adhoc

completed
2026-09-22T22:34:47.273597+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
298.5 s
total steps
233
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls sit in a row across the table. I'm moving the left arm to hover ~20 cm above the leftmost bowl to confirm its position in the wrist camera before grasping its rim.
move_to
left_x0.3400left_y-0.1750left_z0.2200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7948, 0.6052, -0.379, -0.0223, -0.0406, 0.9996, -0.0219, 0.7937, 0.6025, -0.3782, -0.0135, -0.0193, 0.9974] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1805 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=-0.0005 right_z=0.1797 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9974 state[joint_eff]: [-0.5265, -1.5385, 10.0581, 1.7509, -0.0366, 0.2418, -0.0513, -0.294, -1.4701, 10.2769, 1.8828, -0.0855, 0.0317, -0.2759] 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": 0.34, "left_y": -0.175, "left_z": 0.22, "left_gripper": 1}, "note": "Three bowls sit in a row across the table. I'm moving the left arm to hover ~20 cm above the leftmost bowl to confirm its position in the wrist camera before grasping its rim."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteIn the left wrist view the target (white) bowl sits left of the jaw column and above the bottom, so it is further forward and to the arm's left; nudging +y and +x to centre it.
move_to
left_x0.3700left_y-0.1200left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7479, 1.3132, 1.0122, -0.4568, -0.5877, -0.4858, 0.9996, -0.0219, 0.7975, 0.6003, -0.3885, -0.0162, -0.02, 0.9973] state[eef_state]: left_x=0.3347 left_y=-0.172 left_z=0.2029 left_yaw=-0.0253 left_pitch=-0.0408 left_roll=0.0192 left_gripper=0.9996 right_x=0.2934 right_y=0.0 right_z=0.1755 right_yaw=0.0025 right_pitch=-0.0164 right_roll=0.0015 right_gripper=0.9973 state[joint_eff]: [-0.4581, -5.3128, 9.5111, 1.409, -0.4957, 0.022, -0.0513, -0.1162, -1.5111, 7.2957, 1.8535, -0.0317, -0.0611, -0.0269] 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": 0.37, "left_y": -0.12, "left_z": 0.18}, "note": "In the left wrist view the target (white) bowl sits left of the jaw column and above the bottom, so it is further forward and to the arm's left; nudging +y and +x to centre it."})
tool
executing move_to over 5 steps (0.5s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe bowl is ~14 cm wide, too wide to grasp across, so I'll pinch its rim wall: descending to the left-hand edge of the leftmost bowl's rim with jaws open, ready to close across the rim.
move_to
left_x0.3500left_y-0.1050left_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5213, 1.3148, 0.9039, -0.3241, -0.4442, -0.3569, 0.9996, -0.0219, 0.7979, 0.5999, -0.3927, -0.0162, -0.02, 0.9973] state[eef_state]: left_x=0.3623 left_y=-0.1164 left_z=0.1708 left_yaw=0.0207 left_pitch=-0.0825 left_roll=0.0314 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1744 right_yaw=0.0025 right_pitch=-0.0213 right_roll=0.0016 right_gripper=0.9973 state[joint_eff]: [0.212, -5.6821, 6.9675, 1.7851, -0.2613, 0.188, -0.0171, -0.1983, -0.841, 7.0222, 1.79, -0.0757, -0.0659, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.105, "left_z": 0.05}, "note": "The bowl is ~14 cm wide, too wide to grasp across, so I'll pinch its rim wall: descending to the left-hand edge of the leftmost bowl's rim with jaws open, ready to close across the rim."})
tool
executing move_to over 8 steps (0.8s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteTop view shows my jaws are closer to the base than the bowl, so the bowl is further forward than I assumed; lifting slightly and advancing 8 cm to get over its rim.
move_to
left_x0.4200left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5137, 1.4815, 0.5262, 0.149, -0.4271, -0.3405, 0.9996, -0.0219, 0.7982, 0.5999, -0.3931, -0.0162, -0.02, 0.9973] state[eef_state]: left_x=0.3397 left_y=-0.1035 left_z=0.0431 left_yaw=0.0101 left_pitch=-0.1505 left_roll=0.0703 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1742 right_yaw=0.0025 right_pitch=-0.0221 right_roll=0.0017 right_gripper=0.9973 state[joint_eff]: [0.6496, -5.4632, 5.8872, 1.8584, -0.2515, -0.1001, -0.0122, -0.0205, -1.1692, 7.0085, 1.7363, -0.0415, -0.0806, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_z": 0.1}, "note": "Top view shows my jaws are closer to the base than the bowl, so the bowl is further forward than I assumed; lifting slightly and advancing 8 cm to get over its rim."})
tool
executing move_to over 7 steps (0.7s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe wrist view shows the white bowl centred on the jaw column, so its centre is about x=0.44, y=-0.10; moving 7 cm to the arm's left to straddle the left edge of its rim.
move_to
left_x0.4400left_y-0.0320left_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3923, 1.6062, 0.8726, -0.0429, -0.3542, -0.2737, 0.9996, -0.0219, 0.799, 0.5999, -0.3935, -0.0162, -0.0196, 0.9973] state[eef_state]: left_x=0.4127 left_y=-0.1006 left_z=0.0913 left_yaw=0.0349 left_pitch=-0.1505 left_roll=0.0607 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1739 right_yaw=0.0023 right_pitch=-0.0232 right_roll=0.002 right_gripper=0.9973 state[joint_eff]: [0.294, -7.0769, 8.3761, 1.3455, 0.0122, 0.2125, -0.0122, -0.212, -1.306, 7.0085, 1.707, -0.0611, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.032, "left_z": 0.07}, "note": "The wrist view shows the white bowl centred on the jaw column, so its centre is about x=0.44, y=-0.10; moving 7 cm to the arm's left to straddle the left edge of its rim."})
tool
executing move_to over 7 steps (0.7s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteWrist view shows the bowl's left rim edge about 2.5 cm to the arm's left of the jaw column; shifting there and lowering so the rim wall sits between the open jaws.
move_to
left_y-0.0080left_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1661, 1.6741, 0.8459, 0.0601, -0.2111, -0.1448, 0.9996, -0.0216, 0.8009, 0.5999, -0.3935, -0.0162, -0.0196, 0.9973] state[eef_state]: left_x=0.4326 left_y=-0.0314 left_z=0.0661 left_yaw=0.0721 left_pitch=-0.1802 left_roll=0.0594 left_gripper=0.9996 right_x=0.2929 right_y=0.0001 right_z=0.1734 right_yaw=0.0026 right_pitch=-0.0251 right_roll=0.002 right_gripper=0.9973 state[joint_eff]: [0.3077, -7.241, 6.065, 1.8535, 0.0122, 0.2027, -0.0122, -0.0479, -1.3333, 7.0222, 1.7216, -0.0513, -0.0415, -0.0171] 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_y": -0.008, "left_z": 0.04}, "note": "Wrist view shows the bowl's left rim edge about 2.5 cm to the arm's left of the jaw column; shifting there and lowering so the rim wall sits between the open jaws."})
tool
executing move_to over 3 steps (0.3s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe bowl's rim edge is now on the jaw column; closing the jaws to pinch the rim wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1062, 1.7145, 0.7963, 0.1421, -0.1722, -0.1177, 0.9996, -0.0219, 0.8009, 0.5999, -0.3935, -0.0162, -0.0196, 0.9973] state[eef_state]: left_x=0.4297 left_y=-0.0118 left_z=0.0442 left_yaw=0.0846 left_pitch=-0.1948 left_roll=0.0542 left_gripper=0.9996 right_x=0.2929 right_y=0.0 right_z=0.1734 right_yaw=0.0023 right_pitch=-0.0251 right_roll=0.002 right_gripper=0.9973 state[joint_eff]: [0.335, -6.9812, 5.7094, 1.9414, 0.0171, 0.1685, -0.0122, -0.3214, -1.0188, 7.0496, 1.7558, -0.0806, -0.0366, -0.0122] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The bowl's rim edge is now on the jaw column; closing the jaws to pinch the rim wall."})
tool
executing move_to over 10 steps (1.0s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe close came back empty (0.02), so the jaws missed the rim wall; reopening and dropping 2 cm lower so the rim is definitely between the jaws.
move_to
left_gripper1.0000left_z0.0220
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0898, 1.7309, 0.7834, 0.1989, -0.1528, -0.1051, 0.0217, -0.0216, 0.8032, 0.5999, -0.3931, -0.0166, -0.02, 0.9973] state[eef_state]: left_x=0.4341 left_y=-0.0085 left_z=0.0423 left_yaw=0.0767 left_pitch=-0.1705 left_roll=0.0452 left_gripper=0.0217 right_x=0.2931 right_y=0.0002 right_z=0.1729 right_yaw=0.0032 right_pitch=-0.027 right_roll=0.002 right_gripper=0.9973 state[joint_eff]: [-0.0889, -7.3231, 6.106, 1.1551, -0.1197, 0.0708, 0.9451, -0.0889, -1.265, 7.0085, 1.6923, -0.0659, -0.0611, -0.0171] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.022}, "note": "The close came back empty (0.02), so the jaws missed the rim wall; reopening and dropping 2 cm lower so the rim is definitely between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteFrom the wrist view the bowl's rim edge sits ~2.5 cm to the arm's right of the jaw centre, so I over-shot when stepping out to the rim; shifting back -y 2.5 cm before closing.
move_to
left_y-0.0340
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0906, 1.7771, 0.7601, 0.2596, -0.1547, -0.1131, 0.9944, -0.0219, 0.8036, 0.5999, -0.3931, -0.0166, -0.02, 0.9973] state[eef_state]: left_x=0.4328 left_y=-0.0084 left_z=0.0257 left_yaw=0.0822 left_pitch=-0.1787 left_roll=0.042 left_gripper=0.9944 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0028 right_pitch=-0.0274 right_roll=0.002 right_gripper=0.9973 state[joint_eff]: [-0.1846, -6.7077, 4.9709, 1.8632, -0.0464, 0.0952, -0.022, -0.1573, -1.3197, 7.241, 1.7167, -0.0562, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.034}, "note": "From the wrist view the bowl's rim edge sits ~2.5 cm to the arm's right of the jaw centre, so I over-shot when stepping out to the rim; shifting back -y 2.5 cm before closing."})
tool
executing move_to over 3 steps (0.3s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe rim wall now runs between the two open jaws in the wrist view; closing to pinch it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1596, 1.7775, 0.7555, 0.26, -0.1921, -0.1497, 0.9951, -0.0219, 0.8051, 0.5961, -0.3958, -0.0162, -0.02, 0.9973] state[eef_state]: left_x=0.4299 left_y=-0.0314 left_z=0.0247 left_yaw=0.0649 left_pitch=-0.1771 left_roll=0.0412 left_gripper=0.9951 right_x=0.2923 right_y=0.0 right_z=0.17 right_yaw=0.0025 right_pitch=-0.0354 right_roll=0.002 right_gripper=0.9973 state[joint_eff]: [-0.3077, -7.2137, 7.5282, 1.4969, -0.1685, -0.1197, 0.0611, -0.0752, -1.4564, 7.3231, 1.7753, -0.0317, -0.0757, -0.0122] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The rim wall now runs between the two open jaws in the wrist view; closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteGripper settled at 0.043, consistent with pinching the thin rim wall; lifting 8 cm to check in the top view whether the bowl comes with it.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1619, 1.7657, 0.757, 0.2958, -0.1802, -0.1738, 0.0431, -0.0219, 0.8051, 0.5953, -0.3965, -0.0166, -0.0196, 0.9973] state[eef_state]: left_x=0.437 left_y=-0.0357 left_z=0.0364 left_yaw=0.0641 left_pitch=-0.1305 left_roll=0.004 left_gripper=0.0431 right_x=0.2921 right_y=0.0001 right_z=0.1695 right_yaw=0.0026 right_pitch=-0.037 right_roll=0.0026 right_gripper=0.9973 state[joint_eff]: [0.1299, -6.7077, 5.8051, 1.0427, -0.232, 0.1538, 0.9744, -0.3487, -1.0872, 7.3094, 1.707, -0.0513, -0.0562, -0.0171] 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_z": 0.12}, "note": "Gripper settled at 0.043, consistent with pinching the thin rim wall; lifting 8 cm to check in the top view whether the bowl comes with it."})
tool
executing move_to over 6 steps (0.6s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe wrist view shows the bowl staying with the jaws as I lifted, so the rim pinch holds; carrying it over the middle bowl (≈18 cm to the arm's right) at a safe height.
move_to
left_x0.4300left_y-0.2180left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1619, 1.6073, 0.889, -0.0284, -0.1802, -0.1806, 0.045, -0.0219, 0.8055, 0.5953, -0.3969, -0.0166, -0.0196, 0.9973] state[eef_state]: left_x=0.4327 left_y=-0.035 left_z=0.0943 left_yaw=0.069 left_pitch=-0.1635 left_roll=0.0065 left_gripper=0.045 right_x=0.2921 right_y=0.0001 right_z=0.1694 right_yaw=0.0026 right_pitch=-0.0377 right_roll=0.0026 right_gripper=0.9973 state[joint_eff]: [-0.0479, -9.1966, 9.1692, 1.7363, -0.1001, 0.0171, 1.033, -0.0615, -1.0735, 7.2274, 1.7558, -0.0562, -0.0269, -0.0122] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.218, "left_z": 0.16}, "note": "The wrist view shows the bowl staying with the jaws as I lifted, so the rim pinch holds; carrying it over the middle bowl (\u224818 cm to the arm's right) at a safe height."})
tool
executing move_to over 17 steps (1.7s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteHeld bowl is over the middle (purple) bowl, whose rim I can see just beside it in the wrist view; lowering to set it into the purple bowl.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6518, 1.7977, 1.3754, -0.4805, -0.498, -0.5491, 0.0458, -0.0216, 0.8051, 0.5945, -0.4122, -0.0162, -0.02, 0.9973] state[eef_state]: left_x=0.4247 left_y=-0.2134 left_z=0.1468 left_yaw=0.0498 left_pitch=-0.1928 left_roll=0.0146 left_gripper=0.0458 right_x=0.2898 right_y=0.0002 right_z=0.166 right_yaw=0.0029 right_pitch=-0.0534 right_roll=0.0024 right_gripper=0.9973 state[joint_eff]: [-0.3214, -8.8821, 9.2103, 1.3455, -0.4664, -0.0855, 1.033, -0.1026, -1.2376, 7.0769, 1.8095, -0.0659, -0.0317, -0.0122] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.09}, "note": "Held bowl is over the middle (purple) bowl, whose rim I can see just beside it in the wrist view; lowering to set it into the purple bowl."})
tool
executing move_to over 4 steps (0.4s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe purple rim now hugs the left side of the held white bowl, suggesting it is entering the purple bowl; lowering further until it seats.
move_to
left_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6563, 1.8549, 1.2301, -0.3439, -0.495, -0.5644, 0.0465, -0.0219, 0.8055, 0.5945, -0.4152, -0.0162, -0.02, 0.9973] state[eef_state]: left_x=0.4143 left_y=-0.2087 left_z=0.085 left_yaw=0.061 left_pitch=-0.2442 left_roll=0.0457 left_gripper=0.0465 right_x=0.2893 right_y=0.0001 right_z=0.1653 right_yaw=0.0025 right_pitch=-0.0568 right_roll=0.0025 right_gripper=0.9973 state[joint_eff]: [0.3077, -9.6752, 6.7761, 1.746, -0.232, 0.0855, 0.9744, -0.1846, -1.2923, 6.9812, 1.7363, -0.0464, -0.0757, -0.0171] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.055}, "note": "The purple rim now hugs the left side of the held white bowl, suggesting it is entering the purple bowl; lowering further until it seats."})
tool
executing move_to over 2 steps (0.2s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe descent stopped short at z=0.078, meaning the carried bowl has seated on/into the purple bowl; opening the jaws to release it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6567, 1.8668, 1.206, -0.2913, -0.4953, -0.5659, 0.0492, -0.0219, 0.8055, 0.5945, -0.4152, -0.0166, -0.0196, 0.9973] state[eef_state]: left_x=0.4163 left_y=-0.2103 left_z=0.078 left_yaw=0.0591 left_pitch=-0.2313 left_roll=0.0335 left_gripper=0.0492 right_x=0.2893 right_y=0.0002 right_z=0.1653 right_yaw=0.0026 right_pitch=-0.0568 right_roll=0.003 right_gripper=0.9973 state[joint_eff]: [-0.1846, -8.7726, 5.8735, 1.3602, -0.3004, 0.0024, 0.906, -0.1846, -1.2376, 6.9949, 1.6728, -0.0757, -0.0464, -0.0122] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "The descent stopped short at z=0.078, meaning the carried bowl has seated on/into the purple bowl; opening the jaws to release it."})
tool
executing move_to over 10 steps (1.0s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteReleased; retracting the left arm up and back so the overhead camera can show whether the white bowl nested into the purple one.
move_to
left_x0.3000left_y-0.0500left_z0.2500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6567, 1.8755, 1.2018, -0.2951, -0.495, -0.5697, 0.9955, -0.0219, 0.8055, 0.5945, -0.4156, -0.0166, -0.02, 0.9973] state[eef_state]: left_x=0.4144 left_y=-0.209 left_z=0.0721 left_yaw=0.0636 left_pitch=-0.244 left_roll=0.0419 left_gripper=0.9955 right_x=0.2893 right_y=0.0002 right_z=0.1653 right_yaw=0.0028 right_pitch=-0.0572 right_roll=0.0027 right_gripper=0.9973 state[joint_eff]: [-0.1846, -9.4838, 5.8188, 1.3162, -0.2808, 0.0024, -0.1441, -0.0615, -1.2513, 7.159, 1.663, -0.0757, -0.0708, -0.0171] 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": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.25}, "note": "Released; retracting the left arm up and back so the overhead camera can show whether the white bowl nested into the purple one."})
tool
executing move_to over 15 steps (1.5s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteTop view confirms the white bowl is now nested at the middle position and only the pink bowl remains separate; bringing the right arm over the left edge of the pink bowl's rim.
move_to
right_x0.4300right_y0.2060right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3695, 1.1465, 1.1679, -0.8967, -0.3325, -0.3561, 0.9958, -0.0216, 0.8097, 0.5945, -0.416, -0.0166, -0.02, 0.9973] state[eef_state]: left_x=0.3083 left_y=-0.0537 left_z=0.236 left_yaw=0.0939 left_pitch=-0.2442 left_roll=0.0288 left_gripper=0.9958 right_x=0.2894 right_y=0.0003 right_z=0.164 right_yaw=0.0032 right_pitch=-0.0617 right_roll=0.0029 right_gripper=0.9973 state[joint_eff]: [0.3214, -3.8496, 9.347, 1.4481, -0.1245, 0.1832, 0.022, -0.0479, -1.5932, 6.9812, 1.6874, -0.0708, -0.0562, -0.0122] 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": 0.43, "right_y": 0.206, "right_z": 0.1, "right_gripper": 1}, "note": "Top view confirms the white bowl is now nested at the middle position and only the pink bowl remains separate; bringing the right arm over the left edge of the pink bowl's rim."})
tool
executing move_to over 18 steps (1.8s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe right wrist view has the pink bowl's rim about 2.5 cm to the arm's right of the jaws; shifting over and dropping to rim height to straddle the wall.
