adhoc - adhoc_76bcd18e.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
max_speed_frac: 0.25
model: claude-opus-5
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: 445.9 s
total steps: 355

operator

scenes

trials

errored

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.

user

Goal: Stack the bowls on the table.

Raw transcript

system

user

Goal: Stack the bowls on the table.

step 0

assistant

agent noteThree bowls sit in a row; I'll stack the outer two into the middle one. First moving the right arm to hover over the right (pink) bowl, estimated at right_y≈0.09, x≈0.40.

move_to

right_x0.4000right_y0.0900right_z0.1800right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7937, 0.6037, -0.3813, -0.0227, -0.0257, 0.9936, -0.02, 0.7918, 0.5987, -0.3851, -0.017, -0.0334, 0.9966] state[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1797 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9936 right_x=0.2933 right_y=0.0007 right_z=0.1771 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9966 state[joint_eff]: [-0.6222, -1.3607, 10.1812, 1.7802, -0.0659, 0.1343, -0.3785, -0.5675, -1.306, 10.4274, 2.0733, -0.1245, 0.2222, -0.3687] 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": {"right_x": 0.4, "right_y": 0.09, "right_z": 0.18, "right_gripper": 1}, "note": "Three bowls sit in a row; I'll stack the outer two into the middle one. First moving the right arm to hover over the right (pink) bowl, estimated at right_y\u22480.09, x\u22480.40."})

tool

executing move_to over 9 steps (0.9s)

step 9

assistant

agent noteThe pink bowl is centred on the jaw column in the right wrist view. Moving to the bowl's right-hand rim (y offset -0.065) and down to z=0.06 so the open jaws can straddle the rim wall.

move_to

right_x0.3800right_y0.0250right_z0.0600right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7986, 0.6071, -0.3889, -0.0223, -0.0265, 0.9933, 0.3264, 1.3441, 0.8501, -0.2043, 0.2291, 0.1223, 0.9966] state[eef_state]: left_x=0.2943 left_y=0.0017 left_z=0.1783 left_yaw=0.0005 left_pitch=-0.0092 left_roll=-0.0007 left_gripper=0.9933 right_x=0.3815 right_y=0.0906 right_z=0.1504 right_yaw=0.0546 right_pitch=-0.0989 right_roll=-0.0343 right_gripper=0.9966 state[joint_eff]: [-0.0615, -1.5658, 6.7761, 1.79, -0.0562, -0.0757, -0.0415, -0.3897, -6.4068, 9.5795, 1.9853, 0.4469, 0.2711, -0.3639] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_y": 0.025, "right_z": 0.06, "right_gripper": 1}, "note": "The pink bowl is centred on the jaw column in the right wrist view. Moving to the bowl's right-hand rim (y offset -0.065) and down to z=0.06 so the open jaws can straddle the rim wall."})

tool

executing move_to over 6 steps (0.6s)

step 15

assistant

agent noteJaws straddle the pink bowl's right rim; closing them to pinch the rim wall.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7986, 0.6037, -0.3893, -0.0227, -0.0265, 0.9932, 0.0856, 1.4567, 0.5564, 0.1383, 0.0746, -0.0078, 0.9966] state[eef_state]: left_x=0.2938 left_y=0.0017 left_z=0.1766 left_yaw=0.0004 left_pitch=-0.013 left_roll=-0.0004 left_gripper=0.9932 right_x=0.3669 right_y=0.0219 right_z=0.0498 right_yaw=0.0139 right_pitch=-0.1819 right_roll=-0.0417 right_gripper=0.9966 state[joint_eff]: [-0.1983, -1.2786, 7.2821, 1.746, -0.0708, -0.0806, -0.0171, -0.1709, -5.2171, 6.2427, 1.8046, -0.1197, -0.1392, -0.359] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "Jaws straddle the pink bowl's right rim; closing them to pinch the rim wall."})

tool

executing move_to over 10 steps (1.0s)

step 25

assistant

agent noteGripper closed to 0.017; lifting 8 cm to test whether the rim was actually caught.

move_to

right_z0.1200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7998, 0.6037, -0.3893, -0.0227, -0.0265, 0.9932, 0.0849, 1.4685, 0.5404, 0.1448, 0.0616, -0.0128, 0.0171] state[eef_state]: left_x=0.2939 left_y=0.0017 left_z=0.1763 left_yaw=0.0004 left_pitch=-0.0141 left_roll=-0.0004 left_gripper=0.9932 right_x=0.3619 right_y=0.0235 right_z=0.0407 right_yaw=0.0266 right_pitch=-0.204 right_roll=-0.0375 right_gripper=0.0171 state[joint_eff]: [-0.1026, -1.347, 7.0906, 1.6972, -0.0611, -0.0806, -0.0171, -0.0615, -5.6957, 6.8718, 1.4676, 0.2808, 0.0171, 0.8083] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.12}, "note": "Gripper closed to 0.017; lifting 8 cm to test whether the rim was actually caught."})

tool

executing move_to over 6 steps (0.6s)

step 31

assistant

agent noteThe close was empty (bowl unmoved) — the rim sits about 2 cm to my +y side in the wrist view. Opening and shifting to right_y=0.05 to straddle the rim properly.

move_to

right_gripper1.0000right_z0.0700right_y0.0500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.8017, 0.6037, -0.3893, -0.0227, -0.0265, 0.9932, 0.0849, 1.314, 0.7101, -0.205, 0.062, -0.02, 0.02] state[eef_state]: left_x=0.294 left_y=0.0017 left_z=0.1758 left_yaw=0.0004 left_pitch=-0.016 left_roll=-0.0003 left_gripper=0.9932 right_x=0.3582 right_y=0.0231 right_z=0.0995 right_yaw=0.03 right_pitch=-0.2296 right_roll=-0.0445 right_gripper=0.02 state[joint_eff]: [-0.1162, -1.4427, 7.0359, 1.7363, -0.0562, -0.0611, -0.0171, -0.1846, -6.3521, 9.265, 1.6386, 0.022, 0.0806, 1.0281] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1, "right_z": 0.07, "right_y": 0.05}, "note": "The close was empty (bowl unmoved) \u2014 the rim sits about 2 cm to my +y side in the wrist view. Opening and shifting to right_y=0.05 to straddle the rim properly."})

tool

executing move_to over 10 steps (1.0s)

step 41

assistant

agent noteThe bowl's near rim is right under the jaws but the jaws close along y, parallel to that rim. Yawing the wrist 90° so the jaws close radially (one jaw inside, one outside the near rim) and lowering to rim height.

move_to

right_yaw1.5710right_z0.0500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.8024, 0.6037, -0.3889, -0.0227, -0.0265, 0.9931, 0.1913, 1.3796, 0.6456, -0.1043, 0.1188, 0.0418, 0.9952] state[eef_state]: left_x=0.2941 left_y=0.0017 left_z=0.1757 left_yaw=0.0004 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9931 right_x=0.353 right_y=0.0507 right_z=0.0693 right_yaw=0.0522 right_pitch=-0.2533 right_roll=-0.0467 right_gripper=0.9952 state[joint_eff]: [-0.2256, -0.8274, 7.0085, 1.7265, -0.0708, -0.0659, -0.0171, 0.294, -4.0684, 6.1607, 1.6239, 0.1978, 0.0904, -0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_yaw": 1.571, "right_z": 0.05}, "note": "The bowl's near rim is right under the jaws but the jaws close along y, parallel to that rim. Yawing the wrist 90\u00b0 so the jaws close radially (one jaw inside, one outside the near rim) and lowering to rim height."})

tool

executing move_to over 10 steps (1.0s)

step 51

assistant

agent noteWrist now yawed ~78°, jaws at rim height with the near rim between them; closing to pinch the rim radially.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.3901, -0.0227, -0.0265, 0.9931, -0.2058, 1.9888, 1.3125, -0.8761, -0.6914, -1.6089, 0.9956] state[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1748 left_yaw=0.0008 left_pitch=-0.0198 left_roll=-0.0002 left_gripper=0.9931 right_x=0.3756 right_y=0.0403 right_z=0.0408 right_yaw=1.368 right_pitch=-0.3015 right_roll=-0.0299 right_gripper=0.9956 state[joint_eff]: [-0.0615, -1.3607, 7.0496, 1.7021, -0.0855, -0.0562, -0.0073, 0.1436, -10.5778, 6.065, -0.2857, -0.7643, -0.1441, 0.0269] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "Wrist now yawed ~78\u00b0, jaws at rim height with the near rim between them; closing to pinch the rim radially."})

tool

executing move_to over 10 steps (1.0s)

step 61

assistant

agent noteClosed to 0.023; lifting to check if the pink bowl's rim is held.

move_to

right_z0.1200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.8051, 0.6037, -0.3897, -0.0227, -0.0265, 0.9931, -0.205, 2.0121, 1.3144, -0.8894, -0.6933, -1.607, 0.0228] state[eef_state]: left_x=0.2942 left_y=0.0017 left_z=0.1748 left_yaw=0.0004 left_pitch=-0.0198 left_roll=-0.0002 left_gripper=0.9931 right_x=0.3718 right_y=0.0417 right_z=0.0336 right_yaw=1.3785 right_pitch=-0.2993 right_roll=0.0077 right_gripper=0.0228 state[joint_eff]: [-0.0752, -1.306, 7.2, 1.6874, -0.0904, -0.0708, -0.0122, -0.1573, -11.4667, 5.0667, 0.486, -0.3834, -0.0904, 0.9792] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.12}, "note": "Closed to 0.023; lifting to check if the pink bowl's rim is held."})

tool

executing move_to over 6 steps (0.6s)

step 67

assistant

agent noteTwo empty closes: re-reading the top view, the pink bowl's centre is much closer to the base than I assumed (x≈0.30, y≈0.11). Returning yaw to 0 and hovering over its right-hand rim at x=0.30, y=0.05.

move_to

right_yaw0.0000right_x0.3000right_y0.0500right_z0.1000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8051, 0.6037, -0.3897, -0.0227, -0.0265, 0.9931, -0.205, 1.9469, 1.4982, -1.1366, -0.6807, -1.6154, 0.0286] state[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1748 left_yaw=0.0008 left_pitch=-0.0198 left_roll=-0.0002 left_gripper=0.9931 right_x=0.3764 right_y=0.0389 right_z=0.0982 right_yaw=1.3829 right_pitch=-0.3119 right_roll=0.0004 right_gripper=0.0286 state[joint_eff]: [-0.0479, -1.2786, 7.2274, 1.6874, -0.0366, -0.0464, -0.0122, -0.0342, -11.453, 7.5145, 0.0366, -0.5055, 0.0952, 1.0281] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_yaw": 0.0, "right_x": 0.3, "right_y": 0.05, "right_z": 0.1, "right_gripper": 1}, "note": "Two empty closes: re-reading the top view, the pink bowl's centre is much closer to the base than I assumed (x\u22480.30, y\u22480.11). Returning yaw to 0 and hovering over its right-hand rim at x=0.30, y=0.05."})

tool

executing move_to over 10 steps (1.0s)

step 77

assistant

agent noteThe pink bowl is now centred at the bottom of the right wrist view, so its centre is at y≈0.07, x≈0.29. Shifting to its right-hand rim (y=0.015) and down to rim height z=0.035.

move_to

right_y0.0150right_z0.0350right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.8101, 0.6037, -0.4046, -0.0223, -0.0265, 0.9931, 0.2092, 1.1419, 0.6579, -0.4465, -0.0185, -0.0624, 0.9952] state[eef_state]: left_x=0.2924 left_y=0.0017 left_z=0.1704 left_yaw=0.0001 left_pitch=-0.0397 left_roll=-0.0 left_gripper=0.9931 right_x=0.2944 right_y=0.0695 right_z=0.0935 right_yaw=0.2488 right_pitch=-0.3524 right_roll=-0.0098 right_gripper=0.9952 state[joint_eff]: [-0.1709, -1.5932, 7.2547, 1.9072, -0.0366, -0.0513, -0.0122, -0.0342, -3.8769, 6.4205, 1.5165, 0.1392, 0.315, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.015, "right_z": 0.035, "right_yaw": 0.0}, "note": "The pink bowl is now centred at the bottom of the right wrist view, so its centre is at y\u22480.07, x\u22480.29. Shifting to its right-hand rim (y=0.015) and down to rim height z=0.035."})

tool

executing move_to over 5 steps (0.5s)

step 82

assistant

agent noteThe bowl's right rim edge now sits on the jaw column with jaws straddling it; closing to pinch the rim.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.8108, 0.6037, -0.4076, -0.0223, -0.0265, 0.9931, 0.0776, 1.2144, 0.4614, -0.2554, 0.041, 0.0181, 0.9956] state[eef_state]: left_x=0.292 left_y=0.0017 left_z=0.1696 left_yaw=0.0001 left_pitch=-0.0435 left_roll=0.0 left_gripper=0.9931 right_x=0.2786 right_y=0.018 right_z=0.0272 right_yaw=0.0153 right_pitch=-0.4292 right_roll=-0.0145 right_gripper=0.9956 state[joint_eff]: [-0.1026, -1.3607, 6.9949, 1.6972, -0.0171, -0.0464, -0.0122, -0.1573, -3.3162, 6.5846, 1.4383, -0.0073, 0.0073, 0.0317] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "The bowl's right rim edge now sits on the jaw column with jaws straddling it; closing to pinch the rim."})

tool

executing move_to over 10 steps (1.0s)

step 92

assistant

agent noteClosed to 0.038, consistent with pinching the thin rim; lifting to 15 cm to verify the bowl comes with it.

move_to

right_z0.1500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8108, 0.6037, -0.4076, -0.0227, -0.0265, 0.9931, 0.0723, 1.2076, 0.4568, -0.2409, 0.0143, 0.0257, 0.038] state[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1696 left_yaw=0.0008 left_pitch=-0.0435 left_roll=0.0002 left_gripper=0.9931 right_x=0.2805 right_y=0.0214 right_z=0.0292 right_yaw=0.0303 right_pitch=-0.4136 right_roll=0.0155 right_gripper=0.038 state[joint_eff]: [-0.0752, -1.0872, 6.9949, 1.6923, -0.0513, -0.0806, -0.0122, 0.3077, -1.9761, 6.0513, 0.8474, 0.2906, -0.0611, 0.9792] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.15}, "note": "Closed to 0.038, consistent with pinching the thin rim; lifting to 15 cm to verify the bowl comes with it."})

tool

executing move_to over 8 steps (0.8s)

step 100

assistant

agent noteWrist view unchanged after the lift, which suggests the bowl is riding with the jaws. Moving up and inward toward the purple middle bowl; the top view will confirm whether the pink bowl came along.

move_to

right_x0.3600right_y0.2000right_z0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.8116, 0.6037, -0.408, -0.0227, -0.0261, 0.9931, 0.0738, 1.087, 0.833, -0.7479, 0.0139, 0.0216, 0.0406] state[eef_state]: left_x=0.292 left_y=0.0018 left_z=0.1693 left_yaw=0.0002 left_pitch=-0.0446 left_roll=0.0006 left_gripper=0.9931 right_x=0.2815 right_y=0.0219 right_z=0.1345 right_yaw=0.0345 right_pitch=-0.4238 right_roll=0.0129 right_gripper=0.0406 state[joint_eff]: [-0.2393, -1.2786, 7.0359, 1.6874, -0.0806, -0.022, -0.0073, -0.4855, -3.7538, 8.841, 1.3748, 0.0024, 0.0366, 0.7155] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.2, "right_z": 0.2}, "note": "Wrist view unchanged after the lift, which suggests the bowl is riding with the jaws. Moving up and inward toward the purple middle bowl; the top view will confirm whether the pink bowl came along."})

tool

executing move_to over 15 steps (1.5s)

step 115

assistant

agent notePink bowl is confirmed held; the purple bowl shows at the upper-left of the wrist view, i.e. slightly farther and toward +y. Nudging there to centre the carried bowl above it.

move_to

right_x0.4000right_y0.2700right_z0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.812, 0.6037, -0.4084, -0.0227, -0.0265, 0.9931, 0.6186, 1.6623, 1.5177, -0.9909, 0.2657, 0.4541, 0.0406] state[eef_state]: left_x=0.2919 left_y=0.0018 left_z=0.1691 left_yaw=0.0004 left_pitch=-0.0454 left_roll=0.0003 left_gripper=0.9931 right_x=0.3479 right_y=0.1951 right_z=0.181 right_yaw=0.0684 right_pitch=-0.4874 right_roll=-0.0207 right_gripper=0.0406 state[joint_eff]: [-0.0752, -1.347, 7.2, 1.6777, -0.0513, -0.0659, -0.0122, 0.1162, -8.4855, 8.7316, 1.1404, 0.3101, 0.3346, 0.7204] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.27, "right_z": 0.2}, "note": "Pink bowl is confirmed held; the purple bowl shows at the upper-left of the wrist view, i.e. slightly farther and toward +y. Nudging there to centre the carried bowl above it."})

tool

executing move_to over 7 steps (0.7s)

step 122

assistant

agent noteThe purple bowl is still just up-left of the carried pink bowl in the wrist view; nudging 4 cm further toward +y to centre the pink bowl over it.

move_to

right_x0.4100right_y0.3100right_z0.1900

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.8173, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.6922, 2.0319, 2.038, -1.1976, 0.2779, 0.4896, 0.0429] state[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1662 left_yaw=0.0004 left_pitch=-0.058 left_roll=0.0005 left_gripper=0.9931 right_x=0.3911 right_y=0.266 right_z=0.1872 right_yaw=0.0928 right_pitch=-0.5278 right_roll=-0.0474 right_gripper=0.0429 state[joint_eff]: [-0.1709, -1.7436, 6.9949, 1.7558, -0.0317, -0.0269, -0.0122, 0.0342, -10.906, 7.9521, 0.9158, 0.3199, 0.2857, 0.652] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.41, "right_y": 0.31, "right_z": 0.19}, "note": "The purple bowl is still just up-left of the carried pink bowl in the wrist view; nudging 4 cm further toward +y to centre the pink bowl over it."})

tool

executing move_to over 4 steps (0.4s)

step 126

assistant

agent noteTop view shows the purple bowl just right of and below the carried pink bowl, so the pink bowl needs to come ~4 cm toward -y and ~3 cm toward the base; also descending to 13 cm ready to release.

move_to

right_x0.3800right_y0.2550right_z0.1300

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.8185, 0.6037, -0.416, -0.0227, -0.0265, 0.9931, 0.7403, 2.2902, 2.4157, -1.3655, 0.2794, 0.5056, 0.0449] state[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1658 left_yaw=0.0004 left_pitch=-0.0595 left_roll=0.0006 left_gripper=0.9931 right_x=0.405 right_y=0.3089 right_z=0.1741 right_yaw=0.1124 right_pitch=-0.566 right_roll=-0.0733 right_gripper=0.0449 state[joint_eff]: [-0.0752, -1.4291, 7.1043, 1.6825, -0.0659, -0.022, -0.0122, -0.4444, -14.2154, 8.3214, 0.6227, 0.3053, 0.2906, 0.4713] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_y": 0.255, "right_z": 0.13}, "note": "Top view shows the purple bowl just right of and below the carried pink bowl, so the pink bowl needs to come ~4 cm toward -y and ~3 cm toward the base; also descending to 13 cm ready to release."})

tool

executing move_to over 5 steps (0.5s)

step 131

assistant

agent noteThe arm did not track the last target (readback unchanged at x=0.40,y=0.31) — likely an awkward IK pose at full stretch. Retrying a gentler pull back toward the base and -y.

move_to

right_x0.3700right_y0.2600right_z0.1600

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.8185, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7441, 2.323, 2.4615, -1.4139, 0.2775, 0.524, 0.0474] state[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1659 left_yaw=0.0004 left_pitch=-0.0591 left_roll=0.0006 left_gripper=0.9931 right_x=0.4015 right_y=0.3087 right_z=0.1686 right_yaw=0.092 right_pitch=-0.5948 right_roll=-0.0881 right_gripper=0.0474 state[joint_eff]: [-0.1162, -1.388, 7.0632, 1.7118, -0.0855, -0.0659, -0.0122, -0.5128, -14.0923, 8.4855, 0.9841, 0.2955, 0.105, 0.2466] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.26, "right_z": 0.16}, "note": "The arm did not track the last target (readback unchanged at x=0.40,y=0.31) \u2014 likely an awkward IK pose at full stretch. Retrying a gentler pull back toward the base and -y."})

tool

executing move_to over 5 steps (0.5s)

step 136

assistant

agent noteArm is frozen with pitch at its -0.6 limit; commanding pitch back to -0.2 and lifting slightly to free the IK.

move_to

right_pitch-0.2000right_z0.2000right_x0.3800

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.8185, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7441, 2.323, 2.4622, -1.4143, 0.2775, 0.5232, 0.0496] state[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1659 left_yaw=0.0004 left_pitch=-0.0591 left_roll=0.0006 left_gripper=0.9931 right_x=0.4015 right_y=0.3087 right_z=0.1688 right_yaw=0.0926 right_pitch=-0.5945 right_roll=-0.0882 right_gripper=0.0496 state[joint_eff]: [-0.335, -1.2923, 7.0632, 1.6874, -0.0366, -0.0415, -0.0073, -0.6085, -14.1333, 8.4444, 0.9548, 0.2759, 0.0708, 0.2125] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_pitch": -0.2, "right_z": 0.2, "right_x": 0.38}, "note": "Arm is frozen with pitch at its -0.6 limit; commanding pitch back to -0.2 and lifting slightly to free the IK."})

tool

executing move_to over 14 steps (1.4s)

step 150

assistant

agent noteMoving again now. The purple bowl sits on the jaw column while the carried pink bowl's centre is ~6 cm further +y, so shifting the grasp point to y=0.25 (and slightly farther out) to put pink directly over purple.

move_to

right_x0.4000right_y0.2500right_z0.1900right_pitch-0.2500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.8635, 1.9507, 1.7519, -0.8783, 0.5175, 0.5205, 0.0511] state[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3729 right_y=0.3072 right_z=0.1709 right_yaw=0.1009 right_pitch=-0.3008 right_roll=-0.1347 right_gripper=0.0511 state[joint_eff]: [-0.1026, -1.5658, 7.0222, 1.6728, -0.0513, -0.0562, -0.0122, 0.335, -13.3402, 6.9812, 1.5409, 0.525, -0.0415, 0.1343] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.25, "right_z": 0.19, "right_pitch": -0.25}, "note": "Moving again now. The purple bowl sits on the jaw column while the carried pink bowl's centre is ~6 cm further +y, so shifting the grasp point to y=0.25 (and slightly farther out) to put pink directly over purple."})

tool

executing move_to over 5 steps (0.5s)

step 155

assistant

agent notePurple bowl is now hidden directly under the carried pink bowl in both views, so alignment looks good; lowering to 11 cm before releasing.

move_to

right_z0.1100

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7265, 1.8748, 1.6047, -0.8112, 0.4767, 0.3943, 0.0525] state[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3937 right_y=0.2462 right_z=0.1561 right_yaw=0.063 right_pitch=-0.3387 right_roll=-0.1922 right_gripper=0.0525 state[joint_eff]: [-0.212, -1.2103, 7.0359, 1.7216, -0.0757, -0.0513, -0.0122, 0.1162, -13.4632, 7.4325, 1.6777, 0.2027, -0.0171, 0.1392] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.11}, "note": "Purple bowl is now hidden directly under the carried pink bowl in both views, so alignment looks good; lowering to 11 cm before releasing."})

tool

executing move_to over 3 steps (0.3s)

step 158

assistant

agent noteDescent isn't tracking (likely the carried bowl already resting on the purple one); opening the jaws to release the pink bowl onto/into it.

move_to

right_gripper0.9000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7223, 1.842, 1.6005, -0.7837, 0.4625, 0.355, 0.0539] state[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3959 right_y=0.2486 right_z=0.1711 right_yaw=0.1025 right_pitch=-0.305 right_roll=-0.1723 right_gripper=0.0539 state[joint_eff]: [-0.1299, -1.388, 7.1453, 1.707, -0.0659, -0.0464, -0.0122, -0.1573, -12.041, 7.2684, 1.4725, 0.2711, 0.0513, 0.1343] approver: 2 step(s) modified (delta_clamped ×2). 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": 0.9}, "note": "Descent isn't tracking (likely the carried bowl already resting on the purple one); opening the jaws to release the pink bowl onto/into it."})

tool

executing move_to over 9 steps (0.9s)

step 167

assistant

agent notePink bowl released; pulling the right arm back and out of the way to see whether it nested on the purple bowl.

move_to

right_x0.2800right_y0.0500right_z0.2500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7223, 1.8423, 1.6005, -0.7856, 0.4622, 0.3508, 0.8954] state[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3956 right_y=0.2484 right_z=0.1707 right_yaw=0.1048 right_pitch=-0.3075 right_roll=-0.1762 right_gripper=0.8954 state[joint_eff]: [-0.2256, -1.4017, 7.0359, 1.6728, -0.0562, -0.0464, -0.0122, -0.1846, -9.6205, 6.5573, 1.2137, 0.149, 0.0562, -0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.28, "right_y": 0.05, "right_z": 0.25}, "note": "Pink bowl released; pulling the right arm back and out of the way to see whether it nested on the purple bowl."})

tool

executing move_to over 17 steps (1.7s)

step 184

assistant

agent notePink bowl now sits nested over the purple one at the centre; only the white bowl is left. Hovering the left arm over the white bowl's left-hand rim (left_x≈0.40, left_y≈-0.135).

move_to

left_x0.4000left_y-0.1350left_z0.1200left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8249, 0.6037, -0.4152, -0.0227, -0.0265, 0.9931, 0.3161, 1.1126, 1.2293, -1.0252, 0.2478, 0.0212, 0.8961] state[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1642 left_yaw=0.0008 left_pitch=-0.0652 left_roll=0.0007 left_gripper=0.9931 right_x=0.2861 right_y=0.0517 right_z=0.2467 right_yaw=0.074 right_pitch=-0.3047 right_roll=-0.1755 right_gripper=0.8961 state[joint_eff]: [-0.0479, -1.5521, 7.0222, 1.7118, -0.0611, -0.0708, -0.0122, -0.1983, -3.3436, 6.8581, 1.4383, 0.0611, -0.0317, 0.0611] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.135, "left_z": 0.12, "left_gripper": 1}, "note": "Pink bowl now sits nested over the purple one at the centre; only the white bowl is left. Hovering the left arm over the white bowl's left-hand rim (left_x\u22480.40, left_y\u2248-0.135)."})

tool

executing move_to over 13 steps (1.3s)

step 197

assistant

agent noteIn the left wrist view the white bowl's right rim edge lies right on the jaw column, like the successful pink grasp; descending to rim height.

move_to

left_z0.0350

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4896, 1.512, 0.8146, -0.0727, -0.3771, -0.3164, 0.9936, 0.3141, 1.1183, 1.2282, -1.0462, 0.2298, 0.0036, 0.8962] state[eef_state]: left_x=0.3845 left_y=-0.1271 left_z=0.1012 left_yaw=-0.0131 left_pitch=-0.1333 left_roll=0.028 left_gripper=0.9936 right_x=0.2824 right_y=0.0532 right_z=0.2411 right_yaw=0.0954 right_pitch=-0.3367 right_roll=-0.1791 right_gripper=0.8962 state[joint_eff]: [-0.3077, -6.7624, 9.0051, 1.7558, -0.2711, 0.0073, -0.6276, -0.0889, -3.3299, 6.3248, 1.5409, 0.2662, 0.1636, -0.0073] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.035}, "note": "In the left wrist view the white bowl's right rim edge lies right on the jaw column, like the successful pink grasp; descending to rim height."})

tool

executing move_to over 5 steps (0.5s)

step 202

assistant

agent noteAt rim height the white bowl's right rim edge reads left of the jaw column, so the jaws are a few cm past it; shifting +y to y=-0.09 to bring the rim between the jaws.

move_to

left_y-0.0900

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4953, 1.6703, 0.6827, 0.1501, -0.3866, -0.3298, 0.9933, 0.3141, 1.1183, 1.2282, -1.0508, 0.2264, 0.0025, 0.8962] state[eef_state]: left_x=0.3745 left_y=-0.1225 left_z=0.0297 left_yaw=0.0013 left_pitch=-0.1894 left_roll=0.0561 left_gripper=0.9933 right_x=0.2815 right_y=0.0535 right_z=0.2403 right_yaw=0.0987 right_pitch=-0.3419 right_roll=-0.178 right_gripper=0.8962 state[joint_eff]: [0.3897, -6.8034, 5.2718, 1.79, -0.105, 0.1148, -0.0513, -0.0889, -2.8786, 6.5026, 1.3944, 0.1197, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.09}, "note": "At rim height the white bowl's right rim edge reads left of the jaw column, so the jaws are a few cm past it; shifting +y to y=-0.09 to bring the rim between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 205

assistant

agent noteRim edge is now slightly right of the jaw column; shifting back 1.5 cm to -y and closing the jaws on the rim in the same motion.

move_to

left_y-0.1050left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4061, 1.6478, 0.6346, 0.2024, -0.3428, -0.2844, 0.9932, 0.3141, 1.1183, 1.2282, -1.0512, 0.226, -0.0006, 0.8962] state[eef_state]: left_x=0.3775 left_y=-0.0938 left_z=0.0278 left_yaw=0.0282 left_pitch=-0.1816 left_roll=0.0482 left_gripper=0.9932 right_x=0.2814 right_y=0.0536 right_z=0.2403 right_yaw=0.1007 right_pitch=-0.3427 right_roll=-0.1798 right_gripper=0.8962 state[joint_eff]: [0.0342, -8.1299, 5.0667, 1.409, -0.0415, 0.188, -0.022, -0.0752, -2.9333, 6.2154, 1.3358, 0.0708, -0.0415, -0.0171] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.105, "left_gripper": 0.0}, "note": "Rim edge is now slightly right of the jaw column; shifting back 1.5 cm to -y and closing the jaws on the rim in the same motion."})

tool

executing move_to over 10 steps (1.0s)

step 215

assistant

agent noteGripper settled at 0.041, consistent with pinching the white bowl's rim; lifting to 20 cm to confirm the bowl comes with it.

move_to

left_z0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.44, 1.6455, 0.6399, 0.1932, -0.3946, -0.2974, 0.0414, 0.3141, 1.1183, 1.2282, -1.0512, 0.2256, -0.001, 0.8962] state[eef_state]: left_x=0.3761 left_y=-0.098 left_z=0.0314 left_yaw=0.0431 left_pitch=-0.1658 left_roll=0.0735 left_gripper=0.0414 right_x=0.2814 right_y=0.0536 right_z=0.2403 right_yaw=0.1013 right_pitch=-0.3428 right_roll=-0.1797 right_gripper=0.8962 state[joint_eff]: [-0.6496, -5.2034, 6.3521, 1.37, 0.2271, -0.1734, 1.4139, -0.0752, -2.8923, 6.3795, 1.3846, 0.0464, -0.022, -0.0122] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.2}, "note": "Gripper settled at 0.041, consistent with pinching the white bowl's rim; lifting to 20 cm to confirm the bowl comes with it."})

tool

executing move_to over 11 steps (1.1s)

step 226

assistant

agent noteWhite bowl is held and the pink stack appears ~21 cm to my -y side in the wrist view; carrying it over toward left_y=-0.30 at 20 cm height.

move_to

left_y-0.3000left_z0.2000left_x0.3800

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4397, 1.4044, 1.0779, -0.5095, -0.3916, -0.3042, 0.0422, 0.3141, 1.1183, 1.2282, -1.0512, 0.2256, -0.001, 0.8962] state[eef_state]: left_x=0.3778 left_y=-0.0992 left_z=0.1776 left_yaw=0.0468 left_pitch=-0.1874 left_roll=0.0776 left_gripper=0.0422 right_x=0.2814 right_y=0.0536 right_z=0.2403 right_yaw=0.1013 right_pitch=-0.3428 right_roll=-0.1797 right_gripper=0.8962 state[joint_eff]: [-0.2256, -7.8427, 9.3333, 1.4774, -0.1929, 0.0464, 1.033, -0.1299, -2.7556, 6.2838, 1.3553, 0.0611, -0.0415, -0.0122] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.3, "left_z": 0.2, "left_x": 0.38}, "note": "White bowl is held and the pink stack appears ~21 cm to my -y side in the wrist view; carrying it over toward left_y=-0.30 at 20 cm height."})

tool

executing move_to over 18 steps (1.8s)

step 244

assistant

agent notePink stack is ~10 cm further along -y from the carried white bowl's centre; moving the grasp point to the box limit y=-0.40 to bring the white bowl over the stack.

move_to

left_y-0.4000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8948, 1.9362, 1.7576, -0.8917, -0.6315, -0.7296, 0.0423, 0.3141, 1.1187, 1.2282, -1.0512, 0.2256, -0.001, 0.8962] state[eef_state]: left_x=0.3771 left_y=-0.2977 left_z=0.1877 left_yaw=0.0302 left_pitch=-0.2184 left_roll=0.0744 left_gripper=0.0423 right_x=0.2814 right_y=0.0536 right_z=0.2402 right_yaw=0.1012 right_pitch=-0.3431 right_roll=-0.1798 right_gripper=0.8962 state[joint_eff]: [-0.3897, -10.1538, 9.0872, 0.9451, -0.7204, 0.0464, 1.0134, -0.0752, -2.9197, 6.3658, 1.2869, 0.0659, -0.0366, -0.0122] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_y": -0.4}, "note": "Pink stack is ~10 cm further along -y from the carried white bowl's centre; moving the grasp point to the box limit y=-0.40 to bring the white bowl over the stack."})

tool

executing move_to over 10 steps (1.0s)

step 254

assistant

agent noteThe pink stack is now hidden directly under the carried white bowl; lowering to 13 cm before releasing so the white bowl nests onto it.

