37En4vpj161vB8iHGGk0UeQB4Wa6ITLCYlJWhwzob+HbfPgQgpugG4qkQfd1bxDwmyoY+D1NeG1QSmE41n+sXcGOd4JIyIoLL0KuQhuJhpkFb9Ndxs3+vpKbl67B8mUYiDzC5nBf2D1+oCGFcL/dY2xtscsr74glkK8CFhn+t31CY2xRv2tKZS69mow1c5p+CG8D+H2cu9iz24oR+zRVtjoXJQSsk5smCV6Pga0HR4l4yduksSmNLwLYZgy6N319mA2aMsTzdyO105y4o4O69d0OpWlKENTPHnijU2HfJkRlN02oO2FyFEy97urUAm8s/V4UTLkw2lUEdyHx6qbpnmwEdofhSQnfKR3E0Ry3iQ0yhUilSLhE5Qqms7ox0Bztd1wNmTUdh4aEMLZpN/p6IAyOUAmcnHPJmTg43SUrO1aIF8jDAuo1hz11vKJ2u7kY62f+kIJA2EtFlpr2/iLki2bxjyjY10BanP1ZichGSfA7dxtNx2mTxJMLPIEAMhoCWIvG5bzapHqqC4pE2OXjh6CmSWTL9HgEFobjXs1/ARnhF+rjxjnMmEdfrNvY3IWYKSL5W9eyq7AFolQuiTGzZXHegMA3TaIxVJkFHxg5WPWci1GrJYobw2dkdJd9CcqV1XG75S/QJANsSqGGW0H/k5dz/pyzl5NF6A310TimbIiSWbBVENje3nsMvitbqcNaUh7Pf86SPL8GP9zk29q3ERZAli8bnegC4+blVGLmLNwa8QTg+vOPoPXp1TcRJWsV0QV0zhPab7fo4u77Ay/zNrxHkaKdUynXrdn93y0TA7fsNlEm7F9vuTGYkWkIGPlNP6YMUDe3f2dDUBLTh0tWotwZa4+POjx8Z11HUFUwUX1GT65HtncxQTrbh5BwtSsB6pNukXCj5pymXP7MwXgD7RJiQ9gu9i/1XTkBRKTLv+6eUS6f/ie2aYJeHDbTVaAtXGU+eeDH2bk/UaoY2En3OpF/piwf0ii9v6riwvzJqGf1bjcvmj9ywrXoAlS69IUXFR8miVB9uB9HYZLNp1Y1+zi6GNjFM/vvoFqk51wfORChRJgWajd//Ctw3XwFipG7AqUjJMuxoBQiFspPj700rZ3XanPdkO/JmJrdrGlEazbryej4a0w/9qczjwXiL7yAhLN7UesZ7evM05690bcFxym3rZPn0yiBNVhG9WvS/Rs6C3JaReOuLL7eF9m34rK20twSSppe/v0hf3H0ZoAgE23NzFU9hCtFca7UPUXbLAXRw43+eZ82yXUxzWbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FPHcVBf9RG6dPrSwhd8AZG",
      "input": {
        "note": "Descent didn't execute (arm held at z≈0.086, same behaviour the left arm showed). Re-commanding a lower target to get the jaws down around the pink bowl's wall.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.042,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01FPHcVBf9RG6dPrSwhd8AZG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9874, 0.7647, -0.5911, -0.1284, -0.1204, 0.9957, 0.1688, 1.4307, 0.6987, -0.0257, 0.1173, 0.0322, 0.9961]\nstate[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1586 left_yaw=0.0815 left_pitch=-0.2355 left_roll=0.0165 left_gripper=0.9957 right_x=0.3813 right_y=0.0476 right_z=0.0857 right_yaw=0.0371 right_pitch=-0.183 right_roll=-0.0412 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -2.4137, 6.8855, 1.5165, -0.1148, -0.0806, -0.0122, -0.0889, -6.106, 8.3487, 1.6532, 0.0171, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1726a27603c3f8a0436ed2354551145cc2350d7d3e169770f131e4e8d8cf7f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80a1167257425d94bc9a1a4294d3fa86853b63e7c2157d6a009fb3e99c2a183d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1c1b509b1679fa7a11a8376cde8842e9bf3ae5eb32522b80608ef9ea3d6bae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 5.191 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9874, 0.7647, -0.5907, -0.1284, -0.1204, 0.9957, 0.1818, 1.4307, 0.6987, -0.0219, 0.1604, 0.0673, 0.9961]\nstate[eef_state]: left_x=0.2965 left_y=0.0017 left_z=0.1586 left_yaw=0.0815 left_pitch=-0.2351 left_roll=0.0164 left_gripper=0.9957 right_x=0.3819 right_y=0.0452 right_z=0.0871 right_yaw=-0.0056 right_pitch=-0.1738 right_roll=-0.0441 right_gripper=0.9961\nstate[joint_eff]: [-0.1436, -2.441, 6.9538, 1.5409, -0.1294, -0.0464, -0.0122, -0.1436, -6.0376, 8.3077, 1.7656, -0.0024, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0822, 0.9874, 0.7647, -0.5911, -0.1284, -0.1204, 0.9957, 0.1692, 1.4307, 0.6987, -0.0254, 0.1173, 0.0322, 0.9961]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1586 left_yaw=0.0819 left_pitch=-0.2355 left_roll=0.0165 left_gripper=0.9957 right_x=0.3814 right_y=0.0478 right_z=0.0858 right_yaw=0.0375 right_pitch=-0.1826 right_roll=-0.0411 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -2.441, 7.159, 1.5214, -0.1294, -0.0513, -0.0122, 0.0889, -6.0376, 8.2803, 1.6728, -0.0366, -0.0611, -0.0122]",
      "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]: [-0.0826, 0.9874, 0.7647, -0.5911, -0.1284, -0.1204, 0.9957, 0.1688, 1.4307, 0.6987, -0.0257, 0.1173, 0.0322, 0.9961]\nstate[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1586 left_yaw=0.0815 left_pitch=-0.2355 left_roll=0.0165 left_gripper=0.9957 right_x=0.3813 right_y=0.0476 right_z=0.0857 right_yaw=0.0371 right_pitch=-0.183 right_roll=-0.0412 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -2.4137, 6.8855, 1.5165, -0.1148, -0.0806, -0.0122, -0.0889, -6.106, 8.3487, 1.6532, 0.0171, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1726a27603c3f8a0436ed2354551145cc2350d7d3e169770f131e4e8d8cf7f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80a1167257425d94bc9a1a4294d3fa86853b63e7c2157d6a009fb3e99c2a183d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1c1b509b1679fa7a11a8376cde8842e9bf3ae5eb32522b80608ef9ea3d6bae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSsAgKEAgSGAI4AUIIdGhpbmtpbmcSDLVoHnoRiczd8KCQPhoMAtzmFOkHjVWAy9baIjAkgfaI/KE/iwTOqPUiu65IVpZpXvS5X/CcJG9NNbT+xQVB4iH90zAu2uTTDooWuOMqzQcOPcWpBmSU8nbCxZe2LFUhqz2KvEubnIzGFtE8zUkAtKJmmQAnaA2KuoHEB6mh2nszZ10PhH2sz2y18rJT4/EHrnpQHmIaGqhIEydcD725XZXCHBD7Rv+s3bUbwZzFZpOtEgGBN23gPdzDXAcm4GBUyxxsmSU3yau+gV2kqFsXQpVn2LTCp/TbJHdCvCpjWbm+20t5yEaToizDM7ZQ7m2VTUWydUONnbwjG10/ZE86mY2ZcqYCESE4nX4o7Zp7pzEmCSfYVytzjIjXk4uJa4/S9OWFlCqopvLITc+O5kpmCeD+4ohmbGCqLkCKFPk03hbfv1vTpo5aRZxj274x5esmjTKycvrySG2lzt/xR8sNMR6LCbuwYlcgaLEFcVpiad0W9TKZuYKEaWiVxM75ia0tVBE1W0fVY8Ml0QnKe5UTXahTv+/dEgP9EgRmGb9nUxb81EHDjthpyb6aFmhLMD0LcL8fKgA4ANLlGeOV+lCvcpJTR1eAW4Om3Df7P5FhXw/TkW7uJuFAGB1TSVgk0iMSO/RtxKlIACx1lj+Bv261v+f+lM3ZlZMhqT1pU1zOrHxmH70r9lTPJFsLuJpMJ0t3DDq8NpBKWvu3F4fhhNQsjJaZMnw0JllaZuS+zt/PRDfi9GDxzeAsjEz18TJH5jgTpZH1OmItLScxdHJA4/E3jYbnR6+3ncFdqO+JYr6CqjhBvLgn036vzr/6UM8lQ8P4xl8S24HYXBEmV3C+g5zPVbhrFgSTc/8jDV/oE4arlnv0tsVZ+qEfUATG9Z17ayJHoZBvYbG7UtPVioi1BGrcryT58GsG/gcdTuo55NiPgOwNhwbuEtaT5GLuiofGKa3oYkU2NoOBRCn3iyqFmku49C99AKdpPpbem5qBELo6drotqm46yUFWSclOYFLNNkLuGUXx1Tjv9VGFWZdRWKUJOn7JwgQQRDXMd63v9NFJHPFIX1TtjOdys4cYDrK8tEhhtWI/O6udBkwd6RQ/87W0+Ax7uQyqEoJA4pRMWFHVTygiDEv8Em5GIknAGhVFW0wdshyBrDPOafwu23E2LTiL0l4xd4oiZd3YC5ZdGWJzF/jZvcH67kjr8XwQ2pSGwsmxfny1o4oR77Y8O+2C67CA/J27gJgpXQNDvNAOPV+deaZCsinEQVGGQiW1fkqnZtFj6I8sBV8rp4nEkE24g/lrLPgNKyTs1WANv/xknQnyw2aVQEVHITB6PMSSdg7BN5n88FiCsm2CLNlRC6rXIeO687qjsga+JfIflVsf5k4jYHytvEDgNfC4Jg7NfDCfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TxeDHYTraTpmKbkzffx4GV",
      "input": {
        "note": "Right arm is frozen at z≈0.086 and ignoring descent commands. Backing up and raising to break out of the stuck IK state before trying the descent again.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.04,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TxeDHYTraTpmKbkzffx4GV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9928, 0.7647, -0.5957, -0.1284, -0.1204, 0.9957, 0.1551, 1.3922, 0.606, -0.0502, 0.1101, 0.0246, 0.9961]\nstate[eef_state]: left_x=0.2959 left_y=0.0018 left_z=0.1563 left_yaw=0.0819 left_pitch=-0.2453 left_roll=0.0181 left_gripper=0.9957 right_x=0.3515 right_y=0.0389 right_z=0.0586 right_yaw=0.0316 right_pitch=-0.2618 right_roll=-0.0517 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -2.6051, 6.8171, 1.5263, -0.1197, -0.0659, -0.0122, -0.294, -8.3487, 9.1556, 2.0879, -0.0366, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b080c0c905c3a931d83a42a985e12ffa28d34b08fc1c092a644d3dd8256e020e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20440382c20655a2ecc5a6d36c32f4ca8377b810b3b6e67df86bca6ece3a6ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ab6091cc5148cddf2f7c72148f0f70e995b93f4c76d41b6b953a8d3e0a2cc23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 3.182 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0822, 0.9874, 0.7647, -0.5911, -0.1284, -0.1204, 0.9957, 0.1692, 1.4307, 0.6987, -0.0254, 0.1173, 0.0322, 0.9961]\nstate[eef_state]: left_x=0.2964 left_y=0.0019 left_z=0.1586 left_yaw=0.0819 left_pitch=-0.2355 left_roll=0.0165 left_gripper=0.9957 right_x=0.3814 right_y=0.0478 right_z=0.0858 right_yaw=0.0375 right_pitch=-0.1826 right_roll=-0.0411 right_gripper=0.9961\nstate[joint_eff]: [-0.0479, -2.441, 7.159, 1.5214, -0.1294, -0.0513, -0.0122, 0.0889, -6.0376, 8.2803, 1.6728, -0.0366, -0.0611, -0.0122]",
      "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]: [-0.0826, 0.9874, 0.7647, -0.5911, -0.1284, -0.1204, 0.9957, 0.1688, 1.4307, 0.6987, -0.0257, 0.1173, 0.0322, 0.9961]\nstate[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1586 left_yaw=0.0815 left_pitch=-0.2355 left_roll=0.0165 left_gripper=0.9957 right_x=0.3813 right_y=0.0476 right_z=0.0857 right_yaw=0.0371 right_pitch=-0.183 right_roll=-0.0412 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -2.4137, 6.8855, 1.5165, -0.1148, -0.0806, -0.0122, -0.0889, -6.106, 8.3487, 1.6532, 0.0171, -0.0415, -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 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9928, 0.7647, -0.5957, -0.1284, -0.1204, 0.9957, 0.1551, 1.3922, 0.606, -0.0502, 0.1101, 0.0246, 0.9961]\nstate[eef_state]: left_x=0.2959 left_y=0.0018 left_z=0.1563 left_yaw=0.0819 left_pitch=-0.2453 left_roll=0.0181 left_gripper=0.9957 right_x=0.3515 right_y=0.0389 right_z=0.0586 right_yaw=0.0316 right_pitch=-0.2618 right_roll=-0.0517 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -2.6051, 6.8171, 1.5263, -0.1197, -0.0659, -0.0122, -0.294, -8.3487, 9.1556, 2.0879, -0.0366, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b080c0c905c3a931d83a42a985e12ffa28d34b08fc1c092a644d3dd8256e020e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20440382c20655a2ecc5a6d36c32f4ca8377b810b3b6e67df86bca6ece3a6ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ab6091cc5148cddf2f7c72148f0f70e995b93f4c76d41b6b953a8d3e0a2cc23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSigkKEAgSGAI4AUIIdGhpbmtpbmcSDJs+sXVRmw5irvZ9vxoMXaTGg8iVqiS6I0WhIjAtEsDQqrF7UshAiA9N4tuSsxlewk9G3TwtGIH1pElTAN8u1b7kmAupTgj7Asrub8Mqpwj1IAXklXWOx/sKztKB0kbuiSMzIHPq4KRgL2oVS6Asm53uu04B/Xkv320XpklxzXvokE2OX/+GWnrUPyFPGUtcw5ah6kNXFcpDuCVhML37jHBngroptYqMDqvoF8hOkRR4o4kJP+gg3NMApUFUyRLUugdhK0KX4yb8zZK9/tj2u+u/GrRNGyYLLtus0k2//spS+p6zeAZj0b1xNcYbw8RecvJgUGjysxe8OaWb6QwdVdBYvrI9vdItDO1Abin2p8eUIiwrcZnDbWI6ktEAXfZne95K4vpQXrDMs+3laDzbZIWUjKDAxVphKKh/371Z+Wlmy/MK2XRaxQjX4lyyrkd3eBwOjxyvsLB27rDhp6MUYfkmuBByTBbOJUti192OzMR8DdHVhFdYucTXPDQL0U6e5TpWZQi4hcRn9ttcPBDdAoiaNPwh0G1dH11OcEOkSVk4O8JifhBu/UU0TOsljdHmxZInPUgZySaX0rOcN2S5IKhQOszGv5xIVs6dBNLY+m3kbM4Uhfl/nOvPPuoMUEyPHumkJ8AHMTk6BRq+WYQ4lMpwxiPKo97bNVaw9HihKgjz8V7p3gp2tT76CtUSWgRk42FMNd/A3TtP4COEkjGyKxemQF97V07ouja0EIJnB/8hSWvC7fO3CmZI1m+4Mm7cQInSchjrdSSiQNSWxGzqm8hSOdlAZtVOjQw11tIev8+pC7ObSYoLzh8iHLlT9ZALdO3sljmujvJoocTYshU1Pp9t4ZS2+0MpYC+wagQ21tpoIynaCvcFzqSbHTaDd3S/llnPdCRb9eQTmdnDpgbe0ebseeYsq+KfCnzFeNq3tf3Bs3hcWNssZCfx28C7cDY+0NYcqxHd1wSxWJVR79vMqym64p5faobhguz0m0qQw0HzJtAr+o5hLfoI2mcOZLnBK3T3VmB8SyhpAshXgAEmEoJjrOnwGxvtqKGxVFNC7+BomApCjwq5efn6eJxCn+vlKY5ZHhV1O0xAyhfqZsfDvVdwa8MOJOFzWqmOB3MtNwL7QQ3S/fgnPDCDXolb9SYrwzPCrsFRvrFcK2khZoAmxkv+jV3Z+j2Wx9qzDwZ/qSwCV9YoA4q6T8eomGJkvOODqT4tR5pT8y6bhTfhhKqXL/vTJQIMv24LU+k9OYQCrxdP7bpA8OohGDPstL9ks0xjZ6RGTBNVP2c4hWhcjtufbvXchRrl3+QonmVrEre1KrcFWxDbSTEr1+VM5e9HzJEPFgEliigzyy7iQFaCHw70BcWyu1LwDZu7aZ8e6xz5hg+Jiw1gIA/PixvdTB4t9Iqelf5O8cejGhikq+Pu3c66Grj7OIAKRRUNI0bcZfQDVThvMq2ubWWTg+v5FsKZNnfJGho1NsZ3MvswrC0V5LqHk3o55+9Qh3aAdjAJPtNm9qFeYUiMLm6LGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014hQvcsXywZy5eCBP3bRLZt",
      "input": {