move_to
right_y0.1750right_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 1.1542, 1.1702, -0.91, -0.3141, -0.3634, 0.9959, 0.6071, 1.7741, 1.0142, -0.0246, 0.4469, 0.3531, 0.9974] state[eef_state]: left_x=0.3068 left_y=-0.0554 left_z=0.2319 left_yaw=0.0882 left_pitch=-0.2671 left_roll=0.0191 left_gripper=0.9959 right_x=0.4149 right_y=0.1996 right_z=0.0834 right_yaw=0.0413 right_pitch=-0.122 right_roll=-0.0329 right_gripper=0.9974 state[joint_eff]: [-0.2393, -3.9316, 6.5846, 1.4823, -0.3639, 0.0073, -0.0073, 0.1026, -8.6496, 8.6769, 1.6777, 0.4029, 0.3199, -0.2759] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.175, "right_z": 0.03}, "note": "The right wrist view has the pink bowl's rim about 2.5 cm to the arm's right of the jaws; shifting over and dropping to rim height to straddle the wall."})
tool
executing move_to over 4 steps (0.4s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteSame picture as the successful left-arm grasp: rim edge ~2.5 cm right of the jaws, so shifting -y that much to put the rim wall between the jaws.
move_to
right_y0.1430
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 1.1542, 1.1702, -0.9112, -0.3134, -0.3634, 0.9959, 0.5484, 1.8458, 0.8654, 0.1417, 0.4145, 0.3191, 0.9973] state[eef_state]: left_x=0.3066 left_y=-0.0555 left_z=0.2317 left_yaw=0.0877 left_pitch=-0.2684 left_roll=0.0191 left_gripper=0.9959 right_x=0.4046 right_y=0.168 right_z=0.0237 right_yaw=0.0221 right_pitch=-0.1816 right_roll=-0.0668 right_gripper=0.9973 state[joint_eff]: [-0.2393, -3.4393, 6.5709, 1.409, -0.2125, -0.0611, -0.0122, 0.1299, -8.3214, 5.9966, 1.8632, 0.1099, -0.0562, -0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.143}, "note": "Same picture as the successful left-arm grasp: rim edge ~2.5 cm right of the jaws, so shifting -y that much to put the rim wall between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe pink bowl's rim wall now lies between the open jaws (the right jaw is over the rim, the left outside); closing to pinch it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 1.1549, 1.1702, -0.9127, -0.313, -0.3634, 0.9959, 0.5449, 1.8645, 0.852, 0.2153, 0.4026, 0.2947, 0.9973] state[eef_state]: left_x=0.3064 left_y=-0.0555 left_z=0.2312 left_yaw=0.0877 left_pitch=-0.2705 left_roll=0.0199 left_gripper=0.9959 right_x=0.41 right_y=0.1718 right_z=0.0225 right_yaw=0.0448 right_pitch=-0.1505 right_roll=-0.0568 right_gripper=0.9973 state[joint_eff]: [-0.3487, -3.3436, 6.5299, 1.3748, -0.2173, -0.0611, -0.0122, 0.0342, -9.0325, 5.7504, 1.663, 0.105, 0.0269, -0.0171] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The pink bowl's rim wall now lies between the open jaws (the right jaw is over the rim, the left outside); closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteGripper settled at 0.042, the signature of a pinched rim; lifting the pink bowl and carrying it left over the nested white/purple stack.
move_to
right_z0.1600right_y0.3950right_x0.4200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3664, 1.1549, 1.1702, -0.9127, -0.313, -0.3634, 0.9959, 0.5457, 1.8587, 0.8524, 0.2218, 0.4221, 0.2722, 0.0415] state[eef_state]: left_x=0.3064 left_y=-0.0555 left_z=0.2312 left_yaw=0.0877 left_pitch=-0.2705 left_roll=0.0199 left_gripper=0.9959 right_x=0.4122 right_y=0.1698 right_z=0.027 right_yaw=0.0432 right_pitch=-0.1338 right_roll=-0.0802 right_gripper=0.0415 state[joint_eff]: [-0.335, -3.4256, 6.4615, 1.3455, -0.2222, -0.0366, -0.0122, -0.3214, -7.8974, 5.7231, 1.3895, -0.1343, 0.3639, 1.0672] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16, "right_y": 0.395, "right_x": 0.42}, "note": "Gripper settled at 0.042, the signature of a pinched rim; lifting the pink bowl and carrying it left over the nested white/purple stack."})
tool
executing move_to over 19 steps (1.9s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent notePink bowl is carried above the stack position; descending toward the nested bowls until the descent stalls on contact.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3645, 1.1549, 1.1702, -0.9211, -0.3141, -0.3637, 0.9959, 0.9325, 2.2978, 2.0995, -0.7815, 0.6376, 0.5915, 0.0444] state[eef_state]: left_x=0.3051 left_y=-0.0541 left_z=0.23 left_yaw=0.0918 left_pitch=-0.2777 left_roll=0.0243 left_gripper=0.9959 right_x=0.4186 right_y=0.3937 right_z=0.1439 right_yaw=0.0797 right_pitch=-0.1648 right_roll=-0.092 right_gripper=0.0444 state[joint_eff]: [-0.0752, -3.453, 6.5573, 1.5751, -0.149, -0.0317, -0.0122, 0.9094, -13.641, 8.7863, 1.1062, 0.5446, 0.2222, 0.8718] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08}, "note": "Pink bowl is carried above the stack position; descending toward the nested bowls until the descent stalls on contact."})
tool
executing move_to over 5 steps (0.5s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteA white rim (the stack) is visible right beside the pink bowl; continuing the descent until contact so the pink bowl seats on the stack.
move_to
right_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3649, 1.1561, 1.1702, -0.9314, -0.313, -0.3634, 0.9959, 0.9321, 2.3173, 1.8912, -0.6174, 0.6239, 0.5903, 0.0456] state[eef_state]: left_x=0.3033 left_y=-0.0538 left_z=0.2281 left_yaw=0.0917 left_pitch=-0.2884 left_roll=0.0289 left_gripper=0.9959 right_x=0.4106 right_y=0.3859 right_z=0.0748 right_yaw=0.0794 right_pitch=-0.2156 right_roll=-0.1339 right_gripper=0.0456 state[joint_eff]: [-0.1436, -3.535, 6.5026, 1.4188, -0.1929, -0.0269, -0.0122, 0.0205, -12.7521, 7.0222, 1.3797, 0.4176, 0.0073, 0.9206] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.05}, "note": "A white rim (the stack) is visible right beside the pink bowl; continuing the descent until contact so the pink bowl seats on the stack."})
tool
executing move_to over 2 steps (0.2s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteDescent stalled at z=0.068, so the pink bowl is resting on the stack; opening the jaws to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3649, 1.1561, 1.1702, -0.9318, -0.3103, -0.3637, 0.9959, 0.9321, 2.3207, 1.8565, -0.551, 0.6193, 0.5835, 0.0487] state[eef_state]: left_x=0.3032 left_y=-0.0542 left_z=0.228 left_yaw=0.0898 left_pitch=-0.2896 left_roll=0.0269 left_gripper=0.9959 right_x=0.4125 right_y=0.3896 right_z=0.0675 right_yaw=0.0905 right_pitch=-0.2003 right_roll=-0.1146 right_gripper=0.0487 state[joint_eff]: [-0.1709, -3.3299, 6.5436, 1.3846, -0.2027, -0.0366, -0.0122, -0.1026, -11.8085, 5.8735, 1.1355, 0.3394, 0.0415, 0.6081] 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_gripper": 1}, "note": "Descent stalled at z=0.068, so the pink bowl is resting on the stack; opening the jaws to release it."})
tool
executing move_to over 10 steps (1.0s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
assistant
agent noteReleased the pink bowl; retracting both arms to home so the overhead camera can show the finished stack.
move_to
right_x0.3000right_y0.0500right_z0.2200left_x0.2900left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3645, 1.1561, 1.1702, -0.9318, -0.3103, -0.3637, 0.9959, 0.9321, 2.336, 1.8343, -0.524, 0.6476, 0.5804, 0.996] state[eef_state]: left_x=0.3032 left_y=-0.0541 left_z=0.228 left_yaw=0.0902 left_pitch=-0.2896 left_roll=0.0269 left_gripper=0.9959 right_x=0.4141 right_y=0.385 right_z=0.057 right_yaw=0.0728 right_pitch=-0.1893 right_roll=-0.1409 right_gripper=0.996 state[joint_eff]: [-0.0615, -3.3709, 6.4615, 1.3162, -0.1832, -0.0757, -0.0122, -0.0342, -13.0393, 6.2701, 0.9841, 0.0464, 0.0171, -0.1245] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.05, "right_z": 0.22, "left_x": 0.29, "left_y": 0.0, "left_z": 0.2}, "note": "Released the pink bowl; retracting both arms to home so the overhead camera can show the finished stack."})
tool
executing move_to over 28 steps (2.8s)
step 232
assistant
agent noteAll three bowls are now nested in a single stack at the middle position: I pinched each bowl's rim wall between the jaws (the bowls are ~14 cm wide, too wide to grasp across), carried it over the target bowl, lowered until the descent stalled on contact, and released. The overhead view shows one stack and an otherwise empty table.
done
hindsightKey facts for this rig/task: (1) Bowls are ~14 cm across, wider than the 9.5 cm stroke — you must straddle the rim wall with one jaw inside and one outside, at the bowl's left or right side (jaws close along ±y at yaw 0). A successful rim pinch settles at gripper ≈ 0.042–0.049; 0.02 is an empty close. (2) The three bowls sat in a row at arm x ≈ 0.42–0.44; my initial top-cam estimate of x ≈ 0.34 was ~8 cm short, so expect objects to be further forward than the oblique top view suggests. (3) Top-cam lateral scale ≈ 2.46 px/cm with left base near image x=35 and right base near x=195 (right_y ≈ (195 − imgx)/246 m); that mapping was reliable for y. (4) In the wrist view at z≈0.02–0.03, the correct pre-close picture is the bowl's rim edge appearing at image x ≈ 115–130 with the far jaw over the rim; if the edge reads x≈150 shift ~2.5 cm toward the bowl. Wrist-view apparent offsets change a lot with z, so judge alignment only at the final height. (5) Placing is forgiving: lower until the descent stalls (readback stops ~2 cm above command), then open — the bowls self-nest.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1055, 1.0431, 0.9878, -0.849, -0.1558, -0.1749, 0.9959, 0.308, 1.0412, 0.973, -0.7258, 0.2779, 0.0654, 0.996] state[eef_state]: left_x=0.2879 left_y=0.0007 left_z=0.1944 left_yaw=0.1099 left_pitch=-0.3212 left_roll=0.0285 left_gripper=0.9959 right_x=0.3028 right_y=0.0492 right_z=0.212 right_yaw=0.0345 right_pitch=-0.1949 right_roll=-0.1437 right_gripper=0.996 state[joint_eff]: [0.3487, -4.0, 6.2838, 1.5995, -0.022, 0.2173, -0.0171, -0.1026, -2.906, 8.1846, 1.6239, 0.0611, -0.0415, -0.0024] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
done({"summary": "All three bowls are now nested in a single stack at the middle position: I pinched each bowl's rim wall between the jaws (the bowls are ~14 cm wide, too wide to grasp across), carried it over the target bowl, lowered until the descent stalled on contact, and released. The overhead view shows one stack and an otherwise empty table.", "hindsight": "Key facts for this rig/task: (1) Bowls are ~14 cm across, wider than the 9.5 cm stroke \u2014 you must straddle the rim wall with one jaw inside and one outside, at the bowl's left or right side (jaws close along \u00b1y at yaw 0). A successful rim pinch settles at gripper \u2248 0.042\u20130.049; 0.02 is an empty close. (2) The three bowls sat in a row at arm x \u2248 0.42\u20130.44; my initial top-cam estimate of x \u2248 0.34 was ~8 cm short, so expect objects to be further forward than the oblique top view suggests. (3) Top-cam lateral scale \u2248 2.46 px/cm with left base near image x=35 and right base near x=195 (right_y \u2248 (195 \u2212 imgx)/246 m); that mapping was reliable for y. (4) In the wrist view at z\u22480.02\u20130.03, the correct pre-close picture is the bowl's rim edge appearing at image x \u2248 115\u2013130 with the far jaw over the rim; if the edge reads x\u2248150 shift ~2.5 cm toward the bowl. Wrist-view apparent offsets change a lot with z, so judge alignment only at the final height. (5) Placing is forgiving: lower until the descent stalls (readback stops ~2 cm above command), then open \u2014 the bowls self-nest."})
tool
done: All three bowls are now nested in a single stack at the middle position: I pinched each bowl's rim wall between the jaws (the bowls are ~14 cm wide, too wide to grasp across), carried it over the target bowl, lowered until the descent stalled on contact, and released. The overhead view shows one stack and an otherwise empty table.
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 · 22.12 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6052, -0.379, -0.0223, -0.0406, 0.9996, -0.0219, 0.7937, 0.6025, -0.3782, -0.0135, -0.0193, 0.9974]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1805 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=-0.0005 right_z=0.1797 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9974\nstate[joint_eff]: [-0.5265, -1.5385, 10.0581, 1.7509, -0.0366, 0.2418, -0.0513, -0.294, -1.4701, 10.2769, 1.8828, -0.0855, 0.0317, -0.2759]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78151bb5ec129acd0c5ce2fd2bed53ce1f4cfed3c23e4de67933b9e9afdd754a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dbff8e34cc163bff63dd7851857da878dc5720b0bb4d9abd5304d887ceedabf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:472d7b3d2b5a5bde42da68ce621130f321b5c784b7f059d02bc6c0f921ca7546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 20.09 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6052, -0.379, -0.0223, -0.0406, 0.9996, -0.0219, 0.7937, 0.6025, -0.3782, -0.0135, -0.0193, 0.9974]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1805 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=-0.0005 right_z=0.1797 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9974\nstate[joint_eff]: [-0.5265, -1.5385, 10.0581, 1.7509, -0.0366, 0.2418, -0.0513, -0.294, -1.4701, 10.2769, 1.8828, -0.0855, 0.0317, -0.2759]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78151bb5ec129acd0c5ce2fd2bed53ce1f4cfed3c23e4de67933b9e9afdd754a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dbff8e34cc163bff63dd7851857da878dc5720b0bb4d9abd5304d887ceedabf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:472d7b3d2b5a5bde42da68ce621130f321b5c784b7f059d02bc6c0f921ca7546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017aK6YqvnH5ykTaSTrinLGh",
      "input": {
        "note": "Three bowls sit in a row across the table. I'm moving the left arm to hover ~20 cm above the leftmost bowl to confirm its position in the wrist camera before grasping its rim.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.34,
          "left_y": -0.175,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_017aK6YqvnH5ykTaSTrinLGh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7479, 1.3132, 1.0122, -0.4568, -0.5877, -0.4858, 0.9996, -0.0219, 0.7975, 0.6003, -0.3885, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.3347 left_y=-0.172 left_z=0.2029 left_yaw=-0.0253 left_pitch=-0.0408 left_roll=0.0192 left_gripper=0.9996 right_x=0.2934 right_y=0.0 right_z=0.1755 right_yaw=0.0025 right_pitch=-0.0164 right_roll=0.0015 right_gripper=0.9973\nstate[joint_eff]: [-0.4581, -5.3128, 9.5111, 1.409, -0.4957, 0.022, -0.0513, -0.1162, -1.5111, 7.2957, 1.8535, -0.0317, -0.0611, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b0b45f1d9f39ca65ae5be1ae761be3198483cfcad95abf8bac73f076d797280",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53e904be0bc40effccb33b4aca2eeeb4ec53dd37d9db8e9f9aed176248fb088d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:436017e7996afab7ebfda3e884134bb190a2cdbe1a567009e939f7bd7a63e88e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 23.25 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6052, -0.379, -0.0223, -0.0406, 0.9996, -0.0219, 0.7937, 0.6025, -0.3782, -0.0135, -0.0193, 0.9974]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1805 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=-0.0005 right_z=0.1797 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9974\nstate[joint_eff]: [-0.5265, -1.5385, 10.0581, 1.7509, -0.0366, 0.2418, -0.0513, -0.294, -1.4701, 10.2769, 1.8828, -0.0855, 0.0317, -0.2759]",
