adhoc

completed
2026-09-22T18:40:41.948887+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
266.1 s
total steps
301
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls sit in a row; right wrist cam sees the pink bowl just ahead-left. Moving the right arm above it to localize it.
move_to
right_x0.3600right_y0.0700right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3809, -0.0223, -0.041, 0.9995, -0.02, 0.7937, 0.6022, -0.3817, -0.0166, -0.0296, 0.9993] state[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9995 right_x=0.2943 right_y=0.0006 right_z=0.1789 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.3761, -1.5932, 10.0991, 1.7753, -0.0513, 0.2466, -0.0708, -0.5812, -1.4017, 10.2496, 1.9414, -0.0855, 0.1245, -0.0904] 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": 0.36, "right_y": 0.07, "right_z": 0.2}, "note": "Three bowls sit in a row; right wrist cam sees the pink bowl just ahead-left. Moving the right arm above it to localize it."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent notePink bowl is centered just ahead of the right jaws. Moving over its right-side (−y) rim so the jaws can straddle the wall.
move_to
right_x0.3800right_y0.0250right_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0227, -0.0345, 0.9994, 0.2909, 1.1389, 0.7895, -0.3317, 0.197, 0.1032, 0.9992] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1784 left_yaw=-0.0028 left_pitch=-0.0088 left_roll=0.0058 left_gripper=0.9994 right_x=0.3436 right_y=0.0705 right_z=0.1712 right_yaw=0.0589 right_pitch=-0.0931 right_roll=-0.0279 right_gripper=0.9992 state[joint_eff]: [-0.0342, -1.6615, 6.8034, 1.7558, -0.0269, -0.1001, -0.022, 0.2256, -4.465, 9.4564, 1.8339, 0.1343, 0.188, -0.022] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.025, "right_z": 0.1}, "note": "Pink bowl is centered just ahead of the right jaws. Moving over its right-side (\u2212y) rim so the jaws can straddle the wall."})
tool
executing move_to over 5 steps (0.5s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe pink bowl's right wall sits between the open jaws in the wrist view. Descending so the jaws straddle the wall.
move_to
right_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8017, 0.6075, -0.3885, -0.0227, -0.0418, 0.9994, 0.0814, 1.3441, 0.6342, -0.0601, 0.0639, -0.0082, 0.9992] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1777 left_yaw=0.0011 left_pitch=-0.0118 left_roll=-0.0002 left_gripper=0.9994 right_x=0.362 right_y=0.0218 right_z=0.0837 right_yaw=0.0211 right_pitch=-0.1959 right_roll=-0.0375 right_gripper=0.9992 state[joint_eff]: [-0.0342, -1.3607, 7.1179, 1.7558, -0.0708, 0.0366, -0.0122, -0.1436, -5.6547, 6.6667, 1.9658, -0.1685, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.025}, "note": "The pink bowl's right wall sits between the open jaws in the wrist view. Descending so the jaws straddle the wall."})
tool
executing move_to over 4 steps (0.4s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteJaws are low around the pink bowl's wall. Closing to pinch the wall.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0422, 0.9994, 0.0784, 1.5139, 0.5014, 0.165, 0.0444, -0.0193, 0.9992] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0013 left_pitch=-0.0152 left_roll=-0.0004 left_gripper=0.9994 right_x=0.3482 right_y=0.0231 right_z=0.0149 right_yaw=0.0401 right_pitch=-0.2741 right_roll=-0.0348 right_gripper=0.9992 state[joint_eff]: [-0.1436, -1.5111, 7.0496, 1.79, -0.0708, -0.0708, -0.0122, 0.1846, -6.4752, 6.065, 1.9951, 0.2027, 0.0806, -0.0122] 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 are low around the pink bowl's wall. Closing to pinch the wall."})
tool
executing move_to over 10 steps (1.0s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteGripper settled at 0.10 (~1 cm), so it looks like it has the pink bowl's wall. Lifting to check the grasp and get clearance.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0425, 0.9994, 0.0803, 1.5009, 0.4862, 0.2253, 0.017, -0.012, 0.1019] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0015 left_pitch=-0.0152 left_roll=-0.0008 left_gripper=0.9994 right_x=0.3545 right_y=0.0291 right_z=0.0239 right_yaw=0.0622 right_pitch=-0.2166 right_roll=-0.0073 right_gripper=0.1019 state[joint_eff]: [-0.0068, -1.2513, 7.3094, 1.6972, -0.0366, -0.0415, -0.0122, -0.253, -4.506, 5.1624, 1.3016, 0.2711, -0.1343, 0.442] approver: 1 step(s) modified (delta_clamped). 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": 0.16}, "note": "Gripper settled at 0.10 (~1 cm), so it looks like it has the pink bowl's wall. Lifting to check the grasp and get clearance."})
tool
executing move_to over 9 steps (0.9s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent notePink bowl is lifted with the right gripper. Carrying it over the middle (lavender) bowl, offset so the pink bowl's centre lines up with it.
move_to
right_x0.3900right_y0.1900right_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3893, -0.0227, -0.0452, 0.9994, 0.0784, 1.2526, 0.8284, -0.4042, 0.0135, -0.0231, 0.1019] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1765 left_yaw=0.003 left_pitch=-0.0164 left_roll=-0.003 left_gripper=0.9994 right_x=0.3511 right_y=0.0288 right_z=0.1349 right_yaw=0.0693 right_pitch=-0.2556 right_roll=-0.0132 right_gripper=0.1019 state[joint_eff]: [-0.0342, -1.4154, 7.2, 1.7167, -0.0562, 0.0513, -0.0122, -0.212, -6.188, 9.7983, 1.7021, 0.0171, 0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.19, "right_z": 0.17}, "note": "Pink bowl is lifted with the right gripper. Carrying it over the middle (lavender) bowl, offset so the pink bowl's centre lines up with it."})
tool
executing move_to over 14 steps (1.4s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe pink bowl slipped out during the carry and is now sitting on the table just right of the lavender bowl. Opening and moving over its right wall to grasp it again.
move_to
right_gripper1.0000right_x0.4000right_y0.1200right_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.049, 0.9994, 0.5766, 1.607, 1.2461, -0.5835, 0.308, 0.3202, 0.1019] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.005 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9994 right_x=0.3791 right_y=0.1869 right_z=0.1524 right_yaw=0.1125 right_pitch=-0.3099 right_roll=-0.0384 right_gripper=0.1019 state[joint_eff]: [-0.0615, -1.1829, 7.0085, 1.7851, -0.0757, 0.0122, -0.0122, 0.1983, -7.5556, 9.5932, 1.409, 0.3687, 0.2076, -0.0171] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.4, "right_y": 0.12, "right_z": 0.1}, "note": "The pink bowl slipped out during the carry and is now sitting on the table just right of the lavender bowl. Opening and moving over its right wall to grasp it again."})
tool
executing move_to over 9 steps (0.9s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteWrist view shows the pink bowl centred with its right wall ~3.5 cm right of the jaw centre and slightly ahead. Shifting right and forward to straddle the wall.
move_to
right_x0.4150right_y0.0850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.049, 0.9994, 0.3664, 1.6081, 1.0256, -0.3786, 0.1921, 0.1566, 0.9947] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.005 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9994 right_x=0.3907 right_y=0.1176 right_z=0.0917 right_yaw=0.0922 right_pitch=-0.364 right_roll=-0.0579 right_gripper=0.9947 state[joint_eff]: [-0.0615, -0.841, 7.0222, 1.707, -0.0562, -0.0269, -0.0122, -0.2256, -8.1436, 6.3932, 1.619, -0.0904, 0.0611, -0.1343] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_y": 0.085}, "note": "Wrist view shows the pink bowl centred with its right wall ~3.5 cm right of the jaw centre and slightly ahead. Shifting right and forward to straddle the wall."})
tool
executing move_to over 3 steps (0.3s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent notePink bowl's right wall now lines up with the jaw centre. Descending low to straddle the wall.