move_to

left_z0.1300

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9913, 2.4016, 2.5072, -1.2804, -0.6601, -0.8791, 0.0423, 0.2771, 1.1168, 1.2282, -1.0451, 0.3031, 0.0566, 0.8962] state[eef_state]: left_x=0.3856 left_y=-0.3847 left_z=0.1823 left_yaw=0.0531 left_pitch=-0.248 left_roll=0.0719 left_gripper=0.0423 right_x=0.2857 right_y=0.0302 right_z=0.2444 right_yaw=-0.0341 right_pitch=-0.3132 right_roll=-0.2035 right_gripper=0.8962 state[joint_eff]: [-3.1521, -12.4513, 7.8701, 1.0476, -0.6813, 0.1783, 1.0085, 3.0564, -2.6735, 6.2291, 1.2381, -0.9792, -0.7497, -0.0171] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.13}, "note": "The pink stack is now hidden directly under the carried white bowl; lowering to 13 cm before releasing so the white bowl nests onto it."})

tool

executing move_to over 4 steps (0.4s)

step 258

assistant

agent notePink stack peeks out beyond the far-right edge of the carried white bowl, so the target is a few cm farther out and slightly -y; extending x to 0.43 while holding the y bound.

move_to

left_x0.4300left_y-0.4000left_z0.1400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9913, 2.3581, 2.1738, -1.0969, -0.6506, -0.8806, 0.0461, 0.2745, 1.1175, 1.2282, -1.0584, 0.3019, 0.0521, 0.8962] state[eef_state]: left_x=0.3767 left_y=-0.3736 left_z=0.1107 left_yaw=0.0759 left_pitch=-0.3082 left_roll=0.1626 left_gripper=0.0461 right_x=0.2834 right_y=0.0289 right_z=0.2423 right_yaw=-0.0346 right_pitch=-0.3275 right_roll=-0.2102 right_gripper=0.8962 state[joint_eff]: [-0.3214, -15.788, 7.6103, 0.9304, -0.4908, 0.0024, 0.696, 0.0615, -2.8239, 6.2154, 1.453, 0.149, -0.0073, -0.0122] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.43, "left_y": -0.4, "left_z": 0.14}, "note": "Pink stack peeks out beyond the far-right edge of the carried white bowl, so the target is a few cm farther out and slightly -y; extending x to 0.43 while holding the y bound."})

tool

executing move_to over 5 steps (0.5s)

step 263

assistant

agent noteDescent has bottomed out at z≈0.07 (likely the white bowl resting on the pink one) and the pink bowl is hidden underneath; releasing the rim.

move_to

left_gripper0.9000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9405, 2.7335, 2.7411, -1.3617, -0.6289, -0.8333, 0.0483, 0.2745, 1.1187, 1.2282, -1.066, 0.3016, 0.0513, 0.8962] state[eef_state]: left_x=0.4125 left_y=-0.383 left_z=0.0709 left_yaw=0.1134 left_pitch=-0.3677 left_roll=0.2501 left_gripper=0.0483 right_x=0.2821 right_y=0.0286 right_z=0.2409 right_yaw=-0.0348 right_pitch=-0.336 right_roll=-0.2132 right_gripper=0.8962 state[joint_eff]: [0.5128, -23.159, 7.4872, 0.8864, -0.7595, 0.2125, 0.5788, -0.1846, -2.7009, 6.188, 1.3944, 0.1197, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.9}, "note": "Descent has bottomed out at z\u22480.07 (likely the white bowl resting on the pink one) and the pink bowl is hidden underneath; releasing the rim."})

tool

executing move_to over 9 steps (0.9s)

step 272

assistant

agent noteReleased the white bowl; retracting the left arm to see how the bowls ended up in the top view.

move_to

left_x0.2500left_y-0.0500left_z0.2500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9291, 2.6461, 2.7216, -1.3529, -0.622, -0.8268, 0.8947, 0.2745, 1.1187, 1.2282, -1.0695, 0.3016, 0.0483, 0.8962] state[eef_state]: left_x=0.4168 left_y=-0.3798 left_z=0.1115 left_yaw=0.094 left_pitch=-0.3353 left_roll=0.1803 left_gripper=0.8947 right_x=0.2814 right_y=0.0285 right_z=0.2404 right_yaw=-0.0335 right_pitch=-0.3396 right_roll=-0.2163 right_gripper=0.8962 state[joint_eff]: [-0.4444, -17.0051, 6.1333, 0.8962, -0.4518, 0.1441, -0.0073, -0.1983, -2.7419, 6.2017, 1.3162, 0.0952, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.25, "left_y": -0.05, "left_z": 0.25}, "note": "Released the white bowl; retracting the left arm to see how the bowls ended up in the top view."})

tool

executing move_to over 30 steps (3.0s)

step 302

assistant

agent noteTop view shows the pink bowl nested on the purple one, with the white bowl sitting beside it, not stacked. Bringing the right arm over the white bowl's right-hand rim (right_y≈0.145, x≈0.37) for another grasp.

move_to

right_x0.3700right_y0.1450right_z0.1200right_gripper1.0000right_pitch-0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5392, 1.1103, 1.2686, -1.203, -0.4725, -0.4442, 0.8956, 0.2745, 1.1191, 1.2282, -1.0737, 0.3012, 0.0486, 0.8962] state[eef_state]: left_x=0.2571 left_y=-0.056 left_z=0.2499 left_yaw=0.1167 left_pitch=-0.3185 left_roll=0.1525 left_gripper=0.8956 right_x=0.2807 right_y=0.0283 right_z=0.2397 right_yaw=-0.0338 right_pitch=-0.344 right_roll=-0.2172 right_gripper=0.8962 state[joint_eff]: [0.294, -2.906, 5.9009, 1.0574, -0.3883, 0.1099, 0.0806, -0.0752, -2.9333, 6.2017, 1.3162, 0.1245, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.145, "right_z": 0.12, "right_gripper": 1, "right_pitch": -0.2}, "note": "Top view shows the pink bowl nested on the purple one, with the white bowl sitting beside it, not stacked. Bringing the right arm over the white bowl's right-hand rim (right_y\u22480.145, x\u22480.37) for another grasp."})

tool

executing move_to over 10 steps (1.0s)

step 312

assistant

agent noteWhite bowl's right rim edge reads ~3 cm to my +y side of the jaw column; shifting +y and descending to rim height.

move_to

right_y0.1680right_z0.0400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5365, 1.1145, 1.2682, -1.2156, -0.4648, -0.4385, 0.8956, 0.5884, 1.5406, 1.0, -0.482, 0.4995, 0.2607, 0.9961] state[eef_state]: left_x=0.2552 left_y=-0.0555 left_z=0.2468 left_yaw=0.1142 left_pitch=-0.3367 left_roll=0.1618 left_gripper=0.8956 right_x=0.353 right_y=0.1381 right_z=0.1092 right_yaw=-0.0056 right_pitch=-0.2959 right_roll=-0.2612 right_gripper=0.9961 state[joint_eff]: [-0.3487, -2.865, 5.9829, 1.2283, -0.3394, -0.1001, -0.0024, 0.1436, -7.4051, 6.7487, 1.3846, 0.5641, 0.1832, -0.4127] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.168, "right_z": 0.04}, "note": "White bowl's right rim edge reads ~3 cm to my +y side of the jaw column; shifting +y and descending to rim height."})

tool

executing move_to over 5 steps (0.5s)

step 317

assistant

agent noteRim edge is on the jaw column at rim height; closing to pinch the white bowl's rim.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5365, 1.1149, 1.2682, -1.2163, -0.4648, -0.4385, 0.8957, 0.6624, 1.7187, 0.9108, -0.3042, 0.519, 0.3153, 0.9957] state[eef_state]: left_x=0.2551 left_y=-0.0554 left_z=0.2467 left_yaw=0.1144 left_pitch=-0.3376 left_roll=0.1625 left_gripper=0.8957 right_x=0.3438 right_y=0.1616 right_z=0.0372 right_yaw=0.0066 right_pitch=-0.3505 right_roll=-0.295 right_gripper=0.9957 state[joint_eff]: [-0.1026, -2.5094, 5.9692, 1.0965, -0.2711, -0.0806, -0.0073, 0.335, -7.6513, 6.0376, 1.2039, 0.3639, 0.0562, -0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "Rim edge is on the jaw column at rim height; closing to pinch the white bowl's rim."})

tool

executing move_to over 10 steps (1.0s)

step 327

assistant

agent noteRim pinched at 0.037; lifting the white bowl and carrying it toward the pink/purple stack (pink centre ≈ y 0.31–0.36, x ≈ 0.42) for a look from above.

move_to

right_z0.2200right_x0.4000right_y0.3000right_pitch-0.2000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5365, 1.1156, 1.2682, -1.2167, -0.4644, -0.4381, 0.8957, 0.6678, 1.7283, 0.91, -0.226, 0.5224, 0.3424, 0.0369] state[eef_state]: left_x=0.2551 left_y=-0.0555 left_z=0.2464 left_yaw=0.1141 left_pitch=-0.3388 left_roll=0.1632 left_gripper=0.8957 right_x=0.3545 right_y=0.1719 right_z=0.0421 right_yaw=0.0082 right_pitch=-0.291 right_roll=-0.2359 right_gripper=0.0369 state[joint_eff]: [-0.0342, -2.6188, 6.0513, 1.1355, -0.2662, -0.0464, -0.0171, -0.1026, -6.5983, 5.7368, 0.5983, 0.359, -0.149, 0.8278] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.22, "right_x": 0.4, "right_y": 0.3, "right_pitch": -0.2}, "note": "Rim pinched at 0.037; lifting the white bowl and carrying it toward the pink/purple stack (pink centre \u2248 y 0.31\u20130.36, x \u2248 0.42) for a look from above."})

tool

executing move_to over 12 steps (1.2s)

step 339

assistant

agent noteThe carried white bowl's centre is ~6-10 cm short of the pink stack in +y; pushing the grasp point to y=0.38, x=0.42 to bring it over the stack.

move_to

right_y0.3800right_x0.4200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5365, 1.1187, 1.2682, -1.2186, -0.4644, -0.4381, 0.8957, 0.8558, 2.0388, 1.9652, -1.0016, 0.6285, 0.4652, 0.0395] state[eef_state]: left_x=0.2551 left_y=-0.0555 left_z=0.2455 left_yaw=0.1152 left_pitch=-0.3427 left_roll=0.1664 left_gripper=0.8957 right_x=0.3964 right_y=0.3036 right_z=0.2022 right_yaw=0.0526 right_pitch=-0.2362 right_roll=-0.2433 right_gripper=0.0395 state[joint_eff]: [-0.1846, -2.8239, 5.9282, 1.1453, -0.232, -0.022, -0.0171, -0.0342, -11.453, 8.2803, 0.9011, 0.5348, 0.2369, 0.2564] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 339): [image omitted: streamed camera frame] camera 'left_cam' (step 339): [image omitted: streamed camera frame] camera 'right_cam' (step 339): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.38, "right_x": 0.42}, "note": "The carried white bowl's centre is ~6-10 cm short of the pink stack in +y; pushing the grasp point to y=0.38, x=0.42 to bring it over the stack."})

tool

executing move_to over 7 steps (0.7s)

step 346

assistant

agent noteThe pink stack's rim peeks out on the base side of the carried white bowl, so pulling back 2 cm in x and lowering to 13 cm before release.

move_to

right_x0.3900right_z0.1300

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5365, 1.1202, 1.2682, -1.219, -0.4644, -0.4385, 0.8957, 0.9222, 2.6072, 2.8288, -1.4117, 0.6296, 0.4999, 0.0417] state[eef_state]: left_x=0.2552 left_y=-0.0556 left_z=0.2451 left_yaw=0.1158 left_pitch=-0.3442 left_roll=0.1674 left_gripper=0.8957 right_x=0.4135 right_y=0.3793 right_z=0.1614 right_yaw=0.0758 right_pitch=-0.3083 right_roll=-0.3076 right_gripper=0.0417 state[joint_eff]: [-0.335, -2.3726, 5.9829, 1.1062, -0.2515, -0.0708, -0.0171, -0.1436, -14.612, 7.4051, 0.7692, 0.5983, 0.2125, 0.2271] camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_z": 0.13}, "note": "The pink stack's rim peeks out on the base side of the carried white bowl, so pulling back 2 cm in x and lowering to 13 cm before release."})

tool

executing move_to over 3 steps (0.3s)

step 349

assistant

agent noteThe pink stack's rim now shows on the -y side of the carried white bowl, so I overshot; coming back to y=0.34 to centre the white bowl over the stack.

move_to

right_y0.3400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5365, 1.1229, 1.2682, -1.219, -0.4648, -0.4381, 0.8957, 0.9504, 2.7842, 3.11, -1.5673, 0.6281, 0.5282, 0.0438] state[eef_state]: left_x=0.2555 left_y=-0.0557 left_z=0.2446 left_yaw=0.1165 left_pitch=-0.3461 left_roll=0.1696 left_gripper=0.8957 right_x=0.4007 right_y=0.3885 right_z=0.1382 right_yaw=0.0763 right_pitch=-0.3381 right_roll=-0.329 right_gripper=0.0438 state[joint_eff]: [-0.1709, -2.7829, 5.9556, 1.1013, -0.2613, -0.0659, -0.0171, 0.5402, -13.5043, 8.0068, 0.8571, 0.4567, 0.1099, 0.1978] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 349): [image omitted: streamed camera frame] camera 'left_cam' (step 349): [image omitted: streamed camera frame] camera 'right_cam' (step 349): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.34}, "note": "The pink stack's rim now shows on the -y side of the carried white bowl, so I overshot; coming back to y=0.34 to centre the white bowl over the stack."})

tool

executing move_to over 5 steps (0.5s)

step 354

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5365, 1.124, 1.2682, -1.219, -0.4648, -0.4381, 0.8956, 0.9668, 2.7964, 3.1153, -1.5745, 0.6273, 0.532, 0.0451] state[eef_state]: left_x=0.2557 left_y=-0.0557 left_z=0.2443 left_yaw=0.1167 left_pitch=-0.3471 left_roll=0.1704 left_gripper=0.8956 right_x=0.3937 right_y=0.3944 right_z=0.1327 right_yaw=0.0872 right_pitch=-0.347 right_roll=-0.3376 right_gripper=0.0451 state[joint_eff]: [-0.0068, -2.4821, 5.9966, 1.1111, -0.2759, -0.0269, -0.0171, -0.4855, -14.065, 7.4051, 0.9402, 0.4469, 0.2125, 0.1343] camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]