      "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]: [-0.7479, 1.3132, 1.0122, -0.4568, -0.5877, -0.4858, 0.9996, -0.0219, 0.7975, 0.6003, -0.3885, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.3347 left_y=-0.172 left_z=0.2029 left_yaw=-0.0253 left_pitch=-0.0408 left_roll=0.0192 left_gripper=0.9996 right_x=0.2934 right_y=0.0 right_z=0.1755 right_yaw=0.0025 right_pitch=-0.0164 right_roll=0.0015 right_gripper=0.9973\nstate[joint_eff]: [-0.4581, -5.3128, 9.5111, 1.409, -0.4957, 0.022, -0.0513, -0.1162, -1.5111, 7.2957, 1.8535, -0.0317, -0.0611, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b0b45f1d9f39ca65ae5be1ae761be3198483cfcad95abf8bac73f076d797280",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53e904be0bc40effccb33b4aca2eeeb4ec53dd37d9db8e9f9aed176248fb088d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:436017e7996afab7ebfda3e884134bb190a2cdbe1a567009e939f7bd7a63e88e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UL93nwZXXUZ7eLhVFiaQ46",
      "input": {
        "note": "In the left wrist view the target (white) bowl sits left of the jaw column and above the bottom, so it is further forward and to the arm's left; nudging +y and +x to centre it.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.12,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01UL93nwZXXUZ7eLhVFiaQ46",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5213, 1.3148, 0.9039, -0.3241, -0.4442, -0.3569, 0.9996, -0.0219, 0.7979, 0.5999, -0.3927, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.3623 left_y=-0.1164 left_z=0.1708 left_yaw=0.0207 left_pitch=-0.0825 left_roll=0.0314 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1744 right_yaw=0.0025 right_pitch=-0.0213 right_roll=0.0016 right_gripper=0.9973\nstate[joint_eff]: [0.212, -5.6821, 6.9675, 1.7851, -0.2613, 0.188, -0.0171, -0.1983, -0.841, 7.0222, 1.79, -0.0757, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c40b1ab841323487f4403ca32baad281a4ca286de5ba43579b33289ebd28a7bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7c7bdd37b28e96a1d1e5a96f1afb67dca47c14165912aad2195d5a44c007b71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f766b71ca4a8fe223c532674507188a584bef1869e8fc0ed36d07bc35346024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 16.82 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6052, -0.379, -0.0223, -0.0406, 0.9996, -0.0219, 0.7937, 0.6025, -0.3782, -0.0135, -0.0193, 0.9974]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.1805 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=-0.0005 right_z=0.1797 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9974\nstate[joint_eff]: [-0.5265, -1.5385, 10.0581, 1.7509, -0.0366, 0.2418, -0.0513, -0.294, -1.4701, 10.2769, 1.8828, -0.0855, 0.0317, -0.2759]",
      "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]: [-0.7479, 1.3132, 1.0122, -0.4568, -0.5877, -0.4858, 0.9996, -0.0219, 0.7975, 0.6003, -0.3885, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.3347 left_y=-0.172 left_z=0.2029 left_yaw=-0.0253 left_pitch=-0.0408 left_roll=0.0192 left_gripper=0.9996 right_x=0.2934 right_y=0.0 right_z=0.1755 right_yaw=0.0025 right_pitch=-0.0164 right_roll=0.0015 right_gripper=0.9973\nstate[joint_eff]: [-0.4581, -5.3128, 9.5111, 1.409, -0.4957, 0.022, -0.0513, -0.1162, -1.5111, 7.2957, 1.8535, -0.0317, -0.0611, -0.0269]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5213, 1.3148, 0.9039, -0.3241, -0.4442, -0.3569, 0.9996, -0.0219, 0.7979, 0.5999, -0.3927, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.3623 left_y=-0.1164 left_z=0.1708 left_yaw=0.0207 left_pitch=-0.0825 left_roll=0.0314 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1744 right_yaw=0.0025 right_pitch=-0.0213 right_roll=0.0016 right_gripper=0.9973\nstate[joint_eff]: [0.212, -5.6821, 6.9675, 1.7851, -0.2613, 0.188, -0.0171, -0.1983, -0.841, 7.0222, 1.79, -0.0757, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c40b1ab841323487f4403ca32baad281a4ca286de5ba43579b33289ebd28a7bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7c7bdd37b28e96a1d1e5a96f1afb67dca47c14165912aad2195d5a44c007b71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f766b71ca4a8fe223c532674507188a584bef1869e8fc0ed36d07bc35346024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Q7XPsK4i7o9zJy5PEN7pB",
      "input": {
        "note": "The bowl is ~14 cm wide, too wide to grasp across, so I'll pinch its rim wall: descending to the left-hand edge of the leftmost bowl's rim with jaws open, ready to close across the rim.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.105,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_011Q7XPsK4i7o9zJy5PEN7pB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5137, 1.4815, 0.5262, 0.149, -0.4271, -0.3405, 0.9996, -0.0219, 0.7982, 0.5999, -0.3931, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.3397 left_y=-0.1035 left_z=0.0431 left_yaw=0.0101 left_pitch=-0.1505 left_roll=0.0703 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1742 right_yaw=0.0025 right_pitch=-0.0221 right_roll=0.0017 right_gripper=0.9973\nstate[joint_eff]: [0.6496, -5.4632, 5.8872, 1.8584, -0.2515, -0.1001, -0.0122, -0.0205, -1.1692, 7.0085, 1.7363, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b81992abc0d1a50a606d0c94a3612a17458c885543fe26917cc41f4012f0c794",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36e6917348f6ebf96221f1267852ea34c301c0fe116a8b8399b6b64f34e1148b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:62af7e38d4164f60365d9d2eea10acd5fd483f45f885e28bf5c4651e6d93d584",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 24.81 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7479, 1.3132, 1.0122, -0.4568, -0.5877, -0.4858, 0.9996, -0.0219, 0.7975, 0.6003, -0.3885, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.3347 left_y=-0.172 left_z=0.2029 left_yaw=-0.0253 left_pitch=-0.0408 left_roll=0.0192 left_gripper=0.9996 right_x=0.2934 right_y=0.0 right_z=0.1755 right_yaw=0.0025 right_pitch=-0.0164 right_roll=0.0015 right_gripper=0.9973\nstate[joint_eff]: [-0.4581, -5.3128, 9.5111, 1.409, -0.4957, 0.022, -0.0513, -0.1162, -1.5111, 7.2957, 1.8535, -0.0317, -0.0611, -0.0269]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5213, 1.3148, 0.9039, -0.3241, -0.4442, -0.3569, 0.9996, -0.0219, 0.7979, 0.5999, -0.3927, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.3623 left_y=-0.1164 left_z=0.1708 left_yaw=0.0207 left_pitch=-0.0825 left_roll=0.0314 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1744 right_yaw=0.0025 right_pitch=-0.0213 right_roll=0.0016 right_gripper=0.9973\nstate[joint_eff]: [0.212, -5.6821, 6.9675, 1.7851, -0.2613, 0.188, -0.0171, -0.1983, -0.841, 7.0222, 1.79, -0.0757, -0.0659, -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]: [-0.5137, 1.4815, 0.5262, 0.149, -0.4271, -0.3405, 0.9996, -0.0219, 0.7982, 0.5999, -0.3931, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.3397 left_y=-0.1035 left_z=0.0431 left_yaw=0.0101 left_pitch=-0.1505 left_roll=0.0703 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1742 right_yaw=0.0025 right_pitch=-0.0221 right_roll=0.0017 right_gripper=0.9973\nstate[joint_eff]: [0.6496, -5.4632, 5.8872, 1.8584, -0.2515, -0.1001, -0.0122, -0.0205, -1.1692, 7.0085, 1.7363, -0.0415, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b81992abc0d1a50a606d0c94a3612a17458c885543fe26917cc41f4012f0c794",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36e6917348f6ebf96221f1267852ea34c301c0fe116a8b8399b6b64f34e1148b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62af7e38d4164f60365d9d2eea10acd5fd483f45f885e28bf5c4651e6d93d584",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UCYcXgdw7Eejavjotxu7Zr",
      "input": {
        "note": "Top view shows my jaws are closer to the base than the bowl, so the bowl is further forward than I assumed; lifting slightly and advancing 8 cm to get over its rim.",
        "targets": {
          "left_x": 0.42,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01UCYcXgdw7Eejavjotxu7Zr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3923, 1.6062, 0.8726, -0.0429, -0.3542, -0.2737, 0.9996, -0.0219, 0.799, 0.5999, -0.3935, -0.0162, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4127 left_y=-0.1006 left_z=0.0913 left_yaw=0.0349 left_pitch=-0.1505 left_roll=0.0607 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1739 right_yaw=0.0023 right_pitch=-0.0232 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [0.294, -7.0769, 8.3761, 1.3455, 0.0122, 0.2125, -0.0122, -0.212, -1.306, 7.0085, 1.707, -0.0611, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0ea15539468479d255f2bf0fea1d7015d468fbf1bcf5dec161b483aa829ec21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce2cf346103c0d3f576c0ae76645421f368a19b55e3c7f95973f5b9513c46d85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27b49b3cb8e9b4d58b63123fa4c29028eadf551898f61fe0bed8af5886a26dc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 12.51 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5213, 1.3148, 0.9039, -0.3241, -0.4442, -0.3569, 0.9996, -0.0219, 0.7979, 0.5999, -0.3927, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.3623 left_y=-0.1164 left_z=0.1708 left_yaw=0.0207 left_pitch=-0.0825 left_roll=0.0314 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1744 right_yaw=0.0025 right_pitch=-0.0213 right_roll=0.0016 right_gripper=0.9973\nstate[joint_eff]: [0.212, -5.6821, 6.9675, 1.7851, -0.2613, 0.188, -0.0171, -0.1983, -0.841, 7.0222, 1.79, -0.0757, -0.0659, -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]: [-0.5137, 1.4815, 0.5262, 0.149, -0.4271, -0.3405, 0.9996, -0.0219, 0.7982, 0.5999, -0.3931, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.3397 left_y=-0.1035 left_z=0.0431 left_yaw=0.0101 left_pitch=-0.1505 left_roll=0.0703 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1742 right_yaw=0.0025 right_pitch=-0.0221 right_roll=0.0017 right_gripper=0.9973\nstate[joint_eff]: [0.6496, -5.4632, 5.8872, 1.8584, -0.2515, -0.1001, -0.0122, -0.0205, -1.1692, 7.0085, 1.7363, -0.0415, -0.0806, -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]: [-0.3923, 1.6062, 0.8726, -0.0429, -0.3542, -0.2737, 0.9996, -0.0219, 0.799, 0.5999, -0.3935, -0.0162, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4127 left_y=-0.1006 left_z=0.0913 left_yaw=0.0349 left_pitch=-0.1505 left_roll=0.0607 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1739 right_yaw=0.0023 right_pitch=-0.0232 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [0.294, -7.0769, 8.3761, 1.3455, 0.0122, 0.2125, -0.0122, -0.212, -1.306, 7.0085, 1.707, -0.0611, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0ea15539468479d255f2bf0fea1d7015d468fbf1bcf5dec161b483aa829ec21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce2cf346103c0d3f576c0ae76645421f368a19b55e3c7f95973f5b9513c46d85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27b49b3cb8e9b4d58b63123fa4c29028eadf551898f61fe0bed8af5886a26dc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015qGTuLeR1Utf4GseRQneNq",
      "input": {
        "note": "The wrist view shows the white bowl centred on the jaw column, so its centre is about x=0.44, y=-0.10; moving 7 cm to the arm's left to straddle the left edge of its rim.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.032,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015qGTuLeR1Utf4GseRQneNq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1661, 1.6741, 0.8459, 0.0601, -0.2111, -0.1448, 0.9996, -0.0216, 0.8009, 0.5999, -0.3935, -0.0162, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4326 left_y=-0.0314 left_z=0.0661 left_yaw=0.0721 left_pitch=-0.1802 left_roll=0.0594 left_gripper=0.9996 right_x=0.2929 right_y=0.0001 right_z=0.1734 right_yaw=0.0026 right_pitch=-0.0251 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [0.3077, -7.241, 6.065, 1.8535, 0.0122, 0.2027, -0.0122, -0.0479, -1.3333, 7.0222, 1.7216, -0.0513, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de092d3ded809bf63b9016374cfa9d17704773ecb69d9f720eb99571e58e2add",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c33c1dd1b4c46807a5d702797fd057b38c9cbb8a6345178060af830c8a3800d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:31c63a9faf8dc419565fc1c584f4367edb9d3bf12f19d23d98c4993def38b279",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 8.071 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5137, 1.4815, 0.5262, 0.149, -0.4271, -0.3405, 0.9996, -0.0219, 0.7982, 0.5999, -0.3931, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.3397 left_y=-0.1035 left_z=0.0431 left_yaw=0.0101 left_pitch=-0.1505 left_roll=0.0703 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1742 right_yaw=0.0025 right_pitch=-0.0221 right_roll=0.0017 right_gripper=0.9973\nstate[joint_eff]: [0.6496, -5.4632, 5.8872, 1.8584, -0.2515, -0.1001, -0.0122, -0.0205, -1.1692, 7.0085, 1.7363, -0.0415, -0.0806, -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]: [-0.3923, 1.6062, 0.8726, -0.0429, -0.3542, -0.2737, 0.9996, -0.0219, 0.799, 0.5999, -0.3935, -0.0162, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4127 left_y=-0.1006 left_z=0.0913 left_yaw=0.0349 left_pitch=-0.1505 left_roll=0.0607 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1739 right_yaw=0.0023 right_pitch=-0.0232 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [0.294, -7.0769, 8.3761, 1.3455, 0.0122, 0.2125, -0.0122, -0.212, -1.306, 7.0085, 1.707, -0.0611, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1661, 1.6741, 0.8459, 0.0601, -0.2111, -0.1448, 0.9996, -0.0216, 0.8009, 0.5999, -0.3935, -0.0162, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4326 left_y=-0.0314 left_z=0.0661 left_yaw=0.0721 left_pitch=-0.1802 left_roll=0.0594 left_gripper=0.9996 right_x=0.2929 right_y=0.0001 right_z=0.1734 right_yaw=0.0026 right_pitch=-0.0251 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [0.3077, -7.241, 6.065, 1.8535, 0.0122, 0.2027, -0.0122, -0.0479, -1.3333, 7.0222, 1.7216, -0.0513, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de092d3ded809bf63b9016374cfa9d17704773ecb69d9f720eb99571e58e2add",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c33c1dd1b4c46807a5d702797fd057b38c9cbb8a6345178060af830c8a3800d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31c63a9faf8dc419565fc1c584f4367edb9d3bf12f19d23d98c4993def38b279",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AzN82zggz7m1RkmDHRTNFX",
      "input": {
        "note": "Wrist view shows the bowl's left rim edge about 2.5 cm to the arm's left of the jaw column; shifting there and lowering so the rim wall sits between the open jaws.",
        "targets": {
          "left_y": -0.008,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01AzN82zggz7m1RkmDHRTNFX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1062, 1.7145, 0.7963, 0.1421, -0.1722, -0.1177, 0.9996, -0.0219, 0.8009, 0.5999, -0.3935, -0.0162, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4297 left_y=-0.0118 left_z=0.0442 left_yaw=0.0846 left_pitch=-0.1948 left_roll=0.0542 left_gripper=0.9996 right_x=0.2929 right_y=0.0 right_z=0.1734 right_yaw=0.0023 right_pitch=-0.0251 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [0.335, -6.9812, 5.7094, 1.9414, 0.0171, 0.1685, -0.0122, -0.3214, -1.0188, 7.0496, 1.7558, -0.0806, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e54f251c98ba046d82e30905f81fbc6adb1805ecf736b3de816fa51f88a854eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:602e36e49fa7becf7a37090800f203c79f3a8587a4cc93468831ec04b7833c7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:11f574b94bf35e14aa1bff7bb1f90a5610fc3ea32a5f5bf0fe26dc6147af53f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 10.65 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3923, 1.6062, 0.8726, -0.0429, -0.3542, -0.2737, 0.9996, -0.0219, 0.799, 0.5999, -0.3935, -0.0162, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4127 left_y=-0.1006 left_z=0.0913 left_yaw=0.0349 left_pitch=-0.1505 left_roll=0.0607 left_gripper=0.9996 right_x=0.2928 right_y=0.0 right_z=0.1739 right_yaw=0.0023 right_pitch=-0.0232 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [0.294, -7.0769, 8.3761, 1.3455, 0.0122, 0.2125, -0.0122, -0.212, -1.306, 7.0085, 1.707, -0.0611, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1661, 1.6741, 0.8459, 0.0601, -0.2111, -0.1448, 0.9996, -0.0216, 0.8009, 0.5999, -0.3935, -0.0162, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4326 left_y=-0.0314 left_z=0.0661 left_yaw=0.0721 left_pitch=-0.1802 left_roll=0.0594 left_gripper=0.9996 right_x=0.2929 right_y=0.0001 right_z=0.1734 right_yaw=0.0026 right_pitch=-0.0251 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [0.3077, -7.241, 6.065, 1.8535, 0.0122, 0.2027, -0.0122, -0.0479, -1.3333, 7.0222, 1.7216, -0.0513, -0.0415, -0.0171]",