move_to
right_z0.0100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0494, 0.9994, 0.2634, 1.6459, 1.0283, -0.3695, 0.1371, 0.0795, 0.9956] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0052 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9994 right_x=0.4006 right_y=0.0867 right_z=0.0779 right_yaw=0.0805 right_pitch=-0.4022 right_roll=-0.0644 right_gripper=0.9956 state[joint_eff]: [-0.0889, -1.3197, 7.0085, 1.6874, -0.0659, -0.0611, -0.0122, -0.1299, -7.7333, 10.1675, 1.409, -0.0073, 0.0122, 0.0806] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.01}, "note": "Pink bowl's right wall now lines up with the jaw centre. Descending low to straddle the wall."})
tool
executing move_to over 5 steps (0.5s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteJaws straddle the pink bowl's wall near the table. Closing to pinch it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0494, 0.9994, 0.2646, 1.7744, 0.8852, -0.1688, 0.1242, 0.0647, 0.9958] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0052 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3857 right_y=0.0855 right_z=0.0044 right_yaw=0.0966 right_pitch=-0.4745 right_roll=-0.0748 right_gripper=0.9958 state[joint_eff]: [-0.0752, -1.1966, 7.1043, 1.7216, -0.0513, -0.0708, -0.0122, -0.1026, -8.0615, 5.4496, 1.5067, 0.232, 0.0562, 0.0024] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Jaws straddle the pink bowl's wall near the table. Closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteGripper closed to 0.033, which could be a thin wall or empty. Lifting 6 cm to check whether the pink bowl comes up.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0494, 0.9994, 0.2668, 1.7576, 0.8906, -0.1314, 0.0879, 0.0769, 0.0332] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0052 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3953 right_y=0.0957 right_z=0.0167 right_yaw=0.1294 right_pitch=-0.4201 right_roll=-0.0237 right_gripper=0.0332 state[joint_eff]: [-0.0068, -1.3333, 7.0085, 1.6874, -0.0806, -0.0806, -0.0122, -0.1709, -6.5846, 5.641, 0.7692, 0.3199, -0.2222, 0.5153] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08}, "note": "Gripper closed to 0.033, which could be a thin wall or empty. Lifting 6 cm to check whether the pink bowl comes up."})
tool
executing move_to over 5 steps (0.5s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe pink bowl stays fixed in the wrist view while lifting, so it's held. Raising it to clear the lavender bowl's rim before moving sideways.
move_to
right_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3893, -0.0227, -0.0494, 0.9994, 0.2672, 1.6745, 0.9905, -0.363, 0.0849, 0.07, 0.0445] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1763 left_yaw=0.0052 left_pitch=-0.0171 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3871 right_y=0.0942 right_z=0.0533 right_yaw=0.1336 right_pitch=-0.4686 right_roll=-0.0321 right_gripper=0.0445 state[joint_eff]: [-0.1846, -1.0872, 7.0769, 1.7607, -0.0855, -0.0611, -0.0122, -0.2256, -9.935, 8.9094, 1.3993, 0.0415, 0.0464, 1.033] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.13}, "note": "The pink bowl stays fixed in the wrist view while lifting, so it's held. Raising it to clear the lavender bowl's rim before moving sideways."})
tool
executing move_to over 5 steps (0.5s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteWrist view is unchanged after a 5 cm lift, so the pink bowl is held. Carrying it sideways to sit over the lavender bowl.
move_to
right_x0.4100right_y0.2250right_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3893, -0.0227, -0.0494, 0.9994, 0.2665, 1.6264, 1.1675, -0.6365, 0.0875, 0.0586, 0.0457] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1763 left_yaw=0.0052 left_pitch=-0.0171 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3827 right_y=0.0922 right_z=0.1022 right_yaw=0.1339 right_pitch=-0.5165 right_roll=-0.0483 right_gripper=0.0457 state[joint_eff]: [-0.0752, -1.1145, 7.0496, 1.6874, -0.0806, -0.0513, -0.0122, -0.2667, -10.0034, 9.0325, 1.1453, -0.0464, 0.0952, 1.0281] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.225, "right_z": 0.14}, "note": "Wrist view is unchanged after a 5 cm lift, so the pink bowl is held. Carrying it sideways to sit over the lavender bowl."})
tool
executing move_to over 12 steps (1.2s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe arm stalled at y≈0.115 with the wrist pitched back a lot, and the pink bowl looks unmoved in the top view. Trying a smaller sideways step while commanding pitch back to level.
move_to
right_x0.4000right_y0.1700right_z0.1400right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8047, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.3553, 1.7126, 1.3296, -0.8051, 0.1608, 0.1413, 0.0501] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0052 left_pitch=-0.0167 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3819 right_y=0.1154 right_z=0.1108 right_yaw=0.0877 right_pitch=-0.5908 right_roll=-0.1048 right_gripper=0.0501 state[joint_eff]: [-0.0615, -0.8821, 7.0496, 1.707, -0.0269, -0.0757, -0.0122, 3.412, -7.6376, 7.1316, 0.7448, 0.2222, 0.2027, 0.7839] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.17, "right_z": 0.14, "right_pitch": 0.0}, "note": "The arm stalled at y\u22480.115 with the wrist pitched back a lot, and the pink bowl looks unmoved in the top view. Trying a smaller sideways step while commanding pitch back to level."})
tool
executing move_to over 20 steps (2.0s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe pink bowl is now carried and partly overlaps the lavender bowl in the top view. Nudging a bit further left so it's centred over the lavender bowl.
move_to
right_x0.4100right_y0.1900right_z0.1400right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.5694, 1.5688, 0.9058, -0.0837, 0.4236, 0.1806, 0.0514] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3903 right_y=0.1678 right_z=0.1157 right_yaw=0.1077 right_pitch=-0.1008 right_roll=-0.1292 right_gripper=0.0514 state[joint_eff]: [-0.0068, -1.5658, 7.1453, 1.6923, -0.0122, -0.0366, -0.0122, 0.335, -8.7043, 6.9812, 1.9121, 0.359, -0.0317, 0.7643] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.19, "right_z": 0.14, "right_pitch": 0.0}, "note": "The pink bowl is now carried and partly overlaps the lavender bowl in the top view. Nudging a bit further left so it's centred over the lavender bowl."})
tool
executing move_to over 4 steps (0.4s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent notePink bowl hangs roughly over the lavender bowl. Lowering it into the lavender bowl before releasing.
move_to
right_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.6033, 1.6085, 0.9333, -0.0486, 0.4507, 0.1692, 0.0531] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3961 right_y=0.1838 right_z=0.1179 right_yaw=0.1273 right_pitch=-0.073 right_roll=-0.1442 right_gripper=0.0531 state[joint_eff]: [-0.0752, -1.3607, 7.0359, 1.7167, -0.0855, -0.0806, -0.0122, 0.4171, -6.5436, 9.9624, 1.8388, 0.3639, 0.0073, 0.7595] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.07}, "note": "Pink bowl hangs roughly over the lavender bowl. Lowering it into the lavender bowl before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe descent stopped at z≈0.12, so the pink bowl seems to be resting on or in the lavender bowl. Opening to let go.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.6106, 1.6165, 0.9436, -0.0471, 0.4606, 0.1604, 0.056] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3976 right_y=0.1867 right_z=0.1195 right_yaw=0.1315 right_pitch=-0.0673 right_roll=-0.1553 right_gripper=0.056 state[joint_eff]: [-0.1162, -1.3333, 7.0632, 1.6825, -0.0904, -0.0806, -0.0122, -0.335, -7.4051, 9.1966, 1.9267, 0.3687, 0.022, 0.5934] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The descent stopped at z\u22480.12, so the pink bowl seems to be resting on or in the lavender bowl. Opening to let go."})
tool
executing move_to over 10 steps (1.0s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteAfter releasing, the wrist view shows the pink and lavender bowls side by side, so the pink bowl probably landed next to the lavender one instead of in it. Moving the arm up and back to see the top view clearly.