        "note": "Arm has come down to z≈0.06 with the pink bowl's right wall between the jaws. Continuing down to grasp height and slightly forward to the wall's widest point.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.042,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_014hQvcsXywZy5eCBP3bRLZt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.997, 0.7647, -0.5987, -0.1284, -0.12, 0.9957, 0.1539, 1.5635, 0.6147, 0.041, 0.1024, 0.0238, 0.9961]\nstate[eef_state]: left_x=0.2955 left_y=0.0018 left_z=0.1547 left_yaw=0.082 left_pitch=-0.2525 left_roll=0.0196 left_gripper=0.9957 right_x=0.3589 right_y=0.041 right_z=0.0183 right_yaw=0.0349 right_pitch=-0.3333 right_roll=-0.0552 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -2.3453, 7.159, 1.5556, -0.1099, -0.0073, -0.0122, -0.3214, -9.2239, 6.7897, 1.9853, 0.0415, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b121b6ed67e64b4e192bc4428c957c9dcf1f2ea70efa5b9d2500965e8255414a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b386986267f3449bf31d186d3ce861c068950619941a4986c4b95b91c5c3fa9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1aba83543bd4cbff9632d80275154de9a795122b66a7278f512c82800de0d373",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 6.123 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9874, 0.7647, -0.5911, -0.1284, -0.1204, 0.9957, 0.1688, 1.4307, 0.6987, -0.0257, 0.1173, 0.0322, 0.9961]\nstate[eef_state]: left_x=0.2964 left_y=0.0018 left_z=0.1586 left_yaw=0.0815 left_pitch=-0.2355 left_roll=0.0165 left_gripper=0.9957 right_x=0.3813 right_y=0.0476 right_z=0.0857 right_yaw=0.0371 right_pitch=-0.183 right_roll=-0.0412 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -2.4137, 6.8855, 1.5165, -0.1148, -0.0806, -0.0122, -0.0889, -6.106, 8.3487, 1.6532, 0.0171, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0826, 0.9928, 0.7647, -0.5957, -0.1284, -0.1204, 0.9957, 0.1551, 1.3922, 0.606, -0.0502, 0.1101, 0.0246, 0.9961]\nstate[eef_state]: left_x=0.2959 left_y=0.0018 left_z=0.1563 left_yaw=0.0819 left_pitch=-0.2453 left_roll=0.0181 left_gripper=0.9957 right_x=0.3515 right_y=0.0389 right_z=0.0586 right_yaw=0.0316 right_pitch=-0.2618 right_roll=-0.0517 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -2.6051, 6.8171, 1.5263, -0.1197, -0.0659, -0.0122, -0.294, -8.3487, 9.1556, 2.0879, -0.0366, -0.0757, -0.0122]\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 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.997, 0.7647, -0.5987, -0.1284, -0.12, 0.9957, 0.1539, 1.5635, 0.6147, 0.041, 0.1024, 0.0238, 0.9961]\nstate[eef_state]: left_x=0.2955 left_y=0.0018 left_z=0.1547 left_yaw=0.082 left_pitch=-0.2525 left_roll=0.0196 left_gripper=0.9957 right_x=0.3589 right_y=0.041 right_z=0.0183 right_yaw=0.0349 right_pitch=-0.3333 right_roll=-0.0552 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -2.3453, 7.159, 1.5556, -0.1099, -0.0073, -0.0122, -0.3214, -9.2239, 6.7897, 1.9853, 0.0415, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b121b6ed67e64b4e192bc4428c957c9dcf1f2ea70efa5b9d2500965e8255414a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b386986267f3449bf31d186d3ce861c068950619941a4986c4b95b91c5c3fa9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1aba83543bd4cbff9632d80275154de9a795122b66a7278f512c82800de0d373",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS5AYKEAgSGAI4AUIIdGhpbmtpbmcSDCq8mvisZdak+4TQHxoMIGkPqqYj75lzuM0YIjCLUYfUo1meELppmneOC02sPXRDa50gwZJCGGnoCY8pcSigksZ0TXnTvh71boeEdXMqgQa4BpUKBd2F+yprmEMqgYaGr6jfE+BVfBQ6mAtIYNhk00RQRnIubVUe60VNFUCtdI8Jc/Ymx9OzpcLBAZef9xEIj/BX5NpAedzI1/vITjiHwXinox2A/voSAs+AgtUBZb0oY/Wx7LOLWx2JjfLxsov/G0tjZbVV/dN3JCevmnCObZ0l92riMSND1SdEZp/kMmdlfPnY368PYMs1JaYh/mh7kepz7ZOpW+RsXNk69eXs86H5ecX1RpDT+lwibtGrNwOMEvMM7EkgWu/aKdH8qbIStQmzvln2tWVi6r5n04XsLwFAK8P2LDR3W62RYHiMOdm4sNUZcm2EEmSIqfDXPr+OvaHCyUjLAxSKm9WJYkwbtdJxRXRq1lVTmbKtS3PL/VsSLXoHAzXtHL83W9+l0kc4kAshnHeHDtCcg1VcIlHfpqfIuenZCU0tvvzD05IEdAQTl7BM8i51ZouEJIr+WW9nvlbrCgSE7t6/5RZj3QbPlP064uAFbTzxW5em2mrgqjL7oZhK4328u33UWmy+iwIrUZLoq7Porzjkzf7eVe7YmZVZ1wlTUPDi+PXLN3tTgeiyaSYQ+bptbITAcvfYOZU4YrxKLRHubnTxZSRAQv4BwwDtBd9lmBMf+SLAu9VCw2QNCINBJRiavGyYHcXpmhhRFL4qXmq3S4Wn9yjD4YmIe1G+yaiSMttxARj/jn6X+uCQKy0JpEcIsluNOH10X7FGr7G5MjQnVBPlPFo54gBrw/WcaSi7b9on7j2bS65+c/IZpopZGBgpjJeozL7cPOGD0iImdYeZLF4ebn69ooN6MgZWYMINi9AO9kHNMmn6qqV6v2B2Jgziwbv4XHqKnsmG/RsQ4FeiJBYcqSBOb2LLqZm4/g1PQoN9Rv/7VGd5PfyTubNC5Za/ER0t6w7vN23MWYOBKhdk7qW6I0tzC83L8aib1K256WyShOI0nDWBHAJqhSp8P5vkfYiuwyJ9wt3sPgotBegymzywOpuYyo7WkwVmwc31IX+pMpNdiFRwZwLKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FY5JAgFyQ9X7ZzFxvJQ7WW",
      "input": {
        "note": "Jaws are at z≈0.02 straddling the pink bowl's right wall. Closing to pinch it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FY5JAgFyQ9X7ZzFxvJQ7WW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.997, 0.7647, -0.5991, -0.1284, -0.1204, 0.9957, 0.1551, 1.5459, 0.606, 0.1101, 0.0746, 0.0341, 0.0398]\nstate[eef_state]: left_x=0.2954 left_y=0.0018 left_z=0.1546 left_yaw=0.0822 left_pitch=-0.2528 left_roll=0.0194 left_gripper=0.9957 right_x=0.3697 right_y=0.0481 right_z=0.0319 right_yaw=0.0572 right_pitch=-0.2581 right_roll=-0.0173 right_gripper=0.0398\nstate[joint_eff]: [-0.0615, -2.3043, 6.8991, 1.4579, -0.1001, -0.0708, -0.0122, -0.253, -5.1077, 6.147, 0.9792, 0.5055, -0.1587, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63b1ae2117c9550b7e9ce8e617dfabef7946f0dce879288722a2ac0e66066072",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc1cdc5183454801d0ef235af8baea696ba36dea880572b4674c44de78249b06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4415a7ba80a81a375819764695ad337e4f68b69c51f01349d09e72bc9acf03b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 5.513 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9928, 0.7647, -0.5957, -0.1284, -0.1204, 0.9957, 0.1551, 1.3922, 0.606, -0.0502, 0.1101, 0.0246, 0.9961]\nstate[eef_state]: left_x=0.2959 left_y=0.0018 left_z=0.1563 left_yaw=0.0819 left_pitch=-0.2453 left_roll=0.0181 left_gripper=0.9957 right_x=0.3515 right_y=0.0389 right_z=0.0586 right_yaw=0.0316 right_pitch=-0.2618 right_roll=-0.0517 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -2.6051, 6.8171, 1.5263, -0.1197, -0.0659, -0.0122, -0.294, -8.3487, 9.1556, 2.0879, -0.0366, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0826, 0.997, 0.7647, -0.5987, -0.1284, -0.12, 0.9957, 0.1539, 1.5635, 0.6147, 0.041, 0.1024, 0.0238, 0.9961]\nstate[eef_state]: left_x=0.2955 left_y=0.0018 left_z=0.1547 left_yaw=0.082 left_pitch=-0.2525 left_roll=0.0196 left_gripper=0.9957 right_x=0.3589 right_y=0.041 right_z=0.0183 right_yaw=0.0349 right_pitch=-0.3333 right_roll=-0.0552 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -2.3453, 7.159, 1.5556, -0.1099, -0.0073, -0.0122, -0.3214, -9.2239, 6.7897, 1.9853, 0.0415, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.997, 0.7647, -0.5991, -0.1284, -0.1204, 0.9957, 0.1551, 1.5459, 0.606, 0.1101, 0.0746, 0.0341, 0.0398]\nstate[eef_state]: left_x=0.2954 left_y=0.0018 left_z=0.1546 left_yaw=0.0822 left_pitch=-0.2528 left_roll=0.0194 left_gripper=0.9957 right_x=0.3697 right_y=0.0481 right_z=0.0319 right_yaw=0.0572 right_pitch=-0.2581 right_roll=-0.0173 right_gripper=0.0398\nstate[joint_eff]: [-0.0615, -2.3043, 6.8991, 1.4579, -0.1001, -0.0708, -0.0122, -0.253, -5.1077, 6.147, 0.9792, 0.5055, -0.1587, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63b1ae2117c9550b7e9ce8e617dfabef7946f0dce879288722a2ac0e66066072",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc1cdc5183454801d0ef235af8baea696ba36dea880572b4674c44de78249b06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4415a7ba80a81a375819764695ad337e4f68b69c51f01349d09e72bc9acf03b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSqgoKEAgSGAI4AUIIdGhpbmtpbmcSDAOQG7cG3dMkCrrBWxoMoOmYYbYqxXMCSNZTIjC4i/TOeByW+Yy9WtRkTDH8bzqUa6qBWSmuawNQMLL1nYmnbGtS47eWcAl3xSoz1dAqxwk7Uk76/inBBkn1HE2OgNA1qV5Oa6QSYb1Vj/7I1t9tBhiqUX5Xv79C0qo6ZQkWwl15+m1awSd03S9Gs+lTPrJqraLVhkKzK298vt9HoY/SpxvXA5YSgtEggiVuvtt+xY0O6/sk/hSsJ3mbcvWkLLqDDQHweKB6iCTZjuvc3A+GuFZWvH7RRPHEIaHxxf42mX/MFJnotHp+Tzm5RJ+0S+Cj7/yeoB8k9B1EN2zmzwz/KAjYxJ9zaLQVfbo55XPyX3wG83HCBky7bbebQ+uvFjMMJcvDpXJGVL34t6kILeGK8XG2vyfPRsVOf+EDkuIHe9xrbsX9GzT6lw1VBMO/6a7qpo50MDMPYIZ5wcgXSljLkkwd9BjaT88c+JF4Koshn0J2vjJDGGEuCPS+HN0FmeXudRp/OKQ0kz7x4wMzMglODhcsuAtRRlQ7anow/BfXtqhZ+dx9SfU8BYGXhwGH2tL9q1l2EwPm5n1bovHyv9KB3bWXC+zEdh3LyfxYsiTNn2caPxcJ4cJwo+6X+6DV8WXz/jAhZgqXUioWr1LnwOWzrfDikZrCEAfmH1SMfR7UVoPqgK50uqM6P7CqaxEjwAgk1FQ7YIykwAMHXkzj3tz/at9+iGp2bF/At3qhzBrMuKxaSS04Ra1cXZEtzk4ITMDJr7LshBjI7NT2ZlYoaUS5OsRbNx/zF1AOQJvN5FGwNfmcA6CaKjrLWZLDl5kMhvOZhVaDhWE6yvz4YwXcr1OQUtCut1SHXIavlHJKkoY3cMw8lCWON+QprtqCvOgxm3yO454r/YchqfQKLts351iVmsxM8vZzCKFb9j7wLzcRjhPz5CukbMeP7dnOHcIuvpdzS1BocpdmUkvYC91ajmvqjJesARnXnAwhwKa8kX3oLqa1wfeVZLTfkvt04KhvsEMYWTM9Zov8T2oU2irBPuYSwilq8ViWb74FBgh955N8D0YiMKxwBRvk6BurQc+cqQ99yyQv6KQP1MQFvW+jhvEgVpljrCL9MUZHYTplW5oQt9uUNSZCwPfJ5RNJbgKCykSeld6k1hWONmcc5NDYOeRJiHTJ7tkIw0m+K2XOHX4yHq9pcPs3vlKBTU2pL7xh+DbBaaKTYrpFyVCeyHCnyjKw/1fYEfd33soz8K+1kZWPQx9BRqsYSwBm+H9+/W32/NPSR5nqY4V6hWqa8S/ApFMMMEpnWsl2ZDllAhyZ8k0kREd1B4dLz7ZsGbmu9jpF1dzQwS863RwuFjm9cr234EHj/+yHi+pVrNhKLz06W8D7NRHN/ap7yy3DshkR5M4GDBDMO+199hH3WO5F2XsxkX/+EdgXUevlmFEzWpF6ZE4FUUvisbu4ySL1pN6KN7dNEl2AQhy0DQ1nYDM8DXTPkP0ebh+DyR2mO8jCTvChq6507+inxDeAlJwrNt2sEvdbqFkar7XoHdc0fWu9RmluZd9fFuzs8cPC0ETr+BlFYFRBT5oBQRV+yATHJU+BYqjj5hDB4R92GYcsdUJiwTMvYikwD3tj6ItWsVkcs+YPhmxQQuNSV5C4AS961ZFBGIIJwQ+l9DQzldWxrJa400OyMmp0hXzxrArXSptF/anzyj690NbiZs9qp5m74WUG5d9nhF72HeqgGWkzCBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DDyzdV5taUzf7JLed9Kwcy",
      "input": {
        "note": "Pink bowl wall is pinched (reading 0.04, wall visible between jaws). Lifting and carrying it left toward the white-in-blue stack.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.26,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01DDyzdV5taUzf7JLed9Kwcy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.997, 0.7647, -0.5999, -0.1284, -0.1204, 0.9957, 0.7559, 1.7596, 1.4189, -0.6392, 0.424, 0.4805, 0.0413]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1545 left_yaw=0.0823 left_pitch=-0.2536 left_roll=0.0195 left_gripper=0.9957 right_x=0.3743 right_y=0.2579 right_z=0.1542 right_yaw=0.1001 right_pitch=-0.29 right_roll=-0.0322 right_gripper=0.0413\nstate[joint_eff]: [-0.1709, -2.4274, 6.9402, 1.4823, -0.0952, -0.0513, -0.0122, 0.253, -8.7453, 9.388, 1.1941, 0.4713, 0.2418, 0.5299]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8856bee59abbffb3e092a80f0ebd07f6c73a01ea68f8d4c0c461263644d4850d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e9929d770820aa2c9d892b375c7f8b94da89107c36e77552015f1125b901ecb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b5453eed0419969a8410ce7867ba611c673e4c7d391830f142134c483af10990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 8.969 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.997, 0.7647, -0.5987, -0.1284, -0.12, 0.9957, 0.1539, 1.5635, 0.6147, 0.041, 0.1024, 0.0238, 0.9961]\nstate[eef_state]: left_x=0.2955 left_y=0.0018 left_z=0.1547 left_yaw=0.082 left_pitch=-0.2525 left_roll=0.0196 left_gripper=0.9957 right_x=0.3589 right_y=0.041 right_z=0.0183 right_yaw=0.0349 right_pitch=-0.3333 right_roll=-0.0552 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -2.3453, 7.159, 1.5556, -0.1099, -0.0073, -0.0122, -0.3214, -9.2239, 6.7897, 1.9853, 0.0415, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.997, 0.7647, -0.5991, -0.1284, -0.1204, 0.9957, 0.1551, 1.5459, 0.606, 0.1101, 0.0746, 0.0341, 0.0398]\nstate[eef_state]: left_x=0.2954 left_y=0.0018 left_z=0.1546 left_yaw=0.0822 left_pitch=-0.2528 left_roll=0.0194 left_gripper=0.9957 right_x=0.3697 right_y=0.0481 right_z=0.0319 right_yaw=0.0572 right_pitch=-0.2581 right_roll=-0.0173 right_gripper=0.0398\nstate[joint_eff]: [-0.0615, -2.3043, 6.8991, 1.4579, -0.1001, -0.0708, -0.0122, -0.253, -5.1077, 6.147, 0.9792, 0.5055, -0.1587, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.997, 0.7647, -0.5999, -0.1284, -0.1204, 0.9957, 0.7559, 1.7596, 1.4189, -0.6392, 0.424, 0.4805, 0.0413]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1545 left_yaw=0.0823 left_pitch=-0.2536 left_roll=0.0195 left_gripper=0.9957 right_x=0.3743 right_y=0.2579 right_z=0.1542 right_yaw=0.1001 right_pitch=-0.29 right_roll=-0.0322 right_gripper=0.0413\nstate[joint_eff]: [-0.1709, -2.4274, 6.9402, 1.4823, -0.0952, -0.0513, -0.0122, 0.253, -8.7453, 9.388, 1.1941, 0.4713, 0.2418, 0.5299]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8856bee59abbffb3e092a80f0ebd07f6c73a01ea68f8d4c0c461263644d4850d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e9929d770820aa2c9d892b375c7f8b94da89107c36e77552015f1125b901ecb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5453eed0419969a8410ce7867ba611c673e4c7d391830f142134c483af10990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6AkKEAgSGAI4AUIIdGhpbmtpbmcSDO54EUxKXG1CAaVp5RoMk2NXN1qCWxG66xqBIjCRVmcdry79Ru6XCjyIV2aQcUPtFVn2WDe7lcus6La7LCbVOgDCMQLYr649cyr3n8MqhQkOYQKsJTiJID1SVrGU9/2Wsf50iaTUbOzp225clo4c2bhi90j/DsFVLLnK2ZYgUWI2kfgzA0MNRAnO5rXnijfi4kOqmmYA6CwW8egOwoELIwmX2GeKP/MNFWojGAhGIJHUKgPosx0x/eWmmc01Ucj8MMcannHC9NiFnxnado7fa3gsA4EJDyWIobabX+GdQy7ykE6OyHM7X5t7eDfmeOQ2FGEmtuzdqgofu8B4rRVNTswyP2P7T+4hp/KlIcEZq+UKpm35fkmunVQBKWwEtJWV0Z2SCUgq22kZekhdeiRAvffZdUdXhHvTMftSD9/irLroDaIyeUc90IEYYHPsLxdEEVKpWv3Qxq1F+ZDlYB8pKhwARQwdN0w9zlOtG1n0GyjyVZeTQC1a8YJ/3ul5ORNFYAiVfzuKiwNCsoiLr3ADjugz0DB/ZZkWG2VADYYGI/4tVYfG42JoSb9eDkcq3uQT2viCkhbP6wjnN931GNzpZFRdMY2i1LP5jJ3mwW3UQZaO9jguD64h8cgJSBqV5CVea3qUhOm+sct2xR9KTIa8Z5fH6OKT1fYQVJAofUVzPcoUuS1wKVXI34Z/T8ttD2YNpjYaDIm22oSDDIO7ZJviscSYBj4a3/O+RUvkT9vnRUR0rKHcW6/mfCDluygeFW+4Ie0i4DF1McQoVlYhlYZNc23RbQbRqV+vfTAAV5UFj03s7lDeHdtc3la7NQjxBu5Oth7n1FlEXl3YJ2K/+nLCNtW3OPgW/NxEVQAQKy1o0DWKkGXB0SgA/22uV8LSmf/I5tZ72G+zw7GIuFoD1njl6InQ8L1XTmAsSe0cRQAWl0Z8tAObFlXynmc2Vbmim3ZzmhkokJYxXXYOc6vPLhyWX5RvCdzInKpeZK6AdzFfOFwEXfvAAHrvq4mY68c/sXiEdQYhO6+dClkVY7LfRada7UzIp5/y4/JJFMAR63nS4m7zAj/dVX3G6xSBm+qYCM5rdge1dF88U5bT2H8zduvcjY2QydN4Qk+F+dUWXbc72NOhZfsR+mu/IK3xjW6gsu7iX6vym+WM5YgsvpIUFu66yCej5uj0OItZpBcJjjJIHL5BbUDIb8JzJNlHhyQeKgR5Iw/VeqjsG1DSbU0ND5qK4zubP/KaxgrFtSijDXDsoxYsAik1Ib8edTHIkUFTnRcfDpOoWNoi0I1Mt1Hb47JOJkqvJcHs5JzdIKkJqXpDnf/Ccdyiy0bmVpOeTwdbmZ60K6xEUdUO6MdOmmOYsZ1LGkTS3YkcNVNGq6jrn4iKVYEK4mdaEX6Lnt2usYwTlMX0gdBjENLOIJdOtgHy9NHWG5x33P//jVQumCmf/oa4QZbV9rZMSMySVzSzLAVTabVUlCy1ogI71Sn7UiT7oio2wqvWwJ1pcjwEoV2fWTjppGa79VefV9Cpej1m33ZCvKQTA1u05OFZuWl+trA93ZslqT8bGIeQYl5QwdHg4e7O+0FPheQVl9awAzt+pApXF/VJBpFT5T6EuMPnOmUBZ7qdxJklRI5j4BVOS7mSaspjJQOO1atzlhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ENXcAoYfphXBVQSC6ApZrw",