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 · 27.93 s

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7937, 0.6037, -0.3813, -0.0227, -0.0257, 0.9936, -0.02, 0.7918, 0.5987, -0.3851, -0.017, -0.0334, 0.9966]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1797 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9936 right_x=0.2933 right_y=0.0007 right_z=0.1771 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.6222, -1.3607, 10.1812, 1.7802, -0.0659, 0.1343, -0.3785, -0.5675, -1.306, 10.4274, 2.0733, -0.1245, 0.2222, -0.3687]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3f581c4e595b021c3ed9aa24a37789f34e9372b56fdf232fe288ea48d3702ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:094e89d2a9404ca62502f31aa0e83df2d684187b067bbc2b122c819bea856d07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6576173766f37e0c91fa9f8ca4115bc0c7f7b95b8383257e5b10d229c62f84ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 18.5 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7937, 0.6037, -0.3813, -0.0227, -0.0257, 0.9936, -0.02, 0.7918, 0.5987, -0.3851, -0.017, -0.0334, 0.9966]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1797 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9936 right_x=0.2933 right_y=0.0007 right_z=0.1771 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.6222, -1.3607, 10.1812, 1.7802, -0.0659, 0.1343, -0.3785, -0.5675, -1.306, 10.4274, 2.0733, -0.1245, 0.2222, -0.3687]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3f581c4e595b021c3ed9aa24a37789f34e9372b56fdf232fe288ea48d3702ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:094e89d2a9404ca62502f31aa0e83df2d684187b067bbc2b122c819bea856d07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6576173766f37e0c91fa9f8ca4115bc0c7f7b95b8383257e5b10d229c62f84ee",
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  "role": "user"
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[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ljpqy5ASnyiUqyqHsEFcih",
      "input": {
        "note": "Three bowls sit in a row; I'll stack the outer two into the middle one. First moving the right arm to hover over the right (pink) bowl, estimated at right_y≈0.09, x≈0.40.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.4,
          "right_y": 0.09,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Ljpqy5ASnyiUqyqHsEFcih",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7986, 0.6071, -0.3889, -0.0223, -0.0265, 0.9933, 0.3264, 1.3441, 0.8501, -0.2043, 0.2291, 0.1223, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=0.0017 left_z=0.1783 left_yaw=0.0005 left_pitch=-0.0092 left_roll=-0.0007 left_gripper=0.9933 right_x=0.3815 right_y=0.0906 right_z=0.1504 right_yaw=0.0546 right_pitch=-0.0989 right_roll=-0.0343 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.5658, 6.7761, 1.79, -0.0562, -0.0757, -0.0415, -0.3897, -6.4068, 9.5795, 1.9853, 0.4469, 0.2711, -0.3639]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb138ae7377718cc7e3d433a7f210a86d45077de21cbef10b20bce59a6fa6c34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6478186302e92fb80a04037d0d375523c7fc22b00cd89909fc5ce19ce6ef85d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d2666a82eaccd9855a890436cad50422cf0e9cd86aea1a984504f224e66b97e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 7.738 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7937, 0.6037, -0.3813, -0.0227, -0.0257, 0.9936, -0.02, 0.7918, 0.5987, -0.3851, -0.017, -0.0334, 0.9966]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1797 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9936 right_x=0.2933 right_y=0.0007 right_z=0.1771 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.6222, -1.3607, 10.1812, 1.7802, -0.0659, 0.1343, -0.3785, -0.5675, -1.306, 10.4274, 2.0733, -0.1245, 0.2222, -0.3687]",
      "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]: [-0.0196, 0.7986, 0.6071, -0.3889, -0.0223, -0.0265, 0.9933, 0.3264, 1.3441, 0.8501, -0.2043, 0.2291, 0.1223, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=0.0017 left_z=0.1783 left_yaw=0.0005 left_pitch=-0.0092 left_roll=-0.0007 left_gripper=0.9933 right_x=0.3815 right_y=0.0906 right_z=0.1504 right_yaw=0.0546 right_pitch=-0.0989 right_roll=-0.0343 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.5658, 6.7761, 1.79, -0.0562, -0.0757, -0.0415, -0.3897, -6.4068, 9.5795, 1.9853, 0.4469, 0.2711, -0.3639]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb138ae7377718cc7e3d433a7f210a86d45077de21cbef10b20bce59a6fa6c34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6478186302e92fb80a04037d0d375523c7fc22b00cd89909fc5ce19ce6ef85d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d2666a82eaccd9855a890436cad50422cf0e9cd86aea1a984504f224e66b97e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012zvTrNf18QjyS18D69Qt6d",
      "input": {
        "note": "The pink bowl is centred on the jaw column in the right wrist view. Moving to the bowl's right-hand rim (y offset -0.065) and down to z=0.06 so the open jaws can straddle the rim wall.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.38,
          "right_y": 0.025,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_012zvTrNf18QjyS18D69Qt6d",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7986, 0.6037, -0.3893, -0.0227, -0.0265, 0.9932, 0.0856, 1.4567, 0.5564, 0.1383, 0.0746, -0.0078, 0.9966]\nstate[eef_state]: left_x=0.2938 left_y=0.0017 left_z=0.1766 left_yaw=0.0004 left_pitch=-0.013 left_roll=-0.0004 left_gripper=0.9932 right_x=0.3669 right_y=0.0219 right_z=0.0498 right_yaw=0.0139 right_pitch=-0.1819 right_roll=-0.0417 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.2786, 7.2821, 1.746, -0.0708, -0.0806, -0.0171, -0.1709, -5.2171, 6.2427, 1.8046, -0.1197, -0.1392, -0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a7f59e48007afa80cadb882d01d939ba88db2833166648ddc6076d5ed0bb4da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e929e2070800b43f7074d034841575b0b87475d14b59af060720ea894fcd5792",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c09156e665dc9ff17e2ec29a4df3e3fecdb3d7f747b5fd36071e1276ca20cb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 3.861 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7937, 0.6037, -0.3813, -0.0227, -0.0257, 0.9936, -0.02, 0.7918, 0.5987, -0.3851, -0.017, -0.0334, 0.9966]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1797 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9936 right_x=0.2933 right_y=0.0007 right_z=0.1771 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9966\nstate[joint_eff]: [-0.6222, -1.3607, 10.1812, 1.7802, -0.0659, 0.1343, -0.3785, -0.5675, -1.306, 10.4274, 2.0733, -0.1245, 0.2222, -0.3687]",
      "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]: [-0.0196, 0.7986, 0.6071, -0.3889, -0.0223, -0.0265, 0.9933, 0.3264, 1.3441, 0.8501, -0.2043, 0.2291, 0.1223, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=0.0017 left_z=0.1783 left_yaw=0.0005 left_pitch=-0.0092 left_roll=-0.0007 left_gripper=0.9933 right_x=0.3815 right_y=0.0906 right_z=0.1504 right_yaw=0.0546 right_pitch=-0.0989 right_roll=-0.0343 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.5658, 6.7761, 1.79, -0.0562, -0.0757, -0.0415, -0.3897, -6.4068, 9.5795, 1.9853, 0.4469, 0.2711, -0.3639]",
      "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]: [-0.02, 0.7986, 0.6037, -0.3893, -0.0227, -0.0265, 0.9932, 0.0856, 1.4567, 0.5564, 0.1383, 0.0746, -0.0078, 0.9966]\nstate[eef_state]: left_x=0.2938 left_y=0.0017 left_z=0.1766 left_yaw=0.0004 left_pitch=-0.013 left_roll=-0.0004 left_gripper=0.9932 right_x=0.3669 right_y=0.0219 right_z=0.0498 right_yaw=0.0139 right_pitch=-0.1819 right_roll=-0.0417 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.2786, 7.2821, 1.746, -0.0708, -0.0806, -0.0171, -0.1709, -5.2171, 6.2427, 1.8046, -0.1197, -0.1392, -0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a7f59e48007afa80cadb882d01d939ba88db2833166648ddc6076d5ed0bb4da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e929e2070800b43f7074d034841575b0b87475d14b59af060720ea894fcd5792",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c09156e665dc9ff17e2ec29a4df3e3fecdb3d7f747b5fd36071e1276ca20cb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISmAcKjgEIEhgCKkB2agbkllIOTo95yAz4sZgSW+CA/MLaVIVeC5YtWofVmhKzablwsI/LEKTEpkRFB+o1DC1MwaDGVFAzAn1xHtjnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeGOzNUGEgxdlDkjJfdDrM/Sfo8aDGezecRzZce+AWv69iIwWLXOGVL9CHgR/xZLjqGyy5N4iljkYQqPwlVfiB8/XrWp5B2meIWdnsg9lF0dVsk1KrYFvGGJpXGfSngeIPYBe7IAwgcv4PUmJARxsa2Rr+e293tfTA/ELnGxgqkBu66K+Fh/HbbLqANGfndkX81XabjP72IcvjriG8l7ciqEg9p6MEpl4CN3r6k2STFlRD7HVfgQeXmKJNK0A/z7wlktFMJkcTojbB2VPfXfNXCPW3x04zTQhfebqZJl0f8HLgPvS+w1MpaJw9MsKiT2o8LvdiuLnuPSMTO6BJin1x9hc+dndSbDc93ACqzgK2nzYXq8hlxqKVyx8VyepNc9QQX61dy1NLdZ6TemEDZq/1YeYa+tUdsKQt6Mm31o4M0rxKJN/9OWiyscYad2elcaDWYL70VGtvpnOq8+2YgCTQSWyeqQFjIUdNDHgbhkgyiV8cJXuRyheswn94gIRdN+nPtDho/KNUw2CPh7MYKDKyDtHFwBdYQElrk2fkjH4dlN0W0IKmi6b1B13WJUhoDYTUaEijBrXm8WrZcv89unfEva6rR0OFCYe6hX8fn/JMunSFtRsq/wM2I6+4OBLbeaWE9OS8lXinBinkN9NAJyaUFZSd6GhqtdaucuCcGfRE8m00hfUnnA6a5k2CskcYickyrbOENnKQGRdVFXKpsR3yQNTWmZuRT76Zb+km4S5fubX1tlTmf0AHACGN8NtH/Ygr6gwitc5TyP/zg2SiVUDdEMbnOu6BDUjb8lh7M7t6AjNNoD0G6zEhz65jutg5qqmuDRaQaVFbkKKJezmJGi6yqRwFfZb9ocZC+PkWsSXaa5d0kV/YL6I+RI9mHacGxhG63A7NjMkrFsypcRHIY7v734iV815I11pXdiXWBLKQmNnnN7Q6buFt6nLH5qp5lmPNFg4DKO9A9v9V/30zmTEpSgDkK2kaIWP3S7gDOeaLub6G7WgtX8ZOFifF+QVJAj55WxCb3+dNmXukzgmBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014ZeGv9EzkL5BAneUMYWAFH",
      "input": {
        "note": "Jaws straddle the pink bowl's right rim; closing them to pinch the rim wall.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014ZeGv9EzkL5BAneUMYWAFH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7998, 0.6037, -0.3893, -0.0227, -0.0265, 0.9932, 0.0849, 1.4685, 0.5404, 0.1448, 0.0616, -0.0128, 0.0171]\nstate[eef_state]: left_x=0.2939 left_y=0.0017 left_z=0.1763 left_yaw=0.0004 left_pitch=-0.0141 left_roll=-0.0004 left_gripper=0.9932 right_x=0.3619 right_y=0.0235 right_z=0.0407 right_yaw=0.0266 right_pitch=-0.204 right_roll=-0.0375 right_gripper=0.0171\nstate[joint_eff]: [-0.1026, -1.347, 7.0906, 1.6972, -0.0611, -0.0806, -0.0171, -0.0615, -5.6957, 6.8718, 1.4676, 0.2808, 0.0171, 0.8083]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dae7f376e66b5c9240fe3e3ca4bc139a2d462177198e7bce43b857893bf6f939",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfe158deb312b23c88c66a8002e53ed01e1968b89b55df4ab5d91a1a1eb99f18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4640c69a7160a63358eb21deeb7570010c0cda7a3b630c9d1a7fbc2779f28bd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 8.047 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]: [-0.0196, 0.7986, 0.6071, -0.3889, -0.0223, -0.0265, 0.9933, 0.3264, 1.3441, 0.8501, -0.2043, 0.2291, 0.1223, 0.9966]\nstate[eef_state]: left_x=0.2943 left_y=0.0017 left_z=0.1783 left_yaw=0.0005 left_pitch=-0.0092 left_roll=-0.0007 left_gripper=0.9933 right_x=0.3815 right_y=0.0906 right_z=0.1504 right_yaw=0.0546 right_pitch=-0.0989 right_roll=-0.0343 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.5658, 6.7761, 1.79, -0.0562, -0.0757, -0.0415, -0.3897, -6.4068, 9.5795, 1.9853, 0.4469, 0.2711, -0.3639]",
      "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]: [-0.02, 0.7986, 0.6037, -0.3893, -0.0227, -0.0265, 0.9932, 0.0856, 1.4567, 0.5564, 0.1383, 0.0746, -0.0078, 0.9966]\nstate[eef_state]: left_x=0.2938 left_y=0.0017 left_z=0.1766 left_yaw=0.0004 left_pitch=-0.013 left_roll=-0.0004 left_gripper=0.9932 right_x=0.3669 right_y=0.0219 right_z=0.0498 right_yaw=0.0139 right_pitch=-0.1819 right_roll=-0.0417 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.2786, 7.2821, 1.746, -0.0708, -0.0806, -0.0171, -0.1709, -5.2171, 6.2427, 1.8046, -0.1197, -0.1392, -0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7998, 0.6037, -0.3893, -0.0227, -0.0265, 0.9932, 0.0849, 1.4685, 0.5404, 0.1448, 0.0616, -0.0128, 0.0171]\nstate[eef_state]: left_x=0.2939 left_y=0.0017 left_z=0.1763 left_yaw=0.0004 left_pitch=-0.0141 left_roll=-0.0004 left_gripper=0.9932 right_x=0.3619 right_y=0.0235 right_z=0.0407 right_yaw=0.0266 right_pitch=-0.204 right_roll=-0.0375 right_gripper=0.0171\nstate[joint_eff]: [-0.1026, -1.347, 7.0906, 1.6972, -0.0611, -0.0806, -0.0171, -0.0615, -5.6957, 6.8718, 1.4676, 0.2808, 0.0171, 0.8083]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dae7f376e66b5c9240fe3e3ca4bc139a2d462177198e7bce43b857893bf6f939",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfe158deb312b23c88c66a8002e53ed01e1968b89b55df4ab5d91a1a1eb99f18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4640c69a7160a63358eb21deeb7570010c0cda7a3b630c9d1a7fbc2779f28bd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISmAMKjgEIEhgCKkB2lsD5siLQyKaWSuLXmQiKhhwCGEUBLZO6VjrWuuKA04G0FFMTFq4uR5WvHVE8Dy2cUkokL7+ZbiuOa1tD6Wl5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeaOzNUGEgy3+qdTk4eIHX3Hig8aDDvHvRSqNlHAcdWrqCIwGBV9nZwA8+Xck0d11vMHg6u277FDqCD8wGpUloQPmVGGcTcDi3jjmu3GYd71O5z7KrYBRlFyJkc1cM43y4lGMO5vHOclHE56S0qXc4QFc97riceBDeKU4JKJlqhOoW5ukzyfhvLeooy88K/SthtjcEbxkar1HVwLdz6nafHI90RL0O5+u6S8uoYUCeK1dirCEhyKzDhtFhdlX6UcXTJxi6a7tAOIfxkra0cB6+QJSO5NFtwP/t9vrW8Hjf+gd0svzbyLVETP4aKWIBfz6Rpwi+PqgrJSWCzr+NgISxHxWRPWZN1vCJJc6ZQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ANgZLQEgninBeHWnzWQXAJ",
      "input": {
        "note": "Gripper closed to 0.017; lifting 8 cm to test whether the rim was actually caught.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01ANgZLQEgninBeHWnzWQXAJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.8017, 0.6037, -0.3893, -0.0227, -0.0265, 0.9932, 0.0849, 1.314, 0.7101, -0.205, 0.062, -0.02, 0.02]\nstate[eef_state]: left_x=0.294 left_y=0.0017 left_z=0.1758 left_yaw=0.0004 left_pitch=-0.016 left_roll=-0.0003 left_gripper=0.9932 right_x=0.3582 right_y=0.0231 right_z=0.0995 right_yaw=0.03 right_pitch=-0.2296 right_roll=-0.0445 right_gripper=0.02\nstate[joint_eff]: [-0.1162, -1.4427, 7.0359, 1.7363, -0.0562, -0.0611, -0.0171, -0.1846, -6.3521, 9.265, 1.6386, 0.022, 0.0806, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04fa3c5032d85fc958fa0e8ffb7c800ad7b5af9d432d161de3d94ea847f00bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:732f78c407c08430e0933c3847b27efff4f5fae879b283ba08a2c78374fa9415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69e90e093b7efc81d1aa30d3180e3190d600cc12d79f71ed9c2e0c39ef90c33d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 18.14 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]: [-0.02, 0.7986, 0.6037, -0.3893, -0.0227, -0.0265, 0.9932, 0.0856, 1.4567, 0.5564, 0.1383, 0.0746, -0.0078, 0.9966]\nstate[eef_state]: left_x=0.2938 left_y=0.0017 left_z=0.1766 left_yaw=0.0004 left_pitch=-0.013 left_roll=-0.0004 left_gripper=0.9932 right_x=0.3669 right_y=0.0219 right_z=0.0498 right_yaw=0.0139 right_pitch=-0.1819 right_roll=-0.0417 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.2786, 7.2821, 1.746, -0.0708, -0.0806, -0.0171, -0.1709, -5.2171, 6.2427, 1.8046, -0.1197, -0.1392, -0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7998, 0.6037, -0.3893, -0.0227, -0.0265, 0.9932, 0.0849, 1.4685, 0.5404, 0.1448, 0.0616, -0.0128, 0.0171]\nstate[eef_state]: left_x=0.2939 left_y=0.0017 left_z=0.1763 left_yaw=0.0004 left_pitch=-0.0141 left_roll=-0.0004 left_gripper=0.9932 right_x=0.3619 right_y=0.0235 right_z=0.0407 right_yaw=0.0266 right_pitch=-0.204 right_roll=-0.0375 right_gripper=0.0171\nstate[joint_eff]: [-0.1026, -1.347, 7.0906, 1.6972, -0.0611, -0.0806, -0.0171, -0.0615, -5.6957, 6.8718, 1.4676, 0.2808, 0.0171, 0.8083]\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 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.8017, 0.6037, -0.3893, -0.0227, -0.0265, 0.9932, 0.0849, 1.314, 0.7101, -0.205, 0.062, -0.02, 0.02]\nstate[eef_state]: left_x=0.294 left_y=0.0017 left_z=0.1758 left_yaw=0.0004 left_pitch=-0.016 left_roll=-0.0003 left_gripper=0.9932 right_x=0.3582 right_y=0.0231 right_z=0.0995 right_yaw=0.03 right_pitch=-0.2296 right_roll=-0.0445 right_gripper=0.02\nstate[joint_eff]: [-0.1162, -1.4427, 7.0359, 1.7363, -0.0562, -0.0611, -0.0171, -0.1846, -6.3521, 9.265, 1.6386, 0.022, 0.0806, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04fa3c5032d85fc958fa0e8ffb7c800ad7b5af9d432d161de3d94ea847f00bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:732f78c407c08430e0933c3847b27efff4f5fae879b283ba08a2c78374fa9415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69e90e093b7efc81d1aa30d3180e3190d600cc12d79f71ed9c2e0c39ef90c33d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISrwcKjgEIEhgCKkCIUbvpst44bB+tHxb8PfNrhGeoQ24gDKlKzDQTIuZp5Hw10JBHir+Zxnpoxc91+Cmp/FTCTpoq/HzeNeZ7tG8TMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe6OzNUGEgxg0gjzbcdnwUHlgUcaDHB6y6OM/eHA/dj2OCIwkKu0xQm1zcLPNfL5B8jMlZ6nZbED0siTjHH1HcsYvqOsSLjY4kzdRcAUQcubShpJKs0Fy9CuftDwKnr0jFG9jZEFHxrvIaEWPnbO5UHIsNXjEE2gGos0wnq48ig6NZyFC/dF8i+qRh8Vb459XyF6wgrCRu5Jm3AIcH+j0CUdHFbUxLmMDb2rjvUJnOVG5vzFUnIpRgB6VD8s9yMzUnWp7kif3TruIOLgc1iKzLf8jQePANyqlXC0u4USWi9D258wkGJQfTWjKHTAyyX2sM9jECaiceeKV8tjpgRBtA8YE+gaJEr+H1eKWGgl+B6Ssi6iULw92BKf9cxVoIJ65ifaNE1bHsIb/jwgwEDxrKUWg6c00RckpFSF7UPf+Wu0nRgSS6QLSQ7iAvA1OKr4kf+xAZevKPw+aAe1/paeDN4zerlhMFDtEKRWwPUDf68J9BapHYNqXOViMhkI0yQIu0bZYQXGJRYJqLsKlnh7Xm5obfKftc0lf81UPWCMb6q1whmGih617HQ1cl6rAd21TnzJ+C1DlAJhl/pV02X3BXBpRuradoOtsriAK7Gw/GAFFj01vD1d3uz30gia5oMvH/RqmBdOroEe8m5CimZZeMsZlOGGXtpjsRuSdKKUxU/3w0i24OdAx3/kuAIlwwGn9c4kct+ic88Om0EXyQ7m/SUW/tiNXSYdhjrMtBZGp9JP9//XlGK6POBYNsUWAsw+wyfC2vhTOT4M98GutgnQQy9H2wJ1MBnaC8yqmhWY9G6QyBhFiEBy7iFHV+okAj49pxwKnbsLuAcaemxtSEk/omcOb2IJ0lGqgWq/IHA+h2hcYaWSNK+208km6qMCiOT6QeEI+NHaVCTYVvedIIJ5J5rVal99piQLfzODdkyR8IAQGw1uNvFHEadyldL80kI34AWIkvwzs3BDMJtSeXHigZ0pEf/WPXh8w95WRBGw7/cOFpxEyZR+WJzEkmHNqamzCSbr0AkDJ7rR9NPC82z1sQEEsxnM2+le9kowpLn0FylJkvk2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017SxD2bQhTsSFAfcjZZXUWo",
      "input": {
        "note": "The close was empty (bowl unmoved) — the rim sits about 2 cm to my +y side in the wrist view. Opening and shifting to right_y=0.05 to straddle the rim properly.",
        "targets": {
          "right_gripper": 1,
          "right_y": 0.05,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017SxD2bQhTsSFAfcjZZXUWo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.8024, 0.6037, -0.3889, -0.0227, -0.0265, 0.9931, 0.1913, 1.3796, 0.6456, -0.1043, 0.1188, 0.0418, 0.9952]\nstate[eef_state]: left_x=0.2941 left_y=0.0017 left_z=0.1757 left_yaw=0.0004 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9931 right_x=0.353 right_y=0.0507 right_z=0.0693 right_yaw=0.0522 right_pitch=-0.2533 right_roll=-0.0467 right_gripper=0.9952\nstate[joint_eff]: [-0.2256, -0.8274, 7.0085, 1.7265, -0.0708, -0.0659, -0.0171, 0.294, -4.0684, 6.1607, 1.6239, 0.1978, 0.0904, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b9ad249a70cf2575aab0db0c7d56d5723b3fc69b6ee619f6098ae7e7db8e802",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b82b45e7bc49dedc638c00376b1972aedd8572b4d0aa5f712f303f1b78b24484",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0ae1ce7c85b8a8b66826f43cd8e10e4dd09dd47a12f29ae3c3abfbaff94f2422",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 7.515 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]: [-0.02, 0.7998, 0.6037, -0.3893, -0.0227, -0.0265, 0.9932, 0.0849, 1.4685, 0.5404, 0.1448, 0.0616, -0.0128, 0.0171]\nstate[eef_state]: left_x=0.2939 left_y=0.0017 left_z=0.1763 left_yaw=0.0004 left_pitch=-0.0141 left_roll=-0.0004 left_gripper=0.9932 right_x=0.3619 right_y=0.0235 right_z=0.0407 right_yaw=0.0266 right_pitch=-0.204 right_roll=-0.0375 right_gripper=0.0171\nstate[joint_eff]: [-0.1026, -1.347, 7.0906, 1.6972, -0.0611, -0.0806, -0.0171, -0.0615, -5.6957, 6.8718, 1.4676, 0.2808, 0.0171, 0.8083]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.02, 0.8017, 0.6037, -0.3893, -0.0227, -0.0265, 0.9932, 0.0849, 1.314, 0.7101, -0.205, 0.062, -0.02, 0.02]\nstate[eef_state]: left_x=0.294 left_y=0.0017 left_z=0.1758 left_yaw=0.0004 left_pitch=-0.016 left_roll=-0.0003 left_gripper=0.9932 right_x=0.3582 right_y=0.0231 right_z=0.0995 right_yaw=0.03 right_pitch=-0.2296 right_roll=-0.0445 right_gripper=0.02\nstate[joint_eff]: [-0.1162, -1.4427, 7.0359, 1.7363, -0.0562, -0.0611, -0.0171, -0.1846, -6.3521, 9.265, 1.6386, 0.022, 0.0806, 1.0281]",
      "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]: [-0.02, 0.8024, 0.6037, -0.3889, -0.0227, -0.0265, 0.9931, 0.1913, 1.3796, 0.6456, -0.1043, 0.1188, 0.0418, 0.9952]\nstate[eef_state]: left_x=0.2941 left_y=0.0017 left_z=0.1757 left_yaw=0.0004 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9931 right_x=0.353 right_y=0.0507 right_z=0.0693 right_yaw=0.0522 right_pitch=-0.2533 right_roll=-0.0467 right_gripper=0.9952\nstate[joint_eff]: [-0.2256, -0.8274, 7.0085, 1.7265, -0.0708, -0.0659, -0.0171, 0.294, -4.0684, 6.1607, 1.6239, 0.1978, 0.0904, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b9ad249a70cf2575aab0db0c7d56d5723b3fc69b6ee619f6098ae7e7db8e802",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b82b45e7bc49dedc638c00376b1972aedd8572b4d0aa5f712f303f1b78b24484",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ae1ce7c85b8a8b66826f43cd8e10e4dd09dd47a12f29ae3c3abfbaff94f2422",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013q48KoEJjqYrL1VyHYdmSG",
      "input": {
        "note": "The bowl's near rim is right under the jaws but the jaws close along y, parallel to that rim. Yawing the wrist 90° so the jaws close radially (one jaw inside, one outside the near rim) and lowering to rim height.",
        "targets": {
          "right_yaw": 1.571,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013q48KoEJjqYrL1VyHYdmSG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.3901, -0.0227, -0.0265, 0.9931, -0.2058, 1.9888, 1.3125, -0.8761, -0.6914, -1.6089, 0.9956]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1748 left_yaw=0.0008 left_pitch=-0.0198 left_roll=-0.0002 left_gripper=0.9931 right_x=0.3756 right_y=0.0403 right_z=0.0408 right_yaw=1.368 right_pitch=-0.3015 right_roll=-0.0299 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.3607, 7.0496, 1.7021, -0.0855, -0.0562, -0.0073, 0.1436, -10.5778, 6.065, -0.2857, -0.7643, -0.1441, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1eb61e5cec311dfc1f9ac96257396213c7ed649a225ec5d85013226322cbef6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19be9933e79196b87fbbc1312c360fb0aee1ca023ba3d4aa116aa1041d40f452",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:64e36a5b6b56b33d10d10b2271ac3c27e24e3238840837b89a9137fd1976dc89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 6.082 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]: [-0.02, 0.8017, 0.6037, -0.3893, -0.0227, -0.0265, 0.9932, 0.0849, 1.314, 0.7101, -0.205, 0.062, -0.02, 0.02]\nstate[eef_state]: left_x=0.294 left_y=0.0017 left_z=0.1758 left_yaw=0.0004 left_pitch=-0.016 left_roll=-0.0003 left_gripper=0.9932 right_x=0.3582 right_y=0.0231 right_z=0.0995 right_yaw=0.03 right_pitch=-0.2296 right_roll=-0.0445 right_gripper=0.02\nstate[joint_eff]: [-0.1162, -1.4427, 7.0359, 1.7363, -0.0562, -0.0611, -0.0171, -0.1846, -6.3521, 9.265, 1.6386, 0.022, 0.0806, 1.0281]",
      "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]: [-0.02, 0.8024, 0.6037, -0.3889, -0.0227, -0.0265, 0.9931, 0.1913, 1.3796, 0.6456, -0.1043, 0.1188, 0.0418, 0.9952]\nstate[eef_state]: left_x=0.2941 left_y=0.0017 left_z=0.1757 left_yaw=0.0004 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9931 right_x=0.353 right_y=0.0507 right_z=0.0693 right_yaw=0.0522 right_pitch=-0.2533 right_roll=-0.0467 right_gripper=0.9952\nstate[joint_eff]: [-0.2256, -0.8274, 7.0085, 1.7265, -0.0708, -0.0659, -0.0171, 0.294, -4.0684, 6.1607, 1.6239, 0.1978, 0.0904, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.3901, -0.0227, -0.0265, 0.9931, -0.2058, 1.9888, 1.3125, -0.8761, -0.6914, -1.6089, 0.9956]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1748 left_yaw=0.0008 left_pitch=-0.0198 left_roll=-0.0002 left_gripper=0.9931 right_x=0.3756 right_y=0.0403 right_z=0.0408 right_yaw=1.368 right_pitch=-0.3015 right_roll=-0.0299 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.3607, 7.0496, 1.7021, -0.0855, -0.0562, -0.0073, 0.1436, -10.5778, 6.065, -0.2857, -0.7643, -0.1441, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1eb61e5cec311dfc1f9ac96257396213c7ed649a225ec5d85013226322cbef6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19be9933e79196b87fbbc1312c360fb0aee1ca023ba3d4aa116aa1041d40f452",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64e36a5b6b56b33d10d10b2271ac3c27e24e3238840837b89a9137fd1976dc89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS/QcKjgEIEhgCKkAgoaRwQj1Z4QoH3OIa0rUAc2H50KDkL2xc1ZSy1Veg5m5GIPYcr1g5RHQbnnquWYUkZvgAiHEeVnAuW0AYd8VuMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYqPzNUGEgz8d+UW+95cIuvTt1EaDHZVtEIU8fiTpIjUbiIwmkKBDyxZTj85nrlyIapindbTcF5ePIWzgWeI6XAG/w5yHqoHRQ1fvI++EPgO/wOiKpsGaKp/WyJULLgt5wTEFf+mTiubClJoL5tAC877BSd4QQFR0equ/IWAlM+F/za5A4NYxd1brksi/SZ+pAI+KCiRR6KH07RNHtUdos1dC2k6Kxz+euTyymj+I4SekRb8k7pJaTAZgkBFwFENJ9WR45+Xb8sOu/0InPZxcAWEZqxWDfGbLK/CInBesVNI9DHcZp/bS9CmSubP3uGZAcAW/HBB7/M0e9MUh5j2oezoYsrhFdnggtUMm31SUbXTcvpyHDOJjc/wehZUQ+TlDQfB6YVRnPm2vcf3/evOh6knEl0Rh110QDfPXgOtL5pT3SbFi/Iny3ZU+nLRrZYCUwm/OKM5snjzzgeJkcwmVkTg4G54NBBscoc85Z3TSArK0vxzUNpL6MH1PiJHBxrfp3u7BuADatLDNtFGQ7P2TXlEScQiYDTxMOJZ90DXXic+NMZenel2GP8AeYOcVprM0zjeKCgejKgJwGNfzfaElWKeqda7SyThEStkb6gR6WNWU5xbt0IK6p10Gz/Cgu70MrtatYs2Ue107QeWiiFbm/fMZ4hm3iQ1RvsxFCBe1Qu3hg0NFNpNZvHc4gN4oUvK760E9LBEd0XcuNPZUkTM72J7d8GmM3mYVISj2Cm8s/S14+RsMmX6V1YTtH7Muo1F7KaIRFw/hhc1jV6Ou45e1QNvpHgrRsZgKu52TURtfkdn2NbPAD0PTYLGNH4U52cpV84CMiiax+d7mpqGYannHYFW2USkN1ax/eOeEaly+8EB4Jjlm3einNIMjGrm150WcjZGRVwktJZuyQj5MEF/3ZKs4vEI13C3JBJNqlqCbqNQB64Or8eBvM+zMxYhgBx7aZOE2Ur3btezRxoH02322OpRRM73XciT2ZgtkGXzaKeYYAK/GqeXpDPZWB2NRR4bOd8eGcNpXKD5c9vgm0oGScjnMN/cogh9MGlyL4bOCI7iX90GqsrG65wgY7ScbVzei+BJUNFDeYlUozFf+uvsoc9CCAWQdXIWn7Lq9ZpOO2NeXmJ4cwJtKiUePyL8VHSYI1lczAn8r6JD/cVdcIOYVYPcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NEDAH1EvwwZHF8jaFvvvq4",
      "input": {
        "note": "Wrist now yawed ~78°, jaws at rim height with the near rim between them; closing to pinch the rim radially.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NEDAH1EvwwZHF8jaFvvvq4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.8051, 0.6037, -0.3897, -0.0227, -0.0265, 0.9931, -0.205, 2.0121, 1.3144, -0.8894, -0.6933, -1.607, 0.0228]\nstate[eef_state]: left_x=0.2942 left_y=0.0017 left_z=0.1748 left_yaw=0.0004 left_pitch=-0.0198 left_roll=-0.0002 left_gripper=0.9931 right_x=0.3718 right_y=0.0417 right_z=0.0336 right_yaw=1.3785 right_pitch=-0.2993 right_roll=0.0077 right_gripper=0.0228\nstate[joint_eff]: [-0.0752, -1.306, 7.2, 1.6874, -0.0904, -0.0708, -0.0122, -0.1573, -11.4667, 5.0667, 0.486, -0.3834, -0.0904, 0.9792]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d68989f5c5edd542a485fb741f946a2821c83f7c89e76569e847a0382d41f75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f70e62bd46eb529ab384653313e6d88b8a729b81295151b0439f015054108190",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f60c1f1b742a66f2a9e8b03fbf4eaa7a9d11f0abca6122d8cf735781cc9aaf25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 21.63 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]: [-0.02, 0.8024, 0.6037, -0.3889, -0.0227, -0.0265, 0.9931, 0.1913, 1.3796, 0.6456, -0.1043, 0.1188, 0.0418, 0.9952]\nstate[eef_state]: left_x=0.2941 left_y=0.0017 left_z=0.1757 left_yaw=0.0004 left_pitch=-0.0164 left_roll=-0.0003 left_gripper=0.9931 right_x=0.353 right_y=0.0507 right_z=0.0693 right_yaw=0.0522 right_pitch=-0.2533 right_roll=-0.0467 right_gripper=0.9952\nstate[joint_eff]: [-0.2256, -0.8274, 7.0085, 1.7265, -0.0708, -0.0659, -0.0171, 0.294, -4.0684, 6.1607, 1.6239, 0.1978, 0.0904, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6037, -0.3901, -0.0227, -0.0265, 0.9931, -0.2058, 1.9888, 1.3125, -0.8761, -0.6914, -1.6089, 0.9956]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1748 left_yaw=0.0008 left_pitch=-0.0198 left_roll=-0.0002 left_gripper=0.9931 right_x=0.3756 right_y=0.0403 right_z=0.0408 right_yaw=1.368 right_pitch=-0.3015 right_roll=-0.0299 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.3607, 7.0496, 1.7021, -0.0855, -0.0562, -0.0073, 0.1436, -10.5778, 6.065, -0.2857, -0.7643, -0.1441, 0.0269]",
      "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]: [-0.02, 0.8051, 0.6037, -0.3897, -0.0227, -0.0265, 0.9931, -0.205, 2.0121, 1.3144, -0.8894, -0.6933, -1.607, 0.0228]\nstate[eef_state]: left_x=0.2942 left_y=0.0017 left_z=0.1748 left_yaw=0.0004 left_pitch=-0.0198 left_roll=-0.0002 left_gripper=0.9931 right_x=0.3718 right_y=0.0417 right_z=0.0336 right_yaw=1.3785 right_pitch=-0.2993 right_roll=0.0077 right_gripper=0.0228\nstate[joint_eff]: [-0.0752, -1.306, 7.2, 1.6874, -0.0904, -0.0708, -0.0122, -0.1573, -11.4667, 5.0667, 0.486, -0.3834, -0.0904, 0.9792]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d68989f5c5edd542a485fb741f946a2821c83f7c89e76569e847a0382d41f75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f70e62bd46eb529ab384653313e6d88b8a729b81295151b0439f015054108190",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f60c1f1b742a66f2a9e8b03fbf4eaa7a9d11f0abca6122d8cf735781cc9aaf25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS2wQKjgEIEhgCKkBuKdFQ8gtdkpXxRwNIN7Mk9uDTbYjhJVOg7YZS5GAjox8pc7kzajgXR8bfKL+efuH+kD3+6FQzI1BgrJtoz42qMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZGPzNUGEgyIWUh6f0GCv+9ELesaDHs56I/3rit0/QprSCIwobFj6TY7igIovwhsqZRbQZLTg/hyevQCcQxw0cl69u6236mXz8FyrFEERqhxkhLAKvkCmeLR0YrEkfdg+wCTLHv3V8D2Xw8Mh+AT7kIoVIUNeuvk9nakGLREqcHaL7KUwlWh1inoZ3iOMLC32uJ+EfG5mFmux/PRmLdFaEmZIS/u51RZQ1bDKdieYcOSgfSRQ0aAoz/nqecdJRtFRMKBcVtIjQIOQAjHbI/VAtgadNqRuDc5nkoyoWdJ0MqFR/zhR9Cnci0TvOsWznhDrd/9Nx5KETFv4V8Cf+pWG9bSaoB6s209CVssqH2zQi0dqhX8emwgYjufTeHOxUTsPgiKCEx5j9qgQYSn8qZUn4RE1hP8ATSDMTW0pdL3tZei3IS9yFhjAdw3J89J5jKM9VVi7jfwKnik2CD7UEfbY2VSBdh74MP5WRDd/dfkND0QkIGxxEJau9FACZjBHn+w89Y6O6t/RBT3kybgLWkhctpNpuPOkQ2t/kXmeVCEcpa3TiODS6WH6wJYfa59byYGUrv8Jh9wbI09Bv4470srVEgKOeHI9+SRDIhGUX9rYGUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FetoGymrwJ1Gv8er9KgxhK",
      "input": {
        "note": "Closed to 0.023; lifting to check if the pink bowl's rim is held.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01FetoGymrwJ1Gv8er9KgxhK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8051, 0.6037, -0.3897, -0.0227, -0.0265, 0.9931, -0.205, 1.9469, 1.4982, -1.1366, -0.6807, -1.6154, 0.0286]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1748 left_yaw=0.0008 left_pitch=-0.0198 left_roll=-0.0002 left_gripper=0.9931 right_x=0.3764 right_y=0.0389 right_z=0.0982 right_yaw=1.3829 right_pitch=-0.3119 right_roll=0.0004 right_gripper=0.0286\nstate[joint_eff]: [-0.0479, -1.2786, 7.2274, 1.6874, -0.0366, -0.0464, -0.0122, -0.0342, -11.453, 7.5145, 0.0366, -0.5055, 0.0952, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:227429016ff308c5b4393d2b32d35864894e2f37b6407de8d65dac501515c1d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:195c2fe21e28d8c9e58d0a6b262b1e74fc953122eea847a215231c052607e989",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0551b978ea69b7c41c479973be6e037433edf0bfc0fe9fe87ac7edc510e668cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 12.68 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]: [-0.0196, 0.8047, 0.6037, -0.3901, -0.0227, -0.0265, 0.9931, -0.2058, 1.9888, 1.3125, -0.8761, -0.6914, -1.6089, 0.9956]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1748 left_yaw=0.0008 left_pitch=-0.0198 left_roll=-0.0002 left_gripper=0.9931 right_x=0.3756 right_y=0.0403 right_z=0.0408 right_yaw=1.368 right_pitch=-0.3015 right_roll=-0.0299 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.3607, 7.0496, 1.7021, -0.0855, -0.0562, -0.0073, 0.1436, -10.5778, 6.065, -0.2857, -0.7643, -0.1441, 0.0269]",
      "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]: [-0.02, 0.8051, 0.6037, -0.3897, -0.0227, -0.0265, 0.9931, -0.205, 2.0121, 1.3144, -0.8894, -0.6933, -1.607, 0.0228]\nstate[eef_state]: left_x=0.2942 left_y=0.0017 left_z=0.1748 left_yaw=0.0004 left_pitch=-0.0198 left_roll=-0.0002 left_gripper=0.9931 right_x=0.3718 right_y=0.0417 right_z=0.0336 right_yaw=1.3785 right_pitch=-0.2993 right_roll=0.0077 right_gripper=0.0228\nstate[joint_eff]: [-0.0752, -1.306, 7.2, 1.6874, -0.0904, -0.0708, -0.0122, -0.1573, -11.4667, 5.0667, 0.486, -0.3834, -0.0904, 0.9792]",