      "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]: [-0.1062, 1.7145, 0.7963, 0.1421, -0.1722, -0.1177, 0.9996, -0.0219, 0.8009, 0.5999, -0.3935, -0.0162, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4297 left_y=-0.0118 left_z=0.0442 left_yaw=0.0846 left_pitch=-0.1948 left_roll=0.0542 left_gripper=0.9996 right_x=0.2929 right_y=0.0 right_z=0.1734 right_yaw=0.0023 right_pitch=-0.0251 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [0.335, -6.9812, 5.7094, 1.9414, 0.0171, 0.1685, -0.0122, -0.3214, -1.0188, 7.0496, 1.7558, -0.0806, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e54f251c98ba046d82e30905f81fbc6adb1805ecf736b3de816fa51f88a854eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:602e36e49fa7becf7a37090800f203c79f3a8587a4cc93468831ec04b7833c7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11f574b94bf35e14aa1bff7bb1f90a5610fc3ea32a5f5bf0fe26dc6147af53f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvQcKjgEIEhgCKkANh9Ns3ji9SIbBufoBu5zttnlFRNoQZElyUTwf3e3mVUlgx3dZg2RTnXhsh6V2/WnTi8ue+iww9hIW3yR9ghgKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZeGzNUGEgz8THGj8GuOtu/KC6caDOSOldxJP49nAShcjCIweLVfNRDgxU4/LfkecyhMtyExs33TH9L/1ZZdKZhY/3BM4JOZChWEnMZh9wJ7HEygKtsFEvCBDvxCNDh2L/rLRGZkLkNmpYvJKwqGKYRnK87jS98BCx8IxGXEBisHfBmwnFz6IfusneISOtUW45FZnz4qvWxhAuVq9x5vwa9pj0woT+UT4xsRJGqZVvin/MbpI4T9G/Hm6Ln6LyuMIbFuO5tjoN5e4roXy5PdEwmqMRyH6BOoVpY3TIusbzjcz6boBjTs2vhTzkX4J73wwgldSxo05USS0DcNjTt2qzZHDsoOY12dwrVuNawBT6V0EzCh00ltBTCXrFQt/2OqL3IrYAnM5or2xC9eH1Z+VjbfHogxcOAweUWKJqRhFTw1qwDyRpYbiDnqPVjZpXFvlDbldYJwVQKQQpTAB5y392FFm/DaF/bcdHd2b0oyv+NIZjigg8o3L8GOUBVnz2T+ovUnnSMWYfvrxZ9+gydqfAaZ1m8d7onP2T6UU1YyoU4O3xCd3FiTf6fmLcEnKeEOfueqTbGiDugBUTAxXu+D9A7RgGD+SH5SiByisg363JQbdBWpbNHdkkr8I+2kuTAceL7y7zSpc9CbVVhQaAZmY/eX/hQDd7+Wy67mWi1pWVuZ6ruqDrAPf58UFQX6GaGzu0Ll3B5kpu6+jE77Mnc8nJfMrO0rMiayDh3WFNFqdkmeZhel1WpGxc3VWChXXHTBgUSQNp6QjL4llsT9K755d22ixfujrRt57B1ZqiJuzjbIUclE1ayI4eZFNM3XLYIAyunPDPF64DDSvFY2F3i0Ccp+Ks8DC1hl+0jLV9l7lxVi2rUJrJySQr4Q+/3JFcwN91E7hfLqoAU9TykQbxIzzXK97Oriq2Ec7ftRDKq77AQC4f3FO+PGXkQ2avBIP0fB4bh7z3cxtx4CY99lfLpnNCYQjOY2VGvC3QNNH2cR0M2anHJ3AMbrtwddvYeUnsqfsSuEaDt6x5qCyfetSBobRHH0fQziSfYjONgGXkL8Lec9m6hH0MUiOdzK8Q7gVTjkAnwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SwCrL1qyDoUM2gcBo6vpFJ",
      "input": {
        "note": "The bowl's rim edge is now on the jaw column; closing the jaws to pinch the rim wall.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SwCrL1qyDoUM2gcBo6vpFJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0898, 1.7309, 0.7834, 0.1989, -0.1528, -0.1051, 0.0217, -0.0216, 0.8032, 0.5999, -0.3931, -0.0166, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4341 left_y=-0.0085 left_z=0.0423 left_yaw=0.0767 left_pitch=-0.1705 left_roll=0.0452 left_gripper=0.0217 right_x=0.2931 right_y=0.0002 right_z=0.1729 right_yaw=0.0032 right_pitch=-0.027 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -7.3231, 6.106, 1.1551, -0.1197, 0.0708, 0.9451, -0.0889, -1.265, 7.0085, 1.6923, -0.0659, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bf9ae6d4ade15102aea38964379e293bbb4a60c2ae84fe70eaed518d19721e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:903404b1c69c63a550ccfcef5f5859fdf5d03e2a75ab5cc6af903214755a60ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d6340f4a42bdca343b6025bac4f432133ec2bd7a380e4285d13de6734d3ea78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 14.73 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1661, 1.6741, 0.8459, 0.0601, -0.2111, -0.1448, 0.9996, -0.0216, 0.8009, 0.5999, -0.3935, -0.0162, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4326 left_y=-0.0314 left_z=0.0661 left_yaw=0.0721 left_pitch=-0.1802 left_roll=0.0594 left_gripper=0.9996 right_x=0.2929 right_y=0.0001 right_z=0.1734 right_yaw=0.0026 right_pitch=-0.0251 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [0.3077, -7.241, 6.065, 1.8535, 0.0122, 0.2027, -0.0122, -0.0479, -1.3333, 7.0222, 1.7216, -0.0513, -0.0415, -0.0171]",
      "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]: [-0.1062, 1.7145, 0.7963, 0.1421, -0.1722, -0.1177, 0.9996, -0.0219, 0.8009, 0.5999, -0.3935, -0.0162, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4297 left_y=-0.0118 left_z=0.0442 left_yaw=0.0846 left_pitch=-0.1948 left_roll=0.0542 left_gripper=0.9996 right_x=0.2929 right_y=0.0 right_z=0.1734 right_yaw=0.0023 right_pitch=-0.0251 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [0.335, -6.9812, 5.7094, 1.9414, 0.0171, 0.1685, -0.0122, -0.3214, -1.0188, 7.0496, 1.7558, -0.0806, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0898, 1.7309, 0.7834, 0.1989, -0.1528, -0.1051, 0.0217, -0.0216, 0.8032, 0.5999, -0.3931, -0.0166, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4341 left_y=-0.0085 left_z=0.0423 left_yaw=0.0767 left_pitch=-0.1705 left_roll=0.0452 left_gripper=0.0217 right_x=0.2931 right_y=0.0002 right_z=0.1729 right_yaw=0.0032 right_pitch=-0.027 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -7.3231, 6.106, 1.1551, -0.1197, 0.0708, 0.9451, -0.0889, -1.265, 7.0085, 1.6923, -0.0659, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bf9ae6d4ade15102aea38964379e293bbb4a60c2ae84fe70eaed518d19721e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:903404b1c69c63a550ccfcef5f5859fdf5d03e2a75ab5cc6af903214755a60ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d6340f4a42bdca343b6025bac4f432133ec2bd7a380e4285d13de6734d3ea78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkwsKjgEIEhgCKkASpvu3zEkbY5OkJAnI8AYGagpDXljPWFgRBC0Y2z/2rqwYrUNxjwXihCn8Dh+w8vGT1iWW//IFsthYnRohROJbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaKGzNUGEgzitc7327xpPkzvah4aDMzZxbSYiJxVgoPZqiIwANz9VGuSDKR2BkBI8g8w3hjifBpNF6exQ2+UrO8sskby65b0D3KwMDPU2ZiUOH8OKrEJx5wCxbpte1fYA5eTPOTCS7apNupQXO2QXrpdtz6wy6j0i8KLe60mM7785X18deFcohFWvhGIg83Z34HqbUK2HVTrny/qotYJa1+WYvkD9O5OLnJbNDxUk0HQkCig0q2Ljnt0w93TWJrHOlLOvgAa57ub6YZEQ6SiLSQl2BGnsi7Z5tjNPqyhfW8bkp+iUz5UM/WgRVvKtx7jNWF/hk9CBsVXa7A4KPohcuo+Vg3jU+FyDvcSHlpn10LcwL2a2AIverjw8aS55PfQgOogK7wmvH85ApRYr6rxjXV65p0TNRoXRX8ighM2N5wBFPk4Dm60wxpnOVOER0QIOzhpkvlT8gd/liyemxsJKHbdqxoEct58o0gdfND/uY/vj02+/AFI7BBlOVDdZ68KEfLXkm0o26xec6qHtSGFIw5iC3xKSlj/AGEs7LvQVY2DvkgLcmGk/j+UwX8qHzkYjTm8fdt5i+AL+NRV093TW1JQjz2j8W0luKK4lucOIoLwmeTx0pdl2qT0/9aaNU8kp994HKzySQt0AqiUo2EKWQksRsSt9sTMWwv7mNcmImygXyWsa57cbXnisG2OZ4knHisI5QG5M3zmoWspJWNyN+0CSlzqmCmyX6CbioE/M27CW4xQWngEQEssmp4n4mEoqG4GnQjDb5lqwIGnG+W7PLAIHLo5SkBROkEmKqjofj9zbf2k6Ubv4GKMzROQKczmdjTipRuHguqH5DutcKem60rXaSSq0PIrYkmp2HBo6eVwucbhjDgqaqaib2wmBgKU5Z1rd4elZ3lzKf5jOtfvYTZvfjq01qMsMf0IzQQJL6HoSAR87afM5+I+P19IAtwcfGHoc/xZ/KFWrQsiUN/zeIt3lZb4E89V1lygRtohRUJnJQLpZ33enzvEkXE7+CUSmMwHmzxmriPl3+YdPI4Z6ldE+c5MEGiGxipuBpHbV6P2l8zumTkYYtbdYkqFSLn5TWUd6StfZ/5T324EE0d6z0QPJyYk18HOGnET2TuqvVhWrtP8Gj5TbP8l6l7odZ/qzsx40JdZ1fTC/ug6RJLLrVvw3RmxrlG09vwexyWUDHGi2xq/6DSRUp9NJGVnHT8RXbECpH2FRzia2eYcMprdeJT0qncE9NrewC6Sd2Wumf3CamgL6WnxgcNllDpQDi0HzdWT/gtOv4t9ZTLBdQLZeCBATbwioHha+/NLIvu/GsXTdvXbn+OSlFiONGCGrxZUE2jxV2/Mv5yg99xvXpcWip3uagSowchUy/5Vn3NuPKLr61ftSbMF4c8FjsdaPSqVa4PyHpPzOq4uDD/S4HVYEd7iUyzmSnZJmxUdN9N6hDtfwiDb+6EVEK6A9ErvbbHq0Tu28visC3+yyV5TBpiu2z03YEN8u8fQIsfL7KuV0VXYLO06AgycvikvjOTcxJ9pVxcy2HIEkBDWIH90ufM9HHAyFXCx6YGY4uagEOTOJt7CYfRphU2bRVNlSk6Gq6BxV4g4UMHUriWmD9fghZx18zjRPE4Esm/N798p2OWC6azKEhoy1/3gvdna7Tdy9ygdFa8K1LQnsS3nqvMzolpZcjDfqXfWFK0P3C7CqebYRZsGh3tCofZXSRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015LruRrpP5LqQ7Zv6dHrdhE",
      "input": {
        "note": "The close came back empty (0.02), so the jaws missed the rim wall; reopening and dropping 2 cm lower so the rim is definitely between the jaws.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.022
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015LruRrpP5LqQ7Zv6dHrdhE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0906, 1.7771, 0.7601, 0.2596, -0.1547, -0.1131, 0.9944, -0.0219, 0.8036, 0.5999, -0.3931, -0.0166, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4328 left_y=-0.0084 left_z=0.0257 left_yaw=0.0822 left_pitch=-0.1787 left_roll=0.042 left_gripper=0.9944 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0028 right_pitch=-0.0274 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -6.7077, 4.9709, 1.8632, -0.0464, 0.0952, -0.022, -0.1573, -1.3197, 7.241, 1.7167, -0.0562, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d2c81a502b919a83028edc165241fe7872be5043453afd0ca26d6c2ecf15fc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e78b3b41e194da3fa091c6da7c9b3e65ce7de9a09653409362462ef3911c703",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b4ea3939eb673776d9e55cc6cd7baa797d17126107d04dbba063f3cb059e62b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /messages · status 200 · 4.38 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1062, 1.7145, 0.7963, 0.1421, -0.1722, -0.1177, 0.9996, -0.0219, 0.8009, 0.5999, -0.3935, -0.0162, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4297 left_y=-0.0118 left_z=0.0442 left_yaw=0.0846 left_pitch=-0.1948 left_roll=0.0542 left_gripper=0.9996 right_x=0.2929 right_y=0.0 right_z=0.1734 right_yaw=0.0023 right_pitch=-0.0251 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [0.335, -6.9812, 5.7094, 1.9414, 0.0171, 0.1685, -0.0122, -0.3214, -1.0188, 7.0496, 1.7558, -0.0806, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0898, 1.7309, 0.7834, 0.1989, -0.1528, -0.1051, 0.0217, -0.0216, 0.8032, 0.5999, -0.3931, -0.0166, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4341 left_y=-0.0085 left_z=0.0423 left_yaw=0.0767 left_pitch=-0.1705 left_roll=0.0452 left_gripper=0.0217 right_x=0.2931 right_y=0.0002 right_z=0.1729 right_yaw=0.0032 right_pitch=-0.027 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -7.3231, 6.106, 1.1551, -0.1197, 0.0708, 0.9451, -0.0889, -1.265, 7.0085, 1.6923, -0.0659, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0906, 1.7771, 0.7601, 0.2596, -0.1547, -0.1131, 0.9944, -0.0219, 0.8036, 0.5999, -0.3931, -0.0166, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4328 left_y=-0.0084 left_z=0.0257 left_yaw=0.0822 left_pitch=-0.1787 left_roll=0.042 left_gripper=0.9944 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0028 right_pitch=-0.0274 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -6.7077, 4.9709, 1.8632, -0.0464, 0.0952, -0.022, -0.1573, -1.3197, 7.241, 1.7167, -0.0562, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d2c81a502b919a83028edc165241fe7872be5043453afd0ca26d6c2ecf15fc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e78b3b41e194da3fa091c6da7c9b3e65ce7de9a09653409362462ef3911c703",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4ea3939eb673776d9e55cc6cd7baa797d17126107d04dbba063f3cb059e62b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AmK9wgtbwXeJZfeoPJDXda",
      "input": {
        "note": "From the wrist view the bowl's rim edge sits ~2.5 cm to the arm's right of the jaw centre, so I over-shot when stepping out to the rim; shifting back -y 2.5 cm before closing.",
        "targets": {
          "left_y": -0.034
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01AmK9wgtbwXeJZfeoPJDXda",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1596, 1.7775, 0.7555, 0.26, -0.1921, -0.1497, 0.9951, -0.0219, 0.8051, 0.5961, -0.3958, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4299 left_y=-0.0314 left_z=0.0247 left_yaw=0.0649 left_pitch=-0.1771 left_roll=0.0412 left_gripper=0.9951 right_x=0.2923 right_y=0.0 right_z=0.17 right_yaw=0.0025 right_pitch=-0.0354 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [-0.3077, -7.2137, 7.5282, 1.4969, -0.1685, -0.1197, 0.0611, -0.0752, -1.4564, 7.3231, 1.7753, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4014f90d446e2fb07d180693ce71ee0f15e66864a06e5d66023904f10ada45d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:458dd281da4161b188b28ae53376fd8dce6376afc0fec6760839e763953cdce4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d35845551cb67978798be1b82b59d9de15e42cc22193e1063372d12b777ad5b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 3.582 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0898, 1.7309, 0.7834, 0.1989, -0.1528, -0.1051, 0.0217, -0.0216, 0.8032, 0.5999, -0.3931, -0.0166, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4341 left_y=-0.0085 left_z=0.0423 left_yaw=0.0767 left_pitch=-0.1705 left_roll=0.0452 left_gripper=0.0217 right_x=0.2931 right_y=0.0002 right_z=0.1729 right_yaw=0.0032 right_pitch=-0.027 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -7.3231, 6.106, 1.1551, -0.1197, 0.0708, 0.9451, -0.0889, -1.265, 7.0085, 1.6923, -0.0659, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0906, 1.7771, 0.7601, 0.2596, -0.1547, -0.1131, 0.9944, -0.0219, 0.8036, 0.5999, -0.3931, -0.0166, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4328 left_y=-0.0084 left_z=0.0257 left_yaw=0.0822 left_pitch=-0.1787 left_roll=0.042 left_gripper=0.9944 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0028 right_pitch=-0.0274 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -6.7077, 4.9709, 1.8632, -0.0464, 0.0952, -0.022, -0.1573, -1.3197, 7.241, 1.7167, -0.0562, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1596, 1.7775, 0.7555, 0.26, -0.1921, -0.1497, 0.9951, -0.0219, 0.8051, 0.5961, -0.3958, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4299 left_y=-0.0314 left_z=0.0247 left_yaw=0.0649 left_pitch=-0.1771 left_roll=0.0412 left_gripper=0.9951 right_x=0.2923 right_y=0.0 right_z=0.17 right_yaw=0.0025 right_pitch=-0.0354 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [-0.3077, -7.2137, 7.5282, 1.4969, -0.1685, -0.1197, 0.0611, -0.0752, -1.4564, 7.3231, 1.7753, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4014f90d446e2fb07d180693ce71ee0f15e66864a06e5d66023904f10ada45d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:458dd281da4161b188b28ae53376fd8dce6376afc0fec6760839e763953cdce4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d35845551cb67978798be1b82b59d9de15e42cc22193e1063372d12b777ad5b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2QQKjgEIEhgCKkC/wneQ92D3hS5GmokFlbkGLD0wN3REWS8VR1T/4Dcc3WJTqeP+SEaRS2xcvsCQddRQwODTN3t4uL9O/XXBtHPaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbeGzNUGEgxuJ+upnfrAe1h04roaDLnYpcfuPCgg33A0DyIw3FcQFHtznpwjKFw7IAIBj3Mt1FCUj8OENDb3HlmK8jYwqRbMm/xhPJdaFBdXqigeKvcCrpx5Kn6bZK0l0FzZp+Cix7mvDAjj0Zh5I6No0Zb2CHdWC5XGw1umn9JtUbamoAjxI48MZT3RguaLOp/cTBJGoCM8+HDv8dmai+yFc/SmKbzGERpJA3vlEFpjn8PTWyBfwxkG2cRz9Fx53nSVP3CinZMCAGxWlULz4yKsmNkTUOtftU860WI68xN3n6Bjn5ab+Jyd8lSBYeOL8IHmXZfxjgVYpKEnGxFcLy2p1/sq7OOHOt9dU+cda7Z2RFpvipA/r+Bf9FFX7q2GKHjC5VZlm5R4hJmav+ntu/pfD6Q+xH0mvo27jmRvGz/Mrv72ZK8NvKg2qh9vzmCBni3Zt+/NM5pfLnAa0937xLALnMqyvbkZaDUFUipP73p/hz3AzCHy71ZS9+/Ug+gZ16Q3MFFtj6LtXHoOLnvmk6JEkZdMhEZCchoTNRL1EWIceVhbjJYWwVmwV7DZSA/u5vxe9OZsm8ZvkL1/NSLKr7300EpabRd126tDxyUSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0171hyorWB4aEFDG2pFvHy6P",