      "input": {
        "note": "Pink bowl is held over the stack; the white bowl's rim peeks out just to the left, so shifting ~1.5 cm left while lowering to nest it.",
        "targets": {
          "right_y": 0.272,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01ENXcAoYfphXBVQSC6ApZrw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0822, 0.997, 0.7647, -0.5999, -0.1284, -0.1204, 0.9957, 0.7761, 1.8584, 1.2556, -0.4564, 0.4297, 0.498, 0.0438]\nstate[eef_state]: left_x=0.2953 left_y=0.002 left_z=0.1545 left_yaw=0.0826 left_pitch=-0.2536 left_roll=0.0195 left_gripper=0.9957 right_x=0.3656 right_y=0.2608 right_z=0.0747 right_yaw=0.0898 right_pitch=-0.3486 right_roll=-0.0765 right_gripper=0.0438\nstate[joint_eff]: [-0.0752, -2.4821, 6.9265, 1.4481, -0.105, -0.0415, -0.0122, 0.759, -10.1402, 6.735, 1.6044, 0.2369, 0.0464, 0.652]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecf1efe0c5ffec79e8c1a42c9e5c0b6f70988d528011d543c99d77eea8d86523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16d737f18b240fea8b9263128de5ae0564b707bf632b1a162bc72e565c0f7512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:575054f65de02d6358e707fa7269ef68cb2b45719f45112e55c7b6253b4eb642",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 7.68 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.997, 0.7647, -0.5991, -0.1284, -0.1204, 0.9957, 0.1551, 1.5459, 0.606, 0.1101, 0.0746, 0.0341, 0.0398]\nstate[eef_state]: left_x=0.2954 left_y=0.0018 left_z=0.1546 left_yaw=0.0822 left_pitch=-0.2528 left_roll=0.0194 left_gripper=0.9957 right_x=0.3697 right_y=0.0481 right_z=0.0319 right_yaw=0.0572 right_pitch=-0.2581 right_roll=-0.0173 right_gripper=0.0398\nstate[joint_eff]: [-0.0615, -2.3043, 6.8991, 1.4579, -0.1001, -0.0708, -0.0122, -0.253, -5.1077, 6.147, 0.9792, 0.5055, -0.1587, 0.8034]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.997, 0.7647, -0.5999, -0.1284, -0.1204, 0.9957, 0.7559, 1.7596, 1.4189, -0.6392, 0.424, 0.4805, 0.0413]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1545 left_yaw=0.0823 left_pitch=-0.2536 left_roll=0.0195 left_gripper=0.9957 right_x=0.3743 right_y=0.2579 right_z=0.1542 right_yaw=0.1001 right_pitch=-0.29 right_roll=-0.0322 right_gripper=0.0413\nstate[joint_eff]: [-0.1709, -2.4274, 6.9402, 1.4823, -0.0952, -0.0513, -0.0122, 0.253, -8.7453, 9.388, 1.1941, 0.4713, 0.2418, 0.5299]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0822, 0.997, 0.7647, -0.5999, -0.1284, -0.1204, 0.9957, 0.7761, 1.8584, 1.2556, -0.4564, 0.4297, 0.498, 0.0438]\nstate[eef_state]: left_x=0.2953 left_y=0.002 left_z=0.1545 left_yaw=0.0826 left_pitch=-0.2536 left_roll=0.0195 left_gripper=0.9957 right_x=0.3656 right_y=0.2608 right_z=0.0747 right_yaw=0.0898 right_pitch=-0.3486 right_roll=-0.0765 right_gripper=0.0438\nstate[joint_eff]: [-0.0752, -2.4821, 6.9265, 1.4481, -0.105, -0.0415, -0.0122, 0.759, -10.1402, 6.735, 1.6044, 0.2369, 0.0464, 0.652]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecf1efe0c5ffec79e8c1a42c9e5c0b6f70988d528011d543c99d77eea8d86523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16d737f18b240fea8b9263128de5ae0564b707bf632b1a162bc72e565c0f7512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:575054f65de02d6358e707fa7269ef68cb2b45719f45112e55c7b6253b4eb642",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XPAf2iAfJJ8RGavUXe2amm",
      "input": {
        "note": "Overhead view shows the white/blue stack further left and forward than the pink bowl I'm holding. Raising and moving ~7 cm left and ~6 cm forward to get over it.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.33,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01XPAf2iAfJJ8RGavUXe2amm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.997, 0.7647, -0.5995, -0.1284, -0.1204, 0.9957, 0.7792, 1.8778, 1.2411, -0.4126, 0.4294, 0.4976, 0.0434]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1545 left_yaw=0.0822 left_pitch=-0.2532 left_roll=0.0195 left_gripper=0.9957 right_x=0.3675 right_y=0.2646 right_z=0.0664 right_yaw=0.0956 right_pitch=-0.3412 right_roll=-0.0698 right_gripper=0.0434\nstate[joint_eff]: [-0.1436, -2.4957, 7.0496, 1.4921, -0.1343, -0.0659, -0.0171, 0.1709, -10.7556, 6.735, 1.5165, 0.2662, 0.0611, 0.6374]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e2307c092d8e12e65df8daaae0871f75b3e354cadaab8b808ca32e5262005bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7929fb2f806b7aeee6f158cf8186163166f742c72aa8ac9a0af5c05d1f2f3fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1fbbbd1e0f1465e81d2c1890375f0a81126335a61a0dc8ad6fb76d8b94beaa46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 5.983 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.997, 0.7647, -0.5999, -0.1284, -0.1204, 0.9957, 0.7559, 1.7596, 1.4189, -0.6392, 0.424, 0.4805, 0.0413]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1545 left_yaw=0.0823 left_pitch=-0.2536 left_roll=0.0195 left_gripper=0.9957 right_x=0.3743 right_y=0.2579 right_z=0.1542 right_yaw=0.1001 right_pitch=-0.29 right_roll=-0.0322 right_gripper=0.0413\nstate[joint_eff]: [-0.1709, -2.4274, 6.9402, 1.4823, -0.0952, -0.0513, -0.0122, 0.253, -8.7453, 9.388, 1.1941, 0.4713, 0.2418, 0.5299]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0822, 0.997, 0.7647, -0.5999, -0.1284, -0.1204, 0.9957, 0.7761, 1.8584, 1.2556, -0.4564, 0.4297, 0.498, 0.0438]\nstate[eef_state]: left_x=0.2953 left_y=0.002 left_z=0.1545 left_yaw=0.0826 left_pitch=-0.2536 left_roll=0.0195 left_gripper=0.9957 right_x=0.3656 right_y=0.2608 right_z=0.0747 right_yaw=0.0898 right_pitch=-0.3486 right_roll=-0.0765 right_gripper=0.0438\nstate[joint_eff]: [-0.0752, -2.4821, 6.9265, 1.4481, -0.105, -0.0415, -0.0122, 0.759, -10.1402, 6.735, 1.6044, 0.2369, 0.0464, 0.652]",
      "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]: [-0.0826, 0.997, 0.7647, -0.5995, -0.1284, -0.1204, 0.9957, 0.7792, 1.8778, 1.2411, -0.4126, 0.4294, 0.4976, 0.0434]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1545 left_yaw=0.0822 left_pitch=-0.2532 left_roll=0.0195 left_gripper=0.9957 right_x=0.3675 right_y=0.2646 right_z=0.0664 right_yaw=0.0956 right_pitch=-0.3412 right_roll=-0.0698 right_gripper=0.0434\nstate[joint_eff]: [-0.1436, -2.4957, 7.0496, 1.4921, -0.1343, -0.0659, -0.0171, 0.1709, -10.7556, 6.735, 1.5165, 0.2662, 0.0611, 0.6374]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e2307c092d8e12e65df8daaae0871f75b3e354cadaab8b808ca32e5262005bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7929fb2f806b7aeee6f158cf8186163166f742c72aa8ac9a0af5c05d1f2f3fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fbbbd1e0f1465e81d2c1890375f0a81126335a61a0dc8ad6fb76d8b94beaa46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS5QwKEAgSGAI4AUIIdGhpbmtpbmcSDC2R7ICtJhHeDUg5lBoMV7V1wx82YWRthGRdIjAj7x83VsyMXSLnBJUX/D6le3BH9NH3yY6ARLSxMsq8NVdfYTL95+ns3PTGcUWsKZIqggy7QwnIqskQFG+/VLnhukBk8a+LV6pOaR4Tfl9w2M6O0zuS0LpXz4cQ5ikxJTgEsK3UxC5PMLnqCgvewO4HrMDquGJWQ17qAihXKu8Df9p5y0NfWhjGeifBnqxKoSWC5aR41ZJ8TFoXeVjFai7M4M6RcYAnMQMyYOOBjN05VqcDShV3L1LHs49cdBDUP5pSHnnDUYdFnRJ0NjdzBkbQ7aA+PlmHBxBW6hytohe2NbthIUe7UJNTHLXe4EkSm2XeOSYzOlASkcutVNUlPVFUtHCIvORy7kBzw4nd9UEsJ2lvcdQPoxnvhcy7JtG3PsYtvZvhyM2hzrzMiAwqyLXtYWt8ETf9YocvPphWZ9owHHrTVrShNPGGU1IHxTHBQVXLH8AzO+K7h44ssWG2rayJSTRc8fPFBCX+kAOBgIU8qT2U+7RZAj9SY4zn2hrGWi8AucnulLvewSgI8jg1iKy395cwZ9d2KW/puIMej02dmd3lnYjVMXDtrwy1Tfrjz7sSbSfaNFbSVsTq3Hnoq8iJ0SZ3iYS2CEK2PSylWS+CWn1jKtaypCC1uhIS1ihseLtC5bmhx54iOKnJBX6sEr3ixwntszqyPNUYPY2YnxO7iCWq88c7+DCPgn4NoVJwX/LpLBaWWrddYDTrzLbcMzBXJqLZIcVtGTSxi8TEIFiv5z2WPi43sBSdd3hh66AxtW5n2bUZ3T672I70x/pt5D+b1GVUgTFvb3gBCtPUFzASeyGRnYwbgoVA95tGYnjtCMl7XecUIBO4CdQPLTXUvQ1xh2XSP165332gCSrmovi5fbflcHdq5kGW+jKsdWjAOMxHyAoC37mc38JRc7/W0aZY61Ft1K7hHcPoitJDFR4gVF354ht4AbQuJQpoZ8BZdS1VmwZt5ZfS3PR9JFblU6W+zgl1TFPDg/GrcHBX2ENoGFyos2LOa9qMpE7bPNvjwyMJesdjOC5N18uGipeHwAoqskUrNHd4JsVx4bSGcKtT6AL9u1gCpAV3DcY/5IjZ7TscbsXbkK8U/bF4YrobKs3NEhoeFhQ3Nceuz3fE4zo5emunbvgsJv1zLrS8lZy7TG3nYd1BPtLdJz7J4IyxDg9fH68LbtUo22wSCNiNRWcFBNre3XljfAm4xKg2N296VaaI/y3ss6dnLTkYovuX3roQ2qKzEncprWxYVEOHpQ73yV1s6OVQhJLOMc2uUO9/zUdiYRdmb5b8lW7DcaD2r36TByxygNMP+QbwC5ehX4DikARVNNfbyEOP0B8rU+R36czs2X4Q6q0SP04mRosPN8pFvJi7rQPiDZMucd0ngx3k1ewnRJ31sB2GGBWQo56UHcKqt5XSDrGogHO5cAC/ondCa5p3cdESXOaBkso2x4JQBnSuf1j4WFiWzo/8H8DWeWltIQIphdpZBxrYXSA56KQt+QubVQrcafT/q6UA+/bLb/ZT/SHkDMXcXE8QsO7/kFUgZ9u+T3av0gkxu2sF99Nn6lkX5OJRIdNuOaw6Xw1vOyMEQYxmn/XJTlZN2qyyKBR4Ufb/Qj4bESgykoHtqKYxeWBpjYbIvVTRuTC0h2TuNxei032MMBeHc19GmCFKYP+YOHIDWoIU32Nq1Zh50An5/hUA87fT4kaiTTmwDh0B4/Z/Vvc9y3DQy/gwsjE6KzFaMKoxmUJkDxf1QjZuk1FBC61NHZdCF9kR4UE61ovihsSvCR42PWs5l3cmYy1j152JbNe+PrXWCMn2Kygez48NGBwkHRKo2TEDoNNPxqddudwKMQChDtCMU/0FPMyZVtTwX0gzww49MljFaFCkHmK7wTjIMHFXkRBhu6Y8VABcAiVy6KG93GCrnWh5a2U/Nla+tQ+uUUPxDDQ+61h4h9v+4b+eW+Ae3Yy5FwEFNRyQ4z5UN6iI1IM5pB6aGCGJe6pTJJ4VsZqLhoa+t2oNQKcyDO2Mar3ivkY05RDOerGv0vdT9BsuD9plasPimy81iJTtfV49cFzExEyShlXIBiT7VvLAvLxEJ9l/aBShXIOhIFPQIuIZfSTDUTI2h9lewfFqzJEsIxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LtPDE1ekW7BPDAsTQxuDMq",
      "input": {
        "note": "Overhead now shows white and blue bowls sitting separately (first stack didn't hold); the blue bowl is directly ahead of the held pink bowl. Moving forward ~8 cm and up to place pink onto blue.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.27,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01LtPDE1ekW7BPDAsTQxuDMq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9974, 0.7647, -0.6022, -0.1284, -0.1204, 0.9957, 0.7353, 1.9697, 1.3701, -0.5068, 0.3935, 0.4461, 0.046]\nstate[eef_state]: left_x=0.2949 left_y=0.0019 left_z=0.154 left_yaw=0.0824 left_pitch=-0.2562 left_roll=0.02 left_gripper=0.9957 right_x=0.3865 right_y=0.2631 right_z=0.0581 right_yaw=0.0944 right_pitch=-0.4082 right_roll=-0.1133 right_gripper=0.046\nstate[joint_eff]: [-0.1026, -2.4137, 6.8308, 1.536, -0.1099, -0.0464, -0.0122, -3.0974, -10.0991, 6.7624, 0.6325, 0.1392, 0.0952, 0.5641]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bedaa98772634bb83d46ce382b2edf10f42f2656d218f6c44ec473c80b8b320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e8840bcede7757fa0f5348a8830ab2bf4ce4ae0f7935747e5bd2780c32f92ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6ed714277417966bc8f99c3e163266df3aacad9df4a50f5b19a533d7a6634fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 6.643 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0822, 0.997, 0.7647, -0.5999, -0.1284, -0.1204, 0.9957, 0.7761, 1.8584, 1.2556, -0.4564, 0.4297, 0.498, 0.0438]\nstate[eef_state]: left_x=0.2953 left_y=0.002 left_z=0.1545 left_yaw=0.0826 left_pitch=-0.2536 left_roll=0.0195 left_gripper=0.9957 right_x=0.3656 right_y=0.2608 right_z=0.0747 right_yaw=0.0898 right_pitch=-0.3486 right_roll=-0.0765 right_gripper=0.0438\nstate[joint_eff]: [-0.0752, -2.4821, 6.9265, 1.4481, -0.105, -0.0415, -0.0122, 0.759, -10.1402, 6.735, 1.6044, 0.2369, 0.0464, 0.652]",
      "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]: [-0.0826, 0.997, 0.7647, -0.5995, -0.1284, -0.1204, 0.9957, 0.7792, 1.8778, 1.2411, -0.4126, 0.4294, 0.4976, 0.0434]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1545 left_yaw=0.0822 left_pitch=-0.2532 left_roll=0.0195 left_gripper=0.9957 right_x=0.3675 right_y=0.2646 right_z=0.0664 right_yaw=0.0956 right_pitch=-0.3412 right_roll=-0.0698 right_gripper=0.0434\nstate[joint_eff]: [-0.1436, -2.4957, 7.0496, 1.4921, -0.1343, -0.0659, -0.0171, 0.1709, -10.7556, 6.735, 1.5165, 0.2662, 0.0611, 0.6374]",