move_to
right_z0.2200right_x0.3000right_y0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.6106, 1.6165, 0.9417, -0.0547, 0.4587, 0.1555, 0.9951] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3961 right_y=0.1861 right_z=0.1174 right_yaw=0.1353 right_pitch=-0.0768 right_roll=-0.1626 right_gripper=0.9951 state[joint_eff]: [-0.0342, -1.3333, 7.0769, 1.6923, -0.0366, -0.0317, -0.0122, -0.1026, -7.5556, 6.5846, 1.6142, 0.1538, 0.1001, 0.0708] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_x": 0.3, "right_y": 0.05}, "note": "After releasing, the wrist view shows the pink and lavender bowls side by side, so the pink bowl probably landed next to the lavender one instead of in it. Moving the arm up and back to see the top view clearly."})
tool
executing move_to over 12 steps (1.2s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe pink bowl landed right beside the lavender bowl (about 10 cm to its right), not in it. Moving over the pink bowl's right wall to grasp it again.
move_to
right_x0.4000right_y0.1900right_z0.1000right_pitch0.0000right_yaw0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.4015, -0.0227, -0.0494, 0.9994, 0.2813, 0.9485, 0.8268, -0.5438, 0.2314, -0.0483, 0.9963] state[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1723 left_yaw=0.0053 left_pitch=-0.0347 left_roll=-0.006 left_gripper=0.9994 right_x=0.3053 right_y=0.0498 right_z=0.2071 right_yaw=0.1029 right_pitch=-0.0814 right_roll=-0.1659 right_gripper=0.9963 state[joint_eff]: [-0.1299, -1.4564, 7.0496, 1.8339, -0.0757, -0.0757, -0.0122, -0.1162, -2.359, 10.2906, 1.8339, 0.0806, -0.0317, 0.1148] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.19, "right_z": 0.1, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0}, "note": "The pink bowl landed right beside the lavender bowl (about 10 cm to its right), not in it. Moving over the pink bowl's right wall to grasp it again."})
tool
executing move_to over 12 steps (1.2s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe wrist view shows the pink bowl almost centred under the jaws, so its right wall is ~5 cm further right. Shifting right to straddle that wall.
move_to
right_x0.3950right_y0.1350right_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.6296, 1.6585, 0.8291, 0.0505, 0.4862, 0.3176, 0.9965] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0053 left_pitch=-0.0461 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3811 right_y=0.1799 right_z=0.076 right_yaw=0.0432 right_pitch=-0.0993 right_roll=-0.0752 right_gripper=0.9965 state[joint_eff]: [-0.1436, -1.7299, 7.1863, 1.7509, -0.0757, -0.0024, -0.0122, 0.5538, -8.4581, 8.5265, 1.6923, 0.3492, 0.1441, 0.0073] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.395, "right_y": 0.135, "right_z": 0.08}, "note": "The wrist view shows the pink bowl almost centred under the jaws, so its right wall is ~5 cm further right. Shifting right to straddle that wall."})
tool
executing move_to over 4 steps (0.4s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent notePink bowl's right wall now sits between the open jaws. Descending to grasp it low.
move_to
right_z0.0050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8169, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5461, 1.6474, 0.7979, 0.0681, 0.44, 0.2687, 0.9966] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1696 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3879 right_y=0.1519 right_z=0.0691 right_yaw=0.0219 right_pitch=-0.1209 right_roll=-0.087 right_gripper=0.9966 state[joint_eff]: [-0.0615, -1.4017, 7.1179, 1.6728, -0.0366, -0.0659, -0.0122, 0.4855, -9.0051, 5.9009, 1.5507, 0.2173, -0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.005}, "note": "Pink bowl's right wall now sits between the open jaws. Descending to grasp it low."})
tool
executing move_to over 5 steps (0.5s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe descent didn't happen (held at z≈0.068); a jaw is probably resting on the pink rim, and the wall is still right of the jaw centre. Shifting right a bit more before trying to descend again.
move_to
right_y0.1300right_x0.3800right_z0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8169, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5545, 1.6474, 0.7979, 0.0639, 0.429, 0.2607, 0.9966] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1696 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3856 right_y=0.1566 right_z=0.0678 right_yaw=0.0431 right_pitch=-0.1287 right_roll=-0.0885 right_gripper=0.9966 state[joint_eff]: [-0.1983, -1.3744, 7.1863, 1.7118, -0.0317, -0.0317, -0.0122, -0.1162, -9.0188, 5.9692, 1.6093, 0.1294, -0.0366, -0.0122] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.13, "right_x": 0.38, "right_z": 0.075}, "note": "The descent didn't happen (held at z\u22480.068); a jaw is probably resting on the pink rim, and the wall is still right of the jaw centre. Shifting right a bit more before trying to descend again."})
tool
executing move_to over 3 steps (0.3s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe right arm isn't responding to small moves (the readback is frozen), so it may be snagged. Raising it clear to free it up.
move_to
right_z0.1500right_x0.3600right_y0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9994, 0.5545, 1.6474, 0.7979, 0.0635, 0.429, 0.2607, 0.9966] state[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3855 right_y=0.1565 right_z=0.0677 right_yaw=0.0431 right_pitch=-0.1291 right_roll=-0.0887 right_gripper=0.9966 state[joint_eff]: [-0.2393, -1.4291, 6.9949, 1.7118, -0.0659, -0.0708, -0.0122, -0.1299, -8.8, 5.9282, 1.6532, 0.1441, -0.0464, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15, "right_x": 0.36, "right_y": 0.14}, "note": "The right arm isn't responding to small moves (the readback is frozen), so it may be snagged. Raising it clear to free it up."})
tool
executing move_to over 6 steps (0.6s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe arm is free again and the pink bowl's right wall sits on the jaw column, a little ahead. Moving forward slightly and descending to straddle the wall.
move_to
right_x0.3850right_y0.1400right_z0.0100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8196, 0.6075, -0.4076, -0.0227, -0.0494, 0.9994, 0.5545, 1.4136, 0.8688, -0.2504, 0.4183, 0.2569, 0.9966] state[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1689 left_yaw=0.0053 left_pitch=-0.0488 left_roll=-0.0056 left_gripper=0.9994 right_x=0.3602 right_y=0.1429 right_z=0.132 right_yaw=0.053 right_pitch=-0.141 right_roll=-0.0894 right_gripper=0.9966 state[joint_eff]: [-0.1026, -1.0325, 7.0222, 1.7509, -0.0855, -0.0757, -0.0122, -0.212, -6.612, 9.812, 1.5556, 0.2613, -0.0073, -0.0171] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": 0.14, "right_z": 0.01}, "note": "The arm is free again and the pink bowl's right wall sits on the jaw column, a little ahead. Moving forward slightly and descending to straddle the wall."})
tool
executing move_to over 8 steps (0.8s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
assistant
Wall between jaws, low. Close.
agent noteThe pink bowl's wall is right between the jaws near the table. Closing to grip it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.506, 1.755, 0.6781, 0.2623, 0.3771, 0.2268, 0.9966] state[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0526 left_roll=-0.0055 left_gripper=0.9994 right_x=0.378 right_y=0.1392 right_z=0.0139 right_yaw=0.0523 right_pitch=-0.1734 right_roll=-0.0945 right_gripper=0.9966 state[joint_eff]: [-0.1709, -1.6752, 7.1316, 1.6679, -0.0464, -0.0464, -0.0122, -0.6359, -5.2171, 4.8479, 0.989, 0.1197, -0.1001, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
Wall between jaws, low. Close.