      "input": {
        "note": "The rim wall now runs between the two open jaws in the wrist view; closing to pinch it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0171hyorWB4aEFDG2pFvHy6P",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1619, 1.7657, 0.757, 0.2958, -0.1802, -0.1738, 0.0431, -0.0219, 0.8051, 0.5953, -0.3965, -0.0166, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.437 left_y=-0.0357 left_z=0.0364 left_yaw=0.0641 left_pitch=-0.1305 left_roll=0.004 left_gripper=0.0431 right_x=0.2921 right_y=0.0001 right_z=0.1695 right_yaw=0.0026 right_pitch=-0.037 right_roll=0.0026 right_gripper=0.9973\nstate[joint_eff]: [0.1299, -6.7077, 5.8051, 1.0427, -0.232, 0.1538, 0.9744, -0.3487, -1.0872, 7.3094, 1.707, -0.0513, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c9c5661f8b423ddf5a5fda695ee6057096927de0ab69e135f37ad6b828aefb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79e0a9665477cf0751722719814cd2ec21d17886aea24603365cb570c8c90c44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:352c91c56654c3cc126b1e0ef592f46e43d33fdf90177bcc12a33cee67cc31bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 12.19 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0906, 1.7771, 0.7601, 0.2596, -0.1547, -0.1131, 0.9944, -0.0219, 0.8036, 0.5999, -0.3931, -0.0166, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4328 left_y=-0.0084 left_z=0.0257 left_yaw=0.0822 left_pitch=-0.1787 left_roll=0.042 left_gripper=0.9944 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=0.0028 right_pitch=-0.0274 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -6.7077, 4.9709, 1.8632, -0.0464, 0.0952, -0.022, -0.1573, -1.3197, 7.241, 1.7167, -0.0562, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1596, 1.7775, 0.7555, 0.26, -0.1921, -0.1497, 0.9951, -0.0219, 0.8051, 0.5961, -0.3958, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4299 left_y=-0.0314 left_z=0.0247 left_yaw=0.0649 left_pitch=-0.1771 left_roll=0.0412 left_gripper=0.9951 right_x=0.2923 right_y=0.0 right_z=0.17 right_yaw=0.0025 right_pitch=-0.0354 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [-0.3077, -7.2137, 7.5282, 1.4969, -0.1685, -0.1197, 0.0611, -0.0752, -1.4564, 7.3231, 1.7753, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1619, 1.7657, 0.757, 0.2958, -0.1802, -0.1738, 0.0431, -0.0219, 0.8051, 0.5953, -0.3965, -0.0166, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.437 left_y=-0.0357 left_z=0.0364 left_yaw=0.0641 left_pitch=-0.1305 left_roll=0.004 left_gripper=0.0431 right_x=0.2921 right_y=0.0001 right_z=0.1695 right_yaw=0.0026 right_pitch=-0.037 right_roll=0.0026 right_gripper=0.9973\nstate[joint_eff]: [0.1299, -6.7077, 5.8051, 1.0427, -0.232, 0.1538, 0.9744, -0.3487, -1.0872, 7.3094, 1.707, -0.0513, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c9c5661f8b423ddf5a5fda695ee6057096927de0ab69e135f37ad6b828aefb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79e0a9665477cf0751722719814cd2ec21d17886aea24603365cb570c8c90c44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:352c91c56654c3cc126b1e0ef592f46e43d33fdf90177bcc12a33cee67cc31bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqAMKjgEIEhgCKkAQuKCgjrVk5wb3NViEjIqvDVBcpyCFi9B5RNJAOU+h+vvJkDrrtvMmB9sSvugEKBFRAX1YnE/YLxfln7qyQZ1bMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbuGzNUGEgzSPUE09vLIEfWEuogaDI9zESytv2rHUjF22yIwWw2QJuZBAfhS1Nz46idPUlxSoTtHNJP6Ey/TTSQW1fR6E609DUNORUXl/MTPe7OQKsYBOIdYqgUSoKMJYFTbZF8Nid2vThi+vkZ7LPEvTdNsNmYwgJx793e73aURzyX1Mnov8uNHz4vxgNvdBlGDhBcV30iFlZC4eq5aRId16IGDxmcgqVCGxmUxHUHY+7Z8SabkQUPfej7LUH8Dl4Bv25MLekFyLdCMvsaXqb0fqV9enlBpykgKf0Qcj33aSTp0+BqfdE/29AXCrXt0VgN3GVCChSLq7/Tk5zHVehVI2kj/DRUOzzp465Xl3d/+RH/tFRzulaSikCYNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016HwsRqKfDC1XMvvo2JhyTo",
      "input": {
        "note": "Gripper settled at 0.043, consistent with pinching the thin rim wall; lifting 8 cm to check in the top view whether the bowl comes with it.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_016HwsRqKfDC1XMvvo2JhyTo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1619, 1.6073, 0.889, -0.0284, -0.1802, -0.1806, 0.045, -0.0219, 0.8055, 0.5953, -0.3969, -0.0166, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4327 left_y=-0.035 left_z=0.0943 left_yaw=0.069 left_pitch=-0.1635 left_roll=0.0065 left_gripper=0.045 right_x=0.2921 right_y=0.0001 right_z=0.1694 right_yaw=0.0026 right_pitch=-0.0377 right_roll=0.0026 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -9.1966, 9.1692, 1.7363, -0.1001, 0.0171, 1.033, -0.0615, -1.0735, 7.2274, 1.7558, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bf82bc2cbfa9303ead82cee7427389d7ee4f80c32b9cd3f4559832c0e85651f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9691fd0a7e23fb4b62e0bcb643f40d66294ae90b78001982e9d2ed606ff0561d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf70b6865a4c2aa226d795329ae655857dada0ac002c0c0185711cdc4e246eda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 12.05 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1596, 1.7775, 0.7555, 0.26, -0.1921, -0.1497, 0.9951, -0.0219, 0.8051, 0.5961, -0.3958, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4299 left_y=-0.0314 left_z=0.0247 left_yaw=0.0649 left_pitch=-0.1771 left_roll=0.0412 left_gripper=0.9951 right_x=0.2923 right_y=0.0 right_z=0.17 right_yaw=0.0025 right_pitch=-0.0354 right_roll=0.002 right_gripper=0.9973\nstate[joint_eff]: [-0.3077, -7.2137, 7.5282, 1.4969, -0.1685, -0.1197, 0.0611, -0.0752, -1.4564, 7.3231, 1.7753, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1619, 1.7657, 0.757, 0.2958, -0.1802, -0.1738, 0.0431, -0.0219, 0.8051, 0.5953, -0.3965, -0.0166, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.437 left_y=-0.0357 left_z=0.0364 left_yaw=0.0641 left_pitch=-0.1305 left_roll=0.004 left_gripper=0.0431 right_x=0.2921 right_y=0.0001 right_z=0.1695 right_yaw=0.0026 right_pitch=-0.037 right_roll=0.0026 right_gripper=0.9973\nstate[joint_eff]: [0.1299, -6.7077, 5.8051, 1.0427, -0.232, 0.1538, 0.9744, -0.3487, -1.0872, 7.3094, 1.707, -0.0513, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1619, 1.6073, 0.889, -0.0284, -0.1802, -0.1806, 0.045, -0.0219, 0.8055, 0.5953, -0.3969, -0.0166, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4327 left_y=-0.035 left_z=0.0943 left_yaw=0.069 left_pitch=-0.1635 left_roll=0.0065 left_gripper=0.045 right_x=0.2921 right_y=0.0001 right_z=0.1694 right_yaw=0.0026 right_pitch=-0.0377 right_roll=0.0026 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -9.1966, 9.1692, 1.7363, -0.1001, 0.0171, 1.033, -0.0615, -1.0735, 7.2274, 1.7558, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bf82bc2cbfa9303ead82cee7427389d7ee4f80c32b9cd3f4559832c0e85651f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9691fd0a7e23fb4b62e0bcb643f40d66294ae90b78001982e9d2ed606ff0561d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf70b6865a4c2aa226d795329ae655857dada0ac002c0c0185711cdc4e246eda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RbsNgEu2fkh9Ugf64bEwYy",
      "input": {
        "note": "The wrist view shows the bowl staying with the jaws as I lifted, so the rim pinch holds; carrying it over the middle bowl (≈18 cm to the arm's right) at a safe height.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.218,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01RbsNgEu2fkh9Ugf64bEwYy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6518, 1.7977, 1.3754, -0.4805, -0.498, -0.5491, 0.0458, -0.0216, 0.8051, 0.5945, -0.4122, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4247 left_y=-0.2134 left_z=0.1468 left_yaw=0.0498 left_pitch=-0.1928 left_roll=0.0146 left_gripper=0.0458 right_x=0.2898 right_y=0.0002 right_z=0.166 right_yaw=0.0029 right_pitch=-0.0534 right_roll=0.0024 right_gripper=0.9973\nstate[joint_eff]: [-0.3214, -8.8821, 9.2103, 1.3455, -0.4664, -0.0855, 1.033, -0.1026, -1.2376, 7.0769, 1.8095, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25b9a2237156d93259f69332f37942a3a11e6d5f20676d601054ae48d979d4b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aa40c410770b010a80696b614beccbdeb2ff4ddc24bd269cbb72173e63d6e43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2156fcc552751cb8513439873be83ce227080a7a3e3e6e321ceb9b8c4b5f1ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 6.497 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1619, 1.7657, 0.757, 0.2958, -0.1802, -0.1738, 0.0431, -0.0219, 0.8051, 0.5953, -0.3965, -0.0166, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.437 left_y=-0.0357 left_z=0.0364 left_yaw=0.0641 left_pitch=-0.1305 left_roll=0.004 left_gripper=0.0431 right_x=0.2921 right_y=0.0001 right_z=0.1695 right_yaw=0.0026 right_pitch=-0.037 right_roll=0.0026 right_gripper=0.9973\nstate[joint_eff]: [0.1299, -6.7077, 5.8051, 1.0427, -0.232, 0.1538, 0.9744, -0.3487, -1.0872, 7.3094, 1.707, -0.0513, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1619, 1.6073, 0.889, -0.0284, -0.1802, -0.1806, 0.045, -0.0219, 0.8055, 0.5953, -0.3969, -0.0166, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4327 left_y=-0.035 left_z=0.0943 left_yaw=0.069 left_pitch=-0.1635 left_roll=0.0065 left_gripper=0.045 right_x=0.2921 right_y=0.0001 right_z=0.1694 right_yaw=0.0026 right_pitch=-0.0377 right_roll=0.0026 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -9.1966, 9.1692, 1.7363, -0.1001, 0.0171, 1.033, -0.0615, -1.0735, 7.2274, 1.7558, -0.0562, -0.0269, -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]: [-0.6518, 1.7977, 1.3754, -0.4805, -0.498, -0.5491, 0.0458, -0.0216, 0.8051, 0.5945, -0.4122, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4247 left_y=-0.2134 left_z=0.1468 left_yaw=0.0498 left_pitch=-0.1928 left_roll=0.0146 left_gripper=0.0458 right_x=0.2898 right_y=0.0002 right_z=0.166 right_yaw=0.0029 right_pitch=-0.0534 right_roll=0.0024 right_gripper=0.9973\nstate[joint_eff]: [-0.3214, -8.8821, 9.2103, 1.3455, -0.4664, -0.0855, 1.033, -0.1026, -1.2376, 7.0769, 1.8095, -0.0659, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25b9a2237156d93259f69332f37942a3a11e6d5f20676d601054ae48d979d4b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aa40c410770b010a80696b614beccbdeb2ff4ddc24bd269cbb72173e63d6e43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2156fcc552751cb8513439873be83ce227080a7a3e3e6e321ceb9b8c4b5f1ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShQcKjgEIEhgCKkCanv3YXnbghhzBrLx3QJxsj/zlxSIgja/qWI5fC8YZ1B7qzsMYPF6pCQuibyX1dOSy5f0+KAXSILpu5FH9WntzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdWGzNUGEgzb7VxlopNtMWOBcJsaDOHIMBTgL+EsEUi1ASIwLL5bq6DHUTuwtxCJlDW9njfQaXT/bNwBbn6XeiQj8XfGExfMKJcdi6iVPCdpsztQKqMFj3fCA2+gtYQ0Od6mUCxdfy1x5V2ONbaKhu9z42df1SqCFsIgPVDzU7ihcW6eVFCu8oVNY0niGFBfG15A31GIvBeoYf3uyI95dssKROEhDQ60lXJD/DRfNW+mPdtWiD9U+c7XzJQrOUI0pOyo4GTzbULgO+UKPBv2PtJ1DSqh3zxQwWB0imdzEk0SxaoM1mQZe4+8XuoEIAzSiVsVnwVYh5uEYHDuDFUDeDgcN7DOUFcAsR1Oo1EMiiD5ELV6tIhhzBk3xU9QuRiwWLVoZlGUIgBRX/DMsleF5Hh17caOymxhhTPFZdICl2OIWm478zuK1BmyNiNivgRoeoP57BxXMn0cRwZnISeHjMz2racm0hJB52uBpTE3zGNO/m1V1lxjvURxicwuhbQsCQKSQGPMBLbRdEr1S0mrkonIpJ8/QBspae3hPlJpMLSk+Y5ldNGAIAVldyf8Zog1NbPSsuFjUciOTAGDHx0TqusZaJiPBO9Q/1zeU4t73td+vKaP/9Q7He9x2eBCx+IzlZmLss9NyweT23rE4cjwLGTHU2S+7W5Qw6xEwBHs9HzAftRAPfMKvyN0pUdM+aRvkcOVwb+svUksUCirc54bVzNQ/06acsbA7LeC4dAlVseE6WW4VThxTdlCW/6jNyDj1+IS+PKmi3qWoAwE+pzzZZlMA2tnuDrO9Qoe8ATe72amlUpEnv1wO8qSVmyGPNWC8UThTkG7NUn2vc03SIKkrWoAR5rjMlC7S+V0QV5L2dKrRZ/hbU/XBEMlmU5w0D5lCtS5qvQmsMB1HaEJTlrot+BGnbdMwuVGd041WtJqkj0G0m+qBiBBoVGebMVcmNjvmplt3HMmKQljA9QvId4Y93CYz4jD2YEWPYlaKxVak2BQ0e5MCBlZJ0cmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018muNAQqroTXJUfYkAmozgx",
      "input": {
        "note": "Held bowl is over the middle (purple) bowl, whose rim I can see just beside it in the wrist view; lowering to set it into the purple bowl.",
        "targets": {
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018muNAQqroTXJUfYkAmozgx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6563, 1.8549, 1.2301, -0.3439, -0.495, -0.5644, 0.0465, -0.0219, 0.8055, 0.5945, -0.4152, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4143 left_y=-0.2087 left_z=0.085 left_yaw=0.061 left_pitch=-0.2442 left_roll=0.0457 left_gripper=0.0465 right_x=0.2893 right_y=0.0001 right_z=0.1653 right_yaw=0.0025 right_pitch=-0.0568 right_roll=0.0025 right_gripper=0.9973\nstate[joint_eff]: [0.3077, -9.6752, 6.7761, 1.746, -0.232, 0.0855, 0.9744, -0.1846, -1.2923, 6.9812, 1.7363, -0.0464, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:875cd3e9169228187164059f1f991626a4b3b28ec81a3830afac6a528fe7930b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32b591614f0b5b7db1fdd599a0eddd9ed98c23998b0a05088ca3519808c39b8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:142d66344a758cf8a8a8501dde08dac6065a92f33c1d73c936cac902ed081bc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 3.556 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1619, 1.6073, 0.889, -0.0284, -0.1802, -0.1806, 0.045, -0.0219, 0.8055, 0.5953, -0.3969, -0.0166, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4327 left_y=-0.035 left_z=0.0943 left_yaw=0.069 left_pitch=-0.1635 left_roll=0.0065 left_gripper=0.045 right_x=0.2921 right_y=0.0001 right_z=0.1694 right_yaw=0.0026 right_pitch=-0.0377 right_roll=0.0026 right_gripper=0.9973\nstate[joint_eff]: [-0.0479, -9.1966, 9.1692, 1.7363, -0.1001, 0.0171, 1.033, -0.0615, -1.0735, 7.2274, 1.7558, -0.0562, -0.0269, -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]: [-0.6518, 1.7977, 1.3754, -0.4805, -0.498, -0.5491, 0.0458, -0.0216, 0.8051, 0.5945, -0.4122, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4247 left_y=-0.2134 left_z=0.1468 left_yaw=0.0498 left_pitch=-0.1928 left_roll=0.0146 left_gripper=0.0458 right_x=0.2898 right_y=0.0002 right_z=0.166 right_yaw=0.0029 right_pitch=-0.0534 right_roll=0.0024 right_gripper=0.9973\nstate[joint_eff]: [-0.3214, -8.8821, 9.2103, 1.3455, -0.4664, -0.0855, 1.033, -0.1026, -1.2376, 7.0769, 1.8095, -0.0659, -0.0317, -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]: [-0.6563, 1.8549, 1.2301, -0.3439, -0.495, -0.5644, 0.0465, -0.0219, 0.8055, 0.5945, -0.4152, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4143 left_y=-0.2087 left_z=0.085 left_yaw=0.061 left_pitch=-0.2442 left_roll=0.0457 left_gripper=0.0465 right_x=0.2893 right_y=0.0001 right_z=0.1653 right_yaw=0.0025 right_pitch=-0.0568 right_roll=0.0025 right_gripper=0.9973\nstate[joint_eff]: [0.3077, -9.6752, 6.7761, 1.746, -0.232, 0.0855, 0.9744, -0.1846, -1.2923, 6.9812, 1.7363, -0.0464, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:875cd3e9169228187164059f1f991626a4b3b28ec81a3830afac6a528fe7930b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32b591614f0b5b7db1fdd599a0eddd9ed98c23998b0a05088ca3519808c39b8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:142d66344a758cf8a8a8501dde08dac6065a92f33c1d73c936cac902ed081bc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4wgKjgEIEhgCKkA8TIFq4Hr1q1Y91BY3P8kYCak7ygzIUNq42ZdJPaYxu8B3+2OjKwNfFwXfGEr25GzYma+TcWQuddp2URva3RXIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdyGzNUGEgz2IGwnYf0PPsjVX4caDJ0FsE2BrqYhvuUVuiIwaxEmAJ/sttt9K4aysTEw/Kgq6n1+FhemOIc+M7a0i6okSQwRdWNuL+JIqtarg2geKoEHjLEl8FNGNHQ/X5T3Kriz2P1KLf91Xg6u+YcEdTQqTdec0xTl9II8oEwELzYG/bKGG8OUPQVpmp7kXWhDsKLuLS4jCJp4MaOzGo7UdR0a6t46WEhyW9qMJ0R/oJH3zXZucKmwZHITj2GwRmlW0SPPE2siHdBACAl0Lb+fSjjxQjPxEwzvypKq9KsbVWy5KNmo7lWTsme201U/dZ3afPRZQ89X8MN7X9mzz9h5r2QRKKDuJINZuk8KRlvJ8Fb2jGETOtr4gYhrAZKo9Kx62RFAqP5SFDf2IIDPCDQaxJqHYTEPvY3vXUAw6TPagivM0780kxxb1uVHgErOJERIUH9unJ3stXCqy6RANFJ57XT6NkmAo3cqLippWOwZ7jlmEE70eGlbOCYhZsDyi5Jl3Rj0Z3anRzEbhm0Cg5NHiQPpYuDj9sqpLxmetwx8+75GXjleOk1CHWK6RcgvCYvQpu+QPc3D+AVZY8oNisfOBeV1bJlujV1x0IUKQjlhfQTMQlode/CnwcwVUBr6RucsHw+uPoxFyxy4m9QkkVSMx+4c8xwy4OicivHIyfUrwYs4qWOQJMHm0ENSlJAcZmdbGNy+UI8JIHdajrpjrb3HyTZUQiXWCNgbzk+9anWYhdxsMXR9N9uwf/59kizY1kJbGN2imIK3LSpxmxkZ2RGpNeT6C8QmrEk1Knnq1y13/louMhL81eidgGWEuz3hLYmvfhmKg3jSR0REq8moqwIVX76mQW9JE9awkGaWcrTdcCbmS5ogxk+rToKavSaan2GeQOPrdlxAFTxXRS8/ClhIbBClJYF8sWLWDEIhbvTZVBelk7G9JH/pYqI+LX/Lwb1J+gFzxYkwypR5/oIa3Tc++JlXeGGpbpNBIhgBva3UsvHhJRvj5d0yUkGZMxyc7JtJX34999lXsQCv/bdbYEi4S9kn6NWFU/x9iio+ejL72M14vLNq6kSlFLr/oI/UZKXW4V5E3MVynzbHJ6Ld9U2o2YvxQj3cyJHXbR8SyVvgW8+Ykl0EkFw62yeQKlWfmBV3u5YxPxUDgU03qLg0wyZh3OdOO4XKewsW0CrctYNcPqujyr6TwKUiUpoomAMWqukb2XbHeWZclxVnm7D6LL8go7CX5ynD6zcENv4ArblhC0yH9JXFV7XGS+f/MBZ4l2JdOTSx9QGGXx2P/nDGjXkuAri3i2JiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DxXMNQM1F384YadbvCNhkL",