      "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]: [-0.0196, 0.8051, 0.6037, -0.3897, -0.0227, -0.0265, 0.9931, -0.205, 1.9469, 1.4982, -1.1366, -0.6807, -1.6154, 0.0286]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1748 left_yaw=0.0008 left_pitch=-0.0198 left_roll=-0.0002 left_gripper=0.9931 right_x=0.3764 right_y=0.0389 right_z=0.0982 right_yaw=1.3829 right_pitch=-0.3119 right_roll=0.0004 right_gripper=0.0286\nstate[joint_eff]: [-0.0479, -1.2786, 7.2274, 1.6874, -0.0366, -0.0464, -0.0122, -0.0342, -11.453, 7.5145, 0.0366, -0.5055, 0.0952, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:227429016ff308c5b4393d2b32d35864894e2f37b6407de8d65dac501515c1d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:195c2fe21e28d8c9e58d0a6b262b1e74fc953122eea847a215231c052607e989",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0551b978ea69b7c41c479973be6e037433edf0bfc0fe9fe87ac7edc510e668cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PQNekaCBYCu2NC8moC24kz",
      "input": {
        "note": "Two empty closes: re-reading the top view, the pink bowl's centre is much closer to the base than I assumed (x≈0.30, y≈0.11). Returning yaw to 0 and hovering over its right-hand rim at x=0.30, y=0.05.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PQNekaCBYCu2NC8moC24kz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.8101, 0.6037, -0.4046, -0.0223, -0.0265, 0.9931, 0.2092, 1.1419, 0.6579, -0.4465, -0.0185, -0.0624, 0.9952]\nstate[eef_state]: left_x=0.2924 left_y=0.0017 left_z=0.1704 left_yaw=0.0001 left_pitch=-0.0397 left_roll=-0.0 left_gripper=0.9931 right_x=0.2944 right_y=0.0695 right_z=0.0935 right_yaw=0.2488 right_pitch=-0.3524 right_roll=-0.0098 right_gripper=0.9952\nstate[joint_eff]: [-0.1709, -1.5932, 7.2547, 1.9072, -0.0366, -0.0513, -0.0122, -0.0342, -3.8769, 6.4205, 1.5165, 0.1392, 0.315, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a77616990bd8a6d33fa27cfed878bdcc10ce51f112177f5a89d0a77b74f4bc7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfd4d86e39bdbe04a16143889d81cded3278d2e211d7bff56c0f82d54dcf7a06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c646aa68c58d205fdb41dfc53e04e7798bc00f363627064e447816f0f179e433",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 4.894 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]: [-0.02, 0.8051, 0.6037, -0.3897, -0.0227, -0.0265, 0.9931, -0.205, 2.0121, 1.3144, -0.8894, -0.6933, -1.607, 0.0228]\nstate[eef_state]: left_x=0.2942 left_y=0.0017 left_z=0.1748 left_yaw=0.0004 left_pitch=-0.0198 left_roll=-0.0002 left_gripper=0.9931 right_x=0.3718 right_y=0.0417 right_z=0.0336 right_yaw=1.3785 right_pitch=-0.2993 right_roll=0.0077 right_gripper=0.0228\nstate[joint_eff]: [-0.0752, -1.306, 7.2, 1.6874, -0.0904, -0.0708, -0.0122, -0.1573, -11.4667, 5.0667, 0.486, -0.3834, -0.0904, 0.9792]",
      "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]: [-0.0196, 0.8051, 0.6037, -0.3897, -0.0227, -0.0265, 0.9931, -0.205, 1.9469, 1.4982, -1.1366, -0.6807, -1.6154, 0.0286]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1748 left_yaw=0.0008 left_pitch=-0.0198 left_roll=-0.0002 left_gripper=0.9931 right_x=0.3764 right_y=0.0389 right_z=0.0982 right_yaw=1.3829 right_pitch=-0.3119 right_roll=0.0004 right_gripper=0.0286\nstate[joint_eff]: [-0.0479, -1.2786, 7.2274, 1.6874, -0.0366, -0.0464, -0.0122, -0.0342, -11.453, 7.5145, 0.0366, -0.5055, 0.0952, 1.0281]",
      "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]: [-0.02, 0.8101, 0.6037, -0.4046, -0.0223, -0.0265, 0.9931, 0.2092, 1.1419, 0.6579, -0.4465, -0.0185, -0.0624, 0.9952]\nstate[eef_state]: left_x=0.2924 left_y=0.0017 left_z=0.1704 left_yaw=0.0001 left_pitch=-0.0397 left_roll=-0.0 left_gripper=0.9931 right_x=0.2944 right_y=0.0695 right_z=0.0935 right_yaw=0.2488 right_pitch=-0.3524 right_roll=-0.0098 right_gripper=0.9952\nstate[joint_eff]: [-0.1709, -1.5932, 7.2547, 1.9072, -0.0366, -0.0513, -0.0122, -0.0342, -3.8769, 6.4205, 1.5165, 0.1392, 0.315, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a77616990bd8a6d33fa27cfed878bdcc10ce51f112177f5a89d0a77b74f4bc7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfd4d86e39bdbe04a16143889d81cded3278d2e211d7bff56c0f82d54dcf7a06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c646aa68c58d205fdb41dfc53e04e7798bc00f363627064e447816f0f179e433",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UytM7EZEzDxpE6VqUgQN1e",
      "input": {
        "note": "The pink bowl is now centred at the bottom of the right wrist view, so its centre is at y≈0.07, x≈0.29. Shifting to its right-hand rim (y=0.015) and down to rim height z=0.035.",
        "targets": {
          "right_y": 0.015,
          "right_yaw": 0.0,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01UytM7EZEzDxpE6VqUgQN1e",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.8108, 0.6037, -0.4076, -0.0223, -0.0265, 0.9931, 0.0776, 1.2144, 0.4614, -0.2554, 0.041, 0.0181, 0.9956]\nstate[eef_state]: left_x=0.292 left_y=0.0017 left_z=0.1696 left_yaw=0.0001 left_pitch=-0.0435 left_roll=0.0 left_gripper=0.9931 right_x=0.2786 right_y=0.018 right_z=0.0272 right_yaw=0.0153 right_pitch=-0.4292 right_roll=-0.0145 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -1.3607, 6.9949, 1.6972, -0.0171, -0.0464, -0.0122, -0.1573, -3.3162, 6.5846, 1.4383, -0.0073, 0.0073, 0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04dedce355519fb17e818d1f4cd0e202aabfebb37e6a0bbf7984ec466a9c0a98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f94facf5bf546738d402c4faa108b2d10ee17db4676811e0224b95da4ee026e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb8bca1563f06e53e784a1aeb4a857b601491155a4dacc9e2b70409e842bd90b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 3.85 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]: [-0.0196, 0.8051, 0.6037, -0.3897, -0.0227, -0.0265, 0.9931, -0.205, 1.9469, 1.4982, -1.1366, -0.6807, -1.6154, 0.0286]\nstate[eef_state]: left_x=0.2942 left_y=0.0018 left_z=0.1748 left_yaw=0.0008 left_pitch=-0.0198 left_roll=-0.0002 left_gripper=0.9931 right_x=0.3764 right_y=0.0389 right_z=0.0982 right_yaw=1.3829 right_pitch=-0.3119 right_roll=0.0004 right_gripper=0.0286\nstate[joint_eff]: [-0.0479, -1.2786, 7.2274, 1.6874, -0.0366, -0.0464, -0.0122, -0.0342, -11.453, 7.5145, 0.0366, -0.5055, 0.0952, 1.0281]",
      "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]: [-0.02, 0.8101, 0.6037, -0.4046, -0.0223, -0.0265, 0.9931, 0.2092, 1.1419, 0.6579, -0.4465, -0.0185, -0.0624, 0.9952]\nstate[eef_state]: left_x=0.2924 left_y=0.0017 left_z=0.1704 left_yaw=0.0001 left_pitch=-0.0397 left_roll=-0.0 left_gripper=0.9931 right_x=0.2944 right_y=0.0695 right_z=0.0935 right_yaw=0.2488 right_pitch=-0.3524 right_roll=-0.0098 right_gripper=0.9952\nstate[joint_eff]: [-0.1709, -1.5932, 7.2547, 1.9072, -0.0366, -0.0513, -0.0122, -0.0342, -3.8769, 6.4205, 1.5165, 0.1392, 0.315, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.8108, 0.6037, -0.4076, -0.0223, -0.0265, 0.9931, 0.0776, 1.2144, 0.4614, -0.2554, 0.041, 0.0181, 0.9956]\nstate[eef_state]: left_x=0.292 left_y=0.0017 left_z=0.1696 left_yaw=0.0001 left_pitch=-0.0435 left_roll=0.0 left_gripper=0.9931 right_x=0.2786 right_y=0.018 right_z=0.0272 right_yaw=0.0153 right_pitch=-0.4292 right_roll=-0.0145 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -1.3607, 6.9949, 1.6972, -0.0171, -0.0464, -0.0122, -0.1573, -3.3162, 6.5846, 1.4383, -0.0073, 0.0073, 0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04dedce355519fb17e818d1f4cd0e202aabfebb37e6a0bbf7984ec466a9c0a98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f94facf5bf546738d402c4faa108b2d10ee17db4676811e0224b95da4ee026e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb8bca1563f06e53e784a1aeb4a857b601491155a4dacc9e2b70409e842bd90b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISvgQKjgEIEhgCKkCn6xApD/LOP1NkqgGjCtSXN1xMBkXuatS1/cQQSuyfFBWcWjxOS+v8SxjAOtwp8sSbBzwz3u8CGwEdnkVMGzAYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbqPzNUGEgxL9JGT60A3P5NHoIYaDHVnHuHFDacImML5+iIwocjcGhby62hFjhCc/ZNNSBigyjUrchLvi/ovaAok3+HZ/N1qDNJ5l49gqpM7xgODKtwCg79rEoYyqukXcrLNndLRPxo6yBBVn9ltN9iuR/TVRwy/erchkqk9QsWrgsL2+B0RBRBYHg1LoI0mpEb+KHjFaX8ZH3S6dyhkEVIJEAzkAoTn8IrP48KIeY74RNm1hF5cZiMmVkm5vyS5/cPlu2Q3Khw6Ayaqcrq6VUE1QTa7TSml8SBaiLP8QuzwUddNSVfmleSoQGUsnNblj81T9BbcGW55xfYu1zN9PiO6BqMBma/t374oH8pX7rvwAQTWccaGhtjoeYTIgZsH3oXdJvb3HXCa2tTrWtDdYW9hqRH+lL2A8XX4C9YPeSxOhHu5ALJcei/MBqOXJ6l1tbnDQ0+5ky2jzGl2QGTxe4W0blFcZZBb9lL/nwP60/iVyPw2ldAxtkl0jBbQZtgDC2mOAf+tsNNQs5sHKTC3E7KOIgYh6MiBPq5Bm0KMaOJ2NyzYvTjISGrrNk618pGN7V24GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JbDfVmSZu9nCGVpJQtZzFZ",
      "input": {
        "note": "The bowl's right rim edge now sits on the jaw column with jaws straddling it; closing to pinch the rim.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JbDfVmSZu9nCGVpJQtZzFZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8108, 0.6037, -0.4076, -0.0227, -0.0265, 0.9931, 0.0723, 1.2076, 0.4568, -0.2409, 0.0143, 0.0257, 0.038]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1696 left_yaw=0.0008 left_pitch=-0.0435 left_roll=0.0002 left_gripper=0.9931 right_x=0.2805 right_y=0.0214 right_z=0.0292 right_yaw=0.0303 right_pitch=-0.4136 right_roll=0.0155 right_gripper=0.038\nstate[joint_eff]: [-0.0752, -1.0872, 6.9949, 1.6923, -0.0513, -0.0806, -0.0122, 0.3077, -1.9761, 6.0513, 0.8474, 0.2906, -0.0611, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44a6d6d04be53bec7c5e79d149f64063132b0c08554d713303c6f4a2afe4fbcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5db3dc4fc882d9ee17be7c5638962e3a7f031f53b62e1585751323cf47a54d1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce5ba9975151fbf8e476caccb1efec752e212ec0f531d9fcc92ac195df17da48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 14.19 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]: [-0.02, 0.8101, 0.6037, -0.4046, -0.0223, -0.0265, 0.9931, 0.2092, 1.1419, 0.6579, -0.4465, -0.0185, -0.0624, 0.9952]\nstate[eef_state]: left_x=0.2924 left_y=0.0017 left_z=0.1704 left_yaw=0.0001 left_pitch=-0.0397 left_roll=-0.0 left_gripper=0.9931 right_x=0.2944 right_y=0.0695 right_z=0.0935 right_yaw=0.2488 right_pitch=-0.3524 right_roll=-0.0098 right_gripper=0.9952\nstate[joint_eff]: [-0.1709, -1.5932, 7.2547, 1.9072, -0.0366, -0.0513, -0.0122, -0.0342, -3.8769, 6.4205, 1.5165, 0.1392, 0.315, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.02, 0.8108, 0.6037, -0.4076, -0.0223, -0.0265, 0.9931, 0.0776, 1.2144, 0.4614, -0.2554, 0.041, 0.0181, 0.9956]\nstate[eef_state]: left_x=0.292 left_y=0.0017 left_z=0.1696 left_yaw=0.0001 left_pitch=-0.0435 left_roll=0.0 left_gripper=0.9931 right_x=0.2786 right_y=0.018 right_z=0.0272 right_yaw=0.0153 right_pitch=-0.4292 right_roll=-0.0145 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -1.3607, 6.9949, 1.6972, -0.0171, -0.0464, -0.0122, -0.1573, -3.3162, 6.5846, 1.4383, -0.0073, 0.0073, 0.0317]",
      "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]: [-0.0196, 0.8108, 0.6037, -0.4076, -0.0227, -0.0265, 0.9931, 0.0723, 1.2076, 0.4568, -0.2409, 0.0143, 0.0257, 0.038]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1696 left_yaw=0.0008 left_pitch=-0.0435 left_roll=0.0002 left_gripper=0.9931 right_x=0.2805 right_y=0.0214 right_z=0.0292 right_yaw=0.0303 right_pitch=-0.4136 right_roll=0.0155 right_gripper=0.038\nstate[joint_eff]: [-0.0752, -1.0872, 6.9949, 1.6923, -0.0513, -0.0806, -0.0122, 0.3077, -1.9761, 6.0513, 0.8474, 0.2906, -0.0611, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44a6d6d04be53bec7c5e79d149f64063132b0c08554d713303c6f4a2afe4fbcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5db3dc4fc882d9ee17be7c5638962e3a7f031f53b62e1585751323cf47a54d1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce5ba9975151fbf8e476caccb1efec752e212ec0f531d9fcc92ac195df17da48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISxgIKjgEIEhgCKkAV6BAxKbdW/rrQaEodL10eDaWZutK38GIsIPMikfbas+pGc4CNj35kDS47DBDe9oxbGjkuVYT7INr1KFfmdRWzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb+PzNUGEgyYLL7XbFNA7yuijeoaDOyKLl+WxgyBr04q/SIwXxhj3YDo2jQP5hOtJtrms8HECdwrem7hHICjPL8LrAfrnRJHO2pJucm5axqyb+IeKmVjRtw/T8oQu2G+Rx+L59+bW6ugM4OeagIxgTnygXgatBy/kNprRzFgs9YbX42XbEhAp+4chauUkEuA9f9a6FxHBU30JB971WMOlwxbtEBeJVngCTHihnnG07D0RqO+JZigd+XfzRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015H9aNxepXkbP9zWjmMZu4K",
      "input": {
        "note": "Closed to 0.038, consistent with pinching the thin rim; lifting to 15 cm to verify the bowl comes with it.",
        "targets": {
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015H9aNxepXkbP9zWjmMZu4K",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.8116, 0.6037, -0.408, -0.0227, -0.0261, 0.9931, 0.0738, 1.087, 0.833, -0.7479, 0.0139, 0.0216, 0.0406]\nstate[eef_state]: left_x=0.292 left_y=0.0018 left_z=0.1693 left_yaw=0.0002 left_pitch=-0.0446 left_roll=0.0006 left_gripper=0.9931 right_x=0.2815 right_y=0.0219 right_z=0.1345 right_yaw=0.0345 right_pitch=-0.4238 right_roll=0.0129 right_gripper=0.0406\nstate[joint_eff]: [-0.2393, -1.2786, 7.0359, 1.6874, -0.0806, -0.022, -0.0073, -0.4855, -3.7538, 8.841, 1.3748, 0.0024, 0.0366, 0.7155]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbbac56ce8cdf42645a46b38e20ce2e9e6fd1882de75faeb08b5889722b3a79f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d01c311c001421ecddf99839f95b3a348efab4bef65930fc1d121e0b636d5ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6995283a0cc3f768d798116b57df89953f7b40e8a32aba381d195966c26c992c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 10.41 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]: [-0.02, 0.8108, 0.6037, -0.4076, -0.0223, -0.0265, 0.9931, 0.0776, 1.2144, 0.4614, -0.2554, 0.041, 0.0181, 0.9956]\nstate[eef_state]: left_x=0.292 left_y=0.0017 left_z=0.1696 left_yaw=0.0001 left_pitch=-0.0435 left_roll=0.0 left_gripper=0.9931 right_x=0.2786 right_y=0.018 right_z=0.0272 right_yaw=0.0153 right_pitch=-0.4292 right_roll=-0.0145 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -1.3607, 6.9949, 1.6972, -0.0171, -0.0464, -0.0122, -0.1573, -3.3162, 6.5846, 1.4383, -0.0073, 0.0073, 0.0317]",
      "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]: [-0.0196, 0.8108, 0.6037, -0.4076, -0.0227, -0.0265, 0.9931, 0.0723, 1.2076, 0.4568, -0.2409, 0.0143, 0.0257, 0.038]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1696 left_yaw=0.0008 left_pitch=-0.0435 left_roll=0.0002 left_gripper=0.9931 right_x=0.2805 right_y=0.0214 right_z=0.0292 right_yaw=0.0303 right_pitch=-0.4136 right_roll=0.0155 right_gripper=0.038\nstate[joint_eff]: [-0.0752, -1.0872, 6.9949, 1.6923, -0.0513, -0.0806, -0.0122, 0.3077, -1.9761, 6.0513, 0.8474, 0.2906, -0.0611, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8116, 0.6037, -0.408, -0.0227, -0.0261, 0.9931, 0.0738, 1.087, 0.833, -0.7479, 0.0139, 0.0216, 0.0406]\nstate[eef_state]: left_x=0.292 left_y=0.0018 left_z=0.1693 left_yaw=0.0002 left_pitch=-0.0446 left_roll=0.0006 left_gripper=0.9931 right_x=0.2815 right_y=0.0219 right_z=0.1345 right_yaw=0.0345 right_pitch=-0.4238 right_roll=0.0129 right_gripper=0.0406\nstate[joint_eff]: [-0.2393, -1.2786, 7.0359, 1.6874, -0.0806, -0.022, -0.0073, -0.4855, -3.7538, 8.841, 1.3748, 0.0024, 0.0366, 0.7155]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbbac56ce8cdf42645a46b38e20ce2e9e6fd1882de75faeb08b5889722b3a79f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d01c311c001421ecddf99839f95b3a348efab4bef65930fc1d121e0b636d5ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6995283a0cc3f768d798116b57df89953f7b40e8a32aba381d195966c26c992c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PCGFm6ky2mBbKAT713ewKQ",
      "input": {
        "note": "Wrist view unchanged after the lift, which suggests the bowl is riding with the jaws. Moving up and inward toward the purple middle bowl; the top view will confirm whether the pink bowl came along.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.2,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01PCGFm6ky2mBbKAT713ewKQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.812, 0.6037, -0.4084, -0.0227, -0.0265, 0.9931, 0.6186, 1.6623, 1.5177, -0.9909, 0.2657, 0.4541, 0.0406]\nstate[eef_state]: left_x=0.2919 left_y=0.0018 left_z=0.1691 left_yaw=0.0004 left_pitch=-0.0454 left_roll=0.0003 left_gripper=0.9931 right_x=0.3479 right_y=0.1951 right_z=0.181 right_yaw=0.0684 right_pitch=-0.4874 right_roll=-0.0207 right_gripper=0.0406\nstate[joint_eff]: [-0.0752, -1.347, 7.2, 1.6777, -0.0513, -0.0659, -0.0122, 0.1162, -8.4855, 8.7316, 1.1404, 0.3101, 0.3346, 0.7204]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4731c8974881fd81ba6f96baebc5213ec335693005f8ec2ae22fd107c500520",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:848c9a8d79408dc914e44c501d24bef7db071d335e24c341622a2dbba45e06be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5237f07b9e6dc37c51a965f34590556853b19fd22a494cc368bc0b89e672e4a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 9.472 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]: [-0.0196, 0.8108, 0.6037, -0.4076, -0.0227, -0.0265, 0.9931, 0.0723, 1.2076, 0.4568, -0.2409, 0.0143, 0.0257, 0.038]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1696 left_yaw=0.0008 left_pitch=-0.0435 left_roll=0.0002 left_gripper=0.9931 right_x=0.2805 right_y=0.0214 right_z=0.0292 right_yaw=0.0303 right_pitch=-0.4136 right_roll=0.0155 right_gripper=0.038\nstate[joint_eff]: [-0.0752, -1.0872, 6.9949, 1.6923, -0.0513, -0.0806, -0.0122, 0.3077, -1.9761, 6.0513, 0.8474, 0.2906, -0.0611, 0.9792]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.02, 0.8116, 0.6037, -0.408, -0.0227, -0.0261, 0.9931, 0.0738, 1.087, 0.833, -0.7479, 0.0139, 0.0216, 0.0406]\nstate[eef_state]: left_x=0.292 left_y=0.0018 left_z=0.1693 left_yaw=0.0002 left_pitch=-0.0446 left_roll=0.0006 left_gripper=0.9931 right_x=0.2815 right_y=0.0219 right_z=0.1345 right_yaw=0.0345 right_pitch=-0.4238 right_roll=0.0129 right_gripper=0.0406\nstate[joint_eff]: [-0.2393, -1.2786, 7.0359, 1.6874, -0.0806, -0.022, -0.0073, -0.4855, -3.7538, 8.841, 1.3748, 0.0024, 0.0366, 0.7155]",
      "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]: [-0.02, 0.812, 0.6037, -0.4084, -0.0227, -0.0265, 0.9931, 0.6186, 1.6623, 1.5177, -0.9909, 0.2657, 0.4541, 0.0406]\nstate[eef_state]: left_x=0.2919 left_y=0.0018 left_z=0.1691 left_yaw=0.0004 left_pitch=-0.0454 left_roll=0.0003 left_gripper=0.9931 right_x=0.3479 right_y=0.1951 right_z=0.181 right_yaw=0.0684 right_pitch=-0.4874 right_roll=-0.0207 right_gripper=0.0406\nstate[joint_eff]: [-0.0752, -1.347, 7.2, 1.6777, -0.0513, -0.0659, -0.0122, 0.1162, -8.4855, 8.7316, 1.1404, 0.3101, 0.3346, 0.7204]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4731c8974881fd81ba6f96baebc5213ec335693005f8ec2ae22fd107c500520",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:848c9a8d79408dc914e44c501d24bef7db071d335e24c341622a2dbba45e06be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5237f07b9e6dc37c51a965f34590556853b19fd22a494cc368bc0b89e672e4a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIShAsKjgEIEhgCKkD0lUy0FT6t11kbY1s/PJKpnUCvRqidYPIBU7DicugvIsvCzQDEpNOuX64fYwJccBGChutv2iGuKv8OpmmLDxwIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdmPzNUGEgxkM0HhtFOOe+xwlDIaDH2GAYuXYxihzsVFCCIwRNV7NHctu5FG6PwNlqhHiG655pNtOA/UUPnuY9y/HCw3p8pajKY5yFyAW2AeQPkuKqIJKfk98y9/tVZXMoYpKSBH3F6dpNvSsWefGIh+2vQmrqxEIXR4OLFbNkPY3JytQGAyKX3y5Wyok06G2lNDTlWycKsJ2dswsL0V2kxvpBMEcEie62n6OJN4FVJdDvaxOH19jGeEEAlyhNzJkaw2yRtl6NI+KFhNpcA2cDbebUB/vuYDv4Af7J3VBs8lVA405JRwtcDhEIPtFCxZvTySz3OUxbIGfJ/4XWHA6nL2uDj9509Nim/ticzcRynrBx2TfAGT62I0BvNIYtTBOH+id0ce8aFmpKWPy7Y8XR7m3ftmMg4u1CghnUPLyWWBnPKWobLauBfRdAULeDOorVDJTWmh2hrtO9WN1dDEQIe4xy15PvaCUdBDal/ukrukrNDg8lmyU4ukXmKc/Yh4uQzgLOhBZ3/oLqocUvcgv/OmH6bcnOJ9euikoKwF1ZnrnwyzQU6IkLXoGMtxP16lE+S3O+2CN1rWHrsbGHOsTY0o2SNBw+1jeiRkF0290fT4HcueUUT+H/52qflvXWl7Qlcxdn58Ebs5ZEEvpqVUNLyyqPDWRGkXQYQ903VLr9a2GT+Q5KiF9wq+XiC31yxfXVPaJUzzzOMFVvgiRFU3/U7ZG+jqxqjVOucncaqJiUaPCfV9+pQ/dXdCyPmzS7u2o/eTvvf+sSHZueorTxJ1cxNllcbsibY3OJ3fhdHiHJQE0bIEHYxleyntdth7IfsbhzS8fLhRe0T7I/m2uP6joMblJNRELV9M59ztGtdsa2a6fzXtx0YYICn9DPyZ6Eo9xxrKrh5MNl0wZJAzt4PERUIHbNmg4K/kVHE8e/vWsPmCXiu49e4UvmQUkBy3C2E+hBsWlYfjZAinQ82e3DIGD7aXUfxplTWg4FbIOMwew/jJdsbfzOHIg78hBY3cxPzEK47SqhJM/cnqpcDP/FS1bulvlsk2ndgywq9rk0jW1XjVHPpVs3guRmCeM+uUSbdfuXIu2WOZso36/e4pBPDlNGNLyJExaIylFZN2Tk1uxN5KUCunti8fgJz0dF5iV2Y7x7+UZvguqk9Hh0ETYHu7J/6meH78mVqDwskDw412sCsXEr/GBLicPZv60Qvx6nTDIvysYUImQOJl/Z9Ohb7PWo2avgNWuEctPB4C+SxorZbDb/Qq0cPooD4O+xXd2/jz4f9oXpQ7zxL94CXMpx/Hf4fhSohVd/VRcZ+WKnXmk1vKvlU7W9w61vtCRJnS52dtGsW3ZtCQZDoy3Mydlt8mGN5QU74F+cqyyg5CZIP79pEWBQQv7iG2HVkF22e53JjUJHxWLtyeQtKjsOTvJUVw7XohOkB1O6ExdEwVMmFW73gms7oj8c6t44xiSij869dO+nq1r9wpW+h5ihj8t2M3HksX83Vw5XAJpAb4znxY8lr4fhJ3muii8U1qzMnu5b5jJFHot0IJx2tFcE8+G0T35hR16WLAM8xfIeJb7svW7b2bVODadrxw1JmA94fu1ovOPOKGmrNTxmp2Ii9GOvr459epVoClR7p3uJK3Z37XTHapNVWR8zee2ovAOkwMFyfc+CxUoE+5gscD6bKnhhiQ5g5rIThnO7MgsBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Q3PyhPeouQZUVQsBxjpHF",
      "input": {
        "note": "Pink bowl is confirmed held; the purple bowl shows at the upper-left of the wrist view, i.e. slightly farther and toward +y. Nudging there to centre the carried bowl above it.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.27,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_011Q3PyhPeouQZUVQsBxjpHF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.8173, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.6922, 2.0319, 2.038, -1.1976, 0.2779, 0.4896, 0.0429]\nstate[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1662 left_yaw=0.0004 left_pitch=-0.058 left_roll=0.0005 left_gripper=0.9931 right_x=0.3911 right_y=0.266 right_z=0.1872 right_yaw=0.0928 right_pitch=-0.5278 right_roll=-0.0474 right_gripper=0.0429\nstate[joint_eff]: [-0.1709, -1.7436, 6.9949, 1.7558, -0.0317, -0.0269, -0.0122, 0.0342, -10.906, 7.9521, 0.9158, 0.3199, 0.2857, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df698c39fecb54227bfac6f4837b02352bca5b0019128084ede9c4c5bb125b0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d5489a5a15d5e8a7a8115e2403368c2ef7ae14dbcdcebed71c0d0fcaf47a028",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c3611f8eb27dc3f818019a8bb1078e5838f7b28fd2cb09d6652cb3afbafa79cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 17.88 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]: [-0.02, 0.8116, 0.6037, -0.408, -0.0227, -0.0261, 0.9931, 0.0738, 1.087, 0.833, -0.7479, 0.0139, 0.0216, 0.0406]\nstate[eef_state]: left_x=0.292 left_y=0.0018 left_z=0.1693 left_yaw=0.0002 left_pitch=-0.0446 left_roll=0.0006 left_gripper=0.9931 right_x=0.2815 right_y=0.0219 right_z=0.1345 right_yaw=0.0345 right_pitch=-0.4238 right_roll=0.0129 right_gripper=0.0406\nstate[joint_eff]: [-0.2393, -1.2786, 7.0359, 1.6874, -0.0806, -0.022, -0.0073, -0.4855, -3.7538, 8.841, 1.3748, 0.0024, 0.0366, 0.7155]",
      "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]: [-0.02, 0.812, 0.6037, -0.4084, -0.0227, -0.0265, 0.9931, 0.6186, 1.6623, 1.5177, -0.9909, 0.2657, 0.4541, 0.0406]\nstate[eef_state]: left_x=0.2919 left_y=0.0018 left_z=0.1691 left_yaw=0.0004 left_pitch=-0.0454 left_roll=0.0003 left_gripper=0.9931 right_x=0.3479 right_y=0.1951 right_z=0.181 right_yaw=0.0684 right_pitch=-0.4874 right_roll=-0.0207 right_gripper=0.0406\nstate[joint_eff]: [-0.0752, -1.347, 7.2, 1.6777, -0.0513, -0.0659, -0.0122, 0.1162, -8.4855, 8.7316, 1.1404, 0.3101, 0.3346, 0.7204]",
      "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]: [-0.02, 0.8173, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.6922, 2.0319, 2.038, -1.1976, 0.2779, 0.4896, 0.0429]\nstate[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1662 left_yaw=0.0004 left_pitch=-0.058 left_roll=0.0005 left_gripper=0.9931 right_x=0.3911 right_y=0.266 right_z=0.1872 right_yaw=0.0928 right_pitch=-0.5278 right_roll=-0.0474 right_gripper=0.0429\nstate[joint_eff]: [-0.1709, -1.7436, 6.9949, 1.7558, -0.0317, -0.0269, -0.0122, 0.0342, -10.906, 7.9521, 0.9158, 0.3199, 0.2857, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df698c39fecb54227bfac6f4837b02352bca5b0019128084ede9c4c5bb125b0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d5489a5a15d5e8a7a8115e2403368c2ef7ae14dbcdcebed71c0d0fcaf47a028",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3611f8eb27dc3f818019a8bb1078e5838f7b28fd2cb09d6652cb3afbafa79cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISogkKjgEIEhgCKkC1JGWM3gZN59RJ8OjzhnsGHZOy/vZ1tTvOhkKyaGA0cNvDwvx0japQiPq9yesTVG4tnG/2VIeXDXPTQoVMYFpAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeSPzNUGEgy3rd4byhUJQFIUklEaDB0Te+XU39MZk1nXwyIwmEmBpKho8PxSjmn3LJxTiHsww2n9PWdI0jInPdHO+F3QObfsI1mNoBYpdEqJDIoXKsAHA+drKixBaE4cWEagFVngRZxCLvXQasMmb6nja2BRPRM0x/HiKuwtmnCqkbAhxBPpbMQFyoVtzmosC+mK6Bi+51fOniH5QT4BHD9DVhd8gROAA2MI3vINnbhvRglc6Iv6280DlSiOh/kfk6g0CibT99Z+PXhT6IkhS7qQv9NwbwTI0zBe/rFAZUjJrmVI/WnwfEWvcfSdNMWko2r6UY+i0TZU6ZGpHpTk6X9xZJpf9wSpBBtFiX2e8tFtA4K2+29rVtkzgczqBfDVta/9sa5r+20G7z1K2IYJpPM3e7uHQ6dn8wqPyP0hElQ4dHwHh5QS1C6w9mSrgdnlfDBQ8Mhdocf2nI55GIscDWNUQtYWa+VbzGliHuwa0m0oJmpkq+6nTcK29qfsC/Z6FHPapn3C93Fi622hDikmcLUQx/FKjIat4AGSIuI8kCWYEy4X3KVI6T033cPSP+Q231qcEb3jZoepgYnyoSTf/B/Nr48xKKTCGpRtZ2vrz2/NSl8Na+aX9c+xEQndGTKc+pJAhYsOkBRvsv8oqQRuCkgJ9G7dtcHdYQoNvbXg64y9xCRMDkhBIRxJf+Mjfpj73+2SFnXKZBzZ/adPtNrQcnF/HI85C2HkcdNsk98VAGv14TIsUDkHLlKbibJsFLsxgtGxMw9hVa5V4JUaGjlVDBnWN+VlrVYD7Tx1tRu8gqT0pYZ956hA+wLxkIkSEqsaLoOASmZL7nPFkDeu4raPh4GeTCEuooUMPcX/5LiANLMXehpgfT/N/tc4TuMJnd8uxkPlkEvOH4jUnR4nfsGCQ5GjL+v+G9Sodm5rlKTAciiTSrxMf7bNeSeK4zdleSbPhHjn6hqiEnWPJeGAYHj7tj/wMIz7ZKzb0v4gHtG4B7cJtz9OeOc+IrKyATj6E54dQKoAHQv98wcDyvSzX+WuAcg9hZwgO5XIqQcnlRlGjz1+dQRk6S6G0r1Nk25z3YFIyilego29OLjg5bwLa4ll/I89ZkHBVpzDqAOH+JgiIPeE5PB6BYwjUn3/3GDbvCHpwrFMd+HVrf6NnqZ293k89yYhWEjbpo9V9fdV71NSlrNrrSfMtrCQtsE1d+tb3zArho5bJfAq8+Zl6gw9mvYfdAw5C3ZX7cAgDLgMMm3gqg6oqbX33iDAbmlHnAyTg5Ein2Y29gqhjut0SAYn/bdD1rn5LMWNA3JbMj+C9mW4+SIFQ2m+Arsqeu0/ORsAz3PFxc2rbhAzzlIF8ZNt/Dnqg6wSRTPPyIeSRzXkC7zPjsWKyfsG+8RYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012tJvn8oufFwjJSvUqwGQUJ",
      "input": {
        "note": "The purple bowl is still just up-left of the carried pink bowl in the wrist view; nudging 4 cm further toward +y to centre the pink bowl over it.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.31,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_012tJvn8oufFwjJSvUqwGQUJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.8185, 0.6037, -0.416, -0.0227, -0.0265, 0.9931, 0.7403, 2.2902, 2.4157, -1.3655, 0.2794, 0.5056, 0.0449]\nstate[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1658 left_yaw=0.0004 left_pitch=-0.0595 left_roll=0.0006 left_gripper=0.9931 right_x=0.405 right_y=0.3089 right_z=0.1741 right_yaw=0.1124 right_pitch=-0.566 right_roll=-0.0733 right_gripper=0.0449\nstate[joint_eff]: [-0.0752, -1.4291, 7.1043, 1.6825, -0.0659, -0.022, -0.0122, -0.4444, -14.2154, 8.3214, 0.6227, 0.3053, 0.2906, 0.4713]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:509c73685bbe491bd8b5f2c7ca35204780b34695720e3e6e03dd831f03b623c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12173116765eb552f70a944157524820436e19306a251c1739792bc9aa361508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:287fa91ca227732edc9c829e8c3c49716fc19b6de43268ca3f418aaf3744c05f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 8.172 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]: [-0.02, 0.812, 0.6037, -0.4084, -0.0227, -0.0265, 0.9931, 0.6186, 1.6623, 1.5177, -0.9909, 0.2657, 0.4541, 0.0406]\nstate[eef_state]: left_x=0.2919 left_y=0.0018 left_z=0.1691 left_yaw=0.0004 left_pitch=-0.0454 left_roll=0.0003 left_gripper=0.9931 right_x=0.3479 right_y=0.1951 right_z=0.181 right_yaw=0.0684 right_pitch=-0.4874 right_roll=-0.0207 right_gripper=0.0406\nstate[joint_eff]: [-0.0752, -1.347, 7.2, 1.6777, -0.0513, -0.0659, -0.0122, 0.1162, -8.4855, 8.7316, 1.1404, 0.3101, 0.3346, 0.7204]",
      "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]: [-0.02, 0.8173, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.6922, 2.0319, 2.038, -1.1976, 0.2779, 0.4896, 0.0429]\nstate[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1662 left_yaw=0.0004 left_pitch=-0.058 left_roll=0.0005 left_gripper=0.9931 right_x=0.3911 right_y=0.266 right_z=0.1872 right_yaw=0.0928 right_pitch=-0.5278 right_roll=-0.0474 right_gripper=0.0429\nstate[joint_eff]: [-0.1709, -1.7436, 6.9949, 1.7558, -0.0317, -0.0269, -0.0122, 0.0342, -10.906, 7.9521, 0.9158, 0.3199, 0.2857, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.8185, 0.6037, -0.416, -0.0227, -0.0265, 0.9931, 0.7403, 2.2902, 2.4157, -1.3655, 0.2794, 0.5056, 0.0449]\nstate[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1658 left_yaw=0.0004 left_pitch=-0.0595 left_roll=0.0006 left_gripper=0.9931 right_x=0.405 right_y=0.3089 right_z=0.1741 right_yaw=0.1124 right_pitch=-0.566 right_roll=-0.0733 right_gripper=0.0449\nstate[joint_eff]: [-0.0752, -1.4291, 7.1043, 1.6825, -0.0659, -0.022, -0.0122, -0.4444, -14.2154, 8.3214, 0.6227, 0.3053, 0.2906, 0.4713]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:509c73685bbe491bd8b5f2c7ca35204780b34695720e3e6e03dd831f03b623c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12173116765eb552f70a944157524820436e19306a251c1739792bc9aa361508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:287fa91ca227732edc9c829e8c3c49716fc19b6de43268ca3f418aaf3744c05f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KNbj6GyMmipfR2f1jA4LMJ",
      "input": {
        "note": "Top view shows the purple bowl just right of and below the carried pink bowl, so the pink bowl needs to come ~4 cm toward -y and ~3 cm toward the base; also descending to 13 cm ready to release.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.255,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01KNbj6GyMmipfR2f1jA4LMJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.8185, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7441, 2.323, 2.4615, -1.4139, 0.2775, 0.524, 0.0474]\nstate[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1659 left_yaw=0.0004 left_pitch=-0.0591 left_roll=0.0006 left_gripper=0.9931 right_x=0.4015 right_y=0.3087 right_z=0.1686 right_yaw=0.092 right_pitch=-0.5948 right_roll=-0.0881 right_gripper=0.0474\nstate[joint_eff]: [-0.1162, -1.388, 7.0632, 1.7118, -0.0855, -0.0659, -0.0122, -0.5128, -14.0923, 8.4855, 0.9841, 0.2955, 0.105, 0.2466]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8fe98fcc02e58eab3f53e473101f5f87982dd3873852ca08579d703153d3ec5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a54fa9a61fe8de258e34a10574fc0d327be41513731ad61db726645f76dd9bd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00691b13047b55dabe96170665c7947c1bc3dbd59036c0bf8d64c41e6780b872",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 5.382 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]: [-0.02, 0.8173, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.6922, 2.0319, 2.038, -1.1976, 0.2779, 0.4896, 0.0429]\nstate[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1662 left_yaw=0.0004 left_pitch=-0.058 left_roll=0.0005 left_gripper=0.9931 right_x=0.3911 right_y=0.266 right_z=0.1872 right_yaw=0.0928 right_pitch=-0.5278 right_roll=-0.0474 right_gripper=0.0429\nstate[joint_eff]: [-0.1709, -1.7436, 6.9949, 1.7558, -0.0317, -0.0269, -0.0122, 0.0342, -10.906, 7.9521, 0.9158, 0.3199, 0.2857, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.8185, 0.6037, -0.416, -0.0227, -0.0265, 0.9931, 0.7403, 2.2902, 2.4157, -1.3655, 0.2794, 0.5056, 0.0449]\nstate[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1658 left_yaw=0.0004 left_pitch=-0.0595 left_roll=0.0006 left_gripper=0.9931 right_x=0.405 right_y=0.3089 right_z=0.1741 right_yaw=0.1124 right_pitch=-0.566 right_roll=-0.0733 right_gripper=0.0449\nstate[joint_eff]: [-0.0752, -1.4291, 7.1043, 1.6825, -0.0659, -0.022, -0.0122, -0.4444, -14.2154, 8.3214, 0.6227, 0.3053, 0.2906, 0.4713]",
      "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]: [-0.02, 0.8185, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7441, 2.323, 2.4615, -1.4139, 0.2775, 0.524, 0.0474]\nstate[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1659 left_yaw=0.0004 left_pitch=-0.0591 left_roll=0.0006 left_gripper=0.9931 right_x=0.4015 right_y=0.3087 right_z=0.1686 right_yaw=0.092 right_pitch=-0.5948 right_roll=-0.0881 right_gripper=0.0474\nstate[joint_eff]: [-0.1162, -1.388, 7.0632, 1.7118, -0.0855, -0.0659, -0.0122, -0.5128, -14.0923, 8.4855, 0.9841, 0.2955, 0.105, 0.2466]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8fe98fcc02e58eab3f53e473101f5f87982dd3873852ca08579d703153d3ec5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a54fa9a61fe8de258e34a10574fc0d327be41513731ad61db726645f76dd9bd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00691b13047b55dabe96170665c7947c1bc3dbd59036c0bf8d64c41e6780b872",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISkQcKjgEIEhgCKkAFvWcoRS0V1btm4DdcvbIGoMQedUq+oR+Yanphi4nb9yWc+/4IyIMjuuJmc9x6f9pm4td32k3ye5HNmli4rmZiMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf6PzNUGEgwVFJtJVfPe6bwc518aDFpbkh6rQAgeo285RyIwKkihIdKN4BRGeRRA6lZcszQLtb3VnoSTOAZx31MdplK54Yjo6artQXIDdVl0fJERKq8FK+kT/p3uTPEK8WW7HDe1Q/8eLEf7J25MSVC5a1dtm1B0pt+UYCWXXl5qdMfXzHWNTDvbsTO3BvqA5FfIk3DsX15dWEZJXe1qevyxIUMhKK/OHEaOp8ZrZC7v2bCPxDxCYANZvnBR3JftbjBgEG5st3qYYyRgJ4VR0HnbZYUXYZMPwC3z/Xmofu7jeqzW4m1S/bk9o/nWw8IK7WcIaNAO9w++Q75i2O1KWUyvm8py7tM/wxmY4/wGwJUl69dGMDr8bAfegtE8Pjd56s3MzJ60/dyW9vEiKvffgGrbGBbYvhCizmJtQu/7zs8wpY71/tAVlm/wvWYOct+LRSBccNbSDDW8PT+ZolwWkiJnX4gArMBG8ed8nEUUVXMQKUgim2eozIEEIBrLCE7YtRB5S8MNdeJnFlsA7ugwJgfyz87P6lrmiJdvIJgmFB+TvpI086TG5zNvzGQAR22n8AncJdwDkyhWhGLBD/w9TaRglzbk3XQj+dLw4O5Fyy4l/Oz4wFvMlcW2GIJSGM4EJoQQQBCiTg1BXrdPggsj/IlbZlwbS4y1VDqJP9Xn26bmASmE1wr9GejqV8yqLDP1ksfYHlDS0G4gFaj0jwnzLIRuURSkLTGsR0JyRKLY4ow7xTCC+Ko01oapSc7jxr6AXtw7l22/TTw4yUgZafgQrYO8ujkwj7asgvjWCi2+bR12xbJXjKwTqFrezaE52R3fmNMIV++G+iNJyodBuC1gYrgumOMm9HUBtLZRbMzt92Oku+nFuVGQO7oEj/WSsGPOItk1R9u5kw8y/qoybkdc+b65Tfk1rlDZBw4fHsKyrzBKTxduCsLNXN8akPlRKG7EdO4drIyJ04SPiEG5I1zsOdFDQSfKNJ8vedYTM/53rEiCiwODszrI/4RaUuUoHCdfbRY1j4JrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xmftb3zwehRUjkX75BEDbe",