      "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]: [-0.0826, 0.9974, 0.7647, -0.6022, -0.1284, -0.1204, 0.9957, 0.7353, 1.9697, 1.3701, -0.5068, 0.3935, 0.4461, 0.046]\nstate[eef_state]: left_x=0.2949 left_y=0.0019 left_z=0.154 left_yaw=0.0824 left_pitch=-0.2562 left_roll=0.02 left_gripper=0.9957 right_x=0.3865 right_y=0.2631 right_z=0.0581 right_yaw=0.0944 right_pitch=-0.4082 right_roll=-0.1133 right_gripper=0.046\nstate[joint_eff]: [-0.1026, -2.4137, 6.8308, 1.536, -0.1099, -0.0464, -0.0122, -3.0974, -10.0991, 6.7624, 0.6325, 0.1392, 0.0952, 0.5641]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bedaa98772634bb83d46ce382b2edf10f42f2656d218f6c44ec473c80b8b320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e8840bcede7757fa0f5348a8830ab2bf4ce4ae0f7935747e5bd2780c32f92ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6ed714277417966bc8f99c3e163266df3aacad9df4a50f5b19a533d7a6634fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSjAsKEAgSGAI4AUIIdGhpbmtpbmcSDBrAjD59sccjqXgJZRoMyPiD/BsneNllj90WIjBnrg+2UyAcTbe7wv4v/LPPvRYhtPjTfYZRt6oYrE5wcA36jtEeNiXBfIIFMtKmFyYqqQqIF7dwxItnjaVqnz5BoaGYt9TcaglZ3eK3HQGFQ0PtvSOqM7q9k4E4pue3loO5CLX+/FCgfBofHGwIAMUg/jDzdJQakc98sNOs7/DR/5it3jdQbbJ+ebni3OnGgX5C+heOMXSpOqd0tjdtQ1iTNsGa3UmDmJBqRSOaollJbq1IdHsfONlaSoMmXtsHm38xo0PTkzLojtuRzUgEc+pijdxQ9f7px16do9Wu6YRjLcVUPRhCQNSc/RMiIolhuc63NPk4Ns9+w0Mt/4Ne8+e0VNJaXiOfsla4kaNs6/95viSxCiqmaLpgflvJ1E4bngckZdXJC47RM7ftmn7BK3BXh6zn4ugryS1yFbsjS1EcP9hb9SwdQOWQedmsxPcbWe2khVJvwC5QJatunNsKicMU2yaaoiw3qkS2/oxkYkWZqdL6Alh7n0XPuifYdgF0mLShQ0XulQJmZf2U7VEgIKBEKWScYGFF7BTWD/8gkEXoHa070ohIPsD9SN4OBUxVRmyXKc1Fa1ZMC48sxm/a8+HvZztM3dqUfH6pbcQu1OJP6pQriQlhxRU66Rjh5Vrr/rMw5hGnhkVGKFayZtMUQONetNvHUZePBRZrEBkTgv09F7q7RuolSBI5iiB0i6exKU55iH4yjVwP0oIGHd6reWqREYDnBzWr7WD9VqHpKcvuDMoZFmov0cmPdIGi1RRifWgITozyK4yVxmNk7TjuAiABS4CwCAVLdun4OaVoxhLLwGTxWF6w9015nvhaQcXL8i1KK4G0f0REpQ/mg8krdg4VzK3QHvxkM9Y1/zPL/eX0+T0iIFsZxGKrVANdVStgBSeCx3A0GntE+kzUooWeFrnTSpl8dpHnl/KSA7g4M856UeNSg55KjbIfiZIKTerRpG4KBrUn1LHIUOlay8TQpli3Y5iJeJTeIA37PO72G0+rrckL4J+QBNIyRBL6t+0BGrNxw1IOWY+fEBB65XcNRQVbwtOnBUlezhDim8cVD9gZS+Nr8sHDXz2aR2mr7TZZVwp9Ip5uVWzGw5Fvh2ScqjALtDlW6qUuFjzbB6ofjhxgNnhGpWNciFke/rbsh2R268qMK5mEtq7vvL0mXtiDtg4hWXRSrd5pbCGd0I1yLw3nQRqJmaSsShhGgTMy6kCanPyCG+PLaBY56GvGHio40Qw236x1POaYyvzxzVwiOFlPCki9lORGavTqF3K7rDlrJJQ1NgEgrB/BQd18MGQ6tntfl78u7hRF0LusLFTGPBbctc4FH/4tYrh0H0khMOfYtzniD4E0zYs+1v12mQFZmFW4ece9LBF7SGwMbxwBzur5HZSTx2Xqb+K5h8SNMED+7lKaJqbpUYfZ/l+0urgjmi7vj73+cNaWVkztvkxvkhULyT74vYtMHvzVIOlwmcU7mrJGwASJJQfqlJwhuMQix2J4fm0dCygjmJhsKcnbnxKXUXpqoqV/n1Z+VYbvJfoj4Xv6l434u/7CTkCJnIkVy3+0GrnAJxoe37wf/LtntFeuUmbi/QZ2ktnjlx12iC2ylM+clXcmvX3ZD/7AM7mPLoqH6alW59j0vpN9Zy7uUWEcXbdm6Eg35N5iciaXfPqjHGf4eC/araqC0iFTu22iAW9Ttj+Tg8tfS2AIiNKDSNSk7TEBjNctMEjAC+VllHCHZ2zvDsxKYePg8qfS75PFTlHzTDRIKcA1Ugr6P1DwbuX3o2n9cmg2CQT/7niFj1bAp1WvL7VV9Bi+wan5GXnlJNTEw0dHCG3XILwAAoiSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012hU947adfmDBRgmvRakc9A",
      "input": {
        "note": "The right arm is sagging (z≈0.058) instead of rising while holding the pink bowl. Commanding a pure lift to regain clearance before moving forward over the blue bowl.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012hU947adfmDBRgmvRakc9A",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0822, 1.0016, 0.7647, -0.6079, -0.128, -0.1204, 0.9956, 0.7376, 1.9373, 1.8164, -1.0176, 0.3805, 0.4263, 0.0486]\nstate[eef_state]: left_x=0.294 left_y=0.002 left_z=0.1519 left_yaw=0.0829 left_pitch=-0.266 left_roll=0.0214 left_gripper=0.9956 right_x=0.3844 right_y=0.2655 right_z=0.1761 right_yaw=0.1096 right_pitch=-0.4422 right_roll=-0.1358 right_gripper=0.0486\nstate[joint_eff]: [-0.0205, -2.8513, 7.0085, 1.4823, -0.1294, -0.0611, -0.0122, -0.4718, -10.906, 9.2376, 1.1893, 0.2564, 0.2173, 0.2515]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e702841a993ff1dc7fe9eb48ce6757aa115d83592234f018139d1a88b8ecd61e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5d648ff0d9381b11cb83fda1272bd8bf1c3df41b9d7955e5449223a218afe4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00acc7a093cd01bcae02abe18083bd8d26bbfcedb3ea93a582ef4387bc34a104",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 6.18 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.997, 0.7647, -0.5995, -0.1284, -0.1204, 0.9957, 0.7792, 1.8778, 1.2411, -0.4126, 0.4294, 0.4976, 0.0434]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1545 left_yaw=0.0822 left_pitch=-0.2532 left_roll=0.0195 left_gripper=0.9957 right_x=0.3675 right_y=0.2646 right_z=0.0664 right_yaw=0.0956 right_pitch=-0.3412 right_roll=-0.0698 right_gripper=0.0434\nstate[joint_eff]: [-0.1436, -2.4957, 7.0496, 1.4921, -0.1343, -0.0659, -0.0171, 0.1709, -10.7556, 6.735, 1.5165, 0.2662, 0.0611, 0.6374]",
      "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]: [-0.0826, 0.9974, 0.7647, -0.6022, -0.1284, -0.1204, 0.9957, 0.7353, 1.9697, 1.3701, -0.5068, 0.3935, 0.4461, 0.046]\nstate[eef_state]: left_x=0.2949 left_y=0.0019 left_z=0.154 left_yaw=0.0824 left_pitch=-0.2562 left_roll=0.02 left_gripper=0.9957 right_x=0.3865 right_y=0.2631 right_z=0.0581 right_yaw=0.0944 right_pitch=-0.4082 right_roll=-0.1133 right_gripper=0.046\nstate[joint_eff]: [-0.1026, -2.4137, 6.8308, 1.536, -0.1099, -0.0464, -0.0122, -3.0974, -10.0991, 6.7624, 0.6325, 0.1392, 0.0952, 0.5641]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0822, 1.0016, 0.7647, -0.6079, -0.128, -0.1204, 0.9956, 0.7376, 1.9373, 1.8164, -1.0176, 0.3805, 0.4263, 0.0486]\nstate[eef_state]: left_x=0.294 left_y=0.002 left_z=0.1519 left_yaw=0.0829 left_pitch=-0.266 left_roll=0.0214 left_gripper=0.9956 right_x=0.3844 right_y=0.2655 right_z=0.1761 right_yaw=0.1096 right_pitch=-0.4422 right_roll=-0.1358 right_gripper=0.0486\nstate[joint_eff]: [-0.0205, -2.8513, 7.0085, 1.4823, -0.1294, -0.0611, -0.0122, -0.4718, -10.906, 9.2376, 1.1893, 0.2564, 0.2173, 0.2515]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e702841a993ff1dc7fe9eb48ce6757aa115d83592234f018139d1a88b8ecd61e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5d648ff0d9381b11cb83fda1272bd8bf1c3df41b9d7955e5449223a218afe4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00acc7a093cd01bcae02abe18083bd8d26bbfcedb3ea93a582ef4387bc34a104",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSngsKEAgSGAI4AUIIdGhpbmtpbmcSDEl6QXiY4xTRA1LsmBoMrHHUvR0QGXYAJGHpIjCW3VDzI/JI0dOmI8F4/187fyVw5eSoUayPiRYLisR3vZ9/rj0FmM9DJJVfUWpq2uEquwok6/nNGtR5I+PWJtSs9yuCTUqc9uyNWl3fz8vzASoP203yO0PRu96E1qesxK987MKw91j7TLnSZonf1uqmfeQOfdL3oco8QMHQj5U3DhYubxJiQBuUVkPY1ITk4hqQzI7RP2Hyr4kyExfLNb6wqcjwCQTHI5VBLgDvPZg3WUnY5eKnsTeOz6NF41rV4FKgUi5GOkRxQQS71dUQKNBieaQQuAGalk2ufgOkfBT4CQKw+fuLgSfets3nDeJm37LQirDMB4KFvZKhgrHCoukLnK286ps0/69zZyOHtxbccCOE81aPYoVL95Ou7HJqaN1K3LDe8Gu3C3ijNszGqHCCakQ9yfhwi8/OueiaReZgvwX7DNl8WgmK9X/0WBS5vDaaOCPu2AHWq7yCwLmMglnrsNtG8o4clKaA1klXHNfJucWp0M76mSkTE8HIrFjrIzLKCyfuaCcNZgHuhE0vseIbtmrd9tmv+TKVH7aKeAfFNz8W3zDUIQcTtGzWP+Nep3Uow07adtTv+hdU4gBg1Zq0xfzcwWYuY9ElliPxs9IYTSr1u7I4oss+unzySxAeGsY+M0CjHA9ldaDzwpSYLeUQk2N+Y7kPVGFMa/fQfQh2zbgHlANkJaMRUWsbhE5qgsmB809moxamTTtpaCdpy23BwGvF8lGDUC9ECwbUCAcMhnYBdQYfeDtxVpCKp/dUoXUMZ6KgzrhWxOBRdOBVeo7EBkYDurHNZKNGbS6khg33zItx4Gntr9PtkTWZBBAp6PDyFcQ3DgiEdmG69Jw7xUf64LPoXSplHqiqy2OCVHVEbjcdoJoACH7DNo1FhF/Eae7vO9jZYNZb8mCGM9+1g93m3w3nDOJhG2Gpwv1WKa4QTHhIdS0ATbrB886szOLFxmpZiWMge2Edi202AHcr4+r+/YHyRiYPdlCmoySfj6AfMllrLPDP0CnkDs7D7aWXHQnVbJDESFlfXXSVJncPf+jpu9Y/SrAOVy8p8TPklfyolR5RaaLPYocMlblEZa6SHYuJ3Qa+VyOeCjzVpop57O3ncTDvxe3d/ECugQ8Pcjiu+FqqLy001+eoj3uRWWo1vjsGCar5Z6ji4xsi0IfJA84sZxwW6DbqMEtql0rKaUizndspGIFRvWKI/KlV5ve/PI9TgTq1RSTk0IM7jGGnlzFx0WLxDnNMUnA81j6gBcGSploBQWHbI1GVTRHBspfUEGtDOZ5HNcEmKhcyqx4fFYsL9i8F5HwBRfts/7C0b3sjCXKcxR4fBJIGeqs965/ENnmUdOtmnIRharmu2N4RdILfbXPqC128reg/erqEfkmP+Ik3sMp3R+qFi3RElKGDXMa41e0rCvG+X3jTJXfddE3aqcabiewm32C/CmPuciJMmkbhDTkkkzUmjuqZMUd3sRu9pVMiVq6scgAXjgQjgIUAGWrKLICwTlEAJLj2ve/V5OH4/tPR2TVt2T4ucYo3kVAaIpE1ouHeJ6DNd+v8E+jvobOyW9jImY9EVS1jHpHG5sW/d5uFCPZO57rBMJGe4bl9ynSdcmezXzs5xXtSHjpe/2RBKulo1g9Tvytzw5QcgE6MXV8ABAqu/nQpumSEvX5tfnYcJk43gKpBUr/u03NUHV0BPbR+DthC+PuPNNAVV7KwkOHL6bit9ZCbvrgHo2sEruV3XbBpkVFiBCrGla4YZtjMt0+S8gv2J19kky/zeUw25gTUNU3sMry5035asjjd2CAO6Wnl2aIiqph2xw89THQSmXq62mO1mv5L2/za063+1K+gvSNVk0e5aYoJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EkAL4DJkdTQwpG24kJuLEU",
      "input": {
        "note": "Pink bowl now lifted to z≈0.18; the blue bowl is ~8 cm ahead and slightly right in the overhead view. Moving the pink bowl over it.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.235,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01EkAL4DJkdTQwpG24kJuLEU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0027, 0.7647, -0.6102, -0.1284, -0.1204, 0.9957, 0.5819, 2.104, 2.0235, -1.0847, 0.3115, 0.2798, 0.0513]\nstate[eef_state]: left_x=0.2936 left_y=0.002 left_z=0.1512 left_yaw=0.083 left_pitch=-0.2694 left_roll=0.0223 left_gripper=0.9957 right_x=0.4431 right_y=0.231 right_z=0.1607 right_yaw=0.0901 right_pitch=-0.5105 right_roll=-0.1748 right_gripper=0.0513\nstate[joint_eff]: [-0.1162, -2.6051, 6.7897, 1.4872, -0.0904, -0.0366, -0.0073, -0.5675, -11.8222, 9.1145, 1.2088, 0.2418, 0.1245, 0.2808]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5dd89f1e3116a9a8adec04402cc2e62122ece212700490b72bc53eb2bb33c40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d935dfa61e7c82c59a4e27cab1ae08ab22e2d739fed0940943c787356991140",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d9c9a0f6a314ce8524c43ce69a62a7420219a9d740c054782b14e30be069095",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 7.197 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 0.9974, 0.7647, -0.6022, -0.1284, -0.1204, 0.9957, 0.7353, 1.9697, 1.3701, -0.5068, 0.3935, 0.4461, 0.046]\nstate[eef_state]: left_x=0.2949 left_y=0.0019 left_z=0.154 left_yaw=0.0824 left_pitch=-0.2562 left_roll=0.02 left_gripper=0.9957 right_x=0.3865 right_y=0.2631 right_z=0.0581 right_yaw=0.0944 right_pitch=-0.4082 right_roll=-0.1133 right_gripper=0.046\nstate[joint_eff]: [-0.1026, -2.4137, 6.8308, 1.536, -0.1099, -0.0464, -0.0122, -3.0974, -10.0991, 6.7624, 0.6325, 0.1392, 0.0952, 0.5641]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0822, 1.0016, 0.7647, -0.6079, -0.128, -0.1204, 0.9956, 0.7376, 1.9373, 1.8164, -1.0176, 0.3805, 0.4263, 0.0486]\nstate[eef_state]: left_x=0.294 left_y=0.002 left_z=0.1519 left_yaw=0.0829 left_pitch=-0.266 left_roll=0.0214 left_gripper=0.9956 right_x=0.3844 right_y=0.2655 right_z=0.1761 right_yaw=0.1096 right_pitch=-0.4422 right_roll=-0.1358 right_gripper=0.0486\nstate[joint_eff]: [-0.0205, -2.8513, 7.0085, 1.4823, -0.1294, -0.0611, -0.0122, -0.4718, -10.906, 9.2376, 1.1893, 0.2564, 0.2173, 0.2515]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0027, 0.7647, -0.6102, -0.1284, -0.1204, 0.9957, 0.5819, 2.104, 2.0235, -1.0847, 0.3115, 0.2798, 0.0513]\nstate[eef_state]: left_x=0.2936 left_y=0.002 left_z=0.1512 left_yaw=0.083 left_pitch=-0.2694 left_roll=0.0223 left_gripper=0.9957 right_x=0.4431 right_y=0.231 right_z=0.1607 right_yaw=0.0901 right_pitch=-0.5105 right_roll=-0.1748 right_gripper=0.0513\nstate[joint_eff]: [-0.1162, -2.6051, 6.7897, 1.4872, -0.0904, -0.0366, -0.0073, -0.5675, -11.8222, 9.1145, 1.2088, 0.2418, 0.1245, 0.2808]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5dd89f1e3116a9a8adec04402cc2e62122ece212700490b72bc53eb2bb33c40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d935dfa61e7c82c59a4e27cab1ae08ab22e2d739fed0940943c787356991140",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d9c9a0f6a314ce8524c43ce69a62a7420219a9d740c054782b14e30be069095",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1gkKEAgSGAI4AUIIdGhpbmtpbmcSDM+ekzw6+1pO2nM/NxoMs+jKAUD7J8U8frPiIjAn4/b7rRxBdbcf93uhxN8cuT7lnCoYZfK8ee6m9arbtEs5q2v0K2hn62y8AAmno/Qq8whQm39DgoVdnqvugFyx/9ZmSqEisVqlGJQiuNTM5AYX0ecuP25taCCK/T3HtpwNDxZIm7YbT8OIeBpdSvVjtbAts2aDUrlm6YGwtPSdwc+4v+NVklDUzq16RhFDzYE8WzDzE/X3LLrdj6yL6sDTgvLaRqlo8ZG3qO5uCt944OHgcORl+yRgsQIXqrtRVP7Me+RBld0ip/V61d6Yw8iJJXqlxI3BDjWxczzPfDv+a4IXIuBK1mTFfMq/3fQxVevicnJ0YE5XDfze7fP97UWIQ4HSngwjgdeqaN3oE+Q3IZ+08QVfjOTcnDX2xd8JQo2z+1rWJdszvPjnJZJUXsx088OtD0AdX+jm930bHsziDnnn4JeLJC9OujbvQvxpbnmGIRaGHqwyiuPj5CPZAlW09tJkQ4z68XBQllTmRo1GON+kXCgTPUxzQoocVsTc0lTWL9Zkn45vOcAuAXPq0OJNfxAjayEKRYO3GxvppCNZGmcIRNsq//+4VLI/DHfLBgZrutyTyU81vE0+cXPYCEKbY5USIE6bkXq95PQihmFejYxyBU/eU7WoOTHf+YFIONIV5d0pBVurANM8vt2tHhNrXwvao6HIFBvdR9OG1q1+xW5Y+jtqiMPABXW0iivPtwspoe67qkO1R99htmLC1zo5s/QtGV1X9W9DH979/K5r0WvDf0bigsxGo5CdYbPKUDz18STHh60/5rtOZTEY8KHVbETTLEou1jp8qF9uXaUZt599t5Wo0KAW7k31jmqEybNmtiyLKuDhGA4YvhkscITYWIsYAvGiOj8P+mX641RJ95Uz33qYNMOb9x8cb4afl8noFxJeODYgZxhd8hdmqQhROgilA2uPH0mxFoCj8hqPKHAsAk2axlYX3+OUT7Iq+tr9iK2H9PE+0TTj0Zv4Nlr2IiCxRa657BeG51JBKmcbFla52esGLM6G6ErXIP50czVaOEN41YhQUrOhse4sraOB/046s0RjF/H3Zvrz87awjoMk+sXHMS+nJcch9iXQ/mawtZX3x21mRHn8ViuIKQGMrejMgUJh7yz79pgTaP8DrFhkDlSuAdu6+L4sOXLJeqEcRk/rpWuID1F/v0ZJvVjaXAPWuvUU3gWYsgaa3s6Q95PfNrmHzR2Qn2Vi8u/Gr0eQlEw9YDot2db0vhrPK8NA6iZwPYmRlFzcRThKjnBWqq5woIiL2z096ouqURMuxpBp3P9zh9aaL8qi3b7BPHehqsxyfmmyTo5J8mFWtpXl0bwCYwZAdx146k0tyvcBLScVo5GF8FgZk6JZWcAN4HElVI9fG2MRSihqzIPAXB9dnRZqKVzdSQuiBBi88qi/h5PHkmnkBCz0jy+w6dQjLuFg3Zaa7kLZm0SA0m0DvnyHju9x8MG4sA2i2JLvcfhCDxBFqdD4Lhxn1a/d2c7Kh53hCRb00qGR64fAWaCmcIpaQC6dHdoa+7asr1CsAYl8jIfRJj1aLg75rGmPdvw+Zilt8oOEt/dYWVQlLaZo/XQ8Xtv4DR/6hBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0161p8N2jFxjcMES7GXAFwBs",
      "input": {
        "note": "Overhead view shows the pink bowl roughly covering the blue bowl. Lowering to nest pink onto blue.",
        "targets": {