move_to({"targets": {"right_gripper": 0.0}, "note": "The pink bowl's wall is right between the jaws near the table. Closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 195
assistant
agent noteGripper settled at 0.035 on the pink bowl's wall. Lifting it high so it will clear the lavender bowl's rim.
move_to
right_z0.2200right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5095, 1.737, 0.6853, 0.3275, 0.3538, 0.2447, 0.0352] state[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0526 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3895 right_y=0.1516 right_z=0.0333 right_yaw=0.07 right_pitch=-0.0982 right_roll=-0.0266 right_gripper=0.0352 state[joint_eff]: [-0.0479, -1.4154, 7.1316, 1.6825, -0.0708, -0.0806, -0.0122, -0.294, -5.7504, 4.6564, 0.5446, 0.5201, -0.5592, 0.7155] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_pitch": 0.0}, "note": "Gripper settled at 0.035 on the pink bowl's wall. Lifting it high so it will clear the lavender bowl's rim."})
tool
executing move_to over 13 steps (1.3s)
step 208
assistant
agent noteThe pink bowl is lifted and held. It was about 11 cm right of the lavender bowl, so I'm moving it 11 cm left to sit over the lavender bowl.
move_to
right_x0.4000right_y0.2650right_z0.2000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5247, 1.417, 1.0344, -0.3099, 0.3618, 0.2077, 0.0413] state[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1674 left_yaw=0.0053 left_pitch=-0.0545 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3847 right_y=0.1546 right_z=0.187 right_yaw=0.1 right_pitch=-0.068 right_roll=-0.0475 right_gripper=0.0413 state[joint_eff]: [-0.0889, -1.4701, 7.0359, 1.6972, -0.0904, -0.0806, -0.0122, 0.0752, -7.9111, 10.1538, 1.8535, 0.4615, 0.0952, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.265, "right_z": 0.2, "right_pitch": 0.0}, "note": "The pink bowl is lifted and held. It was about 11 cm right of the lavender bowl, so I'm moving it 11 cm left to sit over the lavender bowl."})
tool
executing move_to over 10 steps (1.0s)
step 218
assistant
agent noteIn the top view the pink bowl now sits right over the lavender bowl. Lowering it in until it makes contact.
move_to
right_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8253, 0.6075, -0.4084, -0.0227, -0.0494, 0.9994, 0.775, 1.6951, 1.2781, -0.3634, 0.5358, 0.3244, 0.0422] state[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1672 left_yaw=0.0053 left_pitch=-0.0553 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3884 right_y=0.2592 right_z=0.1736 right_yaw=0.1469 right_pitch=-0.0803 right_roll=-0.0994 right_gripper=0.0422 state[joint_eff]: [-0.0479, -1.1145, 7.0085, 1.663, -0.0464, -0.0415, -0.0122, 0.2256, -8.7316, 10.2632, 1.7216, 0.3932, 0.2906, 0.9744] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.07}, "note": "In the top view the pink bowl now sits right over the lavender bowl. Lowering it in until it makes contact."})
tool
executing move_to over 7 steps (0.7s)
step 225
assistant
agent noteThe wrist view shows the pink bowl sitting down inside the lavender bowl. Releasing it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.4076, -0.0227, -0.0494, 0.9994, 0.7769, 1.8256, 1.0283, -0.036, 0.5346, 0.321, 0.046] state[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1669 left_yaw=0.0053 left_pitch=-0.056 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3815 right_y=0.2539 right_z=0.0699 right_yaw=0.1483 right_pitch=-0.124 right_roll=-0.1328 right_gripper=0.046 state[joint_eff]: [0.0068, -1.5795, 7.1726, 1.7021, -0.0513, -0.0415, -0.0122, -0.3897, -8.3077, 6.0103, 1.7314, 0.1538, 0.0415, 0.652] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The wrist view shows the pink bowl sitting down inside the lavender bowl. Releasing it."})
tool
executing move_to over 10 steps (1.0s)
step 235
assistant
agent notePink is now nested in the lavender bowl. Next I'm moving the right arm out of the way and bringing the left arm over the white bowl's left wall.
move_to
right_z0.2000right_x0.3000right_y0.0500right_pitch0.0000right_yaw0.0000right_roll0.0000left_x0.4000left_y-0.1600left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.7769, 1.8423, 1.0122, -0.0483, 0.5343, 0.3149, 0.9953] state[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1669 left_yaw=0.0053 left_pitch=-0.0564 left_roll=-0.0054 left_gripper=0.9994 right_x=0.3759 right_y=0.2485 right_z=0.0552 right_yaw=0.1481 right_pitch=-0.161 right_roll=-0.1639 right_gripper=0.9953 state[joint_eff]: [-0.0615, -1.4291, 7.2137, 1.7021, -0.0562, -0.0806, -0.0122, -0.212, -10.4137, 7.1179, 1.4921, 0.1783, -0.0073, -0.1978] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.3, "right_y": 0.05, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0, "left_x": 0.4, "left_y": -0.16, "left_z": 0.12}, "note": "Pink is now nested in the lavender bowl. Next I'm moving the right arm out of the way and bringing the left arm over the white bowl's left wall."})
tool
executing move_to over 17 steps (1.7s)
step 252
assistant
agent noteThe pink bowl is nested in one bowl (bottom right of the top view), and there are two more bowls: lavender (top centre) and grey (under the left gripper). The grey bowl's right wall is between the left jaws, so I'm descending to grasp it.
move_to
left_z0.0100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5644, 1.5623, 0.8616, -0.0731, -0.4351, -0.3908, 0.9994, 0.3145, 0.8909, 0.6918, -0.4088, 0.2897, 0.1623, 0.9963] state[eef_state]: left_x=0.3869 left_y=-0.1526 left_z=0.1031 left_yaw=-0.0091 left_pitch=-0.116 left_roll=0.0199 left_gripper=0.9994 right_x=0.3023 right_y=0.0491 right_z=0.1911 right_yaw=-0.0254 right_pitch=-0.0065 right_roll=-0.0126 right_gripper=0.9963 state[joint_eff]: [-0.4171, -7.1726, 8.8821, 1.6142, -0.3053, -0.1001, -0.0122, -0.1162, -1.6342, 8.7316, 1.7949, 0.0317, 0.0269, 0.105] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.01}, "note": "The pink bowl is nested in one bowl (bottom right of the top view), and there are two more bowls: lavender (top centre) and grey (under the left gripper). The grey bowl's right wall is between the left jaws, so I'm descending to grasp it."})
tool
executing move_to over 7 steps (0.7s)
step 259
assistant
agent noteThe grey bowl's wall is between the left jaws at table level. Closing to grip it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5686, 1.8023, 0.7013, 0.2768, -0.4427, -0.3923, 0.9994, 0.3141, 0.8959, 0.6895, -0.4362, 0.2756, 0.1493, 0.9965] state[eef_state]: left_x=0.3806 left_y=-0.1492 left_z=0.0092 left_yaw=-0.0029 left_pitch=-0.1557 left_roll=0.0504 left_gripper=0.9994 right_x=0.2985 right_y=0.0502 right_z=0.1829 right_yaw=-0.0074 right_pitch=-0.0422 right_roll=-0.0268 right_gripper=0.9965 state[joint_eff]: [0.2667, -7.4462, 4.465, 1.6239, -0.1001, -0.022, -0.0122, -0.0889, -2.2632, 7.1863, 1.9023, 0.1636, 0.1148, 0.0024] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The grey bowl's wall is between the left jaws at table level. Closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 269
assistant
agent noteGripper settled on the grey bowl's thin wall. Lifting and carrying it right so its centre sits over the lavender bowl.