      "input": {
        "note": "The arm did not track the last target (readback unchanged at x=0.40,y=0.31) — likely an awkward IK pose at full stretch. Retrying a gentler pull back toward the base and -y.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.26,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Xmftb3zwehRUjkX75BEDbe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.8185, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7441, 2.323, 2.4622, -1.4143, 0.2775, 0.5232, 0.0496]\nstate[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1659 left_yaw=0.0004 left_pitch=-0.0591 left_roll=0.0006 left_gripper=0.9931 right_x=0.4015 right_y=0.3087 right_z=0.1688 right_yaw=0.0926 right_pitch=-0.5945 right_roll=-0.0882 right_gripper=0.0496\nstate[joint_eff]: [-0.335, -1.2923, 7.0632, 1.6874, -0.0366, -0.0415, -0.0073, -0.6085, -14.1333, 8.4444, 0.9548, 0.2759, 0.0708, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2c9012e8b952be036086286a355b8ec88570dec5c1fdcfca5b968e4cfa0a7a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8372efa73cbe0375771a6c7aaab2dc9e3565482032aac22f3de2a78c25a4f5ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:888674ace82570b8aacfc9a055fd901717703ca50f7d0d4453ad8251845a2934",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 11.57 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]: [-0.02, 0.8185, 0.6037, -0.416, -0.0227, -0.0265, 0.9931, 0.7403, 2.2902, 2.4157, -1.3655, 0.2794, 0.5056, 0.0449]\nstate[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1658 left_yaw=0.0004 left_pitch=-0.0595 left_roll=0.0006 left_gripper=0.9931 right_x=0.405 right_y=0.3089 right_z=0.1741 right_yaw=0.1124 right_pitch=-0.566 right_roll=-0.0733 right_gripper=0.0449\nstate[joint_eff]: [-0.0752, -1.4291, 7.1043, 1.6825, -0.0659, -0.022, -0.0122, -0.4444, -14.2154, 8.3214, 0.6227, 0.3053, 0.2906, 0.4713]",
      "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]: [-0.02, 0.8185, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7441, 2.323, 2.4615, -1.4139, 0.2775, 0.524, 0.0474]\nstate[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1659 left_yaw=0.0004 left_pitch=-0.0591 left_roll=0.0006 left_gripper=0.9931 right_x=0.4015 right_y=0.3087 right_z=0.1686 right_yaw=0.092 right_pitch=-0.5948 right_roll=-0.0881 right_gripper=0.0474\nstate[joint_eff]: [-0.1162, -1.388, 7.0632, 1.7118, -0.0855, -0.0659, -0.0122, -0.5128, -14.0923, 8.4855, 0.9841, 0.2955, 0.105, 0.2466]",
      "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]: [-0.02, 0.8185, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7441, 2.323, 2.4622, -1.4143, 0.2775, 0.5232, 0.0496]\nstate[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1659 left_yaw=0.0004 left_pitch=-0.0591 left_roll=0.0006 left_gripper=0.9931 right_x=0.4015 right_y=0.3087 right_z=0.1688 right_yaw=0.0926 right_pitch=-0.5945 right_roll=-0.0882 right_gripper=0.0496\nstate[joint_eff]: [-0.335, -1.2923, 7.0632, 1.6874, -0.0366, -0.0415, -0.0073, -0.6085, -14.1333, 8.4444, 0.9548, 0.2759, 0.0708, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2c9012e8b952be036086286a355b8ec88570dec5c1fdcfca5b968e4cfa0a7a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8372efa73cbe0375771a6c7aaab2dc9e3565482032aac22f3de2a78c25a4f5ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:888674ace82570b8aacfc9a055fd901717703ca50f7d0d4453ad8251845a2934",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISnAQKjgEIEhgCKkBlPKOdnyD7Cxx8nICVoheM5N9Ckotk8cW4/fV23tecJF20SMYfVrURTuf9eRx11rpJqOJfBURibG2OAo2NvV1jMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYSQzNUGEgzbRaFnMcetMS6lT4AaDHeXFyZYY6qW5LNfryIwR3kubGYGpju9i7ej85TWeSkDP1zfMWfrDQQbXuwlQ6Kfy4+kL9tC6HmpdLBkLbFAKroCciqe53P8l0a1leVITSoK8t6aDZhvoFovWxBynxpnJLqC9enKo9+F/rY184a4QImrXDXFIAM1BLYmNjH7JQhYPJOcQy1aczcPEoYiDxat4UzV57FuMhMRS7SD0Mo2bXkI0DLqHEvqeM6XC6kK9eEcl52MbVrUS9eqt0+xDx8WlJkHDih165NV0xbgfKO2yHK4i7iRgNRPGYHPJ0Pg1Ec9i3Yw5isoGbDqkXEXCBh1HSo9uXlsoODHmJucttc8ntqJw+bcs2KRiNwlnMc5x81ehhbh+oBNK3fGdUwYVg0V6CIPwddFMR/ky75KT/zJFQ1zCug6V3V9TgpU3WqJN+Qa/eLSmRZIptHGOpc1VcCO+JRnLcIFl7NMiMKBmE7FpxWd3Q9vw2fhL4lm5h+Ypo4a//FiIODx9vvzQf8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W4RyadkS18DhbHRdS7RusV",
      "input": {
        "note": "Arm is frozen with pitch at its -0.6 limit; commanding pitch back to -0.2 and lifting slightly to free the IK.",
        "targets": {
          "right_pitch": -0.2,
          "right_x": 0.38,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01W4RyadkS18DhbHRdS7RusV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.8635, 1.9507, 1.7519, -0.8783, 0.5175, 0.5205, 0.0511]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3729 right_y=0.3072 right_z=0.1709 right_yaw=0.1009 right_pitch=-0.3008 right_roll=-0.1347 right_gripper=0.0511\nstate[joint_eff]: [-0.1026, -1.5658, 7.0222, 1.6728, -0.0513, -0.0562, -0.0122, 0.335, -13.3402, 6.9812, 1.5409, 0.525, -0.0415, 0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4291b427c3358a93dda7aab939fb022fa600c9e4235bbbbee74af842cfc2f641",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21e40ffc2b30f0637d7047c059d451b154fafc4e76007ca7d7ca331da3f224fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cdd514b02aa44e68d080fd9ef032854efd0b24e68d12dc2a2cdec87d6c05cb38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 6.703 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]: [-0.02, 0.8185, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7441, 2.323, 2.4615, -1.4139, 0.2775, 0.524, 0.0474]\nstate[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1659 left_yaw=0.0004 left_pitch=-0.0591 left_roll=0.0006 left_gripper=0.9931 right_x=0.4015 right_y=0.3087 right_z=0.1686 right_yaw=0.092 right_pitch=-0.5948 right_roll=-0.0881 right_gripper=0.0474\nstate[joint_eff]: [-0.1162, -1.388, 7.0632, 1.7118, -0.0855, -0.0659, -0.0122, -0.5128, -14.0923, 8.4855, 0.9841, 0.2955, 0.105, 0.2466]",
      "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]: [-0.02, 0.8185, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7441, 2.323, 2.4622, -1.4143, 0.2775, 0.5232, 0.0496]\nstate[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1659 left_yaw=0.0004 left_pitch=-0.0591 left_roll=0.0006 left_gripper=0.9931 right_x=0.4015 right_y=0.3087 right_z=0.1688 right_yaw=0.0926 right_pitch=-0.5945 right_roll=-0.0882 right_gripper=0.0496\nstate[joint_eff]: [-0.335, -1.2923, 7.0632, 1.6874, -0.0366, -0.0415, -0.0073, -0.6085, -14.1333, 8.4444, 0.9548, 0.2759, 0.0708, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.8635, 1.9507, 1.7519, -0.8783, 0.5175, 0.5205, 0.0511]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3729 right_y=0.3072 right_z=0.1709 right_yaw=0.1009 right_pitch=-0.3008 right_roll=-0.1347 right_gripper=0.0511\nstate[joint_eff]: [-0.1026, -1.5658, 7.0222, 1.6728, -0.0513, -0.0562, -0.0122, 0.335, -13.3402, 6.9812, 1.5409, 0.525, -0.0415, 0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4291b427c3358a93dda7aab939fb022fa600c9e4235bbbbee74af842cfc2f641",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21e40ffc2b30f0637d7047c059d451b154fafc4e76007ca7d7ca331da3f224fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdd514b02aa44e68d080fd9ef032854efd0b24e68d12dc2a2cdec87d6c05cb38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS5QoKjgEIEhgCKkDN7+evy7mLu0HPrMrmsh4dAbyjzBJ+JjNnNOumGMTcSk6xxFj3iDdPLiNf2Ulg9RFBnU7sDpNeM6Z9h5zaSLkrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZCQzNUGEgwlSYFnMS+UA71cS2kaDPpUV9fRMIT8uMrW0SIw1dF8Zf5yXxFMJGjwazyPNrcIZfAKGIM435Iia+SOhQ1EUkZtESu+zBzf7B9jquvYKoMJHhsCKaOE/QzX9A3a4PuS3SNwQRQ+f2ZKgZ8Ob5oYvORQdjwdt9mvOFfk476xI88ND9hTtwI6AsYZpDQQu2aSWP1NtN0dwnIKso/2APZI2X6Xl7yEL2bA2xPqitBSnxWA9aQS/QgMwFEroyXGPmKWXkvjll5oB45hKME8Mu5fJnQMXza0uZppVK+CGTroFS05mvOEyzT8W1uCDKlb/h3wLL29PqYeb4xPp2ci4HQP3GIuJ7KIKF1kvgKSujqIdm5nXJlKlXt6kuQaDSe9RmFJ9cUehB+ou9iiCNsRoVdeLJQUp4MXfSNFXze9k4jHk+YTo88h2cH0Rd5u8KRFLoAT1H9RjaWlBGm7nMsDWC8vKPuI2fzjuxKfy5d0J/fCJjNJUKBW1NrlpR4/DI6CJ86dtb8+Z5NOUyMthcn36HbF4BW/9nLrApqeX1BjfVQnWDajxjiSepoy5TzcMGXnu5HhNpbaxj6eQjwHp9UZBwoiwtTjG7/zGKsSwBkWWS5m0H7kby4Ax9+fUr6ePAqvxI9VzFO8/MYDl933l6rz9XqmKKjKizd+a8bvdbYwPxGX+1bc4JdodSjskUMjLUS9/L72/R/IRvP77rpe0gLCHCjZi0k8ok2833znB05N0r2PebaFIU7yEsX69qV+3AzsfqL0AU4/9fPKIskv0/BMVDJ/BdiKyq7mfGIAgI+Wt+atwDrh/ZstW90amCLcQ/gzJbXJftuLnPMn5Jk+vWw1mdQZ3xxj9nDX2JaqEZoDt48AT6Pd4QZe8tssDC44ovL2ZxYpZuFSGYUIerJcAuuWCO4BJ5lheiC4tJ/1brBZn4Rt7cqhRphqXIl0Agxuk1H8xbXhwOS+jgyVvAbmXHkQIcSpEV2L8IMIxBjwzE14ELnyPq4wzfDQ++kixRtCcS8ElqUw9e7JYokA9HgrcoYZc+g8Ta1D6kj7x+lLL20TLfwdZD6p8De33KhWYpdb2grW8pL8Jah6wy1NXu/qpcwne/xj5gwf+FDkmGiODsyJ8rnNTxBe0TlRN6duOcVfA6xsR+Epenni9kp2FAmBTTHZPVjjDuCHGe8O/U7mbI67lUaE4Jvgg0gSDMcuwLe1r0v0tUERBT/XOaMi4Qg1sNS0iYRHV0xIZ4BNILRB0DL7G53+a5jwbEyUFV/QNN1n14iVNaO+3HU3Oarha+yjHs17hKqgjrXu3QUd61t7K7b4naavgHcikVhjnyR12vXw9Bvl9ah7b53nIzocj1DeTIrZbVoSeb5wX1kl7lM/C05XGEHCd7zvAw0+lEX4M+8rN5uhMU3f0l4dniuuB57dvDrBpkBx648wlIpXOjU+dsoU0DU5Z02Dy+coIZ5WMSh4CHrFpyvt10Rg3nV6IRn2CNsSbsYqLXFdvcX0cJ7rNw03EDAiNqdc7WXvC9QNz724ufsedMDLFiKsQAmkjg+xD8thPY8tqeP3ga5Hdyw+gD4Dgk/3QTphXztRMS0j1Y96FmOMA8BWH8BLQqSN/hA4r37UV8zMJ3rgdkSH/kkYJ8sTHpsXrlZ1R5qKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NoXe6N9ZZ64b6ndFib7YKQ",
      "input": {
        "note": "Moving again now. The purple bowl sits on the jaw column while the carried pink bowl's centre is ~6 cm further +y, so shifting the grasp point to y=0.25 (and slightly farther out) to put pink directly over purple.",
        "targets": {
          "right_pitch": -0.25,
          "right_x": 0.4,
          "right_y": 0.25,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NoXe6N9ZZ64b6ndFib7YKQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7265, 1.8748, 1.6047, -0.8112, 0.4767, 0.3943, 0.0525]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3937 right_y=0.2462 right_z=0.1561 right_yaw=0.063 right_pitch=-0.3387 right_roll=-0.1922 right_gripper=0.0525\nstate[joint_eff]: [-0.212, -1.2103, 7.0359, 1.7216, -0.0757, -0.0513, -0.0122, 0.1162, -13.4632, 7.4325, 1.6777, 0.2027, -0.0171, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:868c27506f2cafabe4c7f0d0bc5f0c54f035a6db7b417f0e31bd0ef47cfe1ba0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b64abe5c54082ea2bcc3e971b45f7f54fb0f44aca80b4de11688c95db350012d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:094eff83a2c8587c7fbcbfe440060da35e89e512a12911908f21edfdbbeb5e8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 5.657 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]: [-0.02, 0.8185, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7441, 2.323, 2.4622, -1.4143, 0.2775, 0.5232, 0.0496]\nstate[eef_state]: left_x=0.2912 left_y=0.0018 left_z=0.1659 left_yaw=0.0004 left_pitch=-0.0591 left_roll=0.0006 left_gripper=0.9931 right_x=0.4015 right_y=0.3087 right_z=0.1688 right_yaw=0.0926 right_pitch=-0.5945 right_roll=-0.0882 right_gripper=0.0496\nstate[joint_eff]: [-0.335, -1.2923, 7.0632, 1.6874, -0.0366, -0.0415, -0.0073, -0.6085, -14.1333, 8.4444, 0.9548, 0.2759, 0.0708, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.8635, 1.9507, 1.7519, -0.8783, 0.5175, 0.5205, 0.0511]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3729 right_y=0.3072 right_z=0.1709 right_yaw=0.1009 right_pitch=-0.3008 right_roll=-0.1347 right_gripper=0.0511\nstate[joint_eff]: [-0.1026, -1.5658, 7.0222, 1.6728, -0.0513, -0.0562, -0.0122, 0.335, -13.3402, 6.9812, 1.5409, 0.525, -0.0415, 0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7265, 1.8748, 1.6047, -0.8112, 0.4767, 0.3943, 0.0525]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3937 right_y=0.2462 right_z=0.1561 right_yaw=0.063 right_pitch=-0.3387 right_roll=-0.1922 right_gripper=0.0525\nstate[joint_eff]: [-0.212, -1.2103, 7.0359, 1.7216, -0.0757, -0.0513, -0.0122, 0.1162, -13.4632, 7.4325, 1.6777, 0.2027, -0.0171, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:868c27506f2cafabe4c7f0d0bc5f0c54f035a6db7b417f0e31bd0ef47cfe1ba0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b64abe5c54082ea2bcc3e971b45f7f54fb0f44aca80b4de11688c95db350012d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:094eff83a2c8587c7fbcbfe440060da35e89e512a12911908f21edfdbbeb5e8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISzgYKjgEIEhgCKkCSfvm4ZABZDKSraTXT1LKDcdCSj+JeveN+7r9yD6RYkp+VIaMsdduzy5Vw1Slh9vIFJFmLzxXJJ3HZEjwXoNypMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZiQzNUGEgxc9QESyRrl3mUKA8QaDMZKiYsnXoRI0ewIXiIwsqWQKeG9zKF6VyNS2gXHXWq+s23oYjW96svGwQPcs/nmnm8TXMBGd3xSXbesDMCXKuwEoA3v4edA3cIHAeislWlYg0a9ePErKM0lPLpXMeImdbbXbZgmiIoWiK+83jUTqfxtHpRe7s2Vrf9sknVkmFpLnEWUNi3QwQ/nDouc4diLYmd5JnHvrUd5rJH5Mvuo1HTkg4EGSzZ1JNDL2yi6wRpHH04v9cbZuXWsgpqRYyN15r4IXZQwGBzhAcY+j0MiLEPuQ5upvHltek7vdpUo6E6twQSDYvgdX4QXrD6DZNBNG8Z21vAeQDmLD6X/USr47qwFNjjDlSIdkgrLKR5PD/IWQ4NymfX2up6dGL91GwhSuuNBP4I0b+j2n2mUS0+znDBbvhr3HbgZUMIvVUMi/Wv8pT3B5LQpDMcNxm837Q4o29bLlNyEd0ozSrCsMYfq0kcvOcx/QeF7y2R3iwbcYlZhEdZVBdXJAbKBMmSF6RZP6MCP0zLmrooCiBGT0MVrlxau3CWC1Kwm2v20RzgY1FbE1j3D2kvRTIPry/bdfWBNtXJzy/EVpyT5+dOqBVNi5dfiJAWvyuuZoWvVzQcuPyRFfwb0g1Pvo20OLqjF1Quv2se1QFQkxh+vvAICwC5WNRXFdGvlEoiLn2e1NcqwAAmRVIF4ybWIlPV1RzsvMg7VN8ImLRoH4fEsuZi+bGu4XLid7oyXYAKjwfUl9JRhTcROZeasp5YeqWOjhvIlqnT66T4IXfGXMKxdBgrsdCOc756Slzw2V5Dnuil2HhjLC3PbkmWgdkYJR0swX+JX+sXDXcIH2vMUnllRpeZmPpRFkbAjw05uJirKuGB3bLQmCw6EXuP1be/vec8UkCqHa7l1OpW0e1ac7lLbk2BTgGIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UQJp7syB8EpjLJ5Z4EHrQq",
      "input": {
        "note": "Purple bowl is now hidden directly under the carried pink bowl in both views, so alignment looks good; lowering to 11 cm before releasing.",
        "targets": {
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UQJp7syB8EpjLJ5Z4EHrQq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7223, 1.842, 1.6005, -0.7837, 0.4625, 0.355, 0.0539]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3959 right_y=0.2486 right_z=0.1711 right_yaw=0.1025 right_pitch=-0.305 right_roll=-0.1723 right_gripper=0.0539\nstate[joint_eff]: [-0.1299, -1.388, 7.1453, 1.707, -0.0659, -0.0464, -0.0122, -0.1573, -12.041, 7.2684, 1.4725, 0.2711, 0.0513, 0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0322c6059d1467a4f8464df3c14ed565808369a695adf82951171bc1fc5984a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2648a3039453b79a5313ed2f8114634de3aaed80f80038e50b7211fc9e4f829a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f1f14e98f117f8e44b394150d8d3769830ee5ed2c0c1a91a295173e073b0a7bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 3.713 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]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.8635, 1.9507, 1.7519, -0.8783, 0.5175, 0.5205, 0.0511]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3729 right_y=0.3072 right_z=0.1709 right_yaw=0.1009 right_pitch=-0.3008 right_roll=-0.1347 right_gripper=0.0511\nstate[joint_eff]: [-0.1026, -1.5658, 7.0222, 1.6728, -0.0513, -0.0562, -0.0122, 0.335, -13.3402, 6.9812, 1.5409, 0.525, -0.0415, 0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7265, 1.8748, 1.6047, -0.8112, 0.4767, 0.3943, 0.0525]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3937 right_y=0.2462 right_z=0.1561 right_yaw=0.063 right_pitch=-0.3387 right_roll=-0.1922 right_gripper=0.0525\nstate[joint_eff]: [-0.212, -1.2103, 7.0359, 1.7216, -0.0757, -0.0513, -0.0122, 0.1162, -13.4632, 7.4325, 1.6777, 0.2027, -0.0171, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7223, 1.842, 1.6005, -0.7837, 0.4625, 0.355, 0.0539]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3959 right_y=0.2486 right_z=0.1711 right_yaw=0.1025 right_pitch=-0.305 right_roll=-0.1723 right_gripper=0.0539\nstate[joint_eff]: [-0.1299, -1.388, 7.1453, 1.707, -0.0659, -0.0464, -0.0122, -0.1573, -12.041, 7.2684, 1.4725, 0.2711, 0.0513, 0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0322c6059d1467a4f8464df3c14ed565808369a695adf82951171bc1fc5984a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2648a3039453b79a5313ed2f8114634de3aaed80f80038e50b7211fc9e4f829a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1f14e98f117f8e44b394150d8d3769830ee5ed2c0c1a91a295173e073b0a7bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS0QQKjgEIEhgCKkBEBSD4/l3paoqkqsDPr7FaP/qs2cvjmnkEjKc2l1+Ap4mz7tQ5CkQ7/PHKrAatR/dRAP20hfe2JVxJdbeUHcPnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ6QzNUGEgwzlfFUVsG3m2VpjHsaDDgkVgjJS1GUwh/JtSIwZp9PbAy9XX95MaUHAShkVBiFNMe7h5kqMga+fz8UIOPFxsUa5oShvGzXErS+7jZIKu8CKcBBwYZGmLjim9ouk5P8nzm1teXbVkMCxrPwbef1e9pZR3jlrFIda9rfG4W2LqTyeOzfJTFdq1gTiU4mlhrylHrjIF7xXD3S8Z8bvej2/nMfNwmgMQUiqBcbydBhTS82Wf4E74DMD2qgGwPOLxv2ClxSIQtM2Jj9OeoHDlrtEu1ZtvlC1JYq4UeywaXmzEKRBnGNiUWbw5wCsA1IFBJEHe59CF9lI47nQPcJqUSuRpxF3+QgqHCqwQh3AndsUFmrOodK/Jj16hNB2Qz85PgM2STHjw0jK1o6ScR5GaC3LandzPP8eEyr4PRsPo8xzlzzjuu7+sxhKwBcuRYkvKHAZ3gAIrHKIpcPtddPKPbV44B/0kmyv8bTx4ZW1EZgOzB5Ck0jY5PpmHGAhtne1WwCQnZisFvYNrTYwVLtVjnxJn0zlN1Wpn4Yn+ZZmqoBChcG8TWMpncoLUyR4l1n4OxUGKWuEiqG68YDVPihHHvGOhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T3hiNBB6pWrg3w2X5cje2N",
      "input": {
        "note": "Descent isn't tracking (likely the carried bowl already resting on the purple one); opening the jaws to release the pink bowl onto/into it.",
        "targets": {
          "right_gripper": 0.9
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01T3hiNBB6pWrg3w2X5cje2N",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7223, 1.8423, 1.6005, -0.7856, 0.4622, 0.3508, 0.8954]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3956 right_y=0.2484 right_z=0.1707 right_yaw=0.1048 right_pitch=-0.3075 right_roll=-0.1762 right_gripper=0.8954\nstate[joint_eff]: [-0.2256, -1.4017, 7.0359, 1.6728, -0.0562, -0.0464, -0.0122, -0.1846, -9.6205, 6.5573, 1.2137, 0.149, 0.0562, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ff73ad0d136c13b228bcba35529a705b18857cf335745e11baf66de5ac4c592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f56d59f565440392152685d7c82f413e0ae13c8b534fb29e7b6a4e02c855f83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9882915fb81e426d62471514297003f12368e3821b787ac1268293bf80dfb31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 20.7 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]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7265, 1.8748, 1.6047, -0.8112, 0.4767, 0.3943, 0.0525]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3937 right_y=0.2462 right_z=0.1561 right_yaw=0.063 right_pitch=-0.3387 right_roll=-0.1922 right_gripper=0.0525\nstate[joint_eff]: [-0.212, -1.2103, 7.0359, 1.7216, -0.0757, -0.0513, -0.0122, 0.1162, -13.4632, 7.4325, 1.6777, 0.2027, -0.0171, 0.1392]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7223, 1.842, 1.6005, -0.7837, 0.4625, 0.355, 0.0539]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3959 right_y=0.2486 right_z=0.1711 right_yaw=0.1025 right_pitch=-0.305 right_roll=-0.1723 right_gripper=0.0539\nstate[joint_eff]: [-0.1299, -1.388, 7.1453, 1.707, -0.0659, -0.0464, -0.0122, -0.1573, -12.041, 7.2684, 1.4725, 0.2711, 0.0513, 0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7223, 1.8423, 1.6005, -0.7856, 0.4622, 0.3508, 0.8954]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3956 right_y=0.2484 right_z=0.1707 right_yaw=0.1048 right_pitch=-0.3075 right_roll=-0.1762 right_gripper=0.8954\nstate[joint_eff]: [-0.2256, -1.4017, 7.0359, 1.6728, -0.0562, -0.0464, -0.0122, -0.1846, -9.6205, 6.5573, 1.2137, 0.149, 0.0562, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ff73ad0d136c13b228bcba35529a705b18857cf335745e11baf66de5ac4c592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f56d59f565440392152685d7c82f413e0ae13c8b534fb29e7b6a4e02c855f83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9882915fb81e426d62471514297003f12368e3821b787ac1268293bf80dfb31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISoQIKjgEIEhgCKkDEE+kCpW5jid2aQLNErknEKRHTmvFUmqqdzWYlHFlrVCFkCfY/0MeWjqDTt4ErMK6n9dPAoJBZqg2ziFoTPPLuMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaOQzNUGEgzP6G5+0rIuCBaHQVQaDJbLrNXJ5WruP/VS2iIwstFQZWM8dUCwbCfFHd+J4pEvrumVwzJ/IyU7+mUj4R2rleZZKnL8fSMbF6YND/6AKkBb0QqOlZeKAIYoyTvk/jH0flzzmg2bj1CQBe62KQPt49A1fy2RHxVl1iIjr8jiQ/Rs7Zuspct4c5I3Kj4bG+B5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HoLJhsxvSrK9S9TJtV11Vn",
      "input": {
        "note": "Pink bowl released; pulling the right arm back and out of the way to see whether it nested on the purple bowl.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.05,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01HoLJhsxvSrK9S9TJtV11Vn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8249, 0.6037, -0.4152, -0.0227, -0.0265, 0.9931, 0.3161, 1.1126, 1.2293, -1.0252, 0.2478, 0.0212, 0.8961]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1642 left_yaw=0.0008 left_pitch=-0.0652 left_roll=0.0007 left_gripper=0.9931 right_x=0.2861 right_y=0.0517 right_z=0.2467 right_yaw=0.074 right_pitch=-0.3047 right_roll=-0.1755 right_gripper=0.8961\nstate[joint_eff]: [-0.0479, -1.5521, 7.0222, 1.7118, -0.0611, -0.0708, -0.0122, -0.1983, -3.3436, 6.8581, 1.4383, 0.0611, -0.0317, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2ab074754849834e331de9a03fd739ef3e036737aa7946b22c2650d5524312e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f9b37a170752678e9a2a7dd184d6a54b3025a603a281d9aef86a335101984cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:059748b7ab994995687f9de9e033ca93bd8da6d7a7169a5365eb5dce767fa13b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 17.56 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]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7223, 1.842, 1.6005, -0.7837, 0.4625, 0.355, 0.0539]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3959 right_y=0.2486 right_z=0.1711 right_yaw=0.1025 right_pitch=-0.305 right_roll=-0.1723 right_gripper=0.0539\nstate[joint_eff]: [-0.1299, -1.388, 7.1453, 1.707, -0.0659, -0.0464, -0.0122, -0.1573, -12.041, 7.2684, 1.4725, 0.2711, 0.0513, 0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7223, 1.8423, 1.6005, -0.7856, 0.4622, 0.3508, 0.8954]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3956 right_y=0.2484 right_z=0.1707 right_yaw=0.1048 right_pitch=-0.3075 right_roll=-0.1762 right_gripper=0.8954\nstate[joint_eff]: [-0.2256, -1.4017, 7.0359, 1.6728, -0.0562, -0.0464, -0.0122, -0.1846, -9.6205, 6.5573, 1.2137, 0.149, 0.0562, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8249, 0.6037, -0.4152, -0.0227, -0.0265, 0.9931, 0.3161, 1.1126, 1.2293, -1.0252, 0.2478, 0.0212, 0.8961]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1642 left_yaw=0.0008 left_pitch=-0.0652 left_roll=0.0007 left_gripper=0.9931 right_x=0.2861 right_y=0.0517 right_z=0.2467 right_yaw=0.074 right_pitch=-0.3047 right_roll=-0.1755 right_gripper=0.8961\nstate[joint_eff]: [-0.0479, -1.5521, 7.0222, 1.7118, -0.0611, -0.0708, -0.0122, -0.1983, -3.3436, 6.8581, 1.4383, 0.0611, -0.0317, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2ab074754849834e331de9a03fd739ef3e036737aa7946b22c2650d5524312e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f9b37a170752678e9a2a7dd184d6a54b3025a603a281d9aef86a335101984cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:059748b7ab994995687f9de9e033ca93bd8da6d7a7169a5365eb5dce767fa13b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U9Nv21YothJNKpFzVpeqfd",
      "input": {
        "note": "Pink bowl now sits nested over the purple one at the centre; only the white bowl is left. Hovering the left arm over the white bowl's left-hand rim (left_x≈0.40, left_y≈-0.135).",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.4,
          "left_y": -0.135,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01U9Nv21YothJNKpFzVpeqfd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4896, 1.512, 0.8146, -0.0727, -0.3771, -0.3164, 0.9936, 0.3141, 1.1183, 1.2282, -1.0462, 0.2298, 0.0036, 0.8962]\nstate[eef_state]: left_x=0.3845 left_y=-0.1271 left_z=0.1012 left_yaw=-0.0131 left_pitch=-0.1333 left_roll=0.028 left_gripper=0.9936 right_x=0.2824 right_y=0.0532 right_z=0.2411 right_yaw=0.0954 right_pitch=-0.3367 right_roll=-0.1791 right_gripper=0.8962\nstate[joint_eff]: [-0.3077, -6.7624, 9.0051, 1.7558, -0.2711, 0.0073, -0.6276, -0.0889, -3.3299, 6.3248, 1.5409, 0.2662, 0.1636, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd2287bc15f68099d92c16ea28fe0572695353ee6a5b3acb71d4f435991e7383",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8546a964c02960ed0811a990f0d1487e43205428381ae17cfdf2df971f27ba3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3457ffdfd67f4eb636cf47b53a589a3d5d2c750afdcb0002caf9e1b08349781e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 5.324 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]: [-0.02, 0.823, 0.6037, -0.4156, -0.0227, -0.0265, 0.9931, 0.7223, 1.8423, 1.6005, -0.7856, 0.4622, 0.3508, 0.8954]\nstate[eef_state]: left_x=0.2915 left_y=0.0018 left_z=0.1647 left_yaw=0.0005 left_pitch=-0.0637 left_roll=0.0007 left_gripper=0.9931 right_x=0.3956 right_y=0.2484 right_z=0.1707 right_yaw=0.1048 right_pitch=-0.3075 right_roll=-0.1762 right_gripper=0.8954\nstate[joint_eff]: [-0.2256, -1.4017, 7.0359, 1.6728, -0.0562, -0.0464, -0.0122, -0.1846, -9.6205, 6.5573, 1.2137, 0.149, 0.0562, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8249, 0.6037, -0.4152, -0.0227, -0.0265, 0.9931, 0.3161, 1.1126, 1.2293, -1.0252, 0.2478, 0.0212, 0.8961]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1642 left_yaw=0.0008 left_pitch=-0.0652 left_roll=0.0007 left_gripper=0.9931 right_x=0.2861 right_y=0.0517 right_z=0.2467 right_yaw=0.074 right_pitch=-0.3047 right_roll=-0.1755 right_gripper=0.8961\nstate[joint_eff]: [-0.0479, -1.5521, 7.0222, 1.7118, -0.0611, -0.0708, -0.0122, -0.1983, -3.3436, 6.8581, 1.4383, 0.0611, -0.0317, 0.0611]",
      "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]: [-0.4896, 1.512, 0.8146, -0.0727, -0.3771, -0.3164, 0.9936, 0.3141, 1.1183, 1.2282, -1.0462, 0.2298, 0.0036, 0.8962]\nstate[eef_state]: left_x=0.3845 left_y=-0.1271 left_z=0.1012 left_yaw=-0.0131 left_pitch=-0.1333 left_roll=0.028 left_gripper=0.9936 right_x=0.2824 right_y=0.0532 right_z=0.2411 right_yaw=0.0954 right_pitch=-0.3367 right_roll=-0.1791 right_gripper=0.8962\nstate[joint_eff]: [-0.3077, -6.7624, 9.0051, 1.7558, -0.2711, 0.0073, -0.6276, -0.0889, -3.3299, 6.3248, 1.5409, 0.2662, 0.1636, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd2287bc15f68099d92c16ea28fe0572695353ee6a5b3acb71d4f435991e7383",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8546a964c02960ed0811a990f0d1487e43205428381ae17cfdf2df971f27ba3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3457ffdfd67f4eb636cf47b53a589a3d5d2c750afdcb0002caf9e1b08349781e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N5BMRGtA9spqjBH4LA4ot5",
      "input": {
        "note": "In the left wrist view the white bowl's right rim edge lies right on the jaw column, like the successful pink grasp; descending to rim height.",
        "targets": {
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01N5BMRGtA9spqjBH4LA4ot5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4953, 1.6703, 0.6827, 0.1501, -0.3866, -0.3298, 0.9933, 0.3141, 1.1183, 1.2282, -1.0508, 0.2264, 0.0025, 0.8962]\nstate[eef_state]: left_x=0.3745 left_y=-0.1225 left_z=0.0297 left_yaw=0.0013 left_pitch=-0.1894 left_roll=0.0561 left_gripper=0.9933 right_x=0.2815 right_y=0.0535 right_z=0.2403 right_yaw=0.0987 right_pitch=-0.3419 right_roll=-0.178 right_gripper=0.8962\nstate[joint_eff]: [0.3897, -6.8034, 5.2718, 1.79, -0.105, 0.1148, -0.0513, -0.0889, -2.8786, 6.5026, 1.3944, 0.1197, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:173f15da34b7437bb2d08011152cf3ee8e7b7adefb9ac957782ab45546f04cf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0269974a434be5fd261633a49db03a0a9eb42ce98c184ce8186f32d8b2aaab10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84418998d90c4010b38c46489c4789cd6e1579d3e33095f95f93ffd4cf81559e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 7.318 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]: [-0.0196, 0.8249, 0.6037, -0.4152, -0.0227, -0.0265, 0.9931, 0.3161, 1.1126, 1.2293, -1.0252, 0.2478, 0.0212, 0.8961]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1642 left_yaw=0.0008 left_pitch=-0.0652 left_roll=0.0007 left_gripper=0.9931 right_x=0.2861 right_y=0.0517 right_z=0.2467 right_yaw=0.074 right_pitch=-0.3047 right_roll=-0.1755 right_gripper=0.8961\nstate[joint_eff]: [-0.0479, -1.5521, 7.0222, 1.7118, -0.0611, -0.0708, -0.0122, -0.1983, -3.3436, 6.8581, 1.4383, 0.0611, -0.0317, 0.0611]",
      "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]: [-0.4896, 1.512, 0.8146, -0.0727, -0.3771, -0.3164, 0.9936, 0.3141, 1.1183, 1.2282, -1.0462, 0.2298, 0.0036, 0.8962]\nstate[eef_state]: left_x=0.3845 left_y=-0.1271 left_z=0.1012 left_yaw=-0.0131 left_pitch=-0.1333 left_roll=0.028 left_gripper=0.9936 right_x=0.2824 right_y=0.0532 right_z=0.2411 right_yaw=0.0954 right_pitch=-0.3367 right_roll=-0.1791 right_gripper=0.8962\nstate[joint_eff]: [-0.3077, -6.7624, 9.0051, 1.7558, -0.2711, 0.0073, -0.6276, -0.0889, -3.3299, 6.3248, 1.5409, 0.2662, 0.1636, -0.0073]",
      "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]: [-0.4953, 1.6703, 0.6827, 0.1501, -0.3866, -0.3298, 0.9933, 0.3141, 1.1183, 1.2282, -1.0508, 0.2264, 0.0025, 0.8962]\nstate[eef_state]: left_x=0.3745 left_y=-0.1225 left_z=0.0297 left_yaw=0.0013 left_pitch=-0.1894 left_roll=0.0561 left_gripper=0.9933 right_x=0.2815 right_y=0.0535 right_z=0.2403 right_yaw=0.0987 right_pitch=-0.3419 right_roll=-0.178 right_gripper=0.8962\nstate[joint_eff]: [0.3897, -6.8034, 5.2718, 1.79, -0.105, 0.1148, -0.0513, -0.0889, -2.8786, 6.5026, 1.3944, 0.1197, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:173f15da34b7437bb2d08011152cf3ee8e7b7adefb9ac957782ab45546f04cf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0269974a434be5fd261633a49db03a0a9eb42ce98c184ce8186f32d8b2aaab10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84418998d90c4010b38c46489c4789cd6e1579d3e33095f95f93ffd4cf81559e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS9wMKjgEIEhgCKkBupRJcMKD/5K7szb8GPXatBzW/xfIhO+EE0oQI1DHkfoDiipjNBMh7IRHCQUa0HcL3UHy1iI/v/O/gC44TTtvEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdGQzNUGEgwwnW/FoFZKZ6SD+mcaDO6BlMVGzwHzh60sZCIw6CaBHGdY4GLhYDkhSIka83BzkdtiErpJ/Oo4rS9ZS6r58a+8oKgLGhdi8okE+PVKKpUC0dTu1Q16AS6vXjgpQinR1q3o1ilkk2zr+/3BKmwSPKwfpONFOUNaIBILqdcyBLncEsGOECuYJ1frI0RiikxmKBOMe1SOb6abG423UajoEMYNUqADcm5t7kXxTrMhuU77kBHL+lz9umun789PezRD0NLCFUTf5SqevuRH89c98UqthemTy77aXt5KdvyIU4ScJj2EmYv7jR6aL7FzPnVPNAHge7x/DlVko2vtxuYv/q1bYQ0hhlxflQSSxFErkGIf9E1WTFzuQ0dGdr6OIPwc8PG7pTEniEzRVsXej60o49UdcSVX8yDRAVmdxUU+P/AY1TuWKslQOCSred68cAqAOTcK4bo+xRQmDq1IrpNcg0ipymCdsxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ga9fy8bpKVuyer1XuqMFAV",
      "input": {
        "note": "At rim height the white bowl's right rim edge reads left of the jaw column, so the jaws are a few cm past it; shifting +y to y=-0.09 to bring the rim between the jaws.",
        "targets": {
          "left_y": -0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Ga9fy8bpKVuyer1XuqMFAV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4061, 1.6478, 0.6346, 0.2024, -0.3428, -0.2844, 0.9932, 0.3141, 1.1183, 1.2282, -1.0512, 0.226, -0.0006, 0.8962]\nstate[eef_state]: left_x=0.3775 left_y=-0.0938 left_z=0.0278 left_yaw=0.0282 left_pitch=-0.1816 left_roll=0.0482 left_gripper=0.9932 right_x=0.2814 right_y=0.0536 right_z=0.2403 right_yaw=0.1007 right_pitch=-0.3427 right_roll=-0.1798 right_gripper=0.8962\nstate[joint_eff]: [0.0342, -8.1299, 5.0667, 1.409, -0.0415, 0.188, -0.022, -0.0752, -2.9333, 6.2154, 1.3358, 0.0708, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bebb0f4044acbb5d160e023f4b0898a55c83ea58e79576e3a752247a187828c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44a2c8cae0262ae4c11fa37fde6e81df411e9e93887f234285dcf546dab4e19a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09411c3aebbce75830e07f8a8160580122c7a7a0b7ddcad3bcdfb6c971056a6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 13.24 s