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0161p8N2jFxjcMES7GXAFwBs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0027, 0.7647, -0.6102, -0.128, -0.1204, 0.9957, 0.5785, 2.1017, 1.7153, -0.8406, 0.3054, 0.2684, 0.0529]\nstate[eef_state]: left_x=0.2936 left_y=0.0019 left_z=0.1512 left_yaw=0.0826 left_pitch=-0.2694 left_roll=0.022 left_gripper=0.9957 right_x=0.4319 right_y=0.2229 right_z=0.0784 right_yaw=0.0814 right_pitch=-0.5688 right_roll=-0.2091 right_gripper=0.0529\nstate[joint_eff]: [-0.0479, -2.5094, 6.8308, 1.4237, -0.1001, -0.0708, -0.0122, 0.2393, -11.453, 6.5709, 1.1111, 0.1783, 0.0708, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c13ba77ddded4d18792ed43517270ef7433714763f7887d598cf5b1ed3fbebde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7081aece5fb9e4e0ce2bba74fd12766179c8d45eec98a89e37ac8c28c8f3b147",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b41ff450237bde87a7d3138114f1315a4f79e394b2bf0344a35d6bea3c633e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 4.961 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0822, 1.0016, 0.7647, -0.6079, -0.128, -0.1204, 0.9956, 0.7376, 1.9373, 1.8164, -1.0176, 0.3805, 0.4263, 0.0486]\nstate[eef_state]: left_x=0.294 left_y=0.002 left_z=0.1519 left_yaw=0.0829 left_pitch=-0.266 left_roll=0.0214 left_gripper=0.9956 right_x=0.3844 right_y=0.2655 right_z=0.1761 right_yaw=0.1096 right_pitch=-0.4422 right_roll=-0.1358 right_gripper=0.0486\nstate[joint_eff]: [-0.0205, -2.8513, 7.0085, 1.4823, -0.1294, -0.0611, -0.0122, -0.4718, -10.906, 9.2376, 1.1893, 0.2564, 0.2173, 0.2515]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0027, 0.7647, -0.6102, -0.1284, -0.1204, 0.9957, 0.5819, 2.104, 2.0235, -1.0847, 0.3115, 0.2798, 0.0513]\nstate[eef_state]: left_x=0.2936 left_y=0.002 left_z=0.1512 left_yaw=0.083 left_pitch=-0.2694 left_roll=0.0223 left_gripper=0.9957 right_x=0.4431 right_y=0.231 right_z=0.1607 right_yaw=0.0901 right_pitch=-0.5105 right_roll=-0.1748 right_gripper=0.0513\nstate[joint_eff]: [-0.1162, -2.6051, 6.7897, 1.4872, -0.0904, -0.0366, -0.0073, -0.5675, -11.8222, 9.1145, 1.2088, 0.2418, 0.1245, 0.2808]",
      "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]: [-0.0826, 1.0027, 0.7647, -0.6102, -0.128, -0.1204, 0.9957, 0.5785, 2.1017, 1.7153, -0.8406, 0.3054, 0.2684, 0.0529]\nstate[eef_state]: left_x=0.2936 left_y=0.0019 left_z=0.1512 left_yaw=0.0826 left_pitch=-0.2694 left_roll=0.022 left_gripper=0.9957 right_x=0.4319 right_y=0.2229 right_z=0.0784 right_yaw=0.0814 right_pitch=-0.5688 right_roll=-0.2091 right_gripper=0.0529\nstate[joint_eff]: [-0.0479, -2.5094, 6.8308, 1.4237, -0.1001, -0.0708, -0.0122, 0.2393, -11.453, 6.5709, 1.1111, 0.1783, 0.0708, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c13ba77ddded4d18792ed43517270ef7433714763f7887d598cf5b1ed3fbebde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7081aece5fb9e4e0ce2bba74fd12766179c8d45eec98a89e37ac8c28c8f3b147",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b41ff450237bde87a7d3138114f1315a4f79e394b2bf0344a35d6bea3c633e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS9goKEAgSGAI4AUIIdGhpbmtpbmcSDAgESjghMYHRIuYBaxoMOXQHzAlvK7PHERdLIjD50szUrIEBA4ebTBmNjR6nZYRb8/RafjJ7d6DT3nGAaeRPC1zIkows60BQM0mLhmEqkwodJpsLeA43/G+sbJjVRmO4bWTJVbm86vNXEizwJ5NDUqifbTUj9rdyTBvv52AnmB0IyftIJZ0NeRkJeqR2zS3SqvqdPSrr//GXyzSNFKa5i3l23/ddD6tJOZs1mcMLvocUsVuJRsVqESpeGpqGOrv06cVUrPUDuauX3UvLVOQeTK/eD75IqN9ACAeL2DKX9b3A4JgiDtjpwSUbmqjCqUYkJmMY7ChFZXUs6PlENEUfSAR5KqxD7M477dlpOqVM2xglaa2iZhrHySm88ZatusW7GfPa9dDLy4fNTtXZ1c4J4xsIslCELfWoyKFxnXBRxmIlQ4px+noI54dxb7SGjh4p4/EJnGE4txrb//1P6k1QHgbVegJc0bpwoc2t5kjhk2DXDO8iGAW1njU1WjhPH1lau3w2sGo4difteeFEItXFgcEy+00GBhJd99f+0ZozqiQDZwoKW1cb6m/ELtkWG9KolmtFT+CfgVEvtuQ8ovFeB83JMFQXZNFqIoQKG5h6jwhvt9RDNHe6eQJU+lr/BrstTS0gWslFQU5PLZe5yJUNgS2eEQfdD6L1Lffme6J6w9ZlOTMVYyBUjL+8efN3trC2eK28uEa38aIJhHut8Vr1N1oGazAmxxjzBa+7Gqn6Dtrdf3ioo864LYdOr5fZESODx4ZfV9p26gj3MyOa+PqlccDo7ckGRODNU0hUcUFuNir+bBtN1wfcdk4xu/j8tRym9Di6Wc0cE/vK61Ah2hcfpz1QWSmcimqcgoP62A4zq+7/H0rZP6qRhU7+n/bY178+6ze/W2yZSHUXnYv4yeSz7Uc22CujaS5BXvgjCCSZvjsStHM5c2Q4Bs5YFkGQqcDt1ZDaTvBxaSXUtjBUGkR1dpYJyrM4e6x4El1RReuKrf9hlxG6aDwTzbG6HCAVfTs5LEe9tp/dEzobOOmgBoP+wDHyg5q9lUGGsdW4YSkAxqjZMXDQwxY/qz92PXKRz8LulYB2FD35cSJez1lQVLd+TAv4VabKRmgcL8l9lM1GrWGClCzbKgTnWqFnTgXTNUlYp8C9fFaa86oWxU4nzNsSSdn/VcXCXTWThL0H1Fbgz6tfvJW2R968Kbj7iWhEwDzqaYGm/5qGJf8UX9PuDOt9pLmp5KGAlOVShe3z96MG59Wnen8q7AiAADB3We2qGICVQLJr+8lDyooKDbQHgoUQpey7/vyPuwkFlt/CgZ0VCBYdaWx+108kIGldWBg7OjLFH29P/yMzO+7MhzSqVHGI/DQhXZ2T2+R640o9/tb32J/H/FBEugIy9ymEwZmJGkmlwRsdswixtV0IVaktK8c/eFT3xVqcnkN3ZVMbiPbhdC0PqtCXyMKZMU5EpUFUHe7JeZIiUtpO353XxOHzvipzTYh75S6RhdR9xvbPhSe/SuqrR+VJe+jQIwyzT1wub8hxt4vw7+fJ465Ru9uJU5jGVyyH4gTD4/Io1tz5IQhSFDGwZDg9StsFT24g4rZ0Ss0Ses+sJX1f6j8wtBJyTQOSaSMtatlCwJHe0A/aPlMxl1q8FfhY6zBh1xEorRYQAvn8FnWPwc+5/nXw0GjDteJKUY5MFDKa0tRgl5u385PEeX619SajhLnkH4giBRCT5RPYL8svuNS+d/IXOOniC56qX4IizYHUrMD1b9Ls6Cshzn/trrfwToEzD7MlUn7Z9aMS2q7pIf1KJ2ux66xjFtXycGwV5H9zEmsIRN1ZIR0hyTg+8XgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016gzz52g6t2qqBGmvUfo5Vo",
      "input": {
        "note": "Wrist view shows the blue bowl still ahead of the pink bowl, not under it. Raising a bit and moving ~6 cm forward to bring pink over blue.",
        "targets": {
          "right_x": 0.5,
          "right_y": 0.225,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_016gzz52g6t2qqBGmvUfo5Vo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0065, 0.7647, -0.6109, -0.1284, -0.12, 0.9957, 0.5159, 2.3749, 2.2906, -1.1282, 0.2752, 0.1959, 0.0544]\nstate[eef_state]: left_x=0.2936 left_y=0.002 left_z=0.1501 left_yaw=0.083 left_pitch=-0.2739 left_roll=0.0233 left_gripper=0.9957 right_x=0.4946 right_y=0.2295 right_z=0.1096 right_yaw=0.0952 right_pitch=-0.5764 right_roll=-0.2077 right_gripper=0.0544\nstate[joint_eff]: [-0.1983, -2.7829, 6.8171, 1.4628, -0.0855, -0.0415, -0.0122, -0.841, -13.3949, 8.0752, 0.6032, 0.1538, -0.0024, 0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:333b5210964807da027c0f3e351b8a6ca4e98f42430787d70d4e8bf4f5ae111a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3734eccd19a3c2cbe0c2617e411e4258fee32eaafaa65d378fd42f8d4bc3aeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb949879315d8a2fb8c467214f3c4f96b93a21cfbfb3ad01b58ca536544ec2c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 11.11 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0027, 0.7647, -0.6102, -0.1284, -0.1204, 0.9957, 0.5819, 2.104, 2.0235, -1.0847, 0.3115, 0.2798, 0.0513]\nstate[eef_state]: left_x=0.2936 left_y=0.002 left_z=0.1512 left_yaw=0.083 left_pitch=-0.2694 left_roll=0.0223 left_gripper=0.9957 right_x=0.4431 right_y=0.231 right_z=0.1607 right_yaw=0.0901 right_pitch=-0.5105 right_roll=-0.1748 right_gripper=0.0513\nstate[joint_eff]: [-0.1162, -2.6051, 6.7897, 1.4872, -0.0904, -0.0366, -0.0073, -0.5675, -11.8222, 9.1145, 1.2088, 0.2418, 0.1245, 0.2808]",
      "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]: [-0.0826, 1.0027, 0.7647, -0.6102, -0.128, -0.1204, 0.9957, 0.5785, 2.1017, 1.7153, -0.8406, 0.3054, 0.2684, 0.0529]\nstate[eef_state]: left_x=0.2936 left_y=0.0019 left_z=0.1512 left_yaw=0.0826 left_pitch=-0.2694 left_roll=0.022 left_gripper=0.9957 right_x=0.4319 right_y=0.2229 right_z=0.0784 right_yaw=0.0814 right_pitch=-0.5688 right_roll=-0.2091 right_gripper=0.0529\nstate[joint_eff]: [-0.0479, -2.5094, 6.8308, 1.4237, -0.1001, -0.0708, -0.0122, 0.2393, -11.453, 6.5709, 1.1111, 0.1783, 0.0708, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0065, 0.7647, -0.6109, -0.1284, -0.12, 0.9957, 0.5159, 2.3749, 2.2906, -1.1282, 0.2752, 0.1959, 0.0544]\nstate[eef_state]: left_x=0.2936 left_y=0.002 left_z=0.1501 left_yaw=0.083 left_pitch=-0.2739 left_roll=0.0233 left_gripper=0.9957 right_x=0.4946 right_y=0.2295 right_z=0.1096 right_yaw=0.0952 right_pitch=-0.5764 right_roll=-0.2077 right_gripper=0.0544\nstate[joint_eff]: [-0.1983, -2.7829, 6.8171, 1.4628, -0.0855, -0.0415, -0.0122, -0.841, -13.3949, 8.0752, 0.6032, 0.1538, -0.0024, 0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:333b5210964807da027c0f3e351b8a6ca4e98f42430787d70d4e8bf4f5ae111a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3734eccd19a3c2cbe0c2617e411e4258fee32eaafaa65d378fd42f8d4bc3aeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb949879315d8a2fb8c467214f3c4f96b93a21cfbfb3ad01b58ca536544ec2c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS5wkKEAgSGAI4AUIIdGhpbmtpbmcSDGtlZBZqintkWOT4KxoMQm42giD84eNQulJ2IjAkxEPm4cyzawJHb8GVlxqnJbVnjVU8xS3XcdS8QCoZEyEHzg9tqjiUg2BM7RXOfvsqhAmge0UCTsYpCaeTwvTLrxFChDQzQztFMKa8+hmJHtZRo3wY13vTT8uPJ0rCmsUIlwxShHYDVUgRL8g7sLxAvNEuRa0uTdOm2g13U1yb/8qAK7tDy9vzA1P3RsyBuNRzjA5izR5wh80GZpabHG/QpdK22dXmMF0REoby0SgwMP3dOKbmEGmngePrsec/YYI9BmNLJGIKElgO5saCokca2IIi0P2naZ7FxhKS1HKIJRwcuFJxYUPUkE/BJbT6wyMLsYYBt7K4Zsqk30Hnx2VpCLeWnw7plqoMj4Wj4KKfYYdaRv3ckMCLn3aLAJj+mMJwZRbf3GlcRj7ioXa2PdowBiQge4x91Qcd/XAgunVgBGh1tcL3+yn9UkIlHd/r5Vs0rxUP33/DDN6P1ho9AqjSlkljW/RPdg9Ui9eDZlvregssC+emNrwc/MUAnxsJ5nCVmMT0QIWuJkEtIRrq0n4DlrHnYZeE1HTjXXX1y2Knpb8ZZDGBwzr2nkGYAMesOjgvKIZTl7Tgs6dYUgOoSxTUZ6evf358saaRrDcyDc7h0KJXTpH8z1CmkyJeuI8XlByixilD7HHRKGx7uemb7mq838NH+HAKLOee0v2/yhJ0Afa9EIqRH8CWZPdF6A2dKak2b9/zsnMkbODG8WpLfADjDfIMst4RzSECumYbOLBAMEkA0r8CE6rvXt18th6TMfMtkBRn7AF4zGWmUJT9a+jHctTFgcZbkdXRAmlbZot0sBX7YmOqOmSulbZruxBawZdfB6NpATIUHSFmpK0rsRtz/31eiZ26rWwZ1yRukxz9J7ZtTz61Yr/O9ceGipbA7QVG5dgJI2alc3O2L05kGskKG4ijE2oE6J/iDAIloWHwGsXwTscuoL+Q5/Wca4+1gTuEcXoc4A8Ji6BT+pwmilE1OdaqKwQgtXRyhI9kELz32ow7ggUrtlVpqymMz6Bt+DVvGAp5EW839cMh2Ti5ErUf2bYayTP9OYQU+1IZSUHqQnf2Q5DiW7T7CO9J6/qXwjzt/6MF2GjEhjq0fBCsyaFM4p+8jtD2dKeKX+mGMEpfZx2Ru8usQtgj4Msmu89QlpUv2J96Y6MvfIqf0xyQgw466HfLoLzsyaAY3pmWvN6FhcNrO6wMgdWGbtuMKb10Spw+Yy0nsF0YnKCEgkEtiRrjkf6LqDuotae4xIWQK5Ttq/kC1pw4FrGBBc7NEHsdqZK7K+/yBADibxuxzukL0PoMrDh9CoVPvdE43iD9tCgixfrLEDIahIU7gPqA8vGbyJLyg5hzY9Sdoc1KsLqtoyVWy7LaY13F3PopVBHpFZhryJ18ggtdGic2lyqb9HDXkYGwWVaHc1p/yQKGJ83IM4tj9L5ZT7hpTEYdTD4L5wKop8sD4rQbgVMDwBCwAiPkrz4qN/fiAxatdIHxwSi4xsHLKfKSaJwN91cogq83i7LSmMrWYLdCiGp6OSuEcgZ9ytQytahglO+Oi1crte+UlV1KWL0WMGzSHfNKLJQY47l1v5HKeZhSRGUrXhVWuf2vrsSNgzefgYP7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SGLzXUvthm94ktnGBMdDgN",
      "input": {
        "note": "Pink bowl now overlaps the near edge of the blue bowl in the wrist view; nudging ~2.5 cm forward and 2 cm right to centre it.",
        "targets": {
          "right_x": 0.52,
          "right_y": 0.21,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01SGLzXUvthm94ktnGBMdDgN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0073, 0.7647, -0.617, -0.128, -0.1204, 0.9957, 0.495, 2.4306, 2.3985, -1.1961, 0.2596, 0.16, 0.0559]\nstate[eef_state]: left_x=0.2925 left_y=0.002 left_z=0.1489 left_yaw=0.0832 left_pitch=-0.2807 left_roll=0.0239 left_gripper=0.9957 right_x=0.5018 right_y=0.2234 right_z=0.1097 right_yaw=0.1072 right_pitch=-0.6006 right_roll=-0.2165 right_gripper=0.0559\nstate[joint_eff]: [-0.3487, -2.5915, 6.8444, 1.4921, -0.0952, -0.0659, -0.0171, -2.4684, -12.547, 8.2667, 0.9988, 0.3053, 0.1636, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b3a73bd813d217e20d9983473fa3f434c656e4219660367e638c044ba0f7f65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4122456eff86a016ef1c6b76c853082b24d707515752ee6099fa25f9d420527",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0fc29d1dbd7ce7ccc9009c68b9ade107ddc03118748a83c825cff4f958deeb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 12.36 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0027, 0.7647, -0.6102, -0.128, -0.1204, 0.9957, 0.5785, 2.1017, 1.7153, -0.8406, 0.3054, 0.2684, 0.0529]\nstate[eef_state]: left_x=0.2936 left_y=0.0019 left_z=0.1512 left_yaw=0.0826 left_pitch=-0.2694 left_roll=0.022 left_gripper=0.9957 right_x=0.4319 right_y=0.2229 right_z=0.0784 right_yaw=0.0814 right_pitch=-0.5688 right_roll=-0.2091 right_gripper=0.0529\nstate[joint_eff]: [-0.0479, -2.5094, 6.8308, 1.4237, -0.1001, -0.0708, -0.0122, 0.2393, -11.453, 6.5709, 1.1111, 0.1783, 0.0708, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0065, 0.7647, -0.6109, -0.1284, -0.12, 0.9957, 0.5159, 2.3749, 2.2906, -1.1282, 0.2752, 0.1959, 0.0544]\nstate[eef_state]: left_x=0.2936 left_y=0.002 left_z=0.1501 left_yaw=0.083 left_pitch=-0.2739 left_roll=0.0233 left_gripper=0.9957 right_x=0.4946 right_y=0.2295 right_z=0.1096 right_yaw=0.0952 right_pitch=-0.5764 right_roll=-0.2077 right_gripper=0.0544\nstate[joint_eff]: [-0.1983, -2.7829, 6.8171, 1.4628, -0.0855, -0.0415, -0.0122, -0.841, -13.3949, 8.0752, 0.6032, 0.1538, -0.0024, 0.149]",