move_to
left_x0.4300left_y-0.2800left_z0.2000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.564, 1.7832, 0.709, 0.3298, -0.527, -0.3565, 0.0226, 0.3141, 0.8963, 0.6895, -0.445, 0.2745, 0.1478, 0.9965] state[eef_state]: left_x=0.3951 left_y=-0.1406 left_z=0.0325 left_yaw=0.0426 left_pitch=-0.0579 left_roll=0.0841 left_gripper=0.0226 right_x=0.2973 right_y=0.05 right_z=0.1811 right_yaw=-0.0058 right_pitch=-0.0511 right_roll=-0.0303 right_gripper=0.9965 state[joint_eff]: [-0.7043, -5.5453, 4.8342, 0.8571, 1.3016, -0.6178, 1.326, -0.1436, -1.3333, 6.9812, 1.6874, 0.0366, -0.0464, -0.0073] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.28, "left_z": 0.2, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "Gripper settled on the grey bowl's thin wall. Lifting and carrying it right so its centre sits over the lavender bowl."})
tool
executing move_to over 13 steps (1.3s)
step 282
assistant
agent noteThe grey bowl is carried directly above the lavender bowl (you can see lavender beneath it in the wrist view). Lowering it in.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.786, 1.845, 1.47, -0.366, -0.6296, -0.5346, 0.0288, 0.3141, 0.8959, 0.6895, -0.4458, 0.2749, 0.1448, 0.9966] state[eef_state]: left_x=0.4285 left_y=-0.2767 left_z=0.1887 left_yaw=-0.006 left_pitch=-0.0064 left_roll=-0.0116 left_gripper=0.0288 right_x=0.2972 right_y=0.0499 right_z=0.1811 right_yaw=-0.0044 right_pitch=-0.0515 right_roll=-0.0331 right_gripper=0.9966 state[joint_eff]: [-0.4855, -9.388, 9.4701, 1.3553, -0.5006, 0.0171, 1.033, 0.0068, -1.8256, 7.0085, 1.619, 0.0611, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.08}, "note": "The grey bowl is carried directly above the lavender bowl (you can see lavender beneath it in the wrist view). Lowering it in."})
tool
executing move_to over 8 steps (0.8s)
step 290
assistant
agent noteThe grey bowl sits low right over the lavender bowl. Releasing it so it nests inside.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.791, 1.9583, 1.2152, -0.0307, -0.6258, -0.5426, 0.0288, 0.3141, 0.8997, 0.6895, -0.4519, 0.2749, 0.1448, 0.9966] state[eef_state]: left_x=0.423 left_y=-0.2755 left_z=0.086 left_yaw=-0.009 left_pitch=-0.0315 left_roll=0.003 left_gripper=0.0288 right_x=0.2966 right_y=0.0497 right_z=0.1789 right_yaw=-0.0046 right_pitch=-0.0609 right_roll=-0.0362 right_gripper=0.9966 state[joint_eff]: [0.3897, -8.9504, 5.559, 1.5946, -0.3101, 0.0366, 1.0281, -0.1846, -1.8393, 7.0496, 1.7216, 0.0513, -0.0513, -0.0171] camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The grey bowl sits low right over the lavender bowl. Releasing it so it nests inside."})
tool
executing move_to over 10 steps (1.0s)
step 300
assistant
agent noteI stacked some of the bowls, but I'm not confident all three ended up in one stack, and I ran out of calls before I could check. The right arm picked up the pink bowl by its wall and lowered it into the lavender/blue bowl. It slipped off twice along the way: once during the carry, and once when my first placement was about 10 cm off. On the third try the wrist camera showed it sitting inside the lavender bowl. The left arm then picked up the grey bowl and released it low over a lavender bowl, and it looks nested. In the final overhead view the pink bowl sits right next to that grey/lavender stack, possibly touching it. Earlier I misread the bowl colours under the dim lighting, so I can't say for sure whether pink is inside the same stack or is a second, separate stack.
done
hindsight- **Bowls are too wide to grasp across.** Pinch one wall instead: put the wall on the wrist-camera jaw column (x≈110), descend to z≈0.01 and close fully. A good wall pinch settles at about 0.02–0.05. My first pinch settled at 0.10 (loose) and the bowl slipped out during the carry. - **The bowl's centre is about 6 cm from the grasp point, on the far side of the wall.** Allow for that offset when placing it over the target bowl. My first placement came up about 10 cm short. - **Carry high.** A bowl held by the wall hangs lower than you'd expect. Lift to about z 0.2 before moving sideways, or it catches on the other bowl's rim. - **Big diagonal moves while holding a bowl can stall.** Big joint-0 swings can stall mid-move. Also, with a jaw resting on a rim, a descent stopped at z≈0.07 and the arm ignored small moves until I raised it. - **Colours are unreliable in the dim overhead camera.** White, lavender and blue look alike. Count the bowls and track their positions, not their colours. Check the stack from the overhead view after every placement, and set aside calls for a final check. - **Bowl positions:** the middle bowl sat on the table centre line (right-arm y≈0.31, left-arm y≈-0.34, x≈0.42). Adjacent bowls were about 11–12 cm apart, which is about 32–36 px in the overhead view. - **Budget calls:** each bowl costs about 6 calls (approach, align, descend, close, lift/carry, lower, release).
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7914, 1.9842, 1.1976, -0.0376, -0.6254, -0.5476, 0.9948, 0.3141, 0.8997, 0.6895, -0.4675, 0.2745, 0.1448, 0.9966] state[eef_state]: left_x=0.4181 left_y=-0.2708 left_z=0.0663 left_yaw=-0.0052 left_pitch=-0.0672 left_roll=0.0344 left_gripper=0.9948 right_x=0.2944 right_y=0.0491 right_z=0.1759 right_yaw=-0.0046 right_pitch=-0.0758 right_roll=-0.0409 right_gripper=0.9966 state[joint_eff]: [-0.0479, -12.3419, 7.4188, 1.4383, -0.3297, 0.0415, -0.0024, -0.0342, -1.894, 6.9538, 1.7802, 0.0513, -0.0659, -0.0171] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