      "input": {
        "note": "The purple rim now hugs the left side of the held white bowl, suggesting it is entering the purple bowl; lowering further until it seats.",
        "targets": {
          "left_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01DxXMNQM1F384YadbvCNhkL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6567, 1.8668, 1.206, -0.2913, -0.4953, -0.5659, 0.0492, -0.0219, 0.8055, 0.5945, -0.4152, -0.0166, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4163 left_y=-0.2103 left_z=0.078 left_yaw=0.0591 left_pitch=-0.2313 left_roll=0.0335 left_gripper=0.0492 right_x=0.2893 right_y=0.0002 right_z=0.1653 right_yaw=0.0026 right_pitch=-0.0568 right_roll=0.003 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -8.7726, 5.8735, 1.3602, -0.3004, 0.0024, 0.906, -0.1846, -1.2376, 6.9949, 1.6728, -0.0757, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f09aae7eb78dea4fbe5f0e283a065f5e862ed667152e44ce30181880b1648eb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15bad079239a75fc8685278e127ff6fa9bb68df2dd4a107ed926fc2255472000",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:776f8e5f7199f25da78bc77ae4198fbe815dd13e08c830556a578b53346a29e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 3.233 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6518, 1.7977, 1.3754, -0.4805, -0.498, -0.5491, 0.0458, -0.0216, 0.8051, 0.5945, -0.4122, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4247 left_y=-0.2134 left_z=0.1468 left_yaw=0.0498 left_pitch=-0.1928 left_roll=0.0146 left_gripper=0.0458 right_x=0.2898 right_y=0.0002 right_z=0.166 right_yaw=0.0029 right_pitch=-0.0534 right_roll=0.0024 right_gripper=0.9973\nstate[joint_eff]: [-0.3214, -8.8821, 9.2103, 1.3455, -0.4664, -0.0855, 1.033, -0.1026, -1.2376, 7.0769, 1.8095, -0.0659, -0.0317, -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]: [-0.6563, 1.8549, 1.2301, -0.3439, -0.495, -0.5644, 0.0465, -0.0219, 0.8055, 0.5945, -0.4152, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4143 left_y=-0.2087 left_z=0.085 left_yaw=0.061 left_pitch=-0.2442 left_roll=0.0457 left_gripper=0.0465 right_x=0.2893 right_y=0.0001 right_z=0.1653 right_yaw=0.0025 right_pitch=-0.0568 right_roll=0.0025 right_gripper=0.9973\nstate[joint_eff]: [0.3077, -9.6752, 6.7761, 1.746, -0.232, 0.0855, 0.9744, -0.1846, -1.2923, 6.9812, 1.7363, -0.0464, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6567, 1.8668, 1.206, -0.2913, -0.4953, -0.5659, 0.0492, -0.0219, 0.8055, 0.5945, -0.4152, -0.0166, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4163 left_y=-0.2103 left_z=0.078 left_yaw=0.0591 left_pitch=-0.2313 left_roll=0.0335 left_gripper=0.0492 right_x=0.2893 right_y=0.0002 right_z=0.1653 right_yaw=0.0026 right_pitch=-0.0568 right_roll=0.003 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -8.7726, 5.8735, 1.3602, -0.3004, 0.0024, 0.906, -0.1846, -1.2376, 6.9949, 1.6728, -0.0757, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f09aae7eb78dea4fbe5f0e283a065f5e862ed667152e44ce30181880b1648eb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15bad079239a75fc8685278e127ff6fa9bb68df2dd4a107ed926fc2255472000",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:776f8e5f7199f25da78bc77ae4198fbe815dd13e08c830556a578b53346a29e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShwMKjgEIEhgCKkB+9VoNgs5RYFC4U8AVQA+Ge1o+j1VddVI4Mwp0zk78KtE2EzYVAO3YG8d7F/IyHzcidD8s8FrHSPOprhHq1ea3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeCGzNUGEgwdVvt0pHs+K6ZGFVYaDPsendKk1RQKschquyIwFmNhqYTfZHASjQ/hRrKIXbQvL1Y3stzTsUsBsLZdTR9XuMX2aSETbYuvfVSdmxB4KqUBjcsuUbF2WeZ/6cCW39OwiMXr0ba7eSc27Z6p751X63cLzJG9vDCjS9UkBhq16hi48U9t/jCSLksjLs1fL5ODboqWsY6c5QGJ2JIzDlxjafgDtkuFg2jO7d7Of7VxyxmLl4OHj4Ia1rQwlYRcQTVfmQE7XgGIOfQ59HM7lullyNgGli5SYZYqQJ9+c0Y1vLa4s3bu/psiNNvgfl6yV9fhsMcxD5LIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PRgakGow4aFRwfpo7EUyRs",
      "input": {
        "note": "The descent stopped short at z=0.078, meaning the carried bowl has seated on/into the purple bowl; opening the jaws to release it.",
        "targets": {
          "left_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PRgakGow4aFRwfpo7EUyRs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6567, 1.8755, 1.2018, -0.2951, -0.495, -0.5697, 0.9955, -0.0219, 0.8055, 0.5945, -0.4156, -0.0166, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4144 left_y=-0.209 left_z=0.0721 left_yaw=0.0636 left_pitch=-0.244 left_roll=0.0419 left_gripper=0.9955 right_x=0.2893 right_y=0.0002 right_z=0.1653 right_yaw=0.0028 right_pitch=-0.0572 right_roll=0.0027 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -9.4838, 5.8188, 1.3162, -0.2808, 0.0024, -0.1441, -0.0615, -1.2513, 7.159, 1.663, -0.0757, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31f8d610a0f914b4f9760b14967a512d1fe55c73cf221beafa5c812b6f94176b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f57f2fc4c8e2074134aae97e9ea2963defdab62cafde433b621e0410b5537017",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:991f7d1a7249e0f79d007894e94bebcd205884dfeff6be36a163909ef29b3e47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 11.92 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6563, 1.8549, 1.2301, -0.3439, -0.495, -0.5644, 0.0465, -0.0219, 0.8055, 0.5945, -0.4152, -0.0162, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4143 left_y=-0.2087 left_z=0.085 left_yaw=0.061 left_pitch=-0.2442 left_roll=0.0457 left_gripper=0.0465 right_x=0.2893 right_y=0.0001 right_z=0.1653 right_yaw=0.0025 right_pitch=-0.0568 right_roll=0.0025 right_gripper=0.9973\nstate[joint_eff]: [0.3077, -9.6752, 6.7761, 1.746, -0.232, 0.0855, 0.9744, -0.1846, -1.2923, 6.9812, 1.7363, -0.0464, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6567, 1.8668, 1.206, -0.2913, -0.4953, -0.5659, 0.0492, -0.0219, 0.8055, 0.5945, -0.4152, -0.0166, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4163 left_y=-0.2103 left_z=0.078 left_yaw=0.0591 left_pitch=-0.2313 left_roll=0.0335 left_gripper=0.0492 right_x=0.2893 right_y=0.0002 right_z=0.1653 right_yaw=0.0026 right_pitch=-0.0568 right_roll=0.003 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -8.7726, 5.8735, 1.3602, -0.3004, 0.0024, 0.906, -0.1846, -1.2376, 6.9949, 1.6728, -0.0757, -0.0464, -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]: [-0.6567, 1.8755, 1.2018, -0.2951, -0.495, -0.5697, 0.9955, -0.0219, 0.8055, 0.5945, -0.4156, -0.0166, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4144 left_y=-0.209 left_z=0.0721 left_yaw=0.0636 left_pitch=-0.244 left_roll=0.0419 left_gripper=0.9955 right_x=0.2893 right_y=0.0002 right_z=0.1653 right_yaw=0.0028 right_pitch=-0.0572 right_roll=0.0027 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -9.4838, 5.8188, 1.3162, -0.2808, 0.0024, -0.1441, -0.0615, -1.2513, 7.159, 1.663, -0.0757, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31f8d610a0f914b4f9760b14967a512d1fe55c73cf221beafa5c812b6f94176b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f57f2fc4c8e2074134aae97e9ea2963defdab62cafde433b621e0410b5537017",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:991f7d1a7249e0f79d007894e94bebcd205884dfeff6be36a163909ef29b3e47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqAIKjgEIEhgCKkBjEIsQt+bXxWSSqDSHW/Slcq800c53Kv63E1TuIATV5uvGaERZ+WeDx9ZulIUj4Ox0U6vbp8MybAN363K+1vMqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeSGzNUGEgwYkXyQEslkTAiUshYaDBizqGgT5MQnOEEqdSIwL3lOCKtUXEN3g+VjEw9EbfWvbEu/NgSMDi5PdDjM+73q2+QdavkDnAV6jbldpZbdKkc8K30LHDTLvPq6/36/hzfH59DpKtTlt+tZb9L3Wk1zn9cXV8DabL0HUnHWbtl2a1U+4nNfKQMQbU/Rxqr3IJ/fQ6elT3kKzRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0188uuFqsQyr7YD2nr3RV1Pw",
      "input": {
        "note": "Released; retracting the left arm up and back so the overhead camera can show whether the white bowl nested into the purple one.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_0188uuFqsQyr7YD2nr3RV1Pw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3695, 1.1465, 1.1679, -0.8967, -0.3325, -0.3561, 0.9958, -0.0216, 0.8097, 0.5945, -0.416, -0.0166, -0.02, 0.9973]\nstate[eef_state]: left_x=0.3083 left_y=-0.0537 left_z=0.236 left_yaw=0.0939 left_pitch=-0.2442 left_roll=0.0288 left_gripper=0.9958 right_x=0.2894 right_y=0.0003 right_z=0.164 right_yaw=0.0032 right_pitch=-0.0617 right_roll=0.0029 right_gripper=0.9973\nstate[joint_eff]: [0.3214, -3.8496, 9.347, 1.4481, -0.1245, 0.1832, 0.022, -0.0479, -1.5932, 6.9812, 1.6874, -0.0708, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01b5455d6577b8a0de16bacc7b081c4283242bfb0c4a15d80fde8a9fad70e01b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c348a4c1fd91b5bfadd2345c1916a7e22bc44d70d366ef47bbb31e77ad52aefb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fbb9b47a4eec0d499803e97d6ddc79d26b0fbcb578d5ae511474c61b25b783ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 6.027 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6567, 1.8668, 1.206, -0.2913, -0.4953, -0.5659, 0.0492, -0.0219, 0.8055, 0.5945, -0.4152, -0.0166, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.4163 left_y=-0.2103 left_z=0.078 left_yaw=0.0591 left_pitch=-0.2313 left_roll=0.0335 left_gripper=0.0492 right_x=0.2893 right_y=0.0002 right_z=0.1653 right_yaw=0.0026 right_pitch=-0.0568 right_roll=0.003 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -8.7726, 5.8735, 1.3602, -0.3004, 0.0024, 0.906, -0.1846, -1.2376, 6.9949, 1.6728, -0.0757, -0.0464, -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]: [-0.6567, 1.8755, 1.2018, -0.2951, -0.495, -0.5697, 0.9955, -0.0219, 0.8055, 0.5945, -0.4156, -0.0166, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4144 left_y=-0.209 left_z=0.0721 left_yaw=0.0636 left_pitch=-0.244 left_roll=0.0419 left_gripper=0.9955 right_x=0.2893 right_y=0.0002 right_z=0.1653 right_yaw=0.0028 right_pitch=-0.0572 right_roll=0.0027 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -9.4838, 5.8188, 1.3162, -0.2808, 0.0024, -0.1441, -0.0615, -1.2513, 7.159, 1.663, -0.0757, -0.0708, -0.0171]",
      "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]: [-0.3695, 1.1465, 1.1679, -0.8967, -0.3325, -0.3561, 0.9958, -0.0216, 0.8097, 0.5945, -0.416, -0.0166, -0.02, 0.9973]\nstate[eef_state]: left_x=0.3083 left_y=-0.0537 left_z=0.236 left_yaw=0.0939 left_pitch=-0.2442 left_roll=0.0288 left_gripper=0.9958 right_x=0.2894 right_y=0.0003 right_z=0.164 right_yaw=0.0032 right_pitch=-0.0617 right_roll=0.0029 right_gripper=0.9973\nstate[joint_eff]: [0.3214, -3.8496, 9.347, 1.4481, -0.1245, 0.1832, 0.022, -0.0479, -1.5932, 6.9812, 1.6874, -0.0708, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01b5455d6577b8a0de16bacc7b081c4283242bfb0c4a15d80fde8a9fad70e01b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c348a4c1fd91b5bfadd2345c1916a7e22bc44d70d366ef47bbb31e77ad52aefb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbb9b47a4eec0d499803e97d6ddc79d26b0fbcb578d5ae511474c61b25b783ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GyzCCmiPVQXYYQ5tLuhfd2",
      "input": {
        "note": "Top view confirms the white bowl is now nested at the middle position and only the pink bowl remains separate; bringing the right arm over the left edge of the pink bowl's rim.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.43,
          "right_y": 0.206,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01GyzCCmiPVQXYYQ5tLuhfd2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.1542, 1.1702, -0.91, -0.3141, -0.3634, 0.9959, 0.6071, 1.7741, 1.0142, -0.0246, 0.4469, 0.3531, 0.9974]\nstate[eef_state]: left_x=0.3068 left_y=-0.0554 left_z=0.2319 left_yaw=0.0882 left_pitch=-0.2671 left_roll=0.0191 left_gripper=0.9959 right_x=0.4149 right_y=0.1996 right_z=0.0834 right_yaw=0.0413 right_pitch=-0.122 right_roll=-0.0329 right_gripper=0.9974\nstate[joint_eff]: [-0.2393, -3.9316, 6.5846, 1.4823, -0.3639, 0.0073, -0.0073, 0.1026, -8.6496, 8.6769, 1.6777, 0.4029, 0.3199, -0.2759]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85085d5675bee0ce4823124d04a38ad19c1b982a16e2ae292cd6a336534bf94d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a6b4be83874660eaac547ddd6bccb62cca9a692b6f6b996b7f557c30b9846b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69c1d6d7056e7f34b899bce8c7ee5a670e0f39f33b890900611d6a291a0571fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 5.485 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6567, 1.8755, 1.2018, -0.2951, -0.495, -0.5697, 0.9955, -0.0219, 0.8055, 0.5945, -0.4156, -0.0166, -0.02, 0.9973]\nstate[eef_state]: left_x=0.4144 left_y=-0.209 left_z=0.0721 left_yaw=0.0636 left_pitch=-0.244 left_roll=0.0419 left_gripper=0.9955 right_x=0.2893 right_y=0.0002 right_z=0.1653 right_yaw=0.0028 right_pitch=-0.0572 right_roll=0.0027 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -9.4838, 5.8188, 1.3162, -0.2808, 0.0024, -0.1441, -0.0615, -1.2513, 7.159, 1.663, -0.0757, -0.0708, -0.0171]",
      "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]: [-0.3695, 1.1465, 1.1679, -0.8967, -0.3325, -0.3561, 0.9958, -0.0216, 0.8097, 0.5945, -0.416, -0.0166, -0.02, 0.9973]\nstate[eef_state]: left_x=0.3083 left_y=-0.0537 left_z=0.236 left_yaw=0.0939 left_pitch=-0.2442 left_roll=0.0288 left_gripper=0.9958 right_x=0.2894 right_y=0.0003 right_z=0.164 right_yaw=0.0032 right_pitch=-0.0617 right_roll=0.0029 right_gripper=0.9973\nstate[joint_eff]: [0.3214, -3.8496, 9.347, 1.4481, -0.1245, 0.1832, 0.022, -0.0479, -1.5932, 6.9812, 1.6874, -0.0708, -0.0562, -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]: [-0.3664, 1.1542, 1.1702, -0.91, -0.3141, -0.3634, 0.9959, 0.6071, 1.7741, 1.0142, -0.0246, 0.4469, 0.3531, 0.9974]\nstate[eef_state]: left_x=0.3068 left_y=-0.0554 left_z=0.2319 left_yaw=0.0882 left_pitch=-0.2671 left_roll=0.0191 left_gripper=0.9959 right_x=0.4149 right_y=0.1996 right_z=0.0834 right_yaw=0.0413 right_pitch=-0.122 right_roll=-0.0329 right_gripper=0.9974\nstate[joint_eff]: [-0.2393, -3.9316, 6.5846, 1.4823, -0.3639, 0.0073, -0.0073, 0.1026, -8.6496, 8.6769, 1.6777, 0.4029, 0.3199, -0.2759]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85085d5675bee0ce4823124d04a38ad19c1b982a16e2ae292cd6a336534bf94d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a6b4be83874660eaac547ddd6bccb62cca9a692b6f6b996b7f557c30b9846b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69c1d6d7056e7f34b899bce8c7ee5a670e0f39f33b890900611d6a291a0571fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISsgYKjgEIEhgCKkB6zrVohhYVi6OTVVebwbTdaAeUszJ62U3KOTKRcBk9q01nt5JsZWbKmdWXYk5Z2Lt/TwKo3YID86H5WeEyQ4HbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfmGzNUGEgyLfkA+DCZATPKisTIaDMNXQm8gNKw3fOY+/CIwwHamjyNZnRxH/Q9mAzH5tj7Cfq0cKjxAL1PPVqVBqJ0SxahVJFWb3HdDgbvI6MnwKtAEoxjJwSxpsMpb2b6JOwjRk+iHNG21UH/4OC6CThn570wIKYnfO06+xJH6+qtUlky/my1seAUp/Q0AcoFcEwQv8o9ZMCBBh41KS7wOsXzRte6nZ4Y2nQvFz9mrlRSNCq9aFSraDocT/RGlts0UZvWgJbiDKZTqUMJFPsiJ3E8/e/EK24Z/Rt3TcwFEfLg6aChtsQvoWYqhVeE03wBcOYmop8q+pdMF8Ii/B4IXjdVLnfyIYKPV1LBfnTciqq5lmU9MTCCkmOv/VVdWQjgs8XEi5n380V7tSWZv3nzwgVH5d0lNHM3oKHnWuWKMCGqr0XmtZqkDY6ov88eX+rHzAuCE71Ri1+KKw/lB+0Fcn0v0UCo1WXi8WLJ0KLI9TgZstFJyqeJiad3KqDM2D8+y2yVp5Da0Bas8Rp7hAnR56n1kAvBDOz7tv2ptXBEckpMxz/Gg+k1NC0xasasZ/8P9gufYlWRcqHSgvMOZ9toTj072KGy8ie3vLXDzCNlSVBw9vY4JERO3wdB9NbHDFYCqOlGV9X5sBF8IMxKnxDSRx1RSm7qwe9kNFXHq9GxpleMJ9dQlvWBEMg0bVegeUnLY+XnLFnYINSYGn3EolzOukDSMh2ySE1q+RP1P8kA/bSgZTq3mI+OrV6Ky41hERmsAX4IAywI0TLbFdfDq2Som6iWM6pYixXpGoi0f/aFIYBCCWnK5KZ4Cdu4NOures8GctkqSy7DA4FRf5GpPfT2X8mE76O2La0X7iHvefZNOaeGcJ0AUT39BzuckhMCBnsgg++nieRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CeLnzFyqfNZxqa68hgxCX9",