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

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4896, 1.512, 0.8146, -0.0727, -0.3771, -0.3164, 0.9936, 0.3141, 1.1183, 1.2282, -1.0462, 0.2298, 0.0036, 0.8962]\nstate[eef_state]: left_x=0.3845 left_y=-0.1271 left_z=0.1012 left_yaw=-0.0131 left_pitch=-0.1333 left_roll=0.028 left_gripper=0.9936 right_x=0.2824 right_y=0.0532 right_z=0.2411 right_yaw=0.0954 right_pitch=-0.3367 right_roll=-0.1791 right_gripper=0.8962\nstate[joint_eff]: [-0.3077, -6.7624, 9.0051, 1.7558, -0.2711, 0.0073, -0.6276, -0.0889, -3.3299, 6.3248, 1.5409, 0.2662, 0.1636, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4953, 1.6703, 0.6827, 0.1501, -0.3866, -0.3298, 0.9933, 0.3141, 1.1183, 1.2282, -1.0508, 0.2264, 0.0025, 0.8962]\nstate[eef_state]: left_x=0.3745 left_y=-0.1225 left_z=0.0297 left_yaw=0.0013 left_pitch=-0.1894 left_roll=0.0561 left_gripper=0.9933 right_x=0.2815 right_y=0.0535 right_z=0.2403 right_yaw=0.0987 right_pitch=-0.3419 right_roll=-0.178 right_gripper=0.8962\nstate[joint_eff]: [0.3897, -6.8034, 5.2718, 1.79, -0.105, 0.1148, -0.0513, -0.0889, -2.8786, 6.5026, 1.3944, 0.1197, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4061, 1.6478, 0.6346, 0.2024, -0.3428, -0.2844, 0.9932, 0.3141, 1.1183, 1.2282, -1.0512, 0.226, -0.0006, 0.8962]\nstate[eef_state]: left_x=0.3775 left_y=-0.0938 left_z=0.0278 left_yaw=0.0282 left_pitch=-0.1816 left_roll=0.0482 left_gripper=0.9932 right_x=0.2814 right_y=0.0536 right_z=0.2403 right_yaw=0.1007 right_pitch=-0.3427 right_roll=-0.1798 right_gripper=0.8962\nstate[joint_eff]: [0.0342, -8.1299, 5.0667, 1.409, -0.0415, 0.188, -0.022, -0.0752, -2.9333, 6.2154, 1.3358, 0.0708, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bebb0f4044acbb5d160e023f4b0898a55c83ea58e79576e3a752247a187828c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44a2c8cae0262ae4c11fa37fde6e81df411e9e93887f234285dcf546dab4e19a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09411c3aebbce75830e07f8a8160580122c7a7a0b7ddcad3bcdfb6c971056a6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISjQcKjgEIEhgCKkDkCEg0YWtqDyhxgFXzdolMaQmKcTIxPZhbCNvqegYZ1KVOF5S+c3ArYUBwdz1ga+w/3X2Fvc4P58v1/3aRRjNIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdmQzNUGEgzh5Sw+Ikj25vhgFgoaDPN5gWOnl3UYCeKtmiIwhFSoR0Gy+X233ae/j71ksimYF3kSnkBYJXdzifvM1Tn3NnhACHyz1IZgjbYqUqLQKqsFQm0kl9v/AjY+ZjdOvpFepLDU8HYfHn9ahOC3Tj+sZPeSMx0fSV3fR0FPEQdS+6a054io2uKGLOqeWW5E+/tdfrM/n/QRFJWNbDETNpwa81v4qhS3ISgobXnlnH9ABrvosNwvix63CDPxIUQ5L3k3eODfXDmoOw37aoJ8eFoM6azOAl5afJIVSn/Ergy4GZXWOgmBNrl6xYdgiq/VHoCzvlOu0qmC+0QxRDNE89wG39mPP2rGa+Al9mUCn+BrQv6jUmu2EJZLo9f4to1mKYRmE3pw5Z2ojrYt7+NYRFeJ51T+eE+tkqRjNNR/mT0MAxblTjoLIm0Rs3jEqW15qGFJKT0vt4AdDpLU6NEEIyXIP7id2sBdwqjKav4R4t1jT+rVQe7A2zRHjRidgDCYd84EELPYtyNiZY5IEQpAlX6ba70dnXn0sAdZmuKMX4GFYE13BEQp9HlHm4j/n9trHuMhR6/BngYmG8hIGK9V+FP7QrtHP2Q9qbMr+tH6G/APrvWu0crPysmBcY0dUUMgjk1Wk0cF69ApmfVnVwvM/6NAKNYU6irIANgTtq8T5hClUCauVpeXtsG4HYcEBQD+TeUwWokwiDbbExsNrlUobMSPlMkZKWMvs/ruEVW4CiSJa9ybkSyHEGcjdLaV7EtpvSsPgaB4ine0hBKaddFDlJjBtaVik9PhAQ0pribc36p3nZi1WtThkFwIYsVbvMeOyIhzmwN57yraCDq7nfSEidn1k+J0VAYy6aESwWp34wEucnjhVl67h/APkMGheJH0Q38qZM3iSGOnaa0LvgJbB+aHozZW1kxTpl9Bmz672orFYmfF6hg7wjEs1w0M2DB8zx9OETYhw7rWEO7ZMJe2ysAkNFVY0Jd1Jfhjs8vPBLifXvSm3ok9/ZskbNlV2h8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012rtSCNC1wo6ySesL7xyyRy",
      "input": {
        "note": "Rim edge is now slightly right of the jaw column; shifting back 1.5 cm to -y and closing the jaws on the rim in the same motion.",
        "targets": {
          "left_gripper": 0.0,
          "left_y": -0.105
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012rtSCNC1wo6ySesL7xyyRy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.44, 1.6455, 0.6399, 0.1932, -0.3946, -0.2974, 0.0414, 0.3141, 1.1183, 1.2282, -1.0512, 0.2256, -0.001, 0.8962]\nstate[eef_state]: left_x=0.3761 left_y=-0.098 left_z=0.0314 left_yaw=0.0431 left_pitch=-0.1658 left_roll=0.0735 left_gripper=0.0414 right_x=0.2814 right_y=0.0536 right_z=0.2403 right_yaw=0.1013 right_pitch=-0.3428 right_roll=-0.1797 right_gripper=0.8962\nstate[joint_eff]: [-0.6496, -5.2034, 6.3521, 1.37, 0.2271, -0.1734, 1.4139, -0.0752, -2.8923, 6.3795, 1.3846, 0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ce0b336e966703eada9b9bc84b6626a5105aa21b40f1317c9cea92224b5108d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d85bfa03a09cf53601ec7ee5f8c20f9f7541e19abb10cd0c39852ca620c794a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ed986ee37eb77ca43354ff97d7854e772adb3caafa8fc2b8a35236c2db9112e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 7.333 s

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

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4953, 1.6703, 0.6827, 0.1501, -0.3866, -0.3298, 0.9933, 0.3141, 1.1183, 1.2282, -1.0508, 0.2264, 0.0025, 0.8962]\nstate[eef_state]: left_x=0.3745 left_y=-0.1225 left_z=0.0297 left_yaw=0.0013 left_pitch=-0.1894 left_roll=0.0561 left_gripper=0.9933 right_x=0.2815 right_y=0.0535 right_z=0.2403 right_yaw=0.0987 right_pitch=-0.3419 right_roll=-0.178 right_gripper=0.8962\nstate[joint_eff]: [0.3897, -6.8034, 5.2718, 1.79, -0.105, 0.1148, -0.0513, -0.0889, -2.8786, 6.5026, 1.3944, 0.1197, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4061, 1.6478, 0.6346, 0.2024, -0.3428, -0.2844, 0.9932, 0.3141, 1.1183, 1.2282, -1.0512, 0.226, -0.0006, 0.8962]\nstate[eef_state]: left_x=0.3775 left_y=-0.0938 left_z=0.0278 left_yaw=0.0282 left_pitch=-0.1816 left_roll=0.0482 left_gripper=0.9932 right_x=0.2814 right_y=0.0536 right_z=0.2403 right_yaw=0.1007 right_pitch=-0.3427 right_roll=-0.1798 right_gripper=0.8962\nstate[joint_eff]: [0.0342, -8.1299, 5.0667, 1.409, -0.0415, 0.188, -0.022, -0.0752, -2.9333, 6.2154, 1.3358, 0.0708, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.44, 1.6455, 0.6399, 0.1932, -0.3946, -0.2974, 0.0414, 0.3141, 1.1183, 1.2282, -1.0512, 0.2256, -0.001, 0.8962]\nstate[eef_state]: left_x=0.3761 left_y=-0.098 left_z=0.0314 left_yaw=0.0431 left_pitch=-0.1658 left_roll=0.0735 left_gripper=0.0414 right_x=0.2814 right_y=0.0536 right_z=0.2403 right_yaw=0.1013 right_pitch=-0.3428 right_roll=-0.1797 right_gripper=0.8962\nstate[joint_eff]: [-0.6496, -5.2034, 6.3521, 1.37, 0.2271, -0.1734, 1.4139, -0.0752, -2.8923, 6.3795, 1.3846, 0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ce0b336e966703eada9b9bc84b6626a5105aa21b40f1317c9cea92224b5108d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d85bfa03a09cf53601ec7ee5f8c20f9f7541e19abb10cd0c39852ca620c794a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ed986ee37eb77ca43354ff97d7854e772adb3caafa8fc2b8a35236c2db9112e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017tMThUS6LyWFoeK6sQcVB1",
      "input": {
        "note": "Gripper settled at 0.041, consistent with pinching the white bowl's rim; lifting to 20 cm to confirm the bowl comes with it.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_017tMThUS6LyWFoeK6sQcVB1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4397, 1.4044, 1.0779, -0.5095, -0.3916, -0.3042, 0.0422, 0.3141, 1.1183, 1.2282, -1.0512, 0.2256, -0.001, 0.8962]\nstate[eef_state]: left_x=0.3778 left_y=-0.0992 left_z=0.1776 left_yaw=0.0468 left_pitch=-0.1874 left_roll=0.0776 left_gripper=0.0422 right_x=0.2814 right_y=0.0536 right_z=0.2403 right_yaw=0.1013 right_pitch=-0.3428 right_roll=-0.1797 right_gripper=0.8962\nstate[joint_eff]: [-0.2256, -7.8427, 9.3333, 1.4774, -0.1929, 0.0464, 1.033, -0.1299, -2.7556, 6.2838, 1.3553, 0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbe2c2b5f555db8cdc3113e2d1f78ef1261f33c0b34350c654b29b84276c6031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6467fdf0a52f7fe5f4906d63367f88f925fb3a9c93c7721f1617b7294c5b09d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05ee4e0a967f64ea6b55de6bd6e82c0fe3200edb0853fe1533480e2549d334a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 7.812 s

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

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4061, 1.6478, 0.6346, 0.2024, -0.3428, -0.2844, 0.9932, 0.3141, 1.1183, 1.2282, -1.0512, 0.226, -0.0006, 0.8962]\nstate[eef_state]: left_x=0.3775 left_y=-0.0938 left_z=0.0278 left_yaw=0.0282 left_pitch=-0.1816 left_roll=0.0482 left_gripper=0.9932 right_x=0.2814 right_y=0.0536 right_z=0.2403 right_yaw=0.1007 right_pitch=-0.3427 right_roll=-0.1798 right_gripper=0.8962\nstate[joint_eff]: [0.0342, -8.1299, 5.0667, 1.409, -0.0415, 0.188, -0.022, -0.0752, -2.9333, 6.2154, 1.3358, 0.0708, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.44, 1.6455, 0.6399, 0.1932, -0.3946, -0.2974, 0.0414, 0.3141, 1.1183, 1.2282, -1.0512, 0.2256, -0.001, 0.8962]\nstate[eef_state]: left_x=0.3761 left_y=-0.098 left_z=0.0314 left_yaw=0.0431 left_pitch=-0.1658 left_roll=0.0735 left_gripper=0.0414 right_x=0.2814 right_y=0.0536 right_z=0.2403 right_yaw=0.1013 right_pitch=-0.3428 right_roll=-0.1797 right_gripper=0.8962\nstate[joint_eff]: [-0.6496, -5.2034, 6.3521, 1.37, 0.2271, -0.1734, 1.4139, -0.0752, -2.8923, 6.3795, 1.3846, 0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4397, 1.4044, 1.0779, -0.5095, -0.3916, -0.3042, 0.0422, 0.3141, 1.1183, 1.2282, -1.0512, 0.2256, -0.001, 0.8962]\nstate[eef_state]: left_x=0.3778 left_y=-0.0992 left_z=0.1776 left_yaw=0.0468 left_pitch=-0.1874 left_roll=0.0776 left_gripper=0.0422 right_x=0.2814 right_y=0.0536 right_z=0.2403 right_yaw=0.1013 right_pitch=-0.3428 right_roll=-0.1797 right_gripper=0.8962\nstate[joint_eff]: [-0.2256, -7.8427, 9.3333, 1.4774, -0.1929, 0.0464, 1.033, -0.1299, -2.7556, 6.2838, 1.3553, 0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbe2c2b5f555db8cdc3113e2d1f78ef1261f33c0b34350c654b29b84276c6031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6467fdf0a52f7fe5f4906d63367f88f925fb3a9c93c7721f1617b7294c5b09d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05ee4e0a967f64ea6b55de6bd6e82c0fe3200edb0853fe1533480e2549d334a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS9QYKjgEIEhgCKkCjIdMBh3kcZ3uE9d8Ed7rpDYSDFslIHxpFcVmrZvOFpbwRTsaoEyVnHWEcDF0qzNfs3P+ZYrGGltrny2kN78kTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe+QzNUGEgzy/v3imxQed+xom1oaDEkJ0cR0qIxaNO50sSIwFoo6Up8o/yG21VD2C1d7g6F/hjBhHMil8SvcYTP1XEmPddNng4MPPg08xSjsvPR2KpMFkg7/ZR0nhKQIaewrZSiJt483EmxAp66+PuCFVYbrZru+66DUuEX24CJoBPHyyrNNjQIz3z58yh1vGBylZb5O4l90fGWYj1r2J+sJu7Pj0K8lKfP/Vs1ZaFMdIQZri+dn8Y/+NoUjgh3jD4kEx9FfU+CiJrLZyP2tQhYzKHptImkKiYF2Kbo4mVsQIGuhSku7yjq/iD9z9SVMAsQZK/jEAGNnaAA0SeB+p9SwRJDBt+dDop8U9zQYP9lLOk0pC7TAin6KHen1U1ZaHhJ+0sydmziIHZFVb335xgkiFhRoRUp1Oy8ELlEhIVm/zwXVLQxaWurmiGlHPDw5+Wc7LwmpuLouIxdWK63AGNLI9P9Nw8GeI2aiiXFvoang0EusXC6HfVzfXbVxkAlU9tXzXj6KpbeiZVkKaLEzgvWqRQUCGSKJBb5ctRx07gW8yuEPJDpHOZNOx6kt34TaqkQe9ppO8WDoS2wRFvq9dtf7k9u6y1DV6QeAtHgsYMHcXV0C+Bl8S7Ynz4r8h1JQ25GYicf0rIZ66M0t+zoqqxeb8r470b6Gt5C9PfA2n+gFQ+1pNSAc+LeYXrdfZxNNVo1g3y9Vf2aUAa3LAvl8/VbSejrKWHj0YRAn6ugmFh3itFdhLWGg8nKVgZC5JEQOu10RUn6nnBxK8VPQz5fjMxWRLro19G6pKufMQZI5LSq1WfcvFq/uaQCGJt7a0r4tD6xR6C8TTdcJ8v6G4EfjKbvF9wy/29Grf4ceYIBQ/y1aMqY+GpHo6SJ5IdIjbMvPLwrCOtlCKiFk2oDYpWaBxTMdBHqGUe0vZHAA8Mcz6xgzawyBlOwUmOL5P4imlZMRZVN081e10Smg4wbLqxMRQdkiOpH31nrtyToYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016Dpk3vv1tv6nyrTWSKwbo7",
      "input": {
        "note": "White bowl is held and the pink stack appears ~21 cm to my -y side in the wrist view; carrying it over toward left_y=-0.30 at 20 cm height.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.3,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_016Dpk3vv1tv6nyrTWSKwbo7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8948, 1.9362, 1.7576, -0.8917, -0.6315, -0.7296, 0.0423, 0.3141, 1.1187, 1.2282, -1.0512, 0.2256, -0.001, 0.8962]\nstate[eef_state]: left_x=0.3771 left_y=-0.2977 left_z=0.1877 left_yaw=0.0302 left_pitch=-0.2184 left_roll=0.0744 left_gripper=0.0423 right_x=0.2814 right_y=0.0536 right_z=0.2402 right_yaw=0.1012 right_pitch=-0.3431 right_roll=-0.1798 right_gripper=0.8962\nstate[joint_eff]: [-0.3897, -10.1538, 9.0872, 0.9451, -0.7204, 0.0464, 1.0134, -0.0752, -2.9197, 6.3658, 1.2869, 0.0659, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3f8f1d1d02fe108def374fcbb30345e63ddef04c261c83a319e7121eef6abcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7015466d36dd413a209b3151ae823202a034933979bc084887b57972f6600e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f5ac9c4e9e401a56b1dd5fde38a879394c0bf95871af180c92c87ee055196936",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 6.165 s

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

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.44, 1.6455, 0.6399, 0.1932, -0.3946, -0.2974, 0.0414, 0.3141, 1.1183, 1.2282, -1.0512, 0.2256, -0.001, 0.8962]\nstate[eef_state]: left_x=0.3761 left_y=-0.098 left_z=0.0314 left_yaw=0.0431 left_pitch=-0.1658 left_roll=0.0735 left_gripper=0.0414 right_x=0.2814 right_y=0.0536 right_z=0.2403 right_yaw=0.1013 right_pitch=-0.3428 right_roll=-0.1797 right_gripper=0.8962\nstate[joint_eff]: [-0.6496, -5.2034, 6.3521, 1.37, 0.2271, -0.1734, 1.4139, -0.0752, -2.8923, 6.3795, 1.3846, 0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4397, 1.4044, 1.0779, -0.5095, -0.3916, -0.3042, 0.0422, 0.3141, 1.1183, 1.2282, -1.0512, 0.2256, -0.001, 0.8962]\nstate[eef_state]: left_x=0.3778 left_y=-0.0992 left_z=0.1776 left_yaw=0.0468 left_pitch=-0.1874 left_roll=0.0776 left_gripper=0.0422 right_x=0.2814 right_y=0.0536 right_z=0.2403 right_yaw=0.1013 right_pitch=-0.3428 right_roll=-0.1797 right_gripper=0.8962\nstate[joint_eff]: [-0.2256, -7.8427, 9.3333, 1.4774, -0.1929, 0.0464, 1.033, -0.1299, -2.7556, 6.2838, 1.3553, 0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8948, 1.9362, 1.7576, -0.8917, -0.6315, -0.7296, 0.0423, 0.3141, 1.1187, 1.2282, -1.0512, 0.2256, -0.001, 0.8962]\nstate[eef_state]: left_x=0.3771 left_y=-0.2977 left_z=0.1877 left_yaw=0.0302 left_pitch=-0.2184 left_roll=0.0744 left_gripper=0.0423 right_x=0.2814 right_y=0.0536 right_z=0.2402 right_yaw=0.1012 right_pitch=-0.3431 right_roll=-0.1798 right_gripper=0.8962\nstate[joint_eff]: [-0.3897, -10.1538, 9.0872, 0.9451, -0.7204, 0.0464, 1.0134, -0.0752, -2.9197, 6.3658, 1.2869, 0.0659, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3f8f1d1d02fe108def374fcbb30345e63ddef04c261c83a319e7121eef6abcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7015466d36dd413a209b3151ae823202a034933979bc084887b57972f6600e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5ac9c4e9e401a56b1dd5fde38a879394c0bf95871af180c92c87ee055196936",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISkAcKjgEIEhgCKkAHunKivN8HtWJGoOCTR/9JQWCEOwTHBXicoVuMrszJgAYkkxtP+DQQ8/y/3VFc+Q5Lqlnu/8KGvI2768iQpxQ7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfmQzNUGEgzb7Vjg2cI89Zj9cXgaDOxPhSAYBTDmBp5ZUiIwINKd3pwpvGO1ALAUjnY9fnf/A4UWyu2UyCrD04uylLBG9wvG1ZBXLYXNJrmNG7zWKq4FT/cPJUD+61JtBXN9B8VS0mKHuyRP6xldiTAJrag8thcPXZkqNrdeI1sTBWRq0v8VBMVvdCu91S2HHk7XPUDt9lc2TyUtCiHR7aVLDTRxi2btXw3Yvd8zPTNDCPoKMd6W5jvMmTHU+rZ0hW0X8vIeZqNZu8el6xgdkJ780jMminuwE5qyRaRbF4JvtPnjxPouEqG+L2Ht5DDfPiYorNQFWzff4M4uGsJbvoM/RbKhuqAn2mzF8sxXggmc1Ai04v2zgQxFif1KMq4725BzcVwyUuP1Khvibmwn6tVXbA5AUQOy1jM/hq0pr3IoAkfDQbjUg9RL4y/O11V8nAy4jgdUacNk2zCKNNWFa/vvI5ZKFU3PHMhRPOpn89trDZIeWWCiaIxMER13l9GtD3FQgf1kKJa4cr6+JYXsG4Qcevlk8xSmlig4/khOeMH3fOX2HzOjfzBq6yhgV7dT4HX3KQqZWEa8ntlgquVFdzmvZZsgnhIMh+AZn0wfHrqh/21aa/+TWcgyQ8B7/I2L+hTWaJs66Vi1mmaaXaoepQEIV22lc0HCl8JxlaxufanUGk/OoXApHloydIQt0LlJLUf8ANYzMwNvywrpSm5YS8OSU1Wkm2e2xh6e9ODtSvQsedXjS6IQKwQDhpsK+U2WGlaeoly8+LsaN/wUXFyDs+aiTgWnJMHIGEEY9LWRYZQyJGvWbzOnMOBbC+7qIpgnhBaTxXo3HsVDMDnmT3Yf7ww2lRVg0O1yAS1x7fmvDwbHRBkuKBdD6T4mfwmndd+7dpTu+MchALJ5R4KLuhIgdAWpmol0w/Z+Q5jazSyLTDTXgB/KKwRBQcqrhZJD39i8l8w3ZeUrzI9vcRa3+cTHg6d0pSFijeWfOiy8A3xQYq7MRPnB+FLmi8bnRat13XKWGBS+S5wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016v7nS3v1gDL2dRJsoa26TZ",
      "input": {
        "note": "Pink stack is ~10 cm further along -y from the carried white bowl's centre; moving the grasp point to the box limit y=-0.40 to bring the white bowl over the stack.",
        "targets": {
          "left_y": -0.4
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016v7nS3v1gDL2dRJsoa26TZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9913, 2.4016, 2.5072, -1.2804, -0.6601, -0.8791, 0.0423, 0.2771, 1.1168, 1.2282, -1.0451, 0.3031, 0.0566, 0.8962]\nstate[eef_state]: left_x=0.3856 left_y=-0.3847 left_z=0.1823 left_yaw=0.0531 left_pitch=-0.248 left_roll=0.0719 left_gripper=0.0423 right_x=0.2857 right_y=0.0302 right_z=0.2444 right_yaw=-0.0341 right_pitch=-0.3132 right_roll=-0.2035 right_gripper=0.8962\nstate[joint_eff]: [-3.1521, -12.4513, 7.8701, 1.0476, -0.6813, 0.1783, 1.0085, 3.0564, -2.6735, 6.2291, 1.2381, -0.9792, -0.7497, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1014b3710c2152e8dc92d8108016f6c3a92d2c2aada1a5f8f04aebf0afb83ee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:652134a3be8ab9f078e96cf7cf12ab7fa0e2e7f53a5142e6773b400510ce807f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13c772c9eb3334a6fae5c871fabf9fab77b1d3d7e398546af861056484f5592e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 8.065 s