done({"summary": "I stacked some of the bowls, but I'm not confident all three ended up in one stack, and I ran out of calls before I could check. The right arm picked up the pink bowl by its wall and lowered it into the lavender/blue bowl. It slipped off twice along the way: once during the carry, and once when my first placement was about 10 cm off. On the third try the wrist camera showed it sitting inside the lavender bowl. The left arm then picked up the grey bowl and released it low over a lavender bowl, and it looks nested. In the final overhead view the pink bowl sits right next to that grey/lavender stack, possibly touching it. Earlier I misread the bowl colours under the dim lighting, so I can't say for sure whether pink is inside the same stack or is a second, separate stack.", "hindsight": "- **Bowls are too wide to grasp across.** Pinch one wall instead: put the wall on the wrist-camera jaw column (x\u2248110), descend to z\u22480.01 and close fully. A good wall pinch settles at about 0.02\u20130.05. My first pinch settled at 0.10 (loose) and the bowl slipped out during the carry.\n- **The bowl's centre is about 6 cm from the grasp point, on the far side of the wall.** Allow for that offset when placing it over the target bowl. My first placement came up about 10 cm short.\n- **Carry high.** A bowl held by the wall hangs lower than you'd expect. Lift to about z 0.2 before moving sideways, or it catches on the other bowl's rim.\n- **Big diagonal moves while holding a bowl can stall.** Big joint-0 swings can stall mid-move. Also, with a jaw resting on a rim, a descent stopped at z\u22480.07 and the arm ignored small moves until I raised it.\n- **Colours are unreliable in the dim overhead camera.** White, lavender and blue look alike. Count the bowls and track their positions, not their colours. Check the stack from the overhead view after every placement, and set aside calls for a final check.\n- **Bowl positions:** the middle bowl sat on the table centre line (right-arm y\u22480.31, left-arm y\u2248-0.34, x\u22480.42). Adjacent bowls were about 11\u201312 cm apart, which is about 32\u201336 px in the overhead view.\n- **Budget calls:** each bowl costs about 6 calls (approach, align, descend, close, lift/carry, lower, release)."})
tool
done: I stacked some of the bowls, but I'm not confident all three ended up in one stack, and I ran out of calls before I could check. The right arm picked up the pink bowl by its wall and lowered it into the lavender/blue bowl. It slipped off twice along the way: once during the carry, and once when my first placement was about 10 cm off. On the third try the wrist camera showed it sitting inside the lavender bowl. The left arm then picked up the grey bowl and released it low over a lavender bowl, and it looks nested. In the final overhead view the pink bowl sits right next to that grey/lavender stack, possibly touching it. Earlier I misread the bowl colours under the dim lighting, so I can't say for sure whether pink is inside the same stack or is a second, separate stack.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 14.44 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3809, -0.0223, -0.041, 0.9995, -0.02, 0.7937, 0.6022, -0.3817, -0.0166, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9995 right_x=0.2943 right_y=0.0006 right_z=0.1789 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.5932, 10.0991, 1.7753, -0.0513, 0.2466, -0.0708, -0.5812, -1.4017, 10.2496, 1.9414, -0.0855, 0.1245, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:293d7d3199383d3253c58493d2b8963916192247f5dbf27f744e298cf2b0da16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c39a2dd7d6a6ba255f876d5f98f62e66295df16c23a2bbf5bb7c7a483dcb817e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2b6b5bcd6dff11c7b4024694cd6065f941ed6bd8f586e79984cbf3a8df211a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 8.092 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3809, -0.0223, -0.041, 0.9995, -0.02, 0.7937, 0.6022, -0.3817, -0.0166, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9995 right_x=0.2943 right_y=0.0006 right_z=0.1789 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.5932, 10.0991, 1.7753, -0.0513, 0.2466, -0.0708, -0.5812, -1.4017, 10.2496, 1.9414, -0.0855, 0.1245, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:293d7d3199383d3253c58493d2b8963916192247f5dbf27f744e298cf2b0da16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c39a2dd7d6a6ba255f876d5f98f62e66295df16c23a2bbf5bb7c7a483dcb817e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2b6b5bcd6dff11c7b4024694cd6065f941ed6bd8f586e79984cbf3a8df211a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R6YiWE5o9AHCXXBR4bWy4a",
      "input": {
        "note": "Three bowls sit in a row; right wrist cam sees the pink bowl just ahead-left. Moving the right arm above it to localize it.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.07,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01R6YiWE5o9AHCXXBR4bWy4a",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0227, -0.0345, 0.9994, 0.2909, 1.1389, 0.7895, -0.3317, 0.197, 0.1032, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1784 left_yaw=-0.0028 left_pitch=-0.0088 left_roll=0.0058 left_gripper=0.9994 right_x=0.3436 right_y=0.0705 right_z=0.1712 right_yaw=0.0589 right_pitch=-0.0931 right_roll=-0.0279 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -1.6615, 6.8034, 1.7558, -0.0269, -0.1001, -0.022, 0.2256, -4.465, 9.4564, 1.8339, 0.1343, 0.188, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fab9db48298e1b80463213adf4bfa6663647ccf0c13b9db85bfb56c48d5968cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fdf35954d73fe483aa9a8dd484abf485cb4b86c908cfd73df6a470d62665d2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:173b7081fce19ab36b1d71d4078e063d8d13c3ef15eec50616e556fd541e1c11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 4.599 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3809, -0.0223, -0.041, 0.9995, -0.02, 0.7937, 0.6022, -0.3817, -0.0166, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9995 right_x=0.2943 right_y=0.0006 right_z=0.1789 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.5932, 10.0991, 1.7753, -0.0513, 0.2466, -0.0708, -0.5812, -1.4017, 10.2496, 1.9414, -0.0855, 0.1245, -0.0904]",