      "input": {
        "note": "The right wrist view has the pink bowl's rim about 2.5 cm to the arm's right of the jaws; shifting over and dropping to rim height to straddle the wall.",
        "targets": {
          "right_y": 0.175,
          "right_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_01CeLnzFyqfNZxqa68hgxCX9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.1542, 1.1702, -0.9112, -0.3134, -0.3634, 0.9959, 0.5484, 1.8458, 0.8654, 0.1417, 0.4145, 0.3191, 0.9973]\nstate[eef_state]: left_x=0.3066 left_y=-0.0555 left_z=0.2317 left_yaw=0.0877 left_pitch=-0.2684 left_roll=0.0191 left_gripper=0.9959 right_x=0.4046 right_y=0.168 right_z=0.0237 right_yaw=0.0221 right_pitch=-0.1816 right_roll=-0.0668 right_gripper=0.9973\nstate[joint_eff]: [-0.2393, -3.4393, 6.5709, 1.409, -0.2125, -0.0611, -0.0122, 0.1299, -8.3214, 5.9966, 1.8632, 0.1099, -0.0562, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:054a2ddd165692f59b8dc05c4cfe64cd597067089dd2cf05f6ede0706c742936",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b828195669d30ea689dc4aefb49f7efd112dfbce8d13adf8192899bb8289810b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb4d230509cc53b64f1a5d3a2e26d9d8c69d9eaf292be62e2bac48b358ca64a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 6.216 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3695, 1.1465, 1.1679, -0.8967, -0.3325, -0.3561, 0.9958, -0.0216, 0.8097, 0.5945, -0.416, -0.0166, -0.02, 0.9973]\nstate[eef_state]: left_x=0.3083 left_y=-0.0537 left_z=0.236 left_yaw=0.0939 left_pitch=-0.2442 left_roll=0.0288 left_gripper=0.9958 right_x=0.2894 right_y=0.0003 right_z=0.164 right_yaw=0.0032 right_pitch=-0.0617 right_roll=0.0029 right_gripper=0.9973\nstate[joint_eff]: [0.3214, -3.8496, 9.347, 1.4481, -0.1245, 0.1832, 0.022, -0.0479, -1.5932, 6.9812, 1.6874, -0.0708, -0.0562, -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]: [-0.3664, 1.1542, 1.1702, -0.91, -0.3141, -0.3634, 0.9959, 0.6071, 1.7741, 1.0142, -0.0246, 0.4469, 0.3531, 0.9974]\nstate[eef_state]: left_x=0.3068 left_y=-0.0554 left_z=0.2319 left_yaw=0.0882 left_pitch=-0.2671 left_roll=0.0191 left_gripper=0.9959 right_x=0.4149 right_y=0.1996 right_z=0.0834 right_yaw=0.0413 right_pitch=-0.122 right_roll=-0.0329 right_gripper=0.9974\nstate[joint_eff]: [-0.2393, -3.9316, 6.5846, 1.4823, -0.3639, 0.0073, -0.0073, 0.1026, -8.6496, 8.6769, 1.6777, 0.4029, 0.3199, -0.2759]",
      "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]: [-0.3664, 1.1542, 1.1702, -0.9112, -0.3134, -0.3634, 0.9959, 0.5484, 1.8458, 0.8654, 0.1417, 0.4145, 0.3191, 0.9973]\nstate[eef_state]: left_x=0.3066 left_y=-0.0555 left_z=0.2317 left_yaw=0.0877 left_pitch=-0.2684 left_roll=0.0191 left_gripper=0.9959 right_x=0.4046 right_y=0.168 right_z=0.0237 right_yaw=0.0221 right_pitch=-0.1816 right_roll=-0.0668 right_gripper=0.9973\nstate[joint_eff]: [-0.2393, -3.4393, 6.5709, 1.409, -0.2125, -0.0611, -0.0122, 0.1299, -8.3214, 5.9966, 1.8632, 0.1099, -0.0562, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:054a2ddd165692f59b8dc05c4cfe64cd597067089dd2cf05f6ede0706c742936",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b828195669d30ea689dc4aefb49f7efd112dfbce8d13adf8192899bb8289810b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb4d230509cc53b64f1a5d3a2e26d9d8c69d9eaf292be62e2bac48b358ca64a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvQUKjgEIEhgCKkCRtWLJNnEnrALuw1YPJnGsOT4XQ+yvmFYTw2Ehh+uQWUo61tM1bRjW7+GbEN1U09biRv5/0Jr81czTtQYmceCNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf6GzNUGEgws3WpoxdLlMPQF0tUaDDYm7k2bNaN9nKiotSIwnWzDFgB6kOEPvAANn12R5Eda0PqNoErvI6SMFwCaaRFJ7+2uaGPwH7csmSOx5Bi9KtsDQEkgEFIsT4X6Y4OzhRgM/FcSGBWyuLJVftjzN84U1ymUuMCmP0WsykeeHG+1EHxEiPWekd199/DGi3gkgrFt7XM9VComykCKkEcw3ExO4ZW0e7KHMGFDZa1OmltiE0kpazVp84enp3bWf/imznZPNb2lRB+WeMKZlim/BBrUiZ5uv5peROkvBYPTJ3j/ZC+XsdoiYNTfEuBPTz+4eBWk3BMRE+1yEsJp0qvbez+jj6qYMUM3RzSeEc3g33hzaQHRTx1LIcfk6hR8JfHfUT+agIeZg82IfXUjV2mWg2+n2fa+LQAR9qybmBK/ZTUO4RifpKZPRQY8l+paAto/YsToLONWne8X2+5BNCNs3Fee2JW9oPYoLgQaTN7U8Vwv91mSESbPZ41d0ta16GRKrA6LtuLxUWnkdzul1RA0L5W7A9nB7pWGoGr9HSnEW30wg6ZcI9HY3EMST1aUCt7h7dHVIIdSJGQhQ0iAQzIa3PwRn05AFoFHF8wc3cT5Bgr5IARPw9pyDddL83eGFhtS+ORYMIze+7RI+dWGnVmvSD1j+6xTIGDLlyeC1zD60EQEZdbUm/LuC/uc1d37JecvSrcgFgqGMQTq85w8awfjL+ZZNfE+ft8BqDt5ECsFFhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018NZ29Ggf43MjEkyeysTiQ9",
      "input": {
        "note": "Same picture as the successful left-arm grasp: rim edge ~2.5 cm right of the jaws, so shifting -y that much to put the rim wall between the jaws.",
        "targets": {
          "right_y": 0.143
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_018NZ29Ggf43MjEkyeysTiQ9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.1549, 1.1702, -0.9127, -0.313, -0.3634, 0.9959, 0.5449, 1.8645, 0.852, 0.2153, 0.4026, 0.2947, 0.9973]\nstate[eef_state]: left_x=0.3064 left_y=-0.0555 left_z=0.2312 left_yaw=0.0877 left_pitch=-0.2705 left_roll=0.0199 left_gripper=0.9959 right_x=0.41 right_y=0.1718 right_z=0.0225 right_yaw=0.0448 right_pitch=-0.1505 right_roll=-0.0568 right_gripper=0.9973\nstate[joint_eff]: [-0.3487, -3.3436, 6.5299, 1.3748, -0.2173, -0.0611, -0.0122, 0.0342, -9.0325, 5.7504, 1.663, 0.105, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e78037bf4367964c499a6dcb217628542363b28ce4affa596bb1a41abd3bf595",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73ebc43a3b9ce2232e6ff62c125fa0deafeed3543d8416cc93c8c6305227f078",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d12c6c8393a970f1c128236d665afed63ff2e7d6a4c1f4a0557efc34128f3ca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 11.35 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.1542, 1.1702, -0.91, -0.3141, -0.3634, 0.9959, 0.6071, 1.7741, 1.0142, -0.0246, 0.4469, 0.3531, 0.9974]\nstate[eef_state]: left_x=0.3068 left_y=-0.0554 left_z=0.2319 left_yaw=0.0882 left_pitch=-0.2671 left_roll=0.0191 left_gripper=0.9959 right_x=0.4149 right_y=0.1996 right_z=0.0834 right_yaw=0.0413 right_pitch=-0.122 right_roll=-0.0329 right_gripper=0.9974\nstate[joint_eff]: [-0.2393, -3.9316, 6.5846, 1.4823, -0.3639, 0.0073, -0.0073, 0.1026, -8.6496, 8.6769, 1.6777, 0.4029, 0.3199, -0.2759]",
      "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]: [-0.3664, 1.1542, 1.1702, -0.9112, -0.3134, -0.3634, 0.9959, 0.5484, 1.8458, 0.8654, 0.1417, 0.4145, 0.3191, 0.9973]\nstate[eef_state]: left_x=0.3066 left_y=-0.0555 left_z=0.2317 left_yaw=0.0877 left_pitch=-0.2684 left_roll=0.0191 left_gripper=0.9959 right_x=0.4046 right_y=0.168 right_z=0.0237 right_yaw=0.0221 right_pitch=-0.1816 right_roll=-0.0668 right_gripper=0.9973\nstate[joint_eff]: [-0.2393, -3.4393, 6.5709, 1.409, -0.2125, -0.0611, -0.0122, 0.1299, -8.3214, 5.9966, 1.8632, 0.1099, -0.0562, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.1549, 1.1702, -0.9127, -0.313, -0.3634, 0.9959, 0.5449, 1.8645, 0.852, 0.2153, 0.4026, 0.2947, 0.9973]\nstate[eef_state]: left_x=0.3064 left_y=-0.0555 left_z=0.2312 left_yaw=0.0877 left_pitch=-0.2705 left_roll=0.0199 left_gripper=0.9959 right_x=0.41 right_y=0.1718 right_z=0.0225 right_yaw=0.0448 right_pitch=-0.1505 right_roll=-0.0568 right_gripper=0.9973\nstate[joint_eff]: [-0.3487, -3.3436, 6.5299, 1.3748, -0.2173, -0.0611, -0.0122, 0.0342, -9.0325, 5.7504, 1.663, 0.105, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e78037bf4367964c499a6dcb217628542363b28ce4affa596bb1a41abd3bf595",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73ebc43a3b9ce2232e6ff62c125fa0deafeed3543d8416cc93c8c6305227f078",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d12c6c8393a970f1c128236d665afed63ff2e7d6a4c1f4a0557efc34128f3ca0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISswcKjgEIEhgCKkDiXSMZ0FbbusN9Iu/RRPS514d+kUYFDIBbXHCsou/QvG2V8T5dRE13NvrP5AY2TjYdlrgwyKDUkSgtnWeHb3rVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYWHzNUGEgzoH59vMZDlHp3fpmMaDARqFd0wJ+WLePCLWSIwmRqd55lj11lVTHaVNiPgVxaa9MBfb/tKpo0LfnFSvl3Zry3T2n7vdOthJPR01Y5/KtEFOkaNNfMomP6GfEQ8YqOV/Frt/z9DBotzKvB2iLghvyHEOORC8QnKE3w6M8BJeXBw7ll6Ucjv2ryVyY69cLoa2u3BGLIUWNsF4QoP9nyd8Z3OzgTpeRUxHZRIDv265iOU45LsTr0O8xIwYZDmRagt8s89/BGNUtlucUpW5fyClMmyDTvGWXfBSQmbkxRLtrEdkrfKns2uxOwC0YpnOu0J7KNiFBto+FtKzhbZG0kJJpV4GkpVF8sZTRdVNUyitcTy30ev3BUhFV9PgU5ok7v+xSCTR1k5DRjnWObjQK49XB6snL6/eK75FgiHmWIHPClkomJhC1CKEtTjuUGZSJswPHjUsQ+EePle8W+JOFdWt6ZQG4NHd8vyZFSYVBh/Mydukf4q6/Oo/5RUpdRxhHFSqX4t3/a07j5moYAz7jEsROOohq6U630p0UBK7brZER0RNxE+FS52wUQe+8JsKC4pQY+cdkFh+43TGGlBoqTsVqA/1CCmz6Va2XGEcelGjkPG8EbcceLCuE/gsqvGgyulEfvx+Vze1WyySC4iom0ximF1QJ4d3EPP0EqPMQsIf9YR7H+l9s9iQJEBWd0N9VGlYmrfesJ5kfJCapqSEgqASuhkwmZ8eUElhuavZHJKSCnZsktmW8aEv3tFNdXc6A5C2dVS7bb6bMQGtIFDdooLNKjGYDv6/4FUKaIlNRK2XUi0mEt5fRr8FEcnHAe0G7/HrB54f0MosAgFEDIRolS2MVF/w+bNZJgi+hTCxmtXPkF1NXbqoBIa6DyUdmwKzzlXUDVhycFWLwDM++iHKUC8ncAeUXEDQHhmXTPIH9raX5172NEapffaCT1iNpVeE/fwCeNp/mrFWuEhSMzl21pJB7vzJI/0+6PBhfs0d0Xhs8FEdyqkFGaeVSSLFWpu3JgAiyuiT/9zMw12QyosfhRQaGRTbMsXqHOCXfnBtylWWmBZDBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017VeeavW94tmWtSqCqbkPPw",
      "input": {
        "note": "The pink bowl's rim wall now lies between the open jaws (the right jaw is over the rim, the left outside); closing to pinch it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017VeeavW94tmWtSqCqbkPPw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.1549, 1.1702, -0.9127, -0.313, -0.3634, 0.9959, 0.5457, 1.8587, 0.8524, 0.2218, 0.4221, 0.2722, 0.0415]\nstate[eef_state]: left_x=0.3064 left_y=-0.0555 left_z=0.2312 left_yaw=0.0877 left_pitch=-0.2705 left_roll=0.0199 left_gripper=0.9959 right_x=0.4122 right_y=0.1698 right_z=0.027 right_yaw=0.0432 right_pitch=-0.1338 right_roll=-0.0802 right_gripper=0.0415\nstate[joint_eff]: [-0.335, -3.4256, 6.4615, 1.3455, -0.2222, -0.0366, -0.0122, -0.3214, -7.8974, 5.7231, 1.3895, -0.1343, 0.3639, 1.0672]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:191043b6a7caa87a34617ceb482eb65e005b28b7a53eef5387767a213b7ccc78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78e259fbeac6e0416aaed1a3b0e53449b30a4a2e33d3c540daf210cb536c53b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ebaf16e1fe6d205ba64d3d11ed54e202027d8eb9dd6b693bb5df1058208b414",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 5.786 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.1542, 1.1702, -0.9112, -0.3134, -0.3634, 0.9959, 0.5484, 1.8458, 0.8654, 0.1417, 0.4145, 0.3191, 0.9973]\nstate[eef_state]: left_x=0.3066 left_y=-0.0555 left_z=0.2317 left_yaw=0.0877 left_pitch=-0.2684 left_roll=0.0191 left_gripper=0.9959 right_x=0.4046 right_y=0.168 right_z=0.0237 right_yaw=0.0221 right_pitch=-0.1816 right_roll=-0.0668 right_gripper=0.9973\nstate[joint_eff]: [-0.2393, -3.4393, 6.5709, 1.409, -0.2125, -0.0611, -0.0122, 0.1299, -8.3214, 5.9966, 1.8632, 0.1099, -0.0562, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.1549, 1.1702, -0.9127, -0.313, -0.3634, 0.9959, 0.5449, 1.8645, 0.852, 0.2153, 0.4026, 0.2947, 0.9973]\nstate[eef_state]: left_x=0.3064 left_y=-0.0555 left_z=0.2312 left_yaw=0.0877 left_pitch=-0.2705 left_roll=0.0199 left_gripper=0.9959 right_x=0.41 right_y=0.1718 right_z=0.0225 right_yaw=0.0448 right_pitch=-0.1505 right_roll=-0.0568 right_gripper=0.9973\nstate[joint_eff]: [-0.3487, -3.3436, 6.5299, 1.3748, -0.2173, -0.0611, -0.0122, 0.0342, -9.0325, 5.7504, 1.663, 0.105, 0.0269, -0.0171]",
      "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]: [-0.3664, 1.1549, 1.1702, -0.9127, -0.313, -0.3634, 0.9959, 0.5457, 1.8587, 0.8524, 0.2218, 0.4221, 0.2722, 0.0415]\nstate[eef_state]: left_x=0.3064 left_y=-0.0555 left_z=0.2312 left_yaw=0.0877 left_pitch=-0.2705 left_roll=0.0199 left_gripper=0.9959 right_x=0.4122 right_y=0.1698 right_z=0.027 right_yaw=0.0432 right_pitch=-0.1338 right_roll=-0.0802 right_gripper=0.0415\nstate[joint_eff]: [-0.335, -3.4256, 6.4615, 1.3455, -0.2222, -0.0366, -0.0122, -0.3214, -7.8974, 5.7231, 1.3895, -0.1343, 0.3639, 1.0672]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:191043b6a7caa87a34617ceb482eb65e005b28b7a53eef5387767a213b7ccc78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78e259fbeac6e0416aaed1a3b0e53449b30a4a2e33d3c540daf210cb536c53b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ebaf16e1fe6d205ba64d3d11ed54e202027d8eb9dd6b693bb5df1058208b414",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JZBjsdfwT3wyCUZdwB1F8K",
      "input": {
        "note": "Gripper settled at 0.042, the signature of a pinched rim; lifting the pink bowl and carrying it left over the nested white/purple stack.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.395,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01JZBjsdfwT3wyCUZdwB1F8K",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3645, 1.1549, 1.1702, -0.9211, -0.3141, -0.3637, 0.9959, 0.9325, 2.2978, 2.0995, -0.7815, 0.6376, 0.5915, 0.0444]\nstate[eef_state]: left_x=0.3051 left_y=-0.0541 left_z=0.23 left_yaw=0.0918 left_pitch=-0.2777 left_roll=0.0243 left_gripper=0.9959 right_x=0.4186 right_y=0.3937 right_z=0.1439 right_yaw=0.0797 right_pitch=-0.1648 right_roll=-0.092 right_gripper=0.0444\nstate[joint_eff]: [-0.0752, -3.453, 6.5573, 1.5751, -0.149, -0.0317, -0.0122, 0.9094, -13.641, 8.7863, 1.1062, 0.5446, 0.2222, 0.8718]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:055df895a053276362db208a7e93adba3f9ed7c4059e0bd2e5602fd59f6ba13f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:876d4be66937213af9751bc7077b00ecbdb3bcc2b56d8d0912ed1756e13944ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0319b0e5304173106bd89f4ee493eedf5331fd37bdbbad016601ee2795fd17e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 7.36 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.1549, 1.1702, -0.9127, -0.313, -0.3634, 0.9959, 0.5449, 1.8645, 0.852, 0.2153, 0.4026, 0.2947, 0.9973]\nstate[eef_state]: left_x=0.3064 left_y=-0.0555 left_z=0.2312 left_yaw=0.0877 left_pitch=-0.2705 left_roll=0.0199 left_gripper=0.9959 right_x=0.41 right_y=0.1718 right_z=0.0225 right_yaw=0.0448 right_pitch=-0.1505 right_roll=-0.0568 right_gripper=0.9973\nstate[joint_eff]: [-0.3487, -3.3436, 6.5299, 1.3748, -0.2173, -0.0611, -0.0122, 0.0342, -9.0325, 5.7504, 1.663, 0.105, 0.0269, -0.0171]",