      "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]: [-0.0826, 1.0073, 0.7647, -0.617, -0.128, -0.1204, 0.9957, 0.495, 2.4306, 2.3985, -1.1961, 0.2596, 0.16, 0.0559]\nstate[eef_state]: left_x=0.2925 left_y=0.002 left_z=0.1489 left_yaw=0.0832 left_pitch=-0.2807 left_roll=0.0239 left_gripper=0.9957 right_x=0.5018 right_y=0.2234 right_z=0.1097 right_yaw=0.1072 right_pitch=-0.6006 right_roll=-0.2165 right_gripper=0.0559\nstate[joint_eff]: [-0.3487, -2.5915, 6.8444, 1.4921, -0.0952, -0.0659, -0.0171, -2.4684, -12.547, 8.2667, 0.9988, 0.3053, 0.1636, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b3a73bd813d217e20d9983473fa3f434c656e4219660367e638c044ba0f7f65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4122456eff86a016ef1c6b76c853082b24d707515752ee6099fa25f9d420527",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0fc29d1dbd7ce7ccc9009c68b9ade107ddc03118748a83c825cff4f958deeb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS3BEKEAgSGAI4AUIIdGhpbmtpbmcSDIYf2PQVG3BfFQOp1RoMyqFlBiblxcqstd/DIjApZ720gAJHt48cc7aWbPowyRhJrWn3Z75kQVSltmwnyHgVHxt07QmhhQIlpXRS/x0q+RCZw4zC/6O+QbxMX2W6AlKVCgyJL4HsTrxFnieZBJs37e51NjT7lo+VqN5ViCOKyyMTaID/vArVW81sLYgjE9d8patGrrJg2yFrrH1s1m8gE2u3NrgKzYbO1yI09KshYHT90T1OhPUxthvFLy73JiWvK6O8W2mCKZfxcCpxBKT8vEOGT49/4dlfvjw5Rbovy5qL3yjfnzvknIr27VQxI2TKHc0laRzhSgON7yD5xwBHm157WO1fz8HWVamj13g27lpOa/txqW6bkiYKeJLDRNZc9wzFMQHo/YPCuSYeZdyHKlCdtxCg1qDSxf96eV+06svGyOcoWruIWOboHv61znjkIpmz4JQaoJ/AEUdx8JFWFGlkJlGFyKhH3WYac5bzlBHbf4VsQFxDo+wP/a83h23AlmpPacKIuq3bmOfML88y9a+k13v3xemFdnB8QbRlEyeeoS87+FhVThS6BOefCs9AC8BZwVXUkAvN80gaVe67d/o8ySFtjiHUImrsk7nrMTaSlamPzLGwrdrP7aCqE2gO1TBEa+oe2Xcqu2MfjGITrFQc9kCksQQCUDm5HQeEGaXkcrWLPa5ypB4A1ZNE9/fyLXQ9pdYE3M9fcz9rFlUnikMEiNTGsOwsL0IFxw1oWbtuKX+MyY0IhiPwoaBq37LhQuY0qEUwPz0RJq9TyZBIoLIk/XMAzXMgU+SucudGJt5GeBioweb+kHGuiL0vpVJAyleuKzMC22wcLvqM9GXxq+uDRv0RgUdykjY5lG1mhzvGBpSXvcm5krXffa2HK8F67DeMFc2cDLJ+FSjE8pmMHloaHA51cpPFaiWaMOWcOScbImJC1hZOk2s6Rp+Or+j8mYxA360KbkWprhkGRFY9unHdm/AfasP81ZKYuOJqaBi9zWmHwE3uqYM1HzjrYDwkpS88fPV+DIlmQs29LhD0dHV1aA/yCK5bixQeqTm/1sY9YfRoOctXBMEmRd3CeiZJg2gVVqydDrGjoeOKo2IC0mVSkIQ0g2jpqoxs3UsUU0PCuiaz2AMfexm+0gc1gW/l81zWguE5F2TrIo1UMd+x1f0zRawPYp5+KQlRYVOFaTKdzUxNXzJG3synInT84Xi+epDMb0aKbnOC8XjN/awGwCCVDBNlWGMhKTcoLyOA7cZ2d2v7W+cZ9FR3JRhHEO0L6xVH8wdKLYSyRlgBqC14i+nCijz4SYiaeqdJhgEJ59+G1KX2REAAix/JSEV1chqK3u8QjCyCIHx4nYSgkndxsyiZfZ+z4QHw5bBKX2+zqNoBZ3N1ulFtcAZorwKxPS02LHz3ojwJHIKT2Q3vI2dei0ACyi1DLZUEHL3AADSxydBIT9eBux3HqMGBvIMPC0jdy0Oj3vZI9PE8+zscDSNjtdY8Lcv2/ak+QVDL1xdnZDQSU9fDQtFdn84TWMyM9ouUQgcy22P2n+sB0DJSuNmu/mDaX5lvZIRnfGmFdQbpM9+D8Ffe1jG67Tkc1IxWhTB+MEnJT4kZ9tUZm+toZ2DEWHkIUczK5fzDKSI1+tYG/ONN5McSotoGa3lpV1NXoZiAiu/Kk3B27uht1+eIQ9GSj7XF3pewkEZbwfgrNUwK6RTYcemVfFE0hkScXzcb5R4d99oVUAB+e5bIxRx2tlJbgPoIQrHwJwlHijYzyVs3G0sJe+uONzg5a6/dy3ZESLgxEW4RjpdZMppNqEnnkZOZF6QGYQXVcN8UDmsbZPUomw1Uo/IFVd9mlckdIvTiiUPUoPtzCT0YdDaFlXjELf4KmkjaSxuG2YKoOsujVWXNjroziQTNUwTOYeImofpiVJTExmlA2/G5ind3N2cXb31/KjhO9H0d3q5HtNjuqSBCM6D3Y2R00kcBm4dbwNvF5d0C6QS8S9W8RG0xihPAMaC41I/iNYHXkjyA2fD8lO4TnRjvnB0kRfca+0dqAZRfe7whuJDBHMcswYxk+jG3VOJ2CW6x24dwIbu0qOHm/kF9gHirryUKMGSVanEFe+oE55cbXh7OGe40VLDJzdvfr6KVl7BrGjv7qDq3Rbs+sJxWE4FvLKeTskwA6KfASEIRy7k6cqXTJebAP3Ko0Le6kM0DZU5xWR9sKZHWPVjW2kiuiUJuKc07iX7AbNwrRsqFxaRyyJHw9F95JKkEDeUqsIZX+iDPRThdjrJ24zJ1WfbaVpfsK8Qs71AoAkts+TtamYKd7GmUWZa7XpBA9KO7rYqO8DtXYe/rF+JOldgyMG7SiwtIsKzq9/W5fBe84YfU4FvtzXifXRqYOumg1NZOsi2AUHUxkciQAw+y0chUdahVM9PMiC3T0VPpuBFjtQWzoGhmnkz+OuAx9JaUPjhOjcAl2PyDAnDFveSB7lZkv5C4ji2+TeiJ31zDtW421/wm/0IdUTfiDpyCSriJUzv16uppS959e+uPaRhGre5bHNG7ogc1cpZeF+qmLgpQn3ZdP7NpncWvD4WAgrQryqo+TmKDKb4F4OSZk4y5MnNhjVZic7yr31DKXAW8i/UgKQC/jkP3FeYHYMB2PnM8wGjs1LJ1qa+NZ0N4tc/phCa9i+85NCVLO6WLYGGep6gJNvds7ae7dVMZFOCoDYsIli3X+ET2ndbWLCGaCbxkwRuNsTVGqnFLwmo/DGwY6SKq+dttIDJY0BngnGImMmBh5HFCgNYUMXIiWuPojAz5+D5W5Q5TmcVP+uhPUZmf+TOLl/8gzC3a8P/v1vH5G4H4VwX4xocX2ny+IIkyoJydniSokc5UvMzTaE4himybJELsHvXaWExq7f89b8V9sFJlf9Ff8sEGNKumBZEFDG92Dkz37xEixlt+jxUFhJ8Xct3EoHD9bVNQprDVsXroEs83CENLXYOXpma3y0Gay+dkI8l77VeqXfUeAz4an+pit+8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NZV7E4pV4CYGc1ApBCWyKM",
      "input": {
        "note": "The arm is at its forward reach limit with the pink bowl still only half over the blue one. Yawing the wrist clockwise swings the held bowl (offset to the gripper's left) forward by ~3 cm onto the blue bowl.",
        "targets": {
          "right_yaw": -0.7,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01NZV7E4pV4CYGc1ApBCWyKM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0103, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.5419, 2.7155, 2.8708, -1.5597, 0.3538, 0.5621, 0.0572]\nstate[eef_state]: left_x=0.2925 left_y=0.0021 left_z=0.1479 left_yaw=0.0837 left_pitch=-0.2844 left_roll=0.0249 left_gripper=0.9957 right_x=0.4856 right_y=0.2251 right_z=0.0859 right_yaw=-0.2574 right_pitch=-0.6475 right_roll=-0.2458 right_gripper=0.0572\nstate[joint_eff]: [-0.212, -2.7009, 6.8308, 1.409, -0.0952, -0.0513, -0.0122, -0.8137, -16.2803, 7.8838, 0.7302, 0.3639, 0.2222, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25d38e16469221e3dbdf3abae0df8cdc9ded913bd47bfcad5d234147810a5d58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:699804ad74403b33ba2d2ae2f94fd4274dca4a1bc283600bb475ac29b5107455",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:415396cc58c363155077bb54fa4859e563143e73664e321eb5dfff357e978d1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 7.25 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0065, 0.7647, -0.6109, -0.1284, -0.12, 0.9957, 0.5159, 2.3749, 2.2906, -1.1282, 0.2752, 0.1959, 0.0544]\nstate[eef_state]: left_x=0.2936 left_y=0.002 left_z=0.1501 left_yaw=0.083 left_pitch=-0.2739 left_roll=0.0233 left_gripper=0.9957 right_x=0.4946 right_y=0.2295 right_z=0.1096 right_yaw=0.0952 right_pitch=-0.5764 right_roll=-0.2077 right_gripper=0.0544\nstate[joint_eff]: [-0.1983, -2.7829, 6.8171, 1.4628, -0.0855, -0.0415, -0.0122, -0.841, -13.3949, 8.0752, 0.6032, 0.1538, -0.0024, 0.149]",
      "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]: [-0.0826, 1.0073, 0.7647, -0.617, -0.128, -0.1204, 0.9957, 0.495, 2.4306, 2.3985, -1.1961, 0.2596, 0.16, 0.0559]\nstate[eef_state]: left_x=0.2925 left_y=0.002 left_z=0.1489 left_yaw=0.0832 left_pitch=-0.2807 left_roll=0.0239 left_gripper=0.9957 right_x=0.5018 right_y=0.2234 right_z=0.1097 right_yaw=0.1072 right_pitch=-0.6006 right_roll=-0.2165 right_gripper=0.0559\nstate[joint_eff]: [-0.3487, -2.5915, 6.8444, 1.4921, -0.0952, -0.0659, -0.0171, -2.4684, -12.547, 8.2667, 0.9988, 0.3053, 0.1636, 0.1392]",
      "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]: [-0.0826, 1.0103, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.5419, 2.7155, 2.8708, -1.5597, 0.3538, 0.5621, 0.0572]\nstate[eef_state]: left_x=0.2925 left_y=0.0021 left_z=0.1479 left_yaw=0.0837 left_pitch=-0.2844 left_roll=0.0249 left_gripper=0.9957 right_x=0.4856 right_y=0.2251 right_z=0.0859 right_yaw=-0.2574 right_pitch=-0.6475 right_roll=-0.2458 right_gripper=0.0572\nstate[joint_eff]: [-0.212, -2.7009, 6.8308, 1.409, -0.0952, -0.0513, -0.0122, -0.8137, -16.2803, 7.8838, 0.7302, 0.3639, 0.2222, 0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25d38e16469221e3dbdf3abae0df8cdc9ded913bd47bfcad5d234147810a5d58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:699804ad74403b33ba2d2ae2f94fd4274dca4a1bc283600bb475ac29b5107455",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:415396cc58c363155077bb54fa4859e563143e73664e321eb5dfff357e978d1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UcnLsNBxoxrSACWDELb6mJ",
      "input": {
        "note": "Blue bowl is still beyond the pink bowl and the wrist has pitched back to its limit. Raising and pitching the tool forward, which the rig notes say extends reach to ~0.59 m at z≈0.15, to carry pink over blue.",
        "targets": {
          "right_pitch": 0.2,
          "right_x": 0.56,
          "right_y": 0.22,
          "right_yaw": 0.0,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 29 steps (2.9s)",
      "tool_use_id": "toolu_01UcnLsNBxoxrSACWDELb6mJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0103, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.5629, 2.8655, 3.1104, -0.8459, 0.6281, 0.0299, 0.0579]\nstate[eef_state]: left_x=0.2925 left_y=0.0021 left_z=0.1479 left_yaw=0.0837 left_pitch=-0.2844 left_roll=0.0249 left_gripper=0.9957 right_x=0.6226 right_y=0.2743 right_z=0.1813 right_yaw=0.0159 right_pitch=0.068 right_roll=-0.293 right_gripper=0.0579\nstate[joint_eff]: [-0.212, -2.4274, 6.8034, 1.4042, -0.1099, -0.0415, -0.0122, -0.8957, -14.1197, 8.7863, 2.1612, 0.3687, -0.0024, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b78b5e4e3b52af208c5a75ae68604f5e4737e5820032ce98dead5e1fcffc24dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89048757b5bbdf325a2e6e800cb45534954a1a14e4b9c7a692e4e5a021d844fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bfc934ba2d798cf05a5d90d16478b41122276b7ddfdc4842794b067f46af2f9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 5.304 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0073, 0.7647, -0.617, -0.128, -0.1204, 0.9957, 0.495, 2.4306, 2.3985, -1.1961, 0.2596, 0.16, 0.0559]\nstate[eef_state]: left_x=0.2925 left_y=0.002 left_z=0.1489 left_yaw=0.0832 left_pitch=-0.2807 left_roll=0.0239 left_gripper=0.9957 right_x=0.5018 right_y=0.2234 right_z=0.1097 right_yaw=0.1072 right_pitch=-0.6006 right_roll=-0.2165 right_gripper=0.0559\nstate[joint_eff]: [-0.3487, -2.5915, 6.8444, 1.4921, -0.0952, -0.0659, -0.0171, -2.4684, -12.547, 8.2667, 0.9988, 0.3053, 0.1636, 0.1392]",
      "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]: [-0.0826, 1.0103, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.5419, 2.7155, 2.8708, -1.5597, 0.3538, 0.5621, 0.0572]\nstate[eef_state]: left_x=0.2925 left_y=0.0021 left_z=0.1479 left_yaw=0.0837 left_pitch=-0.2844 left_roll=0.0249 left_gripper=0.9957 right_x=0.4856 right_y=0.2251 right_z=0.0859 right_yaw=-0.2574 right_pitch=-0.6475 right_roll=-0.2458 right_gripper=0.0572\nstate[joint_eff]: [-0.212, -2.7009, 6.8308, 1.409, -0.0952, -0.0513, -0.0122, -0.8137, -16.2803, 7.8838, 0.7302, 0.3639, 0.2222, 0.1245]",
      "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]: [-0.0826, 1.0103, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.5629, 2.8655, 3.1104, -0.8459, 0.6281, 0.0299, 0.0579]\nstate[eef_state]: left_x=0.2925 left_y=0.0021 left_z=0.1479 left_yaw=0.0837 left_pitch=-0.2844 left_roll=0.0249 left_gripper=0.9957 right_x=0.6226 right_y=0.2743 right_z=0.1813 right_yaw=0.0159 right_pitch=0.068 right_roll=-0.293 right_gripper=0.0579\nstate[joint_eff]: [-0.212, -2.4274, 6.8034, 1.4042, -0.1099, -0.0415, -0.0122, -0.8957, -14.1197, 8.7863, 2.1612, 0.3687, -0.0024, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b78b5e4e3b52af208c5a75ae68604f5e4737e5820032ce98dead5e1fcffc24dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89048757b5bbdf325a2e6e800cb45534954a1a14e4b9c7a692e4e5a021d844fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfc934ba2d798cf05a5d90d16478b41122276b7ddfdc4842794b067f46af2f9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQStgsKEAgSGAI4AUIIdGhpbmtpbmcSDBMIADTvD7vck2bFRxoMrL1bbjA5itQAEHa0IjDSqUjxKThny8yh1wZAQadYhjhGDBAN3GG/U3zQf7cMNTdU/PfdwI4P+5utgTJU4C8q0woTmlnQY3BTR5PZXyyTfGg2xdzLmIOtpPx/GzX2033WURH1AzQsXcCrPpfW6BNgwhQ76iESxT6yuGoyOgt/Mcc55FtLygzKoK9ji8dzbd2/rLVa5xJOIIyfAh3RlxSMEisucZOPIss1OuXOTfuKa2AciSZpk3X+V+N0PM804d9iSp6fjx6XA/179hm9NK5zscuiIkvz/1A5GIqPwfeA8i65eX/aSMSW1B4XkKvXOJf6xYQFsugiHKBs7Iqv4jfNjKI75UOSIIzYCyLLuWJtgT/98ig3Gc2k78VCND6EB9jqEBUE7dRMxm8cejP0vxQ4qGBvBRik+DZ6fZ8rlErAibVmlhe4+gdQvwzKfaZglB6pUEk+UXYGhIcqLfej1vB9AQg1PwbynqNpAP0Z/spYI1q+ldU/j8INVYADlS4bpEdUs7ZwoHBCZB/VmPkf76VmNgiYABZSStyFktT7yZYd3rkdghVEHCbAW7XUNTwbmHKQ9wy9GjL6rmzddJtDMAsGLGgsXc8611tuH7gTmMao9DKBM05RZORjIkrZz0Tb+AqfTYqRpuAC09FP82l20uRRlNZMHCSXFAkX2NLkCE20NWP9hGKfTrYhotoGdAN+8LGHk2K0tFjnz1ldJfX3bwapDaPPaLlKLoQFfSskv84SmZShQT1ywK9VlgvBB6+rgXanYJXgkECmaWsrVjF1uCinjyg8JJdAe9aSVwi1A2yXjoonqZV5N20GILrohpZmMIFe7RNwMuMV4StSy+2dhV+YdBJVUCJ6uzR1zOx7wxMzqjpCr2zv4PSUU7/C86Wbth2Yv+vL8eG5Dk/Jmsf8b2iQzjoT18IBly7TutVKksGIloFHrd6/3zRfRNCE8OJrASBq/nj7XK59g9vqC2AbKrEjMurD4xnmhkuX0W1IHj/eQ8rp/Yx/qQ3uwAq0kZuDyzOgisTDWezDfQg4PlWJzotgQqRVyQ7wuFlXV18aVeANb2gswZfDlnQUHPzr+vOO0KeASWqXOG2QvWF/y4eFQAU7dQdlu9tKUdI6h+pykgr1s/458bblqt2zrQeM5ywjpAsoMCOLRw77A2RjtFCE0kqakR34X5Gbn1Avp10tyIoLXwnyrVED6aJAbyaq6TZk9vuDhXwfvn/2Za4jTeKUMtc9gbtMfzNvUxKthVcxmFAzrUPjphQqDEcyIuZh7a+3TrWfpPfzKtOF6dM1YqbUoUh48AdjRGve8wOlawCs4sU9n4Qvd0wUnwp0Hr+0EtEuAfIAmyeldY0MQ1a++tCKHCtKI4Koc80gQCnblkMkjBWb8uRnO1I8ZeqeuPi2EeVrpNCuebNcFFIhR/ojKvJNvT6XTR7XZeZOdmpRqGTMn4U4AG5F+6308La6ECxkAyB3ogF3Sf36/WAUSLh5nIjEjp2fwhv7Z0qq9Y/drfYWnwjDVz77S03pzQBqCY1m/t96szDgzp/O6qM6NsxMuytMWrQpGKnzVvUNimTgdnIX0r/D6xKgCy7Xppb+dWe17qJGK5e7NfH5faQ5kOsWYCocmt0yztYf0RsdegbiENUtc5Cm/hfbE3ByPyF5Un1Jr02xIev6lhOgR2+QazuSRm/7XhRm9PDpCpjY3BunbEiF12jrI8T4NCQMQiMc0B09DQTF5zWJVrwOXEZGwXk6riMMgC7K9PpPnkDymOJqpK5a8ORxoOtwIhXVWfI+H2ADRbLBYmV5OXnpEXQem16xIsYyhUYRMy7n8F4387LuowXtxtcZ3pJAQMOB5epwspRZsbnLkNpgDIeSyybW4kaQpWWv72D5HhFeub6pDLFy2fu80dVQ783Pdeu+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TBzXwSBRjQKygSyaJAzQpz",
      "input": {
        "note": "The forward-pitched move overshot to x≈0.62; the blue bowl now shows just under/behind the jaws. Pulling back and right so the pink bowl's centre sits over the blue bowl.",
        "targets": {
          "right_pitch": 0.2,
          "right_x": 0.56,