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

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4397, 1.4044, 1.0779, -0.5095, -0.3916, -0.3042, 0.0422, 0.3141, 1.1183, 1.2282, -1.0512, 0.2256, -0.001, 0.8962]\nstate[eef_state]: left_x=0.3778 left_y=-0.0992 left_z=0.1776 left_yaw=0.0468 left_pitch=-0.1874 left_roll=0.0776 left_gripper=0.0422 right_x=0.2814 right_y=0.0536 right_z=0.2403 right_yaw=0.1013 right_pitch=-0.3428 right_roll=-0.1797 right_gripper=0.8962\nstate[joint_eff]: [-0.2256, -7.8427, 9.3333, 1.4774, -0.1929, 0.0464, 1.033, -0.1299, -2.7556, 6.2838, 1.3553, 0.0611, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8948, 1.9362, 1.7576, -0.8917, -0.6315, -0.7296, 0.0423, 0.3141, 1.1187, 1.2282, -1.0512, 0.2256, -0.001, 0.8962]\nstate[eef_state]: left_x=0.3771 left_y=-0.2977 left_z=0.1877 left_yaw=0.0302 left_pitch=-0.2184 left_roll=0.0744 left_gripper=0.0423 right_x=0.2814 right_y=0.0536 right_z=0.2402 right_yaw=0.1012 right_pitch=-0.3431 right_roll=-0.1798 right_gripper=0.8962\nstate[joint_eff]: [-0.3897, -10.1538, 9.0872, 0.9451, -0.7204, 0.0464, 1.0134, -0.0752, -2.9197, 6.3658, 1.2869, 0.0659, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9913, 2.4016, 2.5072, -1.2804, -0.6601, -0.8791, 0.0423, 0.2771, 1.1168, 1.2282, -1.0451, 0.3031, 0.0566, 0.8962]\nstate[eef_state]: left_x=0.3856 left_y=-0.3847 left_z=0.1823 left_yaw=0.0531 left_pitch=-0.248 left_roll=0.0719 left_gripper=0.0423 right_x=0.2857 right_y=0.0302 right_z=0.2444 right_yaw=-0.0341 right_pitch=-0.3132 right_roll=-0.2035 right_gripper=0.8962\nstate[joint_eff]: [-3.1521, -12.4513, 7.8701, 1.0476, -0.6813, 0.1783, 1.0085, 3.0564, -2.6735, 6.2291, 1.2381, -0.9792, -0.7497, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1014b3710c2152e8dc92d8108016f6c3a92d2c2aada1a5f8f04aebf0afb83ee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:652134a3be8ab9f078e96cf7cf12ab7fa0e2e7f53a5142e6773b400510ce807f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13c772c9eb3334a6fae5c871fabf9fab77b1d3d7e398546af861056484f5592e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISsQQKjgEIEhgCKkBksGTh3EEciQN5QyKl59CpdTyp+WisPP0WE9tsG1xckWMysfAyHm+DVQoR9r/1f+5twPyzWudLX5NCQlVN2aRTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYCRzNUGEgzzk6peQTOiAKQg5YAaDKRLQZR6cyxSwg+j6iIwgbl8zCgN3HY3i4spJpYjj8+FpbaQ/bcn5NcYbCHTp0UuiebGfpJEe+cIDQMMUmWfKs8Cuy/+tqab2D4QaqrHG5Whi5qDRZ3B5OB9gy6jMndk2p+GyMGuyjym1SkUtpq3L6xVS3lVVbGZ/p2aXYKI2dGjNwDFV4ofZCmvIKC9r/iczyN83Ofvv+8QHQDUxW15jvuVXObIeQdZsG8PY7Qa9QVWMLRZcCqL9jBrKBkJpf17PTRRjZz0BrhbcKCkef9AKQjzvfrBZfhvs5gLkj5G99EpzNAJIlrSXjIOxqa8gtnXl0sFiofgCrz8DsAg5o+tl0t+/n4fjrJ4okwHb6rCAHsFjdUrOaAQ+uvRF9lqqbdqTd3zrIVVeIopQ83ti8/GmrigP8csumah4noyJ1h7bn1scl2/U0GYK7LIlr50R4F710QQRF/jJq+oTDmi3lWKFH25yVoP1tO0p6wY6MTvSgHpc8kAYuFAmyz4cVU6BiHllOlNk1HiWdAkLCjtejSo42sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012SnNDFwU8M78CgSUaPn37e",
      "input": {
        "note": "The pink stack is now hidden directly under the carried white bowl; lowering to 13 cm before releasing so the white bowl nests onto it.",
        "targets": {
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_012SnNDFwU8M78CgSUaPn37e",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9913, 2.3581, 2.1738, -1.0969, -0.6506, -0.8806, 0.0461, 0.2745, 1.1175, 1.2282, -1.0584, 0.3019, 0.0521, 0.8962]\nstate[eef_state]: left_x=0.3767 left_y=-0.3736 left_z=0.1107 left_yaw=0.0759 left_pitch=-0.3082 left_roll=0.1626 left_gripper=0.0461 right_x=0.2834 right_y=0.0289 right_z=0.2423 right_yaw=-0.0346 right_pitch=-0.3275 right_roll=-0.2102 right_gripper=0.8962\nstate[joint_eff]: [-0.3214, -15.788, 7.6103, 0.9304, -0.4908, 0.0024, 0.696, 0.0615, -2.8239, 6.2154, 1.453, 0.149, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86326521e903d47e4d1835aac281a6fa388fd3ce22e69a453b48d10970a05afd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b4006bed135bd144b084dee209f1d8346c90bcd482299030ea2dd2c9f5021d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:48b7ee2a6a8b50e23d57063356ff3d6782d76679665db3ca5260d88096f923ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 5.178 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8948, 1.9362, 1.7576, -0.8917, -0.6315, -0.7296, 0.0423, 0.3141, 1.1187, 1.2282, -1.0512, 0.2256, -0.001, 0.8962]\nstate[eef_state]: left_x=0.3771 left_y=-0.2977 left_z=0.1877 left_yaw=0.0302 left_pitch=-0.2184 left_roll=0.0744 left_gripper=0.0423 right_x=0.2814 right_y=0.0536 right_z=0.2402 right_yaw=0.1012 right_pitch=-0.3431 right_roll=-0.1798 right_gripper=0.8962\nstate[joint_eff]: [-0.3897, -10.1538, 9.0872, 0.9451, -0.7204, 0.0464, 1.0134, -0.0752, -2.9197, 6.3658, 1.2869, 0.0659, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9913, 2.4016, 2.5072, -1.2804, -0.6601, -0.8791, 0.0423, 0.2771, 1.1168, 1.2282, -1.0451, 0.3031, 0.0566, 0.8962]\nstate[eef_state]: left_x=0.3856 left_y=-0.3847 left_z=0.1823 left_yaw=0.0531 left_pitch=-0.248 left_roll=0.0719 left_gripper=0.0423 right_x=0.2857 right_y=0.0302 right_z=0.2444 right_yaw=-0.0341 right_pitch=-0.3132 right_roll=-0.2035 right_gripper=0.8962\nstate[joint_eff]: [-3.1521, -12.4513, 7.8701, 1.0476, -0.6813, 0.1783, 1.0085, 3.0564, -2.6735, 6.2291, 1.2381, -0.9792, -0.7497, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9913, 2.3581, 2.1738, -1.0969, -0.6506, -0.8806, 0.0461, 0.2745, 1.1175, 1.2282, -1.0584, 0.3019, 0.0521, 0.8962]\nstate[eef_state]: left_x=0.3767 left_y=-0.3736 left_z=0.1107 left_yaw=0.0759 left_pitch=-0.3082 left_roll=0.1626 left_gripper=0.0461 right_x=0.2834 right_y=0.0289 right_z=0.2423 right_yaw=-0.0346 right_pitch=-0.3275 right_roll=-0.2102 right_gripper=0.8962\nstate[joint_eff]: [-0.3214, -15.788, 7.6103, 0.9304, -0.4908, 0.0024, 0.696, 0.0615, -2.8239, 6.2154, 1.453, 0.149, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86326521e903d47e4d1835aac281a6fa388fd3ce22e69a453b48d10970a05afd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b4006bed135bd144b084dee209f1d8346c90bcd482299030ea2dd2c9f5021d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48b7ee2a6a8b50e23d57063356ff3d6782d76679665db3ca5260d88096f923ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISjQcKjgEIEhgCKkAN0Wj6sqjaXc/1+/14yFY1geqSj47K19H2TNyMWF+Kl7+TbpRdqhIyQz+S0d2+Iq7KCV047mvniujii3eIVygjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYiRzNUGEgz4sAYG9nXnFSddLrsaDCvBh786dQDBKsBjSCIwQJwYJuLMBUJ5FEb4gxjQlpHO0zANDKkJcLUuu4Ji1PcUiyL89pPhKmX5otrPGHIyKqsFS8Prtic5E3huFbSY0uOBMPv65ZR3J1nyhDPy9Q+ky/i1ZXJDX2BpMaakQoUjXvRWr3QNAeC2LGBvHWbxpCATmxM8PmtoF9WCJRrp0i53rypk/fIjpjIK9ZV/J3kvWpUm7mCEXJuNNnyVQ/oz3Rl3ybG4W48GouEYFNvGnM/1gHZAFqLtcMVJzBcVKJRE6awkLrdmRx4oRKbiQjPAmh/ygIagrxj274zGSmQgHwrcRvwcb4NvnU3qAgO5tgyzQmwDJ6AEcH2C4tuOciopZg3Gdn6DB3v/59c3vsyEgscOCFEXuF7ON+FZEWjiW3Rk/G7G+WswwCUqAiyp+8/14w+ibfNqzqfQ/3ex8DTauYLFnssUw8FMV1xS4cGaWXunwKwPVZFvYkeG4BYlTJksz1i8PPkHrG34WGgePQFY4Y7oE0kDsLP3UK03TxMSUmTN8j5jenzUdUgFItyp70/+f1HOcXt6QlSVK9X9Bzsxe9NcdKehzM+VQv2yv+Mnsa01WlUd7s9U3xvh4bikqi0+fgwkiAvq4YxrJG8rxrkc65R/S08zreETsTt0xbF5WhLN00Z5wjIJZkv4a5g21utYQJH5n+cVxymaIMzW4gExey5Zuoys2hoS/0ESEquU+ctqEkgvBifPcbD2/kwEYjZeBsacGZbvUcSQ46QdLcr+hUIql3jH0XAmUQBickjH1Y2cyn1zwBSEfcnbrM//N90yOZYAW/vyonuLrxWKrSgLE/h5LIpvhspfBkCu69dH42F+9EPYnEhcNM6btNXNK9uTMnsz07YwE1AUgsdPkh9zPlhjpNJtsbYrCQ/t8kNBt9pJJAW+5USrTsHvw1fsjASSWhfL8rZIeoqdaptAhRpuNsFmNE7Kn/qcgDQCPvR7ud44SJdOsRZgFkhoOywrk+YYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CoM5EXhNDEcmgDsWcf7pVA",
      "input": {
        "note": "Pink stack peeks out beyond the far-right edge of the carried white bowl, so the target is a few cm farther out and slightly -y; extending x to 0.43 while holding the y bound.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.4,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01CoM5EXhNDEcmgDsWcf7pVA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9405, 2.7335, 2.7411, -1.3617, -0.6289, -0.8333, 0.0483, 0.2745, 1.1187, 1.2282, -1.066, 0.3016, 0.0513, 0.8962]\nstate[eef_state]: left_x=0.4125 left_y=-0.383 left_z=0.0709 left_yaw=0.1134 left_pitch=-0.3677 left_roll=0.2501 left_gripper=0.0483 right_x=0.2821 right_y=0.0286 right_z=0.2409 right_yaw=-0.0348 right_pitch=-0.336 right_roll=-0.2132 right_gripper=0.8962\nstate[joint_eff]: [0.5128, -23.159, 7.4872, 0.8864, -0.7595, 0.2125, 0.5788, -0.1846, -2.7009, 6.188, 1.3944, 0.1197, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6120874390be135ba79d51d0616c3bfee51f881ac721a4481248aca0d4f709b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9ff65dad3d481e4b4046104269234710365a7d073a37d99d3ae06754d244b35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f67ef6008cf6f21c73ee5033dc1c8f5249bd085bd5bc2e2944ee91cc01093d24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 4.601 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9913, 2.4016, 2.5072, -1.2804, -0.6601, -0.8791, 0.0423, 0.2771, 1.1168, 1.2282, -1.0451, 0.3031, 0.0566, 0.8962]\nstate[eef_state]: left_x=0.3856 left_y=-0.3847 left_z=0.1823 left_yaw=0.0531 left_pitch=-0.248 left_roll=0.0719 left_gripper=0.0423 right_x=0.2857 right_y=0.0302 right_z=0.2444 right_yaw=-0.0341 right_pitch=-0.3132 right_roll=-0.2035 right_gripper=0.8962\nstate[joint_eff]: [-3.1521, -12.4513, 7.8701, 1.0476, -0.6813, 0.1783, 1.0085, 3.0564, -2.6735, 6.2291, 1.2381, -0.9792, -0.7497, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9913, 2.3581, 2.1738, -1.0969, -0.6506, -0.8806, 0.0461, 0.2745, 1.1175, 1.2282, -1.0584, 0.3019, 0.0521, 0.8962]\nstate[eef_state]: left_x=0.3767 left_y=-0.3736 left_z=0.1107 left_yaw=0.0759 left_pitch=-0.3082 left_roll=0.1626 left_gripper=0.0461 right_x=0.2834 right_y=0.0289 right_z=0.2423 right_yaw=-0.0346 right_pitch=-0.3275 right_roll=-0.2102 right_gripper=0.8962\nstate[joint_eff]: [-0.3214, -15.788, 7.6103, 0.9304, -0.4908, 0.0024, 0.696, 0.0615, -2.8239, 6.2154, 1.453, 0.149, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9405, 2.7335, 2.7411, -1.3617, -0.6289, -0.8333, 0.0483, 0.2745, 1.1187, 1.2282, -1.066, 0.3016, 0.0513, 0.8962]\nstate[eef_state]: left_x=0.4125 left_y=-0.383 left_z=0.0709 left_yaw=0.1134 left_pitch=-0.3677 left_roll=0.2501 left_gripper=0.0483 right_x=0.2821 right_y=0.0286 right_z=0.2409 right_yaw=-0.0348 right_pitch=-0.336 right_roll=-0.2132 right_gripper=0.8962\nstate[joint_eff]: [0.5128, -23.159, 7.4872, 0.8864, -0.7595, 0.2125, 0.5788, -0.1846, -2.7009, 6.188, 1.3944, 0.1197, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6120874390be135ba79d51d0616c3bfee51f881ac721a4481248aca0d4f709b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9ff65dad3d481e4b4046104269234710365a7d073a37d99d3ae06754d244b35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f67ef6008cf6f21c73ee5033dc1c8f5249bd085bd5bc2e2944ee91cc01093d24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISxgQKjgEIEhgCKkDt+P3Lpb+sDUDn05rf1N1UqXQYR0j7xUDNhqg4/ymw3VNLSc397YKtuQrAzWsN6dtWoC+ZKm4o6Ft9rqJUNLikMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY+RzNUGEgzIQOTwLf+ntwDk+psaDB09adGhw2BmKHwFJyIwJKiZNtTcto8vYonLf9JhXq2Q9sQeCf0UDkrhl72NKfWRPnTK++Kx1bPBLnbQXj34KuQC55M8vMn+WDlbI13ndc1W5L4B91wf9ruMJJnYa5QtIDN0K3giykt62VSelUjG9LacngNUgyxmRpRnO6HTJch5uIyNnlraLjcC+nteEw+MXTDT6anqmCmqj3u5h2ow59feJyRC7EAYyA+kBqB/oR+yxetuRLnk9djMfqp5Na0jS31PfxBqXD/dzSRrZbmZp9vGSQ8GnsvNxLi8VvZ65dUjh2CyJw/JO5L9s55TixvxoTCQ3Vk7SKO+WqBBLRNdEslwtWCkuZ9Lp4KkN5SdEcnDW4Khp8h3f0EyODfoZ1LrL9reYh+GO7DSTqftPHKHOFaL849TFzp/WfQC7YLdPg2RQMzyzu3keVT20PsCVcvsTMk5RQv+Yt/Yc9fKQhgcsKjDiWINlHdDw72etULWPPei75WAXjNg1d94Pc/hasChNM8zIQWSBE0rkgXrWceZaysUo66yYgbyHPBAzwnQ/ot8Bwk8hlUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014PviMUi9Z2P5S3vmcfFpiR",
      "input": {
        "note": "Descent has bottomed out at z≈0.07 (likely the white bowl resting on the pink one) and the pink bowl is hidden underneath; releasing the rim.",
        "targets": {
          "left_gripper": 0.9
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_014PviMUi9Z2P5S3vmcfFpiR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9291, 2.6461, 2.7216, -1.3529, -0.622, -0.8268, 0.8947, 0.2745, 1.1187, 1.2282, -1.0695, 0.3016, 0.0483, 0.8962]\nstate[eef_state]: left_x=0.4168 left_y=-0.3798 left_z=0.1115 left_yaw=0.094 left_pitch=-0.3353 left_roll=0.1803 left_gripper=0.8947 right_x=0.2814 right_y=0.0285 right_z=0.2404 right_yaw=-0.0335 right_pitch=-0.3396 right_roll=-0.2163 right_gripper=0.8962\nstate[joint_eff]: [-0.4444, -17.0051, 6.1333, 0.8962, -0.4518, 0.1441, -0.0073, -0.1983, -2.7419, 6.2017, 1.3162, 0.0952, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e08ed281e56b255f2288905d86b08a8bacc29713ae10cd4bb010f81a4f457ccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c9e2a7b48a43436bab1013a49298cd4d20ce962b2d44c6679a6760ceac85f6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4775317b3fb0ca05325ac4c68818cb78339c15d39b64f3f4e51df51eb3a83cb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 19.71 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9913, 2.3581, 2.1738, -1.0969, -0.6506, -0.8806, 0.0461, 0.2745, 1.1175, 1.2282, -1.0584, 0.3019, 0.0521, 0.8962]\nstate[eef_state]: left_x=0.3767 left_y=-0.3736 left_z=0.1107 left_yaw=0.0759 left_pitch=-0.3082 left_roll=0.1626 left_gripper=0.0461 right_x=0.2834 right_y=0.0289 right_z=0.2423 right_yaw=-0.0346 right_pitch=-0.3275 right_roll=-0.2102 right_gripper=0.8962\nstate[joint_eff]: [-0.3214, -15.788, 7.6103, 0.9304, -0.4908, 0.0024, 0.696, 0.0615, -2.8239, 6.2154, 1.453, 0.149, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9405, 2.7335, 2.7411, -1.3617, -0.6289, -0.8333, 0.0483, 0.2745, 1.1187, 1.2282, -1.066, 0.3016, 0.0513, 0.8962]\nstate[eef_state]: left_x=0.4125 left_y=-0.383 left_z=0.0709 left_yaw=0.1134 left_pitch=-0.3677 left_roll=0.2501 left_gripper=0.0483 right_x=0.2821 right_y=0.0286 right_z=0.2409 right_yaw=-0.0348 right_pitch=-0.336 right_roll=-0.2132 right_gripper=0.8962\nstate[joint_eff]: [0.5128, -23.159, 7.4872, 0.8864, -0.7595, 0.2125, 0.5788, -0.1846, -2.7009, 6.188, 1.3944, 0.1197, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9291, 2.6461, 2.7216, -1.3529, -0.622, -0.8268, 0.8947, 0.2745, 1.1187, 1.2282, -1.0695, 0.3016, 0.0483, 0.8962]\nstate[eef_state]: left_x=0.4168 left_y=-0.3798 left_z=0.1115 left_yaw=0.094 left_pitch=-0.3353 left_roll=0.1803 left_gripper=0.8947 right_x=0.2814 right_y=0.0285 right_z=0.2404 right_yaw=-0.0335 right_pitch=-0.3396 right_roll=-0.2163 right_gripper=0.8962\nstate[joint_eff]: [-0.4444, -17.0051, 6.1333, 0.8962, -0.4518, 0.1441, -0.0073, -0.1983, -2.7419, 6.2017, 1.3162, 0.0952, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e08ed281e56b255f2288905d86b08a8bacc29713ae10cd4bb010f81a4f457ccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c9e2a7b48a43436bab1013a49298cd4d20ce962b2d44c6679a6760ceac85f6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4775317b3fb0ca05325ac4c68818cb78339c15d39b64f3f4e51df51eb3a83cb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISrgMKjgEIEhgCKkAgsyAfCXowUeWnqx8C5KfjkCwGDrWCiHEO6YuwVDFwnBCdqLfXesToSA9BGGpDUHeavOQw5fZ0I8KIhKCvTsZKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZSRzNUGEgwWehavIxF49fWU4SsaDOFxGxOuv7wn9AOqJyIwc0XpYPVDF+W65BiuCCMMYdF6GDSUQWvDjca0UQDlQzvbc9D+khC6+BfiGTYxOmOVKswBMV8cp7NxfJgGZ544VaZ8d2Iyq+tU5leb5rHe/Ap+5oHiJnfe+ym8owrjGcByDs9D146wSBGvV/ws/oNPpbFwOwJPbvTCh7tIBwHhUoeTJX4y5SfzWlDp30wgNsbGfUlNoIlfXJBbsLmyL1H4+KbeYsXewM9XQh6dysOmZE4c/YcxFl+M73ismpZYw9uero2EWPDEw6kst91Z4JlFnLvdA8jTmHkV+Oyrj5xi8LkqCGPL1DF9EJwyTI9UOya/xB6CZ3G1ql/cIS7Px+wDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XNt3y4JfChKLp4whFHr7PW",
      "input": {
        "note": "Released the white bowl; retracting the left arm to see how the bowls ended up in the top view.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.05,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 30 steps (3.0s)",
      "tool_use_id": "toolu_01XNt3y4JfChKLp4whFHr7PW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5392, 1.1103, 1.2686, -1.203, -0.4725, -0.4442, 0.8956, 0.2745, 1.1191, 1.2282, -1.0737, 0.3012, 0.0486, 0.8962]\nstate[eef_state]: left_x=0.2571 left_y=-0.056 left_z=0.2499 left_yaw=0.1167 left_pitch=-0.3185 left_roll=0.1525 left_gripper=0.8956 right_x=0.2807 right_y=0.0283 right_z=0.2397 right_yaw=-0.0338 right_pitch=-0.344 right_roll=-0.2172 right_gripper=0.8962\nstate[joint_eff]: [0.294, -2.906, 5.9009, 1.0574, -0.3883, 0.1099, 0.0806, -0.0752, -2.9333, 6.2017, 1.3162, 0.1245, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b917cce793bfc0222e1114a35ac05a2e3489a1b71aa73cce9981d41315ae00ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7db2f1e97cfbd9810c9821fe7ca8ef0fc6e953f07a4df09c88d15653ad984a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:456d3d8e9093ef2e91e3bb97a55e8971f9d8fbcc5a660e29418c1215c70ad6a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 6.902 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9405, 2.7335, 2.7411, -1.3617, -0.6289, -0.8333, 0.0483, 0.2745, 1.1187, 1.2282, -1.066, 0.3016, 0.0513, 0.8962]\nstate[eef_state]: left_x=0.4125 left_y=-0.383 left_z=0.0709 left_yaw=0.1134 left_pitch=-0.3677 left_roll=0.2501 left_gripper=0.0483 right_x=0.2821 right_y=0.0286 right_z=0.2409 right_yaw=-0.0348 right_pitch=-0.336 right_roll=-0.2132 right_gripper=0.8962\nstate[joint_eff]: [0.5128, -23.159, 7.4872, 0.8864, -0.7595, 0.2125, 0.5788, -0.1846, -2.7009, 6.188, 1.3944, 0.1197, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9291, 2.6461, 2.7216, -1.3529, -0.622, -0.8268, 0.8947, 0.2745, 1.1187, 1.2282, -1.0695, 0.3016, 0.0483, 0.8962]\nstate[eef_state]: left_x=0.4168 left_y=-0.3798 left_z=0.1115 left_yaw=0.094 left_pitch=-0.3353 left_roll=0.1803 left_gripper=0.8947 right_x=0.2814 right_y=0.0285 right_z=0.2404 right_yaw=-0.0335 right_pitch=-0.3396 right_roll=-0.2163 right_gripper=0.8962\nstate[joint_eff]: [-0.4444, -17.0051, 6.1333, 0.8962, -0.4518, 0.1441, -0.0073, -0.1983, -2.7419, 6.2017, 1.3162, 0.0952, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5392, 1.1103, 1.2686, -1.203, -0.4725, -0.4442, 0.8956, 0.2745, 1.1191, 1.2282, -1.0737, 0.3012, 0.0486, 0.8962]\nstate[eef_state]: left_x=0.2571 left_y=-0.056 left_z=0.2499 left_yaw=0.1167 left_pitch=-0.3185 left_roll=0.1525 left_gripper=0.8956 right_x=0.2807 right_y=0.0283 right_z=0.2397 right_yaw=-0.0338 right_pitch=-0.344 right_roll=-0.2172 right_gripper=0.8962\nstate[joint_eff]: [0.294, -2.906, 5.9009, 1.0574, -0.3883, 0.1099, 0.0806, -0.0752, -2.9333, 6.2017, 1.3162, 0.1245, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b917cce793bfc0222e1114a35ac05a2e3489a1b71aa73cce9981d41315ae00ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7db2f1e97cfbd9810c9821fe7ca8ef0fc6e953f07a4df09c88d15653ad984a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:456d3d8e9093ef2e91e3bb97a55e8971f9d8fbcc5a660e29418c1215c70ad6a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISgxUKjgEIEhgCKkD6L57WtxKOPu1NG25hnkY2oegoNEXbKf1a0i14NJqaLGQlmZ8dR+RbdtEqKiBg+m5630X4ui+p7JNzvai0zcs4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaqRzNUGEgywS3tNu1TGWOkvosMaDEjgsXI7HyqnTK+O7yIwFteE/1Xhfyw+0RYga6M5QyKbs1Mps0oeEr1AHl1Kqb9InatqrzCwSxbUZYc3iA11KqETIKhllGmPoeKyNN1Vkd6GQw0Q0b7ROUBxl8Z8MiCSpd7rXh+jdkP+Cu0hXmqpD0IIamXgP9S3bZFyTM/TxKsEXCZeRUmag/iepeAeFDyYq/YmZ9OIyp+I05y09oyVq4h6t2MY+R6IcyQ4QKUPWmbRPExGJBZv5auoAfzC+Ex6J6pBns70dFgyirtHK6biy93tFmvwNhGXRZvfHtNOfuhOeD1ty/7Cub5ldQh0GAiLZj4CfLRNm80m2JnLMdiY8KjZNAArle6YxlHhAIu5Toet8jehkKmKgQ+olSiac9n8LDhXh/BSw8/mKRMDahldHPQNVaruxBP/dIRezuZYrCAgxeSOn+l+iuQDzq61K+I8hHTOMEcVFYfSg7xUlefgvwdca0T6rf7O8nxJ+KRzxZREEr+/hjiQVYH6VdSJTpcYDBhyhSVbuiohxR4DiLDnzI1R62zXRtNcdf5zhQBJn3JWbCHgBRcFy33cqtOQAVf0AsIUUslzWan2LvmgqdNdxGqOvnvO2nHbuv2JvIhcayPKVcaaJSFITUPpGzN/AGsfxZIWC2UDPNjLfKlMaMiu+uUHZaXDHxrTySscR8JbrgXp106w7IRyV/rz5DB/aFNIq3E4ELj8FNi7/Aw3XH/hLgJsTHgMVIfxhEZZLzAEpIp+SwbAKB0b4lPmsahjqrE7zPfP1m1dRJPrNDclgin0UrA54FjhFqjrly/uh+06ToYBmetFFiq56XqTFP7WV5AX+rG+Tt9pEQtR0UeKfGrCqRoG2EVyG3V4Z3XmMnpaZx8DhvFB5Sin9p/cc4/Y4xwJkjfyYtFNwhYwLr29RxMsdaA9j7XH8t5IwAMbObmh7o66V7g7xmxtsR3ippesAHIubSX+L1s6Z4iwJLTnHnRpZo6+c0csOfZ8WpZSHoJm9KRCk3R9aDKVFDQa2+3zIx0nZ7zkwKHqNBkgtN9Y7v1Folg+Anffohu/Ej3TLDQbTJ7plheSVQnIu96jYMnIfWJk/qmpbwK6lNuh2OI0PU3VGaxKaGB1P4C2cA25RIzML/+XzupTNvy7ZMsBw3t1dugb8xZvJVfVbAytAj4JYQXWi8SASmUkvGdeIgnfu2VYNWMhLDFGVb11BO5AgbbdcLo5KpWbFMjyLF2yaIFDDIzRMRVc3bbZ5H7yATKRdYS5lLzvhIUYGGxugbw2pVJRXLVlHO6XK7qYCZnBD913z8TMWlQHLg6dtkt4ZxdJafH24ck9Jybh9mdx7S2ohew8nq0+Xl2FqILpN0n3/7CImpGrw9vE8OXi43ghEcEiSN2nmfBUp/my2yepmoAtCWxa9R0gUjw/of+gCMpVXNgc8BlwkzBGpZgS9I/4rOHa8a/qZwz+uhajjsBaWUJvi8o7XjDUEVbo1ht09GTsr9qcd2WAY+hzqqrJ4t+oYMkEVAKACDtucd2q/NkZNS8R32QFrPJgIredetAgxNJTtCQ2nvMO39MYohbaWwXeAJ6VtZwsAmWgPsYyQxm7/IlE72bJ9BMLe973qOdLPP0i8isch2wHtgJ7Tf4FEep3Zxnfdzy5HUlkBBhPOBLfnzUDLf/rJbnU7XrWn+20GBzY7Rg+HJl+qtrqzIJ7ST6cbXhYo+CNo0cEHJt7EyMWLwENMEN3ad3sWr1DICpE5eWSyRAd0xC4S/ALp6YyIQSATWay/o2KK8TiTujbLofOx+MpCyJMZ6UiiC8gtWO6BqCdLyHqoK9Pb2bAyK58na6wDLrYcVS+V2WA5//EJ8+xtjjIrzf3SxnHY51dK4DK590ZzUV7RLj6ijbtXuo4h0o4s9ABN5wqU1jrpk/zLwF0GWWOWAaGxPpqLek4YU/tWe0UzhNQBU3DnOxBX9lnP94u7e+GtHl4x2Wd9XspRxUNuxwSdySSSbsCLCqc539bQhuL6HQ9lQJbROISlkZK92cN3AMEEBhquZrRXweeXbAkWK6bOezG3VGwDy6w6ihyLTstG9UE5+xPqSMFbuDHhTRKEz2ny5Xm12iPLXscmKImwQd1jrOqTQa8xEQ60ZjHQY0UNf1GMzEmdOtwEXhYDpmaMXbHQo0eK2EiWjQAWM7UaCVvsYS0CwZArPiaa+JuPLVw5nj7QNJlfDDTNj19XTuGm487XJPOZFqvyBx2S8ctEHZXeCw90nm96fGMhSRM+wpptZQHTRLn53EIHfnsC8YDoSjQjkI7yg//5SURtiKUuUnLyV3Wg+LYHL5eHFChV/i1Zr4uNvloZN3L2LAsljEJASknDcdP0oJwd42HDRJHU4hMQQ+oAssgQHupcFVLrhST4rDN78i1FY3grzfoR5atu48uC5vzSqvffN1zAVlaIinoLtFsQbXxoNs+T4tg3tyin7QbWbLip+Ci1XxgwLFAc+WVFe6S3ZpBbLpG4Tc8jcL+XMZEy1UdFay5QhUTiSS/1YGs5hKCoyUZTwsqFAkH7LJg1b89RZON1M0GSglWN5O5aR+NnVZwT4RmbYm/cJ3GbgisfyUXVBh3TYY8UjNYtj0i1w9HaSgmpxAeutjLGSktRw5/w2vts/sjuNQq1g/UBN+jWHmtKevI2/m43NZO2nI5xiTWmGV55SeSR0ViMLZvxIsiZp4ZTNHlIESCetibt2Ba4Sf/2SCQLOQxB6TeNWzIFJNIPMbd0Oa8mNcUzasm7uZxil5TbgjIYAaaowpvCpzRjjtRYkEIy+/OmHJAcCexCS9196oOx4NLHHrmt8FtbqIObz2XA2vSvs3I3i7JxiplzWhG1ZTgCqNhctmrO35OWYbtsvV4Xk5PsPfJXKeD04xWNrGdakDmVRzCUy+/1gSq7n5Qs7hT6KgPuiKXngLUgYyszg2EYWb44OKhizYbQv9+WLVvpJwfwFww6O/SccE6rfx5NQHY4X02tS0QKjaMg4UBSOjxPsLzpaItc86tErWDO+5znfTiGJy4hTlGRs25iH8+Zk7XHDJy74Vp9KSHb4TEDYQ5F7RhONW8KexErkn0kCFK9XxVtKmPvhnrxFT4aWWdgX+n/WXjrqoaKhhYAelw8JGt+7cLx04omenxp/qiiLHxd46urcAwtfl4my5OaUqrpmSSjjJ/U2aOosomrmIuP+ZcQUmSQC+0XHqgWBDUZwYukiX29Mq9ZarVSpxXJVmu7r2OthvLDfQLR6DDp60dRz45Zr3OojcCT57mzvRHk3R0WhsBkgQqPYBOImZy/puCh1mnlfsej2Minptlpz2KOpoP35MnstJhBUAjrSjfwAroDXSIKPCXiMQF6wQN6GltUOpAYV6Z7rNJTmtVn+J4eOQVlrcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FjjsNqAi8hdnuBbwaZu9qz",
      "input": {
        "note": "Top view shows the pink bowl nested on the purple one, with the white bowl sitting beside it, not stacked. Bringing the right arm over the white bowl's right-hand rim (right_y≈0.145, x≈0.37) for another grasp.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": -0.2,
          "right_x": 0.37,
          "right_y": 0.145,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FjjsNqAi8hdnuBbwaZu9qz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.1145, 1.2682, -1.2156, -0.4648, -0.4385, 0.8956, 0.5884, 1.5406, 1.0, -0.482, 0.4995, 0.2607, 0.9961]\nstate[eef_state]: left_x=0.2552 left_y=-0.0555 left_z=0.2468 left_yaw=0.1142 left_pitch=-0.3367 left_roll=0.1618 left_gripper=0.8956 right_x=0.353 right_y=0.1381 right_z=0.1092 right_yaw=-0.0056 right_pitch=-0.2959 right_roll=-0.2612 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -2.865, 5.9829, 1.2283, -0.3394, -0.1001, -0.0024, 0.1436, -7.4051, 6.7487, 1.3846, 0.5641, 0.1832, -0.4127]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17f8bd13b80c1bf698e56a0aaf8dbf04b1dd9026935c144c8fdc230fe31df579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:924694ddd1c767bb02091e5970d8f210593589cd63f5f01608d9aca74308f09d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:10ccf3bbc3bfd0c05578722d8d91b024816e0b0eea6dafb559d48231d174b762",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 3.279 s