      "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]: [-0.3664, 1.1549, 1.1702, -0.9127, -0.313, -0.3634, 0.9959, 0.5457, 1.8587, 0.8524, 0.2218, 0.4221, 0.2722, 0.0415]\nstate[eef_state]: left_x=0.3064 left_y=-0.0555 left_z=0.2312 left_yaw=0.0877 left_pitch=-0.2705 left_roll=0.0199 left_gripper=0.9959 right_x=0.4122 right_y=0.1698 right_z=0.027 right_yaw=0.0432 right_pitch=-0.1338 right_roll=-0.0802 right_gripper=0.0415\nstate[joint_eff]: [-0.335, -3.4256, 6.4615, 1.3455, -0.2222, -0.0366, -0.0122, -0.3214, -7.8974, 5.7231, 1.3895, -0.1343, 0.3639, 1.0672]\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]: [-0.3645, 1.1549, 1.1702, -0.9211, -0.3141, -0.3637, 0.9959, 0.9325, 2.2978, 2.0995, -0.7815, 0.6376, 0.5915, 0.0444]\nstate[eef_state]: left_x=0.3051 left_y=-0.0541 left_z=0.23 left_yaw=0.0918 left_pitch=-0.2777 left_roll=0.0243 left_gripper=0.9959 right_x=0.4186 right_y=0.3937 right_z=0.1439 right_yaw=0.0797 right_pitch=-0.1648 right_roll=-0.092 right_gripper=0.0444\nstate[joint_eff]: [-0.0752, -3.453, 6.5573, 1.5751, -0.149, -0.0317, -0.0122, 0.9094, -13.641, 8.7863, 1.1062, 0.5446, 0.2222, 0.8718]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:055df895a053276362db208a7e93adba3f9ed7c4059e0bd2e5602fd59f6ba13f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:876d4be66937213af9751bc7077b00ecbdb3bcc2b56d8d0912ed1756e13944ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0319b0e5304173106bd89f4ee493eedf5331fd37bdbbad016601ee2795fd17e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8wUKjgEIEhgCKkCi3k++6LQJf36dghCQN8SjfGsPwaHiSLM8GXh9dCuA7GPWxjfZPx60WUTNAMzKtO25tCmOK/89PUtaF+GWhx9vMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZmHzNUGEgxY7pJU1vZAV/orUDoaDLSjjx2pzZ7ep83CySIwsacd7pAU7+uFjw73TQ/fvJxoe1hGTOkoD5oGMpDVguWKu3HqedbxY1fQ2oj5jgdpKpEEYyViZwunaErrZN9NBtGPdyPbht0P/Lqc4ee4fgdvSgU73lku/HcYYk4GA8mYO8P4hNYqI9JL+dfxx0/+uz4lbPJGsfiK/RC9hpaZhuiMIwVRa0FAdCFbNTG4FYa8nIIUtkrzApQ9GgWjwKIxHhJ7mq1YP6EMKFHpu4qvRCxljtD0JkCD7dHfV4FBfPv1MNfsXK2woM+UKPrkNefGSH/hkajNWGDVTgNAdfJ/dapPdj3Um5pOw/BStSTT/mZxkQTO8CGM7nnPxBHq0KQI7FAt5Bu2hy1JWxG04jkpO+FaB2aurSOEoEqrMKxzzw/vuPKMflGn5+f7kpXNKDzIjNvkfFsnUJ8uBzA21vHOVT+UVodeDuOnsOJNjUY1S4107NucVaSsa+/GjUELCVk9ffrt9fzro3On+EJMV6M0wfdxDRzUp0cHZ/77PTFDfpCdMpN7njoYm8Uok5DNFWoFVxwygG3bdvIXda7llR1XLoFAGDZTnCYRTCFu5iewwH6YZdRhbKetnEgXKqpceeXacF84ghN3xHgaAd1BVTlMW87GZfkrhnO04u4tAO4j5BWDpRfisHc+k/gj4r0P1/wfnU7wMKy2tuESEeZ/nno1rEZuYse0gLEZa9gnuyKenHBP2bH26ceWYv4tatGYQB8VqXD6kfNABw0mkKnaYjQtVE5OWXC9pKm6msLFEy7ButiP/CJIbRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BKkf1VHfBDiWuckFsUSX6X",
      "input": {
        "note": "Pink bowl is carried above the stack position; descending toward the nested bowls until the descent stalls on contact.",
        "targets": {
          "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_01BKkf1VHfBDiWuckFsUSX6X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3649, 1.1561, 1.1702, -0.9314, -0.313, -0.3634, 0.9959, 0.9321, 2.3173, 1.8912, -0.6174, 0.6239, 0.5903, 0.0456]\nstate[eef_state]: left_x=0.3033 left_y=-0.0538 left_z=0.2281 left_yaw=0.0917 left_pitch=-0.2884 left_roll=0.0289 left_gripper=0.9959 right_x=0.4106 right_y=0.3859 right_z=0.0748 right_yaw=0.0794 right_pitch=-0.2156 right_roll=-0.1339 right_gripper=0.0456\nstate[joint_eff]: [-0.1436, -3.535, 6.5026, 1.4188, -0.1929, -0.0269, -0.0122, 0.0205, -12.7521, 7.0222, 1.3797, 0.4176, 0.0073, 0.9206]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1946b28356fc38cac52efd2d465023df0d1e3e1039a8dcea7489f3466f15a41b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdab4094127764f918862a6f2a20f90f8f9387e52be40571f12f67ef943c3ac6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:685c60581bf68c3d5fb6193d6a26a0a4b7a5cc2fc439c99294e356f2ea42df2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /messages · status 200 · 3.135 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3664, 1.1549, 1.1702, -0.9127, -0.313, -0.3634, 0.9959, 0.5457, 1.8587, 0.8524, 0.2218, 0.4221, 0.2722, 0.0415]\nstate[eef_state]: left_x=0.3064 left_y=-0.0555 left_z=0.2312 left_yaw=0.0877 left_pitch=-0.2705 left_roll=0.0199 left_gripper=0.9959 right_x=0.4122 right_y=0.1698 right_z=0.027 right_yaw=0.0432 right_pitch=-0.1338 right_roll=-0.0802 right_gripper=0.0415\nstate[joint_eff]: [-0.335, -3.4256, 6.4615, 1.3455, -0.2222, -0.0366, -0.0122, -0.3214, -7.8974, 5.7231, 1.3895, -0.1343, 0.3639, 1.0672]\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]: [-0.3645, 1.1549, 1.1702, -0.9211, -0.3141, -0.3637, 0.9959, 0.9325, 2.2978, 2.0995, -0.7815, 0.6376, 0.5915, 0.0444]\nstate[eef_state]: left_x=0.3051 left_y=-0.0541 left_z=0.23 left_yaw=0.0918 left_pitch=-0.2777 left_roll=0.0243 left_gripper=0.9959 right_x=0.4186 right_y=0.3937 right_z=0.1439 right_yaw=0.0797 right_pitch=-0.1648 right_roll=-0.092 right_gripper=0.0444\nstate[joint_eff]: [-0.0752, -3.453, 6.5573, 1.5751, -0.149, -0.0317, -0.0122, 0.9094, -13.641, 8.7863, 1.1062, 0.5446, 0.2222, 0.8718]",
      "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]: [-0.3649, 1.1561, 1.1702, -0.9314, -0.313, -0.3634, 0.9959, 0.9321, 2.3173, 1.8912, -0.6174, 0.6239, 0.5903, 0.0456]\nstate[eef_state]: left_x=0.3033 left_y=-0.0538 left_z=0.2281 left_yaw=0.0917 left_pitch=-0.2884 left_roll=0.0289 left_gripper=0.9959 right_x=0.4106 right_y=0.3859 right_z=0.0748 right_yaw=0.0794 right_pitch=-0.2156 right_roll=-0.1339 right_gripper=0.0456\nstate[joint_eff]: [-0.1436, -3.535, 6.5026, 1.4188, -0.1929, -0.0269, -0.0122, 0.0205, -12.7521, 7.0222, 1.3797, 0.4176, 0.0073, 0.9206]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1946b28356fc38cac52efd2d465023df0d1e3e1039a8dcea7489f3466f15a41b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdab4094127764f918862a6f2a20f90f8f9387e52be40571f12f67ef943c3ac6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:685c60581bf68c3d5fb6193d6a26a0a4b7a5cc2fc439c99294e356f2ea42df2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS+QgKjgEIEhgCKkAHNownWEZoI+4bbDH73EuKg2IhM/FtG7lrNA5L9AgBsB8r04iNozLdrh8t4MULPA2BwM5pMbTBHxynQ4osZgy6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaGHzNUGEgxXM/0E7OrROHkM9XIaDPiN9wI/f6/du2VhkyIwlShI24u2pbaEY2EKCVS8+D3jEVHz0uJlfvIrPFJ+jCegpA+8hOfTzqyq0sqlZ2fXKpcHUQp/ZTMNdarOiLSGEl3EiKJHGQ7R7mB48cd9cjf6nVrxB6rgQ4YrEnbCNBGxlft3J10C9wDak+Q8O6F4uW3ujeP3VIf2CPo0LiomhJJisy3xl9SfWlnoQvjGlxGKDLLsP63Rf6FaJUXSRkvomzlSKt4X5c/PImp9qjPPGE9mssZrU15JvvH9OkaVkqVmrDOTc+c2VhSCtcOeIsYa+OgUBuFJbmGsuXGiTUk0G9gRV2kPQsR6rYQggrc3rboGKBk1rciucmoP5QQc1dGRwkwOHsP+ZMYBUHhRXfOHytSyqYZB4yThDXtFxLgBdI9J1vxfHlw2hn56QrNxLTkBlFJMqq9jUMcyi/T15m0ouc5Yb0RrOfCYryrijh0sVlaYPzil+8LZaB+IeG8uHFMj6NFKxvsdmX/xIaRXqDU6V1ND16HEEhEsFrJJEVM+t1u5fi1g0O9gDE4XxdHgq/gXSeswzyeUfRLIT7VpGempEM+61JTY9OxbjRfSZZwKvGbGe86eaVjOGdMA1E78lO3jIwaXUrnohpPW1TWqlWgyTkDekrmH6C1+lmxLzOGDTmlnOtg2X/r7sv1mA2UcJ/n9bXT/YdiukK8XRohb5SZgJb5loQ8UEdvtjMyY6Z1CxB9ObFw8ZQ9+GBnjmqbmW9Dg8R6IipYYuYk0ycLUMyjKctTUV2WH1GcYqktcKjaajRKDTzURwKrvxjCDiW6YNSH+p27LIOWO9VTBTg074xcrntShOpUoCtNfEyw5mbNmnJ2HB7ylW5rZ/ChgicXwoWToVpKNTmrsdWwIdCE7CI+wGpaNaaorEgUSiccgGqbdTvjskDDmAF9gG90yvTbo2CN7/OvnfvEjxqpGd9mKQP/IvA/UF5imHzrlOucTsAYdhYpDC96aC9t25mqVJffOHPtTxgusxORJXq7MYhh76NLZM1wp+0GWcVxX7o3aExedckvdSMG7fXOcAlc6a88/avSatAZyGiEsifnoXvSukFYQOp8/uPUmJlsPZyuv+LeiFuDHiigVqlgCIcUHCvn7FD0gOwoq49e3wBFoJoAA5q13kBFwyKelA7jvLq4aReHZeXATugCEpImkZ8cMqmikG2CMgG+C5xpL3mRbVpTj5Ax+rAIWebTNnJw/Zt2V16dlm025VjjAFmvl2f39z4qHr0mEtzWT/uLOkEE4IeBT5N16OI3vn9Ubjx59VIUvpb+ZQ+oMvNfjURIyX4BJ6xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B52WVcLGwNS1KhDHyJFTZe",
      "input": {
        "note": "A white rim (the stack) is visible right beside the pink bowl; continuing the descent until contact so the pink bowl seats on the stack.",
        "targets": {
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01B52WVcLGwNS1KhDHyJFTZe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3649, 1.1561, 1.1702, -0.9318, -0.3103, -0.3637, 0.9959, 0.9321, 2.3207, 1.8565, -0.551, 0.6193, 0.5835, 0.0487]\nstate[eef_state]: left_x=0.3032 left_y=-0.0542 left_z=0.228 left_yaw=0.0898 left_pitch=-0.2896 left_roll=0.0269 left_gripper=0.9959 right_x=0.4125 right_y=0.3896 right_z=0.0675 right_yaw=0.0905 right_pitch=-0.2003 right_roll=-0.1146 right_gripper=0.0487\nstate[joint_eff]: [-0.1709, -3.3299, 6.5436, 1.3846, -0.2027, -0.0366, -0.0122, -0.1026, -11.8085, 5.8735, 1.1355, 0.3394, 0.0415, 0.6081]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1953c150ed953126dded60a7ebaed712656831037abcb026d6cdee2d0f28609d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2bec17a21e382d705cb67f3aad44694202ea0c31eccdf1ba71f24a0fc2d074e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c739178af53f9d9e569159e3625b402c6e358940504f2c22e14ad1b457c06aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 3.011 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3645, 1.1549, 1.1702, -0.9211, -0.3141, -0.3637, 0.9959, 0.9325, 2.2978, 2.0995, -0.7815, 0.6376, 0.5915, 0.0444]\nstate[eef_state]: left_x=0.3051 left_y=-0.0541 left_z=0.23 left_yaw=0.0918 left_pitch=-0.2777 left_roll=0.0243 left_gripper=0.9959 right_x=0.4186 right_y=0.3937 right_z=0.1439 right_yaw=0.0797 right_pitch=-0.1648 right_roll=-0.092 right_gripper=0.0444\nstate[joint_eff]: [-0.0752, -3.453, 6.5573, 1.5751, -0.149, -0.0317, -0.0122, 0.9094, -13.641, 8.7863, 1.1062, 0.5446, 0.2222, 0.8718]",
      "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]: [-0.3649, 1.1561, 1.1702, -0.9314, -0.313, -0.3634, 0.9959, 0.9321, 2.3173, 1.8912, -0.6174, 0.6239, 0.5903, 0.0456]\nstate[eef_state]: left_x=0.3033 left_y=-0.0538 left_z=0.2281 left_yaw=0.0917 left_pitch=-0.2884 left_roll=0.0289 left_gripper=0.9959 right_x=0.4106 right_y=0.3859 right_z=0.0748 right_yaw=0.0794 right_pitch=-0.2156 right_roll=-0.1339 right_gripper=0.0456\nstate[joint_eff]: [-0.1436, -3.535, 6.5026, 1.4188, -0.1929, -0.0269, -0.0122, 0.0205, -12.7521, 7.0222, 1.3797, 0.4176, 0.0073, 0.9206]",
      "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]: [-0.3649, 1.1561, 1.1702, -0.9318, -0.3103, -0.3637, 0.9959, 0.9321, 2.3207, 1.8565, -0.551, 0.6193, 0.5835, 0.0487]\nstate[eef_state]: left_x=0.3032 left_y=-0.0542 left_z=0.228 left_yaw=0.0898 left_pitch=-0.2896 left_roll=0.0269 left_gripper=0.9959 right_x=0.4125 right_y=0.3896 right_z=0.0675 right_yaw=0.0905 right_pitch=-0.2003 right_roll=-0.1146 right_gripper=0.0487\nstate[joint_eff]: [-0.1709, -3.3299, 6.5436, 1.3846, -0.2027, -0.0366, -0.0122, -0.1026, -11.8085, 5.8735, 1.1355, 0.3394, 0.0415, 0.6081]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1953c150ed953126dded60a7ebaed712656831037abcb026d6cdee2d0f28609d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2bec17a21e382d705cb67f3aad44694202ea0c31eccdf1ba71f24a0fc2d074e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c739178af53f9d9e569159e3625b402c6e358940504f2c22e14ad1b457c06aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvQIKjgEIEhgCKkBLgkNOFce06JLOGUhG32q8bgUNcf6MppVob/4jXQxM9GTVurrW5T5c6Zy/v4G5RvO61g1dgc3xpz4VFtZeEQTxMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaSHzNUGEgwS4T3CdKsYpjyAKrAaDITXEmSfSoTxwgyYCSIwg7LJezV2/myBJFi2/jvCNrLq3hUFSF/ayU3K3983+b8IIH7AvBbOunHhxzCkzu+rKlyZizSQg97ni7XxASTc06lslxo1VQyNYafpAasf7tTkVIncdjugo/uLiJ8sTMomSuaWdG7UA1Jq/TEXM6CzLTKLxAuhIrjECQ8lp1x5jzciSCGHzeq47aQx4re8kRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M5G4yb7ZZ8jGwPY5hQs62h",
      "input": {
        "note": "Descent stalled at z=0.068, so the pink bowl is resting on the stack; opening the jaws to release it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01M5G4yb7ZZ8jGwPY5hQs62h",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3645, 1.1561, 1.1702, -0.9318, -0.3103, -0.3637, 0.9959, 0.9321, 2.336, 1.8343, -0.524, 0.6476, 0.5804, 0.996]\nstate[eef_state]: left_x=0.3032 left_y=-0.0541 left_z=0.228 left_yaw=0.0902 left_pitch=-0.2896 left_roll=0.0269 left_gripper=0.9959 right_x=0.4141 right_y=0.385 right_z=0.057 right_yaw=0.0728 right_pitch=-0.1893 right_roll=-0.1409 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -3.3709, 6.4615, 1.3162, -0.1832, -0.0757, -0.0122, -0.0342, -13.0393, 6.2701, 0.9841, 0.0464, 0.0171, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:779b61268f952299ed2ab84d5a476f86edfe3805e896a3d1116893b91d9fcb53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fcbf347026ac96e816b72fee1ed53789cd9320198d266126335eb549b09bc08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:289e38b21ed5c26d940cf45158650811c57fcff4d0b3213390a43ee9d1c354ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 10.54 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3649, 1.1561, 1.1702, -0.9314, -0.313, -0.3634, 0.9959, 0.9321, 2.3173, 1.8912, -0.6174, 0.6239, 0.5903, 0.0456]\nstate[eef_state]: left_x=0.3033 left_y=-0.0538 left_z=0.2281 left_yaw=0.0917 left_pitch=-0.2884 left_roll=0.0289 left_gripper=0.9959 right_x=0.4106 right_y=0.3859 right_z=0.0748 right_yaw=0.0794 right_pitch=-0.2156 right_roll=-0.1339 right_gripper=0.0456\nstate[joint_eff]: [-0.1436, -3.535, 6.5026, 1.4188, -0.1929, -0.0269, -0.0122, 0.0205, -12.7521, 7.0222, 1.3797, 0.4176, 0.0073, 0.9206]",
      "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]: [-0.3649, 1.1561, 1.1702, -0.9318, -0.3103, -0.3637, 0.9959, 0.9321, 2.3207, 1.8565, -0.551, 0.6193, 0.5835, 0.0487]\nstate[eef_state]: left_x=0.3032 left_y=-0.0542 left_z=0.228 left_yaw=0.0898 left_pitch=-0.2896 left_roll=0.0269 left_gripper=0.9959 right_x=0.4125 right_y=0.3896 right_z=0.0675 right_yaw=0.0905 right_pitch=-0.2003 right_roll=-0.1146 right_gripper=0.0487\nstate[joint_eff]: [-0.1709, -3.3299, 6.5436, 1.3846, -0.2027, -0.0366, -0.0122, -0.1026, -11.8085, 5.8735, 1.1355, 0.3394, 0.0415, 0.6081]",
      "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]: [-0.3645, 1.1561, 1.1702, -0.9318, -0.3103, -0.3637, 0.9959, 0.9321, 2.336, 1.8343, -0.524, 0.6476, 0.5804, 0.996]\nstate[eef_state]: left_x=0.3032 left_y=-0.0541 left_z=0.228 left_yaw=0.0902 left_pitch=-0.2896 left_roll=0.0269 left_gripper=0.9959 right_x=0.4141 right_y=0.385 right_z=0.057 right_yaw=0.0728 right_pitch=-0.1893 right_roll=-0.1409 right_gripper=0.996\nstate[joint_eff]: [-0.0615, -3.3709, 6.4615, 1.3162, -0.1832, -0.0757, -0.0122, -0.0342, -13.0393, 6.2701, 0.9841, 0.0464, 0.0171, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:779b61268f952299ed2ab84d5a476f86edfe3805e896a3d1116893b91d9fcb53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fcbf347026ac96e816b72fee1ed53789cd9320198d266126335eb549b09bc08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:289e38b21ed5c26d940cf45158650811c57fcff4d0b3213390a43ee9d1c354ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LJYJH6PuphkZitJe6i3Eea",
      "input": {
        "note": "Released the pink bowl; retracting both arms to home so the overhead camera can show the finished stack.",
        "targets": {
          "left_x": 0.29,
          "left_y": 0.0,
          "left_z": 0.2,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 28 steps (2.8s)",
      "tool_use_id": "toolu_01LJYJH6PuphkZitJe6i3Eea",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1055, 1.0431, 0.9878, -0.849, -0.1558, -0.1749, 0.9959, 0.308, 1.0412, 0.973, -0.7258, 0.2779, 0.0654, 0.996]\nstate[eef_state]: left_x=0.2879 left_y=0.0007 left_z=0.1944 left_yaw=0.1099 left_pitch=-0.3212 left_roll=0.0285 left_gripper=0.9959 right_x=0.3028 right_y=0.0492 right_z=0.212 right_yaw=0.0345 right_pitch=-0.1949 right_roll=-0.1437 right_gripper=0.996\nstate[joint_eff]: [0.3487, -4.0, 6.2838, 1.5995, -0.022, 0.2173, -0.0171, -0.1026, -2.906, 8.1846, 1.6239, 0.0611, -0.0415, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d98a6bd49023c05ea9225450769e55b718d0c2d201741af8eda39c8d7ad5f920",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:865eb455007a0c297c0e66f7e278e3d7d7e6d3a127b4d149d84464ec6cf13bdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:703185ad5ae59ae007d0dc8e840b841df52e52b4995675cabed6574899d6ef49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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