          "right_y": 0.2,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01TBzXwSBRjQKygSyaJAzQpz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0138, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.5297, 2.9139, 3.1104, -0.757, 0.6205, -0.049, 0.0586]\nstate[eef_state]: left_x=0.2926 left_y=0.0021 left_z=0.147 left_yaw=0.0839 left_pitch=-0.2878 left_roll=0.0255 left_gripper=0.9957 right_x=0.6429 right_y=0.2616 right_z=0.1648 right_yaw=0.0278 right_pitch=0.0878 right_roll=-0.3388 right_gripper=0.0586\nstate[joint_eff]: [-0.1436, -2.8513, 6.9402, 1.453, -0.0904, -0.0757, -0.0122, -0.8274, -15.4462, 8.8137, 2.4884, 0.2906, 0.0317, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad7e629b30041a8fc650c2679cc462ff39b63c6a95312dd950af9f66e9ab0c93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b738d77f425cefa5c3b867a7166dd66b617932399492ed9b0403421a8b1a970",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5bdaac84e902ebad59510fbe4479623fe1283a98c91cc7e4c16c9fcb9464d83c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 5.281 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0103, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.5419, 2.7155, 2.8708, -1.5597, 0.3538, 0.5621, 0.0572]\nstate[eef_state]: left_x=0.2925 left_y=0.0021 left_z=0.1479 left_yaw=0.0837 left_pitch=-0.2844 left_roll=0.0249 left_gripper=0.9957 right_x=0.4856 right_y=0.2251 right_z=0.0859 right_yaw=-0.2574 right_pitch=-0.6475 right_roll=-0.2458 right_gripper=0.0572\nstate[joint_eff]: [-0.212, -2.7009, 6.8308, 1.409, -0.0952, -0.0513, -0.0122, -0.8137, -16.2803, 7.8838, 0.7302, 0.3639, 0.2222, 0.1245]",
      "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]: [-0.0826, 1.0103, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.5629, 2.8655, 3.1104, -0.8459, 0.6281, 0.0299, 0.0579]\nstate[eef_state]: left_x=0.2925 left_y=0.0021 left_z=0.1479 left_yaw=0.0837 left_pitch=-0.2844 left_roll=0.0249 left_gripper=0.9957 right_x=0.6226 right_y=0.2743 right_z=0.1813 right_yaw=0.0159 right_pitch=0.068 right_roll=-0.293 right_gripper=0.0579\nstate[joint_eff]: [-0.212, -2.4274, 6.8034, 1.4042, -0.1099, -0.0415, -0.0122, -0.8957, -14.1197, 8.7863, 2.1612, 0.3687, -0.0024, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0138, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.5297, 2.9139, 3.1104, -0.757, 0.6205, -0.049, 0.0586]\nstate[eef_state]: left_x=0.2926 left_y=0.0021 left_z=0.147 left_yaw=0.0839 left_pitch=-0.2878 left_roll=0.0255 left_gripper=0.9957 right_x=0.6429 right_y=0.2616 right_z=0.1648 right_yaw=0.0278 right_pitch=0.0878 right_roll=-0.3388 right_gripper=0.0586\nstate[joint_eff]: [-0.1436, -2.8513, 6.9402, 1.453, -0.0904, -0.0757, -0.0122, -0.8274, -15.4462, 8.8137, 2.4884, 0.2906, 0.0317, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad7e629b30041a8fc650c2679cc462ff39b63c6a95312dd950af9f66e9ab0c93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b738d77f425cefa5c3b867a7166dd66b617932399492ed9b0403421a8b1a970",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bdaac84e902ebad59510fbe4479623fe1283a98c91cc7e4c16c9fcb9464d83c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQShQkKEAgSGAI4AUIIdGhpbmtpbmcSDJZYwXiYN0JrdyAutBoMToKY3FG7EG8YwdzrIjCahOdNbzGlI9z0mB+LZGDXIBwwWlLZQNO3U8IG9J73SdvEX+REUliyw2/RFxwRldIqoghk4fiaMMDJa7pY5vTMzFCAh/J7sET/kd+rB/sQEVWVGUL4GKWE/usI//LFyQAx8dDKM4U85KyyWw7RIeiT4g7J9kN+U6e6/L0zDKMOrm2WSXg3S4Vk5y3T8bvm6N3qr/yPuNxm+DfLL/m/WxHrvaS4nGSr8PqjJgMZww8XwCkQcA7pXfolJBluvXI8ah2Y75cqY1jt9mpOTydOuBp5RYDqsbme1s1dFxqRUDADG2SbCMBCqX9CMhniE+p7pfNFBuvo5ja2P38g+jbgffCZAUHmd8ENM0xdjkgZe9zg1xpTqEG5abLKvolr5sBFti6EDY8QNOYeyvdoWwsN17iucnLH4GXLy61XwBltOvXvWJGDqJpSrfGBOi7Pe7D8aWZ3yl3FXYZc4oMar2QhZJ7C7E0CLcYMzWZewoZppZ0y0eC6/r9GBw49jqniE+wuQs2VqlDl3DUePrHM6e7B+h5+yjbqg9uN6KO3bbliKeea+10z0YdPz6ChMKb67biSNyR+3tdBf4seRFaeN4Larhi5+rejMCmwQNqEQOx+X8svDTyRFu5i13jCgGpMIIExWhVjhpSEKHFnAYHKnQPNytIBKh130x5JSkg5zDnQGiljLD5hqNikfBX8Eub4AswPojrBaKri8x6d8nkT/Mt39kIb1AVdSHsBW1imUeqUgpVLjr7gpeaVz/gJVw4ISWX3LHy2ZvN7LMAxFYwNiFAvR1HuLczBQJ0KfIIsc1AztLa6jPlRAYf5rK1olDG5t5y9vAYKUyyPizrVBWSy3LaDTG1XAiTpwKn0UJOsMa8Tk+cgXsW1B/UyvPihpU3M3U8aTgWT/m4bBpm5Uyzx1jTxZI90Oxwt1aDG5kcWhNESHmouo/0LYBaEA5KGWOP3V6asm52Ee4FIqJwEOjiNbupNEOz+dBQXIr+m9wct2FNqCgbGpGbgE/9O5MN8vCdV1xYr727cPN/i+bv8aDTTTZzksdIQ9WHm8JdaCgczQIWmuwYv9wE2QhcuF1VRyJFNT0iBWPXkFtdyUWzWsq7MK1gsnXTyrAEq7d78vqpb9ozpqRARDSYNb6hU3abfBzI27vzyMh0NYoX2k+83OrTr7Hc7w/h+A+MyN+2dGPswm/K0OUpynSqfOLrGmm3x5wYR2Wqe/vZ9yQYIOJgpbZxJi55GO/weQrVb69ZhqPcHprzJPonOKV1iXJiHLu1Q1XN3TWAQ2hiNhJ6k+/V0MtItr+LcJY+hTn7cAwr/iGPv4CT6ZNYVj3JgeTplWa/hVuCQDmbeErr8BD9dTtkQjue/EmLVbE47mTGleeYWPfjRHI9KhxVSlRLT1+M1GnKot+f1jTrICPmSHDfrbp6gqwCXfPDW47hJJ6PhS5/Q6PDKqGCZSUeexZLxf4I3Rccsx2mpJL31bxp5wMWmuBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SrECSe4A8TCVraUuZaekSJ",
      "input": {
        "note": "The right arm has run out to full extension (x≈0.64, elbow at its limit) and is drifting outward. Pulling back and up to regain control before placing.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.5,
          "right_y": 0.22,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01SrECSe4A8TCVraUuZaekSJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0138, 0.7647, -0.6178, -0.128, -0.1204, 0.9957, 0.6147, 2.7548, 3.1104, -1.1431, 0.6498, 0.054, 0.0588]\nstate[eef_state]: left_x=0.2926 left_y=0.002 left_z=0.147 left_yaw=0.0835 left_pitch=-0.2879 left_roll=0.0252 left_gripper=0.9957 right_x=0.5677 right_y=0.2744 right_z=0.2039 right_yaw=0.0381 right_pitch=-0.0783 right_roll=-0.3839 right_gripper=0.0588\nstate[joint_eff]: [-0.1983, -2.4684, 6.7897, 1.453, -0.1245, -0.0513, -0.0122, 0.4444, -18.6051, 8.1573, 1.4872, 0.3736, 0.1734, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc1d8b835525eadf829db50b9b100f3f5b058bd973fa925f30d63b0f6195d2c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4724319f3444139c7a7817c1187891f2d9133cc5dfff83c9256652a8ce6e4ac7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b77fcc9f026c3e90445c08cecfd73cb722aadeddc84c3c6390309cb1fed7a19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 3.821 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0103, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.5629, 2.8655, 3.1104, -0.8459, 0.6281, 0.0299, 0.0579]\nstate[eef_state]: left_x=0.2925 left_y=0.0021 left_z=0.1479 left_yaw=0.0837 left_pitch=-0.2844 left_roll=0.0249 left_gripper=0.9957 right_x=0.6226 right_y=0.2743 right_z=0.1813 right_yaw=0.0159 right_pitch=0.068 right_roll=-0.293 right_gripper=0.0579\nstate[joint_eff]: [-0.212, -2.4274, 6.8034, 1.4042, -0.1099, -0.0415, -0.0122, -0.8957, -14.1197, 8.7863, 2.1612, 0.3687, -0.0024, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0826, 1.0138, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.5297, 2.9139, 3.1104, -0.757, 0.6205, -0.049, 0.0586]\nstate[eef_state]: left_x=0.2926 left_y=0.0021 left_z=0.147 left_yaw=0.0839 left_pitch=-0.2878 left_roll=0.0255 left_gripper=0.9957 right_x=0.6429 right_y=0.2616 right_z=0.1648 right_yaw=0.0278 right_pitch=0.0878 right_roll=-0.3388 right_gripper=0.0586\nstate[joint_eff]: [-0.1436, -2.8513, 6.9402, 1.453, -0.0904, -0.0757, -0.0122, -0.8274, -15.4462, 8.8137, 2.4884, 0.2906, 0.0317, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0826, 1.0138, 0.7647, -0.6178, -0.128, -0.1204, 0.9957, 0.6147, 2.7548, 3.1104, -1.1431, 0.6498, 0.054, 0.0588]\nstate[eef_state]: left_x=0.2926 left_y=0.002 left_z=0.147 left_yaw=0.0835 left_pitch=-0.2879 left_roll=0.0252 left_gripper=0.9957 right_x=0.5677 right_y=0.2744 right_z=0.2039 right_yaw=0.0381 right_pitch=-0.0783 right_roll=-0.3839 right_gripper=0.0588\nstate[joint_eff]: [-0.1983, -2.4684, 6.7897, 1.453, -0.1245, -0.0513, -0.0122, 0.4444, -18.6051, 8.1573, 1.4872, 0.3736, 0.1734, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc1d8b835525eadf829db50b9b100f3f5b058bd973fa925f30d63b0f6195d2c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4724319f3444139c7a7817c1187891f2d9133cc5dfff83c9256652a8ce6e4ac7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b77fcc9f026c3e90445c08cecfd73cb722aadeddc84c3c6390309cb1fed7a19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSwQkKEAgSGAI4AUIIdGhpbmtpbmcSDChtUfNgeKBZ6/vrvhoMHLTDUDF3BUpyS9xeIjDomtl5M4O4sgWleoHbu22zTBv3kTiOwcdYpMhkJ310NZc1t5YZ3j+P5nr4QAYPu4oq3gh50CXgduiCn/GYBXteVGQxPAhph3gGcMR/eI6JA6ieDDUYCTFfzuyLJWqI1EF9mSbgCXcTaZV6Ax6RLFCWqoEnKehmqNnQwKbJE/DShwT5WbhPN4M9Oo3xlCWd6pc88QrilSqG0zGDOYQda15mzfO5InmUJOQeG8YaAzJNBj6pWBgRSB/8frICki9gbosYnISFVXKSZ3ouSyeXsIQ2MDBrZ54nWY1ZAKebEXoO5nHccbEo72NxtFvh/gHrrI49+FTGY0qFkKJ02VhchnM2rRpBSA+wZXVG5EhLRtGM5eY4yeyUJivPf7LVJK2VctgpdkHRChQgv5vUhqiFWCd5ijKkk9GOeZrEPNI50G6Y+idsWIgB2/P8wZWkusdBC5irGKnZYrU+PzHaPkJne1M4drCcW8bGARtpxMss9UyhYerflVdktuHq6adzDi4mhlMxGUw42x17QQWaS2JrIYBzGOpAtQFMpOajju9kzOUEL2T+mpekixKEJnsLF1g2tDxnc+8a9fN7joYbP+sqaiFcFLqF6hZCOr8WeeQ53IRdVmJaFfqAHxl61fg22EnYo245x3M0GbBBCKcLDUNA3RrS/kzf4Sf6WWX4/bR8iH2KDnDOCsoKa+QhpbR/wc1v06LKVXGxl1SvZ+kpWSKrKq7zZC8/DkRkMz9XxzxisVoczZNCkwTIgekOxzJHOpCrM0XHjryONU7v9ZxOWtrQar+nxZ7E+CXn1Og+jHxwp+wh0d3igTwwFplRj4XJaaS3WysScojPpl/nLjIJZkwSRks8FUriZVUK85oERre5z77DayXDw4wY565nxnzFsWeiCAAhx1g5DKnmFBLHSfNcWb6XVDxHVtUJfsn/qWApfY6FRYwC1x2ynVbihvTtxsrG/e/LI5MJ8TDZCm+03GhRrzr1lyhSour+FqARmeryg/MkTW2N4yRFwkiUntxlU86+OJ5lQGiV7KXt3azGf1rkHJEYZHV/pCjQOqrSzz28GQ3h0Xer8Adk0Dxy/Kln8Oqx3FXnFp2JCfKF/KLaSATjecw2NRQvblJw0XYx1O3+zqfsAg7uOrT2coZS7WnJAc73WK70c21WQIwTmWIiSu4U0t27wP7kmMmYgwtFBZp3ujSVpTkVinB3hSMsbD4Eg2gtmAIBLoRoagAJTLp1CNk56zKZ908sz6X7zf47bFI7fHlPJ6gl7tO3hmbFpQAM5SXqpzf5j4yV4E2n63M1Zt6+g1gNo8yXDIOqbKl/+nTOweO8VqHMV5OXHJlMVG/z14VwYQI8QyEuh3JC4wsnGESw/iTfVGeGaAb6gsPwMN8/C3GxS/8QLLjIRJlxHL3yrHmiblDAgEO4zqLm4rNgQtIS4UCCVl1DCjjgrEBfrrCFBsA5QnDKvNJdX7TN9RpT4fThxWZKCXhCNeJIFnOpWt1dBfVn4Ors869sIeJmBnzNEGmkqD2gWubNa8dLyfmdWEhC68UFCYxmEH/nMrNVhLj7Oe1jiRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hd3n59mvXEbdyP21F5JERg",
      "input": {
        "note": "Wrist view shows the blue bowl right under the jaws with the pink bowl hanging to its left. Shifting ~5 cm right so the pink bowl's centre lines up over the blue bowl.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.56,
          "right_y": 0.225,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Hd3n59mvXEbdyP21F5JERg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0138, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.564, 2.7834, 3.1176, -1.1194, 0.6292, -0.0154, 0.0594]\nstate[eef_state]: left_x=0.2926 left_y=0.0021 left_z=0.147 left_yaw=0.0839 left_pitch=-0.2878 left_roll=0.0255 left_gripper=0.9957 right_x=0.5858 right_y=0.2518 right_z=0.1912 right_yaw=0.0377 right_pitch=-0.0987 right_roll=-0.4257 right_gripper=0.0594\nstate[joint_eff]: [-0.0889, -2.5368, 6.9675, 1.3895, -0.0855, -0.0708, -0.0171, -0.294, -14.9538, 7.665, 2.0488, 0.3541, 0.105, 0.0513]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c483001a5d10a656960bdf17421eab702ee683c075032dfc0801a5094db56a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d43c8653b2b049e9d83a6a65f85b6cefbe0f55f077179e996fb5f0d314b7534",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3660be19da74d2cc0061e64b8bf392b23ce1f363d23c0474992e3d5e9963eb3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 6.43 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0138, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.5297, 2.9139, 3.1104, -0.757, 0.6205, -0.049, 0.0586]\nstate[eef_state]: left_x=0.2926 left_y=0.0021 left_z=0.147 left_yaw=0.0839 left_pitch=-0.2878 left_roll=0.0255 left_gripper=0.9957 right_x=0.6429 right_y=0.2616 right_z=0.1648 right_yaw=0.0278 right_pitch=0.0878 right_roll=-0.3388 right_gripper=0.0586\nstate[joint_eff]: [-0.1436, -2.8513, 6.9402, 1.453, -0.0904, -0.0757, -0.0122, -0.8274, -15.4462, 8.8137, 2.4884, 0.2906, 0.0317, 0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0138, 0.7647, -0.6178, -0.128, -0.1204, 0.9957, 0.6147, 2.7548, 3.1104, -1.1431, 0.6498, 0.054, 0.0588]\nstate[eef_state]: left_x=0.2926 left_y=0.002 left_z=0.147 left_yaw=0.0835 left_pitch=-0.2879 left_roll=0.0252 left_gripper=0.9957 right_x=0.5677 right_y=0.2744 right_z=0.2039 right_yaw=0.0381 right_pitch=-0.0783 right_roll=-0.3839 right_gripper=0.0588\nstate[joint_eff]: [-0.1983, -2.4684, 6.7897, 1.453, -0.1245, -0.0513, -0.0122, 0.4444, -18.6051, 8.1573, 1.4872, 0.3736, 0.1734, 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 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0138, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.564, 2.7834, 3.1176, -1.1194, 0.6292, -0.0154, 0.0594]\nstate[eef_state]: left_x=0.2926 left_y=0.0021 left_z=0.147 left_yaw=0.0839 left_pitch=-0.2878 left_roll=0.0255 left_gripper=0.9957 right_x=0.5858 right_y=0.2518 right_z=0.1912 right_yaw=0.0377 right_pitch=-0.0987 right_roll=-0.4257 right_gripper=0.0594\nstate[joint_eff]: [-0.0889, -2.5368, 6.9675, 1.3895, -0.0855, -0.0708, -0.0171, -0.294, -14.9538, 7.665, 2.0488, 0.3541, 0.105, 0.0513]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c483001a5d10a656960bdf17421eab702ee683c075032dfc0801a5094db56a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d43c8653b2b049e9d83a6a65f85b6cefbe0f55f077179e996fb5f0d314b7534",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3660be19da74d2cc0061e64b8bf392b23ce1f363d23c0474992e3d5e9963eb3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSwgcKEAgSGAI4AUIIdGhpbmtpbmcSDDPH18vsL4blhgCjiRoMRckyKdghiXbXuWuIIjAF1Z0nHmi8f0d4BWigWsH8Lo5S5J7UeOWcyaewHxJ6Jd35VylMuVsyXlbwPe1TLgwq3wbxLyVB9yvl/TM6PvD330UezAGkGiPyz52++sYek/12J7kYmsqL58/CvLUdN3MfbWXU1w4F/hkTGhpqD0uywMVmnkx+OLB8x4xrytKrIIXUZiQpnxX5g8/KSrJ9hxHvyaXKL7+m+zDbD+mXUQkP5Jzq7S0oq4vnU//6MxuY/y5OvHXkel3gtwF84TwfdX8/DH3pv5YlQwv+LLgx6rcBNOqMhMGSWpkKxCtQMwA2hQ1ahGvMbbR2SwR9HSKqxsuHKOo8cUetG50z2DmFRere1BiIHANL3kCqvgc21Ju+53oexQ/0th3emp6nhgIwxEZPPsLhAAAvjR21tkxRmH8c62jW6rdcGahCwydJ7zgh4qNZoVU1ZVsJfaiP3y2r2qnVAAll+rCILnPlpfMuuqnfeIFR9QFP1CuV4GqPZT6pM6kjefqzHa0slWf0tpnQHs1i0cj2i6suZjIWZqGEPrU2emAYDzXomeZrVuzqgA0mYZf+d42XfwZ61u9j1i6ZnlbGJGcFMEklsl11KMPGQS3/EmU6sYcMyBAo+sVG7aeJj6WMZWemPIZYzcX9N65rrbHWkPvP9H+gLJQTLh/w2jP8AIcEo9IplxlKheMTSMzfPr0fAy0O6fO2oP/dGKMbIyft08QYiYbkX6DKtlTRmLvKAy2KidtEUaZiv7PWuwiA0O+pVuaPlOSiv4ROYF/xV/zQKxHsXmJkbzA7/3WTwWTI4GqxcIgdxLsAvDHy0gKdSFGEFEwdGHLq0O3sKDzKxg4J1TG9bVI/KW7CQKzRQhjkyy2Lm0mFGH93+vbkaMCjQqSNhO88rYUWcw9+jRy5/zo9ZQGtYBu1dW1doJL7Hyt4NYwRX5d05I1+s3Ui4doW61R8ATu5mZSgscJhH0ozAKFuU0pzX7YmQgG/9/ywmFUN0Mg113Nb+a7+ggi++9IJwhdZVZnpsG++hG6hVc8SooLfDaFwHis04hd1Gl0HLHguSuKxF5OLV7VJ7EDw31BhjqWQzANsuCL3NCOBO+LNuAr02pxh2EPjTjWFNe7Z/UUFg/nsyhWCbdbuyNo34IqDv2BRkQ49GLq3J9J9+SB1+bNOkuxhfHLL31xe7rGHU9QuTkceKZHw6nUnt+qgCxTsgXTLSMWK8Txu3SNqJutE/kUZchgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CErTAn9x5cgF48A6Ax6TYu",