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

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9291, 2.6461, 2.7216, -1.3529, -0.622, -0.8268, 0.8947, 0.2745, 1.1187, 1.2282, -1.0695, 0.3016, 0.0483, 0.8962]\nstate[eef_state]: left_x=0.4168 left_y=-0.3798 left_z=0.1115 left_yaw=0.094 left_pitch=-0.3353 left_roll=0.1803 left_gripper=0.8947 right_x=0.2814 right_y=0.0285 right_z=0.2404 right_yaw=-0.0335 right_pitch=-0.3396 right_roll=-0.2163 right_gripper=0.8962\nstate[joint_eff]: [-0.4444, -17.0051, 6.1333, 0.8962, -0.4518, 0.1441, -0.0073, -0.1983, -2.7419, 6.2017, 1.3162, 0.0952, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5392, 1.1103, 1.2686, -1.203, -0.4725, -0.4442, 0.8956, 0.2745, 1.1191, 1.2282, -1.0737, 0.3012, 0.0486, 0.8962]\nstate[eef_state]: left_x=0.2571 left_y=-0.056 left_z=0.2499 left_yaw=0.1167 left_pitch=-0.3185 left_roll=0.1525 left_gripper=0.8956 right_x=0.2807 right_y=0.0283 right_z=0.2397 right_yaw=-0.0338 right_pitch=-0.344 right_roll=-0.2172 right_gripper=0.8962\nstate[joint_eff]: [0.294, -2.906, 5.9009, 1.0574, -0.3883, 0.1099, 0.0806, -0.0752, -2.9333, 6.2017, 1.3162, 0.1245, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.1145, 1.2682, -1.2156, -0.4648, -0.4385, 0.8956, 0.5884, 1.5406, 1.0, -0.482, 0.4995, 0.2607, 0.9961]\nstate[eef_state]: left_x=0.2552 left_y=-0.0555 left_z=0.2468 left_yaw=0.1142 left_pitch=-0.3367 left_roll=0.1618 left_gripper=0.8956 right_x=0.353 right_y=0.1381 right_z=0.1092 right_yaw=-0.0056 right_pitch=-0.2959 right_roll=-0.2612 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -2.865, 5.9829, 1.2283, -0.3394, -0.1001, -0.0024, 0.1436, -7.4051, 6.7487, 1.3846, 0.5641, 0.1832, -0.4127]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17f8bd13b80c1bf698e56a0aaf8dbf04b1dd9026935c144c8fdc230fe31df579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:924694ddd1c767bb02091e5970d8f210593589cd63f5f01608d9aca74308f09d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10ccf3bbc3bfd0c05578722d8d91b024816e0b0eea6dafb559d48231d174b762",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS0QUKjgEIEhgCKkAa/HTpEGGfH2hjpKpwm9FLcHGSsD35i93zS0eY6vbfeUmd9TNmtWol+IvUrpBg19HDC2irtADEeCJR49glDyQfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbKRzNUGEgx+dG4dYDiZQg00+BAaDATwJANaFCxKbB9tmCIwQQOvFseZaLzTaihd9PK9HCfS2Z+FJ18Jtjgh+JJ053g5kfknVMNnRTcWq1VbdHgcKu8DaemB/ozMcPc9GAELqpwCDac1umtUanA46NQkKJYpWCw6O612kjdwguSPHAl/DiH57AM5Wg9H3AW+2pcHBEcHvundKsqI0DdgQaeuOCjgZ8EgmHaipoIJRcpEUyOzcYXedXbudxFfQnNIqYGSAxu05TaIzhNPjrOPdMRKHssSPoLBBYNX8UKKTLvb/tgyw5bNtJkdivz8gEcbtXiM5/ovrA07xa7XGuIgby9OFUml9WgDJgv6wPwev+22zEd2J2O/UFnPRoV3rrqlNhx7G9LVnx5VBN7IWRF803Ufvkc3kYxfZxmMHaxs90Jf6emKU5xeTEP/i1pPyl0eXv1w3OKz2/mJK3fsSsNKiRMdtpo0rFc6LtJCC53W4oOzW5d2lmU3IKrAdDwt14WhCCePhl+OoWtOWw91xDLLujLjYL5UmmlUxX6QxT95amqyHlHhJT9Y2Bv6oii/TdCkTHWFniDjJUn3glmhmntmcpQXTPjPUh7bTz4LdUO9liE4qfmOdqCNEUMJeeX6qsp0MEn8UlzKz/EVNkPQQqzqVrngbHwMQq/DcpY6Cdp8vpRoBswpDnkw87/I0yRWTzf4kpxs96PUFqQC3ymRYnCT48IvNNP3RIWrzcESkCLb4HZilULQc4NN32y7mbQHMlBz5VhH9CpSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0128HBbBS2Nitkg7ef14h3ZG",
      "input": {
        "note": "White bowl's right rim edge reads ~3 cm to my +y side of the jaw column; shifting +y and descending to rim height.",
        "targets": {
          "right_y": 0.168,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0128HBbBS2Nitkg7ef14h3ZG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.1149, 1.2682, -1.2163, -0.4648, -0.4385, 0.8957, 0.6624, 1.7187, 0.9108, -0.3042, 0.519, 0.3153, 0.9957]\nstate[eef_state]: left_x=0.2551 left_y=-0.0554 left_z=0.2467 left_yaw=0.1144 left_pitch=-0.3376 left_roll=0.1625 left_gripper=0.8957 right_x=0.3438 right_y=0.1616 right_z=0.0372 right_yaw=0.0066 right_pitch=-0.3505 right_roll=-0.295 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -2.5094, 5.9692, 1.0965, -0.2711, -0.0806, -0.0073, 0.335, -7.6513, 6.0376, 1.2039, 0.3639, 0.0562, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b27d34361d34d497bd67ce61e57dc8367d4615e6e714f0bbfa16091fc775c59b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17ad5f9909f5512a80b68ec9efe9096887626e8ca8061361b6e35288dd5a16d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:48316bb319f7df2e7722dc676b73d5610724d156fa3405f24c3acb3f1bd99058",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /messages · status 200 · 10.53 s

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

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5392, 1.1103, 1.2686, -1.203, -0.4725, -0.4442, 0.8956, 0.2745, 1.1191, 1.2282, -1.0737, 0.3012, 0.0486, 0.8962]\nstate[eef_state]: left_x=0.2571 left_y=-0.056 left_z=0.2499 left_yaw=0.1167 left_pitch=-0.3185 left_roll=0.1525 left_gripper=0.8956 right_x=0.2807 right_y=0.0283 right_z=0.2397 right_yaw=-0.0338 right_pitch=-0.344 right_roll=-0.2172 right_gripper=0.8962\nstate[joint_eff]: [0.294, -2.906, 5.9009, 1.0574, -0.3883, 0.1099, 0.0806, -0.0752, -2.9333, 6.2017, 1.3162, 0.1245, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.1145, 1.2682, -1.2156, -0.4648, -0.4385, 0.8956, 0.5884, 1.5406, 1.0, -0.482, 0.4995, 0.2607, 0.9961]\nstate[eef_state]: left_x=0.2552 left_y=-0.0555 left_z=0.2468 left_yaw=0.1142 left_pitch=-0.3367 left_roll=0.1618 left_gripper=0.8956 right_x=0.353 right_y=0.1381 right_z=0.1092 right_yaw=-0.0056 right_pitch=-0.2959 right_roll=-0.2612 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -2.865, 5.9829, 1.2283, -0.3394, -0.1001, -0.0024, 0.1436, -7.4051, 6.7487, 1.3846, 0.5641, 0.1832, -0.4127]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.1149, 1.2682, -1.2163, -0.4648, -0.4385, 0.8957, 0.6624, 1.7187, 0.9108, -0.3042, 0.519, 0.3153, 0.9957]\nstate[eef_state]: left_x=0.2551 left_y=-0.0554 left_z=0.2467 left_yaw=0.1144 left_pitch=-0.3376 left_roll=0.1625 left_gripper=0.8957 right_x=0.3438 right_y=0.1616 right_z=0.0372 right_yaw=0.0066 right_pitch=-0.3505 right_roll=-0.295 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -2.5094, 5.9692, 1.0965, -0.2711, -0.0806, -0.0073, 0.335, -7.6513, 6.0376, 1.2039, 0.3639, 0.0562, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b27d34361d34d497bd67ce61e57dc8367d4615e6e714f0bbfa16091fc775c59b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17ad5f9909f5512a80b68ec9efe9096887626e8ca8061361b6e35288dd5a16d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48316bb319f7df2e7722dc676b73d5610724d156fa3405f24c3acb3f1bd99058",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISvAIKjgEIEhgCKkBrOW3T3b7Z9wBM+EiNAg7kQGx2EHtYf3HfvJGGmYwEg7K3TeIF6S5IG3QTNpd6WOPnOaak7qIhEK+g8Sf4S41dMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbaRzNUGEgwXEF2TnW76bSIheSsaDPYgPMTDH9YcjRTNayIw+lsVsCtfo/v2nkFPvTEvpHsm7+RyBKcJrSbYIP7zfcoTrj32wKj2rxgOaOJmlD6QKluvSrxMiJRoekvLe1HmpM/mSIwumIxT63bjH2ESZLSoebQ1MaL4bj3VkkqkXpyzSk/ifaSW+zCS2UJYWks4zc+BX8VAW7XKIsPYQ0JCmJB5nR46v7vzoE4cV4/rGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WhZJYd9MyEjfkhRJ2qs9Ry",
      "input": {
        "note": "Rim edge is on the jaw column at rim height; closing to pinch the white bowl's rim.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WhZJYd9MyEjfkhRJ2qs9Ry",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.1156, 1.2682, -1.2167, -0.4644, -0.4381, 0.8957, 0.6678, 1.7283, 0.91, -0.226, 0.5224, 0.3424, 0.0369]\nstate[eef_state]: left_x=0.2551 left_y=-0.0555 left_z=0.2464 left_yaw=0.1141 left_pitch=-0.3388 left_roll=0.1632 left_gripper=0.8957 right_x=0.3545 right_y=0.1719 right_z=0.0421 right_yaw=0.0082 right_pitch=-0.291 right_roll=-0.2359 right_gripper=0.0369\nstate[joint_eff]: [-0.0342, -2.6188, 6.0513, 1.1355, -0.2662, -0.0464, -0.0171, -0.1026, -6.5983, 5.7368, 0.5983, 0.359, -0.149, 0.8278]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a56d9903d3d2bce4d585205ed16075e43f8afe7b539d34a685f89995d6034927",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffa5827c443dfbee9b2f3706090c68a74d8843902e3dc1dadc137bee60334b9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0ac197d3a1233a207315e43cab031d6224e2e2cb51313f79e698892eb79f0a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /messages · status 200 · 9.136 s

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

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.1145, 1.2682, -1.2156, -0.4648, -0.4385, 0.8956, 0.5884, 1.5406, 1.0, -0.482, 0.4995, 0.2607, 0.9961]\nstate[eef_state]: left_x=0.2552 left_y=-0.0555 left_z=0.2468 left_yaw=0.1142 left_pitch=-0.3367 left_roll=0.1618 left_gripper=0.8956 right_x=0.353 right_y=0.1381 right_z=0.1092 right_yaw=-0.0056 right_pitch=-0.2959 right_roll=-0.2612 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -2.865, 5.9829, 1.2283, -0.3394, -0.1001, -0.0024, 0.1436, -7.4051, 6.7487, 1.3846, 0.5641, 0.1832, -0.4127]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.1149, 1.2682, -1.2163, -0.4648, -0.4385, 0.8957, 0.6624, 1.7187, 0.9108, -0.3042, 0.519, 0.3153, 0.9957]\nstate[eef_state]: left_x=0.2551 left_y=-0.0554 left_z=0.2467 left_yaw=0.1144 left_pitch=-0.3376 left_roll=0.1625 left_gripper=0.8957 right_x=0.3438 right_y=0.1616 right_z=0.0372 right_yaw=0.0066 right_pitch=-0.3505 right_roll=-0.295 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -2.5094, 5.9692, 1.0965, -0.2711, -0.0806, -0.0073, 0.335, -7.6513, 6.0376, 1.2039, 0.3639, 0.0562, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.1156, 1.2682, -1.2167, -0.4644, -0.4381, 0.8957, 0.6678, 1.7283, 0.91, -0.226, 0.5224, 0.3424, 0.0369]\nstate[eef_state]: left_x=0.2551 left_y=-0.0555 left_z=0.2464 left_yaw=0.1141 left_pitch=-0.3388 left_roll=0.1632 left_gripper=0.8957 right_x=0.3545 right_y=0.1719 right_z=0.0421 right_yaw=0.0082 right_pitch=-0.291 right_roll=-0.2359 right_gripper=0.0369\nstate[joint_eff]: [-0.0342, -2.6188, 6.0513, 1.1355, -0.2662, -0.0464, -0.0171, -0.1026, -6.5983, 5.7368, 0.5983, 0.359, -0.149, 0.8278]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a56d9903d3d2bce4d585205ed16075e43f8afe7b539d34a685f89995d6034927",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffa5827c443dfbee9b2f3706090c68a74d8843902e3dc1dadc137bee60334b9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0ac197d3a1233a207315e43cab031d6224e2e2cb51313f79e698892eb79f0a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISuQkKjgEIEhgCKkDCjnesjkARQdPwG5VtGTH4+OuXV72OG73ppWil/02a/RzZTojzu8oshhcBl8ICriGDgbF1iu1coDW9+net7ltyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcGRzNUGEgycIUnn1CNJUzb5mRgaDFepxjVOwn3Rx0FJ0iIwK+dF7zysKX1t5ZeLDMGmt6kVMPQJRp7NykLG6aewSjk+mebQ1XN8/EkYmge/aeSAKtcH+O46FSpWm2n/hFl6dwfZSKJj1AICMojGEXXY7R7HQnRqhly3vCLqPFUtJ8I2LIJMeg/qHfenZb+Fn9EoJ6X5pdOf778VLIF52rcVn1CFUaJ94gd8jZVTh3FxLPAXR6GeJPXHngDDnQpMzqXz3vI7A2h/bigUvHecuv+wgt4cv2pH+X4fPOdlcoF1J26X+3v15jFUi8P5t2sWYL7JKpGzuA3nzUTHP11t96wBoJ40jqxa+UgnQhsKruY7s9tanY1N2OAd7bghdBivkmAcRirb/bOF+Ud6t1Ev18Itt5CRX6hahYgtw80oOgrpGBy2jz/6PJhSZA1RCTMWses1w3cBi1G5fAJ3mvPLxJDCIyH990uqVNyCyBJRezYuXzNeq/CpCcbiR1hYGDTm90BCJRCW2mxLxXUPmQVNbDpCEbJwbupnHRq4EdPr3f/C1NHiKfQgVkf0t1Rron0RLMDTbW2RMcYRUSBxfH60LBE8rwL8J0c1kjJ5eAOuqE9l/Zky0cQMllSxL0/eFptKLnwDSimvz2d/SUn7ZuaLQKlU1cSp/WxRPQ07Lp0LDPPeTp0cNfnxg9CzllRJj1krscyGiQmPX4+fTRuRTBdLtY+b1LgXmxB1EytgXaBbvPToOAdLC6Ngf0rBDcKgJEtAouLWe47VSBNdt4CLgtt1DQ8PIeUQAqMfEfg9tsI2W9rPEaqzwz9NozBUwiji69a2VvlczLpo7LQljTtxK27P9HWDp5dlm02zUqdEkHJNmnrOwi2YVATkNSpstJVgdkWFcmAfSyfg4vSvdGVPR9IQ2hpRHEhwbow8X6fvofzS+okI6YN0CjaLsTbRG2IchN5T1MetXuYKFODZPYcARMgQW0UBfQxyI8oTXcGEJTdxEJs8EYIZcUCFNACGWvTe6uiDHkPrmV1rgM91WIywekwP3ZjJZe4i+cYniVb5meCQuhE6i9ejgOvCj1Gtpe5Eom/BOiDB8nVFtq6GWIn06JiLutvARn5MXKSnpTtqZm1LdSM3Eo08KthX6IUcSaYxhTC5ENeIJlYhlr6w0KwzGsxNm9NVpAIgCkgrZjwkJRIUAKZ5gHZ2RsF28miEzFUfmiNg9EEE2njYP0bo/Yy4AGNPj78RMJXqj0KF02PVXyBFdlYFOCT9sx6znWR6P1sNxWtKHjcVzo6/iNvO55l6hNEHM/3v04kRaGfUE7NW0I7sQDR4cyTkUKfg4AGYcJLBNU3M2nI4iog5J2HxlGsDCWYzRaUYlAvuwkMfZ3TIfrLuCSDKPH9lZ5lDhfcpxvpSWOX1GdzLdLDoKFNpw3DWF80YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PxRw8cjf9CxcURAfhuswhm",
      "input": {
        "note": "Rim pinched at 0.037; lifting the white bowl and carrying it toward the pink/purple stack (pink centre ≈ y 0.31–0.36, x ≈ 0.42) for a look from above.",
        "targets": {
          "right_pitch": -0.2,
          "right_x": 0.4,
          "right_y": 0.3,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01PxRw8cjf9CxcURAfhuswhm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.1187, 1.2682, -1.2186, -0.4644, -0.4381, 0.8957, 0.8558, 2.0388, 1.9652, -1.0016, 0.6285, 0.4652, 0.0395]\nstate[eef_state]: left_x=0.2551 left_y=-0.0555 left_z=0.2455 left_yaw=0.1152 left_pitch=-0.3427 left_roll=0.1664 left_gripper=0.8957 right_x=0.3964 right_y=0.3036 right_z=0.2022 right_yaw=0.0526 right_pitch=-0.2362 right_roll=-0.2433 right_gripper=0.0395\nstate[joint_eff]: [-0.1846, -2.8239, 5.9282, 1.1453, -0.232, -0.022, -0.0171, -0.0342, -11.453, 8.2803, 0.9011, 0.5348, 0.2369, 0.2564]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f587a88a1ac64915c64975068e80a71665ad604159d97652a470affc97f61061",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cb63507732adc6b7f12d77257fdfcaa77e713470360c5de8aad5a4e85ba422a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd4d15a9f0eb7e9ad3b9142c8a9fabb32f4a393e69e657f4b283ea7d12942e61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 38 attempt 0 · /messages · status 200 · 10.58 s

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

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.1149, 1.2682, -1.2163, -0.4648, -0.4385, 0.8957, 0.6624, 1.7187, 0.9108, -0.3042, 0.519, 0.3153, 0.9957]\nstate[eef_state]: left_x=0.2551 left_y=-0.0554 left_z=0.2467 left_yaw=0.1144 left_pitch=-0.3376 left_roll=0.1625 left_gripper=0.8957 right_x=0.3438 right_y=0.1616 right_z=0.0372 right_yaw=0.0066 right_pitch=-0.3505 right_roll=-0.295 right_gripper=0.9957\nstate[joint_eff]: [-0.1026, -2.5094, 5.9692, 1.0965, -0.2711, -0.0806, -0.0073, 0.335, -7.6513, 6.0376, 1.2039, 0.3639, 0.0562, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.1156, 1.2682, -1.2167, -0.4644, -0.4381, 0.8957, 0.6678, 1.7283, 0.91, -0.226, 0.5224, 0.3424, 0.0369]\nstate[eef_state]: left_x=0.2551 left_y=-0.0555 left_z=0.2464 left_yaw=0.1141 left_pitch=-0.3388 left_roll=0.1632 left_gripper=0.8957 right_x=0.3545 right_y=0.1719 right_z=0.0421 right_yaw=0.0082 right_pitch=-0.291 right_roll=-0.2359 right_gripper=0.0369\nstate[joint_eff]: [-0.0342, -2.6188, 6.0513, 1.1355, -0.2662, -0.0464, -0.0171, -0.1026, -6.5983, 5.7368, 0.5983, 0.359, -0.149, 0.8278]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.1187, 1.2682, -1.2186, -0.4644, -0.4381, 0.8957, 0.8558, 2.0388, 1.9652, -1.0016, 0.6285, 0.4652, 0.0395]\nstate[eef_state]: left_x=0.2551 left_y=-0.0555 left_z=0.2455 left_yaw=0.1152 left_pitch=-0.3427 left_roll=0.1664 left_gripper=0.8957 right_x=0.3964 right_y=0.3036 right_z=0.2022 right_yaw=0.0526 right_pitch=-0.2362 right_roll=-0.2433 right_gripper=0.0395\nstate[joint_eff]: [-0.1846, -2.8239, 5.9282, 1.1453, -0.232, -0.022, -0.0171, -0.0342, -11.453, 8.2803, 0.9011, 0.5348, 0.2369, 0.2564]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f587a88a1ac64915c64975068e80a71665ad604159d97652a470affc97f61061",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cb63507732adc6b7f12d77257fdfcaa77e713470360c5de8aad5a4e85ba422a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd4d15a9f0eb7e9ad3b9142c8a9fabb32f4a393e69e657f4b283ea7d12942e61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISrAgKjgEIEhgCKkB+ZpZMH6XcXhuCzJqnvPI7DTxnJRNwu8Oc+MGJhePjgkoz4Cuqspn/duiwF07jPduh4KcQrDjgU8D+jm/azRdoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcuRzNUGEgy3PwYnbQ6/w0cz+T0aDIbYeVqt1Q2INmrX5SIw1lfzXsZQULTRLfGp2Y5C5CDcrnAwrC1DFNn8PdTLlhHbjb/+Qwxmp8qsNS1htRAYKsoG4JA5UyKzrSDutUPjaqD8kau8mnup3y+K1li4qA7YH3O8nqpvFNLNCyqMB6A8biFeVESXAAqG7SmoK1+ZDk9e4ynNL9DBQJZux6Ia84RM+pbPNCGuYFAlC4JUre27KJK7ICJ8BdvV4z7XlpJgQ39PoIzOvTMx598L95XcrrUcGaB9S/5m8467JOzHBrPmbJQ9iR1nr2Fl9+7TrBACy6WwLAQyHfhmvuqWPf6EF5BiT2oTG5v52EaAzs36BLa1Xynv1DXqIYEvm31TJICoNYsGWr2HaLcgI9A3t+NddTlRMrJ99XLzOxnAkAHYGqsdlN2RQsQxq+V6LNphyDd8H53QRwbt+ZNrJ/+eqX9BG0vmYggL1nzBMQnO4K4U2lS9bOnZ/VHtXnU1bZuVGa7ZNCprU+NhftBdT7ubWsW3nimwr0FleiXxoDG43s8O/NuAuVnQoqoUkQ0pS5npo5GdMOZAVv5OtOpDhzsmegu+JtR3qDD0HwtdyXrUWUp1LaJdZqSFUCYp5tbE9qPUGN6ND0mAGg1Hkfay0vzmSLXRzGjS2i/kbzBC1BphKWLul220IWDXP1FQD6ImEv59ir8NSkliejBChvnpJLdRinHGljnTOFTenR8cMljafabTSLArF/G3CDrC95Bbh20IEOemznojuVprwR8yq2XBRawh3ppOuvbvNDxUWVBV+q2fThMhnnV4Hn8MVtcQ+jNVf1LEJUckqsB1E+ourxeNMU4FesUu97bY920mF4GxvcdCz9FfuTPCbrzexdzcTd2eD9cTKxiRc6JRBSgbJm0I442+/7+1toJ7z0AdJl8YWFt9Kgi/JhuKX9Pg14HgOSANuhjfcuWR8VTktMzrT1t9jqPoxV7dvUz1uZpJHz+ENM24EWSReB+SQRQoXAR23Z8bkL8+9J2iDEi6yj5W5ZPFdhCm5tI/jLxQvmxBgjkpeBH+1VljM+rRWb8nEsaGFVzj8T10RHa3jieVrNvfMx3jN2IR7OJxn8TaURIVrWBkX1fcyaVAUwzRHojS+WyiuDjNWkoGucJJb/rjmB+ycGstcobaTHkK8etGQZr18TXDrXhopJkJNPJNUGxkk8eQx49MZjZcB8ljj7sC0g7IeXMe1koYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ESWSKN1z1W39xMA7sNCfAX",
      "input": {
        "note": "The carried white bowl's centre is ~6-10 cm short of the pink stack in +y; pushing the grasp point to y=0.38, x=0.42 to bring it over the stack.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.38
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01ESWSKN1z1W39xMA7sNCfAX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.1202, 1.2682, -1.219, -0.4644, -0.4385, 0.8957, 0.9222, 2.6072, 2.8288, -1.4117, 0.6296, 0.4999, 0.0417]\nstate[eef_state]: left_x=0.2552 left_y=-0.0556 left_z=0.2451 left_yaw=0.1158 left_pitch=-0.3442 left_roll=0.1674 left_gripper=0.8957 right_x=0.4135 right_y=0.3793 right_z=0.1614 right_yaw=0.0758 right_pitch=-0.3083 right_roll=-0.3076 right_gripper=0.0417\nstate[joint_eff]: [-0.335, -2.3726, 5.9829, 1.1062, -0.2515, -0.0708, -0.0171, -0.1436, -14.612, 7.4051, 0.7692, 0.5983, 0.2125, 0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c336d24e9cbf7da216869265cdfc36e070a5cfba0f13de08dc75f1f342b045a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0b29bf6d7a9dae5eccd4e87fde86e33092bf2d19f127f24e11d9c55af4e85a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff9feae3e69cd64aa19d4ee86d7d8b562c4d43bba11bcdb8c200ab695e94af00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 39 attempt 0 · /messages · status 200 · 8.18 s

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

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.1156, 1.2682, -1.2167, -0.4644, -0.4381, 0.8957, 0.6678, 1.7283, 0.91, -0.226, 0.5224, 0.3424, 0.0369]\nstate[eef_state]: left_x=0.2551 left_y=-0.0555 left_z=0.2464 left_yaw=0.1141 left_pitch=-0.3388 left_roll=0.1632 left_gripper=0.8957 right_x=0.3545 right_y=0.1719 right_z=0.0421 right_yaw=0.0082 right_pitch=-0.291 right_roll=-0.2359 right_gripper=0.0369\nstate[joint_eff]: [-0.0342, -2.6188, 6.0513, 1.1355, -0.2662, -0.0464, -0.0171, -0.1026, -6.5983, 5.7368, 0.5983, 0.359, -0.149, 0.8278]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 112 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.1187, 1.2682, -1.2186, -0.4644, -0.4381, 0.8957, 0.8558, 2.0388, 1.9652, -1.0016, 0.6285, 0.4652, 0.0395]\nstate[eef_state]: left_x=0.2551 left_y=-0.0555 left_z=0.2455 left_yaw=0.1152 left_pitch=-0.3427 left_roll=0.1664 left_gripper=0.8957 right_x=0.3964 right_y=0.3036 right_z=0.2022 right_yaw=0.0526 right_pitch=-0.2362 right_roll=-0.2433 right_gripper=0.0395\nstate[joint_eff]: [-0.1846, -2.8239, 5.9282, 1.1453, -0.232, -0.022, -0.0171, -0.0342, -11.453, 8.2803, 0.9011, 0.5348, 0.2369, 0.2564]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 115 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.1202, 1.2682, -1.219, -0.4644, -0.4385, 0.8957, 0.9222, 2.6072, 2.8288, -1.4117, 0.6296, 0.4999, 0.0417]\nstate[eef_state]: left_x=0.2552 left_y=-0.0556 left_z=0.2451 left_yaw=0.1158 left_pitch=-0.3442 left_roll=0.1674 left_gripper=0.8957 right_x=0.4135 right_y=0.3793 right_z=0.1614 right_yaw=0.0758 right_pitch=-0.3083 right_roll=-0.3076 right_gripper=0.0417\nstate[joint_eff]: [-0.335, -2.3726, 5.9829, 1.1062, -0.2515, -0.0708, -0.0171, -0.1436, -14.612, 7.4051, 0.7692, 0.5983, 0.2125, 0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c336d24e9cbf7da216869265cdfc36e070a5cfba0f13de08dc75f1f342b045a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0b29bf6d7a9dae5eccd4e87fde86e33092bf2d19f127f24e11d9c55af4e85a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff9feae3e69cd64aa19d4ee86d7d8b562c4d43bba11bcdb8c200ab695e94af00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISvQoKjgEIEhgCKkCKmc8968hY3aqm2H6uRPkkLqWjEO69U1VfZq449bo7oWIFB43CWUX/8fsl0kaBV3UFtiVIZr3fUFFPbEQRafRDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdaRzNUGEgymE6Ci1dnDtnlBWXQaDH3h9NqLSFZMAEyTqCIwPVUbHYS+w1byRv3Kd/KTBzzZxmsmIC9LiSsw8NaYyYXyiTpnX3IiRSEqtW8AU/hIKtsIhpIkIVFSumhoLlBhFji06xxKuurJhE9RSQgCmiVYsLKUrBZ48chfrnkWyp2JZ6A3YppeuObJgWjfYEmQHy+kInXJANTFG2ExCW6FgGmlDkLFjtYXsLDR/mMLC6iSErrsfHUb/1PzM7iQQIKzm6ExnQ85iIionl0DWbI5e/ao77N6LczhA3LXeWvXgy2+6SNoRHAi0x44yxEjS5jagUWKgVfsRWKhb1Bopzz72gbSCYJABMIJfmcg39JQqvYn6Vwwu14UnAy/cQPh9zhqoriZkdIUISVyG3QQDZAjJ0bgSeSAfNofkO0OwcpFQCJO8x183fj71H5iHGujXLemC7JlyRAXDgv91u1FbhAaFs01cRGK3pQ72HoTPSPWANsvz6aZh3tMx6PL7gBSAhpKWiQr/WfPB9nHBCrg0HbqM1Mvb9IWQEMWtkQ17W4vQtj2NhbyGk5T7RuXX4+lZPiAbAW3lY4/RERO0GgOt78uGo4HCMixwvvM8Bsex2baGD6D6RTyf9CUvK7pBJ0uXa71mhSXRwJfLzESS3z18rYYeG4FLtRO5aZshQU9o8axXQL8ndTnSy4FSJcoD1ZQ4Yb2zAStuhRCaUCiqoa1g0qSxNdb31M6puiH9wTR3rn4RhY/x6A2haOfKMLc407dI5dcw5n98BebzBe5NKsYxgq017nOydjLzxWTorsUOaZ5+AA8nTygLvod7g0XPi0eGfTDPieKU6TrVtxUXucLGz1u8wfdHjQgCqoZ4O3RT3eYv8nSHUyOOYnFn2OED+fqEVYJVyk22cgY48GAPhQrIR6Esf/3uplpI2F8m743+hY5I38V3qCJW7yDHPRwiCKOuNc4YX232felB1O7A9Skn2WgJ1pSvSPOlh2Q3D7jx02NrwdT96wABOu0rSQGU96bcRcR16rK1GDZxQtcE3Mah3qFrBVPFjJbK9qznIlhbZ9FJcRRo7UuWoqpJ1XI8RwCxWxtcu0fvmb46Dk5aTqVqVq/7Tb16zdjADqrhFYAFO37DffO411B+sK0uwKKjLyRfrhqdvB4jZx6X13mUjt1eUvTXXYigo91cBjkBzY2F1sL1A7GoJuzbkxX9XqO9PVy3g+UlmZ//JWrJHcH8NjOyZTfwCGqkYXnzYwSMKRDGkHlVkNgeFEhM64wQav1khsQFQkif4iuM5xe4HmMF2XSGibrFU8n5CKRhhDi4UQxkzORpli6Ek109b8E2tpxvFnK2KCQKt9WqpnIK27X1pg2590HtMP3i4gt8M88fZbLWwdxPnmVX/qcIMmn07rihqkTSKNwUeRfXdCnurdPijzIaIKjTGEFKkThtcopVG99+g0i4420mRFSb8xhZIJ5tKUMlKLkOikfsnA5JeGsEIKE6K3Eg7zUQ0ZPksDgmdRLACifNIzlox9Gf4z/TKPbc0N4NVtgRqpwBW7gGnqsE7Bjpx6xdKFDGYzbQSRNzokaZEpD9p7U3+/Y92Ar0mn9sbygVt8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GAirCcnPrL5dBbiSgoGVju",
      "input": {
        "note": "The pink stack's rim peeks out on the base side of the carried white bowl, so pulling back 2 cm in x and lowering to 13 cm before release.",
        "targets": {
          "right_x": 0.39,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01GAirCcnPrL5dBbiSgoGVju",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.1229, 1.2682, -1.219, -0.4648, -0.4381, 0.8957, 0.9504, 2.7842, 3.11, -1.5673, 0.6281, 0.5282, 0.0438]\nstate[eef_state]: left_x=0.2555 left_y=-0.0557 left_z=0.2446 left_yaw=0.1165 left_pitch=-0.3461 left_roll=0.1696 left_gripper=0.8957 right_x=0.4007 right_y=0.3885 right_z=0.1382 right_yaw=0.0763 right_pitch=-0.3381 right_roll=-0.329 right_gripper=0.0438\nstate[joint_eff]: [-0.1709, -2.7829, 5.9556, 1.1013, -0.2613, -0.0659, -0.0171, 0.5402, -13.5043, 8.0068, 0.8571, 0.4567, 0.1099, 0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 349):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:945f4016e000014051916fa65e5068c628026d358f2626db78b8389b583b1e9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 349):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42cc6196c3a777c680128b71b0825986ad45d95891ab6f0f903752507c319222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 349):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9710406e5e8ce2b73ea71268d33d3584e33fa2c2b0f6c6b5fde8481a54f8a839",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]