      "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, 0.8005, 0.6075, -0.3866, -0.0227, -0.0345, 0.9994, 0.2909, 1.1389, 0.7895, -0.3317, 0.197, 0.1032, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1784 left_yaw=-0.0028 left_pitch=-0.0088 left_roll=0.0058 left_gripper=0.9994 right_x=0.3436 right_y=0.0705 right_z=0.1712 right_yaw=0.0589 right_pitch=-0.0931 right_roll=-0.0279 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -1.6615, 6.8034, 1.7558, -0.0269, -0.1001, -0.022, 0.2256, -4.465, 9.4564, 1.8339, 0.1343, 0.188, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fab9db48298e1b80463213adf4bfa6663647ccf0c13b9db85bfb56c48d5968cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fdf35954d73fe483aa9a8dd484abf485cb4b86c908cfd73df6a470d62665d2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:173b7081fce19ab36b1d71d4078e063d8d13c3ef15eec50616e556fd541e1c11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS8AwKEAgSGAI4AUIIdGhpbmtpbmcSDJ6/9GUBIN6GE/xs6hoMsALgYPn9m7eMjWltIjAhMo0zgRcKbtM8OFY9l18cmRppJxhCZ65SbBDof2WaminAGwte2eJ9yeMRKFQuf08qjQw97oScfsKGYBEhQnYZBXBqZWx+XZbn2zP+STWPUQ+r3qHcjcWcnIZIrpRGWed7LyxiCpoSTKS0si9CXSD9zvZH+CYXltCOmT6FhebbjG7tY2OZH1wJDwqLfEhJzgMZOciTYxuDoDfcltIhLckOGFBkRaSZ2AuOKmfo1VgVTQ7zcV2IHqdhfPz9tc2xdMc86nJd9RxXW2Oow/4P0RhUBk2BRwDM6g1iP2oklZFHQyeJKc2paBubFqVHsc8HupnaGFHZnxl8zHL0T9Zopa5ZtfcYOCTnjELKZW2EccPpiI9bAGLUoEtG1mb0xYfaqXdQwGQl3RYFUlbJqh2+rWPe8aG/EwSm7l4IAXtqWOdZQsmUo7SVaYT3rzZ5dUGc07sBb0mEq2v9SqI4MA+ye23mwSNgfgfKFV5GgBRaZcJUw0ddcQW28n6IE0XqvkYC/HTCQjr1wjzm+ATlyYDcrVndpOGdvqjf4E7EE/sDH68TJEnJhmDWiPbnSO8cMae0GGKq1GP9db6un8iAREg0MRWkGH8BaV3zmVZFCW7Xa5er+LX6BiOBDPl7oiNBlCL0fUTUaU98suA0sQ5WlcbW6aHeWFQOYuZMPO1euGvmfSfUC86D52ilyEYvLcMCMJumWoGw0evjDGH4bqvaDCuHuHtqJY9UsnLlwlf0hnnAuFIgDig1kQzv6uaK2ty9GPGeOFnrJtrLJ5TIBYJZrZk6VU+SbvJbuzcDZqhBf7TNYUMrnXAt+o5pGiFv4uDSLV6HPzBpYsuvmXCe+dHtbX/3aolMkw2bkWBMMaJu6oVw+Dtyq65XR9U/zaJAVyAN5Em1eyEtcPszsGr5PTjJpUl//HPyJUsu9MaVpCenRXG+yS45s2+RHsy59Pe5qUMcH8ypioqYsZGI23fBQzxnDWIOLGdcJ4goSkX6s8vo0SVizc60/6qPIB35VH6SBJcapnkop7qlhOD5znypnPRAQA3GiAzfXvYBg28GAaaTAXVic38p0a5xy2RWQaEL2cSRcaS/NmMobtCV/ZlX3+03oS0reV8p2q7+jsfhe2ueaJoDeeQvKr/28C0Q08ky3iytwUQIxWF4/bzI1/VLSIkbes0k9rRKC2yEjq1bFmu+6VWkrIxxOVo2k0yBqb5UaEuN6B8FIVctX2FP7UQPT1wkhhnuIFyVZPGdwSkHiGXw2XF/j0IFvekyYt93jV7mUNvHUV45cHG0Hv/bq8gw2xHt4I3EyQ0nM6/AxZjWi7Gn6d64j0wXh5vJZvO8kT9pu2JkrFh+Aupums5Dh19t58nCBjtso6KDCHv+ysHu6xPbCoNB4and0ifa6L4mAFca77bX2OBaHjf+2tBqIeJ6JDWH+wwagvIob0IJ3Dz6Nytf5pDOs8cxKtjhwELsCDR3FCPmaUBHqVTLcyPbgZPXW1RdgpivOLdn54RpmA3grV+L0K3CU7L2D9Tpt/purMCn5he5qju1QbXFmSEchg89VP2oCsaxbf9OsXuqdyZqN03zSqZzB6qxNnStGch8z9xqEQXCHKIw5MqgnOGTj6/p+M9Wijp6c/tSh/zbgv1b1sVqT9AmGSIdNow2sFHD8Y+D/I4jqu5pmfSNitJ9xs4yBHuZZUCFpmMrez/jwKB1pfad/1idm/xltb5VgLxmhUxSGzv07Qgs3kTIsQtsIifG3fpQ+kZVpVPKcdOlGXHv1xEKR8TrNSrCUndLbGpGqJJUcQ+AEAprILVpV66GcIs9vJzdqWRU/wkKfafG7g5fdNkpAGbL7WRpxgiWb2o6mnO5mrLq1NhildcNmeFKiRePA25fr3Wb1gVb5H8gaq1ygw8XPt1dobYT+hPq/nBXMGtzz/kYGvGSu/tjvoa1vq5NzsnHZVSicE80KG+pAL7/5Mi7JAKWB684V2DaQWvoYiw2Dzyna1xxFsgWByeu+Hn/U6GIY5+ZTtU8vs51GVoeEOWEYdw8KVvDXHuU+n3yB4zphIcy60MxHwitsPwFHhgMGi4QbCJ5DmOSYEBp/lVon97Sq4Qpv2GXJS3dVVlsJqgP2rxvw3MKj7uBuXQ1ZYS/uqa7ZlZzRVhbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JmWnDiKVhixLSfosMTVapa",
      "input": {
        "note": "Pink bowl is centered just ahead of the right jaws. Moving over its right-side (−y) rim so the jaws can straddle the wall.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.025,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01JmWnDiKVhixLSfosMTVapa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8017, 0.6075, -0.3885, -0.0227, -0.0418, 0.9994, 0.0814, 1.3441, 0.6342, -0.0601, 0.0639, -0.0082, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1777 left_yaw=0.0011 left_pitch=-0.0118 left_roll=-0.0002 left_gripper=0.9994 right_x=0.362 right_y=0.0218 right_z=0.0837 right_yaw=0.0211 right_pitch=-0.1959 right_roll=-0.0375 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -1.3607, 7.1179, 1.7558, -0.0708, 0.0366, -0.0122, -0.1436, -5.6547, 6.6667, 1.9658, -0.1685, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4defb3575d259fc60e077daa24ec7d41b1dab8be3d461081589e2b3b4493b9b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c7673b97ecffde3d1eb81aa8e1ec90c22a0bea162241bdb298ed3405bea588c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb96cb148fa739cfa8eb31f84c2e12392e89dd3223a4137b2aef1d7829c68d24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 3.412 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3809, -0.0223, -0.041, 0.9995, -0.02, 0.7937, 0.6022, -0.3817, -0.0166, -0.0296, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1797 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9995 right_x=0.2943 right_y=0.0006 right_z=0.1789 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -1.5932, 10.0991, 1.7753, -0.0513, 0.2466, -0.0708, -0.5812, -1.4017, 10.2496, 1.9414, -0.0855, 0.1245, -0.0904]",
      "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, 0.8005, 0.6075, -0.3866, -0.0227, -0.0345, 0.9994, 0.2909, 1.1389, 0.7895, -0.3317, 0.197, 0.1032, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1784 left_yaw=-0.0028 left_pitch=-0.0088 left_roll=0.0058 left_gripper=0.9994 right_x=0.3436 right_y=0.0705 right_z=0.1712 right_yaw=0.0589 right_pitch=-0.0931 right_roll=-0.0279 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -1.6615, 6.8034, 1.7558, -0.0269, -0.1001, -0.022, 0.2256, -4.465, 9.4564, 1.8339, 0.1343, 0.188, -0.022]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8017, 0.6075, -0.3885, -0.0227, -0.0418, 0.9994, 0.0814, 1.3441, 0.6342, -0.0601, 0.0639, -0.0082, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1777 left_yaw=0.0011 left_pitch=-0.0118 left_roll=-0.0002 left_gripper=0.9994 right_x=0.362 right_y=0.0218 right_z=0.0837 right_yaw=0.0211 right_pitch=-0.1959 right_roll=-0.0375 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -1.3607, 7.1179, 1.7558, -0.0708, 0.0366, -0.0122, -0.1436, -5.6547, 6.6667, 