      "input": {
        "note": "Pink bowl is held just beside/over the blue bowl near the arm's reach limit. Lowering it onto the blue bowl.",
        "targets": {
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01CErTAn9x5cgF48A6Ax6TYu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0138, 0.7647, -0.6178, -0.128, -0.1204, 0.9957, 0.5629, 2.965, 3.1229, -1.0134, 0.6205, -0.0196, 0.0602]\nstate[eef_state]: left_x=0.2926 left_y=0.002 left_z=0.147 left_yaw=0.0835 left_pitch=-0.2879 left_roll=0.0252 left_gripper=0.9957 right_x=0.6049 right_y=0.2644 right_z=0.0949 right_yaw=0.0407 right_pitch=-0.1636 right_roll=-0.4588 right_gripper=0.0602\nstate[joint_eff]: [-0.3487, -2.5778, 6.7761, 1.4335, -0.1294, -0.0757, -0.0122, 0.4308, -14.7077, 7.8291, 1.6581, 0.3199, 0.1148, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5eccad6154ed914494cd312d36d8d89b1e72f0594a236948974754fc9027d90c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d40ebdf34a122cf8b4426322f3b893f5728a9c440d4844e382e19c83f2598015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bc1fea31f6c9f5aee1ed02e44b6215f818c5c660fdf5c4fcb21fbaaebeb61a30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /messages · status 200 · 4.086 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0138, 0.7647, -0.6178, -0.128, -0.1204, 0.9957, 0.6147, 2.7548, 3.1104, -1.1431, 0.6498, 0.054, 0.0588]\nstate[eef_state]: left_x=0.2926 left_y=0.002 left_z=0.147 left_yaw=0.0835 left_pitch=-0.2879 left_roll=0.0252 left_gripper=0.9957 right_x=0.5677 right_y=0.2744 right_z=0.2039 right_yaw=0.0381 right_pitch=-0.0783 right_roll=-0.3839 right_gripper=0.0588\nstate[joint_eff]: [-0.1983, -2.4684, 6.7897, 1.453, -0.1245, -0.0513, -0.0122, 0.4444, -18.6051, 8.1573, 1.4872, 0.3736, 0.1734, 0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0138, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.564, 2.7834, 3.1176, -1.1194, 0.6292, -0.0154, 0.0594]\nstate[eef_state]: left_x=0.2926 left_y=0.0021 left_z=0.147 left_yaw=0.0839 left_pitch=-0.2878 left_roll=0.0255 left_gripper=0.9957 right_x=0.5858 right_y=0.2518 right_z=0.1912 right_yaw=0.0377 right_pitch=-0.0987 right_roll=-0.4257 right_gripper=0.0594\nstate[joint_eff]: [-0.0889, -2.5368, 6.9675, 1.3895, -0.0855, -0.0708, -0.0171, -0.294, -14.9538, 7.665, 2.0488, 0.3541, 0.105, 0.0513]\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 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0138, 0.7647, -0.6178, -0.128, -0.1204, 0.9957, 0.5629, 2.965, 3.1229, -1.0134, 0.6205, -0.0196, 0.0602]\nstate[eef_state]: left_x=0.2926 left_y=0.002 left_z=0.147 left_yaw=0.0835 left_pitch=-0.2879 left_roll=0.0252 left_gripper=0.9957 right_x=0.6049 right_y=0.2644 right_z=0.0949 right_yaw=0.0407 right_pitch=-0.1636 right_roll=-0.4588 right_gripper=0.0602\nstate[joint_eff]: [-0.3487, -2.5778, 6.7761, 1.4335, -0.1294, -0.0757, -0.0122, 0.4308, -14.7077, 7.8291, 1.6581, 0.3199, 0.1148, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5eccad6154ed914494cd312d36d8d89b1e72f0594a236948974754fc9027d90c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d40ebdf34a122cf8b4426322f3b893f5728a9c440d4844e382e19c83f2598015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc1fea31f6c9f5aee1ed02e44b6215f818c5c660fdf5c4fcb21fbaaebeb61a30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSmAsKEAgSGAI4AUIIdGhpbmtpbmcSDHR+e3yfacKFNXGXSxoMZQYvAdhbh0NK9iTlIjAzP5ZnMUci684Glxlm5pG+AKO3Cn0CiCCFTme8tlfL9l9gbPYDtLEs1cFVoVBCODIqtQoLTmS5rrvLXhCeldEEfGNO8yjJ2wLRq6kKqidnIcFbpazLGdwHsS1CJnihV69a24q/Qr20nkAxe4Rnn9Ki+/6BR4etU6LovnkPiW4Uj3hiibDRqZwW9ssDuwGYoBFilhSXF/K4Tm6gkdRDHcqSzZbhiHjdOjN49lolC8g+9hARq9DrfQkqscifwJBFyej+B0ShE6vmM9EBr3y42LX+Nt0pDaRSyVVT0C5p9ZQSO3aLWiMHggkmW1UK7JAjKzoglDK3Gtfr1gL35W4m3GrvqngdsfhYfkC6+GevA/jGUyybFL2STC182U7ylmEal9nKlMzTdyv3GLOTXkQXabimM95SDI420ECChLDgbQLrJYtY1MFunHAM+NgU/qBz6qOn2Dce073+cALmtsS/+YunR+8M74nR2sFUYVEG+No3GMQQe6Sjxm5hP9HyTuXqwmvuYXGVrdn08XpPrbguDHWe53OCxSJZ+qdM1zMFNMmotPya0iQNcDWIbtuqG/ajJO0oyxjDxrtB70ImZ1tJ3n2P3JnZrHRcNFXNwcJE5euIHgmoIu9Rn1J+cSGbywidwdCiJm/FdoFg9Sy6rUl6wQgrWMPrkUfosBm2Y63qdhEVoiQ9elKORPJY6cHHcsrhlNoZ0hHx5Oqk55PErxA0+wsEU0JVOjLwQSn33qiKHRhmo/HV2XWbZJkmNam3MEfPcpmkiSf30wsUtWt9ENs/tL6Pgw3FHDq+aJSqvTAxQzv5Tifu4KtS8qzt/DTOBRWbPB0nBXavOuAnqsytlprxfJ965Fu9JYWur0nPfvEy+4BwXyy1D8ZFH7LN4Nb0ugMl0dIxye/zeM+HmvBytPLp8Utr4B9eqDqf5cYt4GK1ufz7iLw+fgTDjjj5TByOZ6i2yJeV5YHGXFb5CzwbMKbd8NcFQGnJd/y0WiPxiVmdVqIAl9b4aMnPk/8bho+nzmYVCoqupkYvARWpMU0gUypii8EhSCXIaT+N+xAm4XzZVLyPxyqyHU5jgr8zACgCFmv0y8+WWfXK+i2RQ0LZGvMT5dumu9E/6LYeaoP3DCK/ihtrz+ngP7Op/CQlHw28YFrKmgEFwB7joPFvoNHcQY6wL4bGgLkALhoOBFuBYwKOURkVaHLaM1x3IXvTN1OwvC3GJUvySNOxKbtBCKWSYXuMGCZ1PYeT4AlvUqShzVGWYZ12rj6hN9TSVdTzy0/WpPYGL//FJhToULlv6ZrzASeb+3ImAB2ZgMQpKPU+G6473mXLdA46s7uVDWou8IDsmVuYjUTy9Sab6bDIkwhOnpXb/V1lPcBO8kK5MSSp7BPNP2BxJpNtMRMguMBv/Jq6+14AESHhl59gpCo5ZwXyHNjtZwn1H0bkyc5YQh5DA/z85xxDsGkaAZcpnRWKuERgo90Do94e1s13sobk/YwrvJ5COXrESKrXIMzn5tl7gBDjm5pceHu/+P3HDiYEJiPP5P2AEdL8zKyBwTge7inSlz+rTkD3bMtsfqxqWNmCzHXOo0yQG6nwbs6j/NsPPa8pOLi7JZek5H6RbY3JrliD9tXrvMoWvkxvFaMUOGd0JiD56UtnPvsHA2OPVoDGG/c8sTVP3+KEJDiQt2nVpiEbM82JpAn7urSEnQkITk9QGGy1hWORJnYX9H8p8FXvX+h+PJSZYyMiJ6NfYAs0uHoDZdGyouq7rHs2KVLrW3h7vmn5zPISl12RCmRhZZ27dW3umkiMRx+1GKMg234X8eg6TYG7kFsW21BjZEdULEnmD+w4StTGanz2HeWjV5ShGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PcTRvqhVTeLV5sRPdxnBDN",
      "input": {
        "note": "Pink bowl is sitting beside the blue bowl, about 10 cm to its left. Lifting and shifting right so pink is over blue.",
        "targets": {
          "right_y": 0.165,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01PcTRvqhVTeLV5sRPdxnBDN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0176, 0.7647, -0.6174, -0.1284, -0.1204, 0.9957, 0.4175, 2.8906, 3.1229, -1.129, 0.5205, -0.1474, 0.0614]\nstate[eef_state]: left_x=0.2928 left_y=0.0021 left_z=0.146 left_yaw=0.084 left_pitch=-0.2912 left_roll=0.0261 left_gripper=0.9957 right_x=0.619 right_y=0.1824 right_z=0.118 right_yaw=0.0331 right_pitch=-0.266 right_roll=-0.5009 right_gripper=0.0614\nstate[joint_eff]: [-0.2256, -2.906, 6.8718, 1.4335, -0.1343, -0.0806, -0.0122, -0.5812, -20.4786, 7.5145, 1.5116, 0.2808, 0.1343, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d09a5062179f762baa5682ca0ad37379a09e0150b95cc58d522841c8ffcda1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edd6384dafdab4c7c56146ce419772a374b003ce6e72e1dd012899df607bf1b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:df02012c8f61710f9d844186e5248e506426d9f3cc822551c2d9187accc0e9fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /messages · status 200 · 11.97 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0138, 0.7647, -0.6178, -0.1284, -0.1204, 0.9957, 0.564, 2.7834, 3.1176, -1.1194, 0.6292, -0.0154, 0.0594]\nstate[eef_state]: left_x=0.2926 left_y=0.0021 left_z=0.147 left_yaw=0.0839 left_pitch=-0.2878 left_roll=0.0255 left_gripper=0.9957 right_x=0.5858 right_y=0.2518 right_z=0.1912 right_yaw=0.0377 right_pitch=-0.0987 right_roll=-0.4257 right_gripper=0.0594\nstate[joint_eff]: [-0.0889, -2.5368, 6.9675, 1.3895, -0.0855, -0.0708, -0.0171, -0.294, -14.9538, 7.665, 2.0488, 0.3541, 0.105, 0.0513]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0138, 0.7647, -0.6178, -0.128, -0.1204, 0.9957, 0.5629, 2.965, 3.1229, -1.0134, 0.6205, -0.0196, 0.0602]\nstate[eef_state]: left_x=0.2926 left_y=0.002 left_z=0.147 left_yaw=0.0835 left_pitch=-0.2879 left_roll=0.0252 left_gripper=0.9957 right_x=0.6049 right_y=0.2644 right_z=0.0949 right_yaw=0.0407 right_pitch=-0.1636 right_roll=-0.4588 right_gripper=0.0602\nstate[joint_eff]: [-0.3487, -2.5778, 6.7761, 1.4335, -0.1294, -0.0757, -0.0122, 0.4308, -14.7077, 7.8291, 1.6581, 0.3199, 0.1148, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.0176, 0.7647, -0.6174, -0.1284, -0.1204, 0.9957, 0.4175, 2.8906, 3.1229, -1.129, 0.5205, -0.1474, 0.0614]\nstate[eef_state]: left_x=0.2928 left_y=0.0021 left_z=0.146 left_yaw=0.084 left_pitch=-0.2912 left_roll=0.0261 left_gripper=0.9957 right_x=0.619 right_y=0.1824 right_z=0.118 right_yaw=0.0331 right_pitch=-0.266 right_roll=-0.5009 right_gripper=0.0614\nstate[joint_eff]: [-0.2256, -2.906, 6.8718, 1.4335, -0.1343, -0.0806, -0.0122, -0.5812, -20.4786, 7.5145, 1.5116, 0.2808, 0.1343, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d09a5062179f762baa5682ca0ad37379a09e0150b95cc58d522841c8ffcda1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edd6384dafdab4c7c56146ce419772a374b003ce6e72e1dd012899df607bf1b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df02012c8f61710f9d844186e5248e506426d9f3cc822551c2d9187accc0e9fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+QcKEAgSGAI4AUIIdGhpbmtpbmcSDHBI7m6J7x+/C+rooxoM9bk5vbOVo0e5PSx1IjACtfg1kIxUkT2z6lpA1god7rqwHKBg8UY0jmMK1zfY6QiViJpzzGkskfTLv8Bgp0sqlgd68+ftsLds3Rfi/pzQ6OzrxiqHuEcin4DekSOziZMX4NWWqpOX5q46OnsoBjETbxBnl0Ttq8xAgGzKy8AezaH81qqlIjlUM6T3EmA4hfBR8xHQVbYrya99E0dt7JBxdnSgFcaIlke/OFIgNfWFf09l/XHCeYrCUmFGsiHTnJdqOvbOYaWpGLFDp1f0+jlvaiTW96sXPiAOL86dvkr0BgOHctayHteztknForOS0qlQmjtc55jfuE1aynYrLW29ZkPLZn6kBSiwaimWZK1neQN4CdtUmLJRrS06qp9B0u+xm74ZdHzv+0gM4kvNmXamaQ3xvtbiZIZJwqi3Pe6GTpATwAQAXuvwbIHVSt5X99nDCaNwBC98b8GzjeRqL9sQMdJ9D079HHlVhBvMgtgfVyZ5nXr2nXg6FjMxJD9Tpe9QVVxObU8TxL1+Y8QtF1OP2y3oMdR6xcHsaZqWUBpu9NXgCgGQ6eguxzOTXCwGcwONiAWo6KzuBGJWVRIjZHYbc4VSsq4jx8shV1g8RNpqsl4XI1lCixCSx1S7yzCTdFfXBfnDqkG8PGTN7OEZXSr41J/Z0kio7hNEyttE+EaV4fnqgIWecezHHFqM6oka5P5D82M2/9HIdQEs5S9izefHwaLbWf1vpQmN09RuJzmN6SeDtPBnvoEL1Vm07X/o+qeWF7cPe2WoxJLSvbayAKm4gdYxZrc5HLmR3l3dGjrEfAuvX/nX0VZxti32Nh+eLwmTIf0JPMo9Cv6Bi76ZZkOsJ36rTiTE20N2wQC36trhBykY9QueA85v81UA0kGEbIuNLsj6/2+XhbuQOY4tlpWCnJkr9zKaXvbJd9rX/EoUrBUz2ThjhE0w3ml6Gb0EbYa0fE4lSx9R5CDsMQuQHfIKH5yiLupIXFlc3IUvvFUr3oqOc8OENaaRwQ7+hEQx8xj3HL8hUgFSQOi/EriJ8pvAK3MWcaOZ6ZV9dB5orJYNH/M4tMg/ER49e8aSI6FFW0TGbZqnid6t1Q2+Sp/vt340/g8XUD0v1Nr0D+AiLmqlAPIMO5bvEi5Ok+80n2RJ+VtZ+Q8cvgoDP+dkUQHgymvqtcNbjnpOSju7gBocrj7rVfP4SfOMJqO52x6TAZEYhmWOjkbMcrgn8wMBb0mDHSChH9MW2QUcfJKNk5HQdXhY2mdmeBk1aw+Q9KXHskjB3YrI56u3DAqFe/E6jb6wLP6ZjZLwIdBAl1oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SDB7dYagsEVV2LCnQDhH7s",
      "input": {
        "note": "The pink bowl is now partly over the blue bowl at z≈0.12. I'm nearly out of budget, so I'm releasing it here to drop it onto the blue bowl.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SDB7dYagsEVV2LCnQDhH7s",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0826, 1.018, 0.7647, -0.6174, -0.128, -0.1204, 0.9957, 0.4374, 2.8727, 3.1229, -1.1778, 0.5156, -0.1474, 0.9951]\nstate[eef_state]: left_x=0.2928 left_y=0.002 left_z=0.1459 left_yaw=0.0837 left_pitch=-0.2916 left_roll=0.0258 left_gripper=0.9957 right_x=0.6072 right_y=0.1917 right_z=0.122 right_yaw=0.0537 right_pitch=-0.2961 right_roll=-0.5092 right_gripper=0.9951\nstate[joint_eff]: [-0.3487, -2.6325, 6.9402, 1.3944, -0.0708, -0.0415, -0.0171, -0.1162, -14.3111, 7.3504, 1.4823, 0.3736, 0.188, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f65153479233a5162ee319d406cbc7b32545b055329bddd5c5fb87a5c162994",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8be0bc05221aec4b65ae9ef96055fefa08e85884d1912192a946e1a06245af13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:55c460ffc9833eeaa1ee9d93cdcf41147ba82059e6dfde3374d38b21818832f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]