1.9658, -0.1685, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4defb3575d259fc60e077daa24ec7d41b1dab8be3d461081589e2b3b4493b9b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c7673b97ecffde3d1eb81aa8e1ec90c22a0bea162241bdb298ed3405bea588c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb96cb148fa739cfa8eb31f84c2e12392e89dd3223a4137b2aef1d7829c68d24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkggKEAgSGAI4AUIIdGhpbmtpbmcSDKYe0Bo1voTj+4ahbxoMh629scIgAl7i+sFJIjAp7DO3bMrNtd+CW6UQPv2uMZs2iqwyLl5765GuNkhchXVlumwlhZEklQOQ7yVTkl4qrwfXs7IaX3wMDoyqul3KiRlENtyRnuuzRejP05tMxvoUbsNFID1Rds/JB30a4xYtoW3I6Klr5046ylNIf4OCIQYqabEYvNg/vC1F498v9La1mrVtYAbyXOj2vr11iFwmzw8fiXbIZmd54od1LyB6kLbH+WUJmDXiJkGkhNaDOHGNsA1Dbg33X4+ZyYJX07JR5GLqNI4Kocz9D8th5647oT9bOtI7zQRiGd+l6g1OU5hNgV1ZzPkSsZ911PncPmCSg4jVb1UWZ6R5rWQT7lqYkNJNziT3H4M9OD8SIFYgXMSf/r3eyEI0Yeu3CNkNeEr8PhF9Z/FQJA5aSEehtaXDhsmh0K4YNy2/qLA9O4DqaUCaS67Oge82xPD2Yuxe9np5MLiFVlKTkPm+rlJgR5HJALtZtAO5I4Yy1aj0A1O7nMuN13AC6cqwFpUO8ahG0byblJdP/DzBKPfXpr/grbhKuKIDT+Eg2QA0bH1dqz7T73krq5uZTRoRTvOeNu6UqXMmU+Oet4gIm/JrHnycU6eKJPUht8Ep+ST8FsMR9cY42lSziAi6CAZllAzcystcpx7WrU8/r7d5rlTC1b0orqJ05BtHigUHr2dmijmuGV4UtGQq7qKhzMbN00q1jhREezGHawa/CpX3i+86RLBtkZm6HkhsFmsDcADSpppoNExA/btVlwxtJcAPUYbxRQo4Dzq81KEVmkyGieigCe9GRlMzFeO4lYFq1iW6cvLW7CPw8fz+tkDHi3J15lgaukGNGV/u0mwB4u7uZGd+Mbp5KYG8I6rirWfBoLwtntyBLfvZ5WJd+62EfGb9RnWOmtY4mpOEIjfrTfTFbhBXF8nGg1bok6ZkRgMGKuKEIpDbx3VBsyY7HV2hIYyC1FLx7GT3mb+X5oAo03ECbvJO4ZhmaaRbDHT6ezqnPG15K7nWzJJJbNXiiJ6fqBQ5nIknq7M0ahsu7G6w6z2vzU9oPJ7BDns/lYVgVIs1jm2pFrVo9PCNkR+VffBWtIOrxlyik28DbgeDpOcNIOKHpsaCR3bh61ZxRojhKpuhq3P11EJFFRIKkOM3rqQYIfWfcHiKECCMwnqhnDV/l4BPPM/kNuOgKgiSOA5zbgGL83S2Aw3ApyYdUk1jvKYGm7GlsopDlzdjjza/4ibDsgnha9mNE5wL0tCvQ/2+HFZfLdb7rvrw8+KqFcIBX6LAh80k52LSHiLh/a16xvbLlH5H9qIktsZbaBZMJ9MnDBDVJxmhfJDqABRNyNY6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0189BDETQnyaWNZwHXtjarDA",
      "input": {
        "note": "The pink bowl's right wall sits between the open jaws in the wrist view. Descending so the jaws straddle the wall.",
        "targets": {
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0189BDETQnyaWNZwHXtjarDA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0422, 0.9994, 0.0784, 1.5139, 0.5014, 0.165, 0.0444, -0.0193, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0013 left_pitch=-0.0152 left_roll=-0.0004 left_gripper=0.9994 right_x=0.3482 right_y=0.0231 right_z=0.0149 right_yaw=0.0401 right_pitch=-0.2741 right_roll=-0.0348 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -1.5111, 7.0496, 1.79, -0.0708, -0.0708, -0.0122, 0.1846, -6.4752, 6.065, 1.9951, 0.2027, 0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b3afcc46cd6b3b12c52643d723d3d45184f7d2ed6ea5ef400cac7d8c1f63650",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:591dea9f8e021be72f95cfdfa0d12528cd307b0e18254137d23c9c85a01bebf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:51a631099ee1c234c06088ab3cee95647dc1ad052bbdfdcb3ad3c40ab1a4b1ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 4.49 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0227, -0.0345, 0.9994, 0.2909, 1.1389, 0.7895, -0.3317, 0.197, 0.1032, 0.9992]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1784 left_yaw=-0.0028 left_pitch=-0.0088 left_roll=0.0058 left_gripper=0.9994 right_x=0.3436 right_y=0.0705 right_z=0.1712 right_yaw=0.0589 right_pitch=-0.0931 right_roll=-0.0279 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -1.6615, 6.8034, 1.7558, -0.0269, -0.1001, -0.022, 0.2256, -4.465, 9.4564, 1.8339, 0.1343, 0.188, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8017, 0.6075, -0.3885, -0.0227, -0.0418, 0.9994, 0.0814, 1.3441, 0.6342, -0.0601, 0.0639, -0.0082, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1777 left_yaw=0.0011 left_pitch=-0.0118 left_roll=-0.0002 left_gripper=0.9994 right_x=0.362 right_y=0.0218 right_z=0.0837 right_yaw=0.0211 right_pitch=-0.1959 right_roll=-0.0375 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -1.3607, 7.1179, 1.7558, -0.0708, 0.0366, -0.0122, -0.1436, -5.6547, 6.6667, 1.9658, -0.1685, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0422, 0.9994, 0.0784, 1.5139, 0.5014, 0.165, 0.0444, -0.0193, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0013 left_pitch=-0.0152 left_roll=-0.0004 left_gripper=0.9994 right_x=0.3482 right_y=0.0231 right_z=0.0149 right_yaw=0.0401 right_pitch=-0.2741 right_roll=-0.0348 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -1.5111, 7.0496, 1.79, -0.0708, -0.0708, -0.0122, 0.1846, -6.4752, 6.065, 1.9951, 0.2027, 0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b3afcc46cd6b3b12c52643d723d3d45184f7d2ed6ea5ef400cac7d8c1f63650",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:591dea9f8e021be72f95cfdfa0d12528cd307b0e18254137d23c9c85a01bebf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51a631099ee1c234c06088ab3cee95647dc1ad052bbdfdcb3ad3c40ab1a4b1ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwAYKEAgSGAI4AUIIdGhpbmtpbmcSDDe677iP7fo4bgf3GxoMK7wuCjE1b/afNn/XIjADFk6Lif9gMyp9AUgMz+hAoAqAkJmu9kDGs/S52tY4BKIfq7VPdGsamPwzuFxGuqsq3QV1dvs/ay0OVuw4BP7iR70z6MJmysK2+v63gKOX5dAiVzfGB1v9A5H1a8X8zE2PwHJm2D/SbtmaVISaKRkyZEWRCasIH761KQ9X2vxzONrWdWI83H/V5bmRxaEhWZzhbTdmxf+LvtqWae6RsjxM6qDc8oCYBPkKimv/j+nDjENSz1dtcVejPS7stpHxf17KOauS3cbr+KEk+iWIY0ZBBSEYN6pGKoy2zg/P3sy7s89ixuSCVFgneFh72guYaoKowfeReD90v2LUQ4GP/roIH3erglLc1/7oRaJlagrBOKMOP+DA1ERnk9q8TWPFGpZwBnommo7BD/uQZtLYv00RfP3f6ErRf1YAeI1RtRtBJ82JNITePOJ5S9lKHDxoerc6S/MJazWiOQNPpE9osQmVv4XHlUq8D1bPbdYXi8Q7hexPdovHPYIP4i/H6eZwvU69iTMb5gIdEPvtu7feZP9RdJnd1EFqxtgmLV6zcEVT1LREoIwc17wZMJlM137SrnMe/f0m/ngkwze844m4LA9xNzVkJhQZIO8kWZ2Zgztth35wQRyKb9P00KH8sE7phw63sysmQlOaqBBEH3GD2N1Y4pRU6QUdfCBxny/QPTtxGxNFOyZCtcpZYs5Q0BznrBBOMNuDHDDNrMnnzpgxysBDZzivmzCaYkxkdtUEpHWsE7RbsmjB5J5VRR72oqpVe2mzvCKvYC2SV0jk9zPTw4LdlSbNGJmhsxCfKc/EMYsSDcc3OtrBUTewXEDV3xAt5zOCyqbKkFfHcuCKKrjJx8kriiFYJVYki/4uvHDr28kbDy0bY3sLzNbt4csbF/tqXdrcuumMsI9HkT1eWPHfBmaezWOChBfurrkY4OUR9DjLd90qMDZkQjaCCASc0tg2LpfInAyHtjMfx+T0xbN8xv7vUKM4Ya78v7xPHxCzaxExsQmPHLxR/j7KJAIjtuCxvF2VDU36bsHBVrM9+NXlgR9xGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013ekY9bBEgyCpxr7hzF9ruz",
      "input": {
        "note": "Jaws are low around the pink bowl's wall. Closing to pinch the wall.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013ekY9bBEgyCpxr7hzF9ruz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0425, 0.9994, 0.0803, 1.5009, 0.4862, 0.2253, 0.017, -0.012, 0.1019]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0015 left_pitch=-0.0152 left_roll=-0.0008 left_gripper=0.9994 right_x=0.3545 right_y=0.0291 right_z=0.0239 right_yaw=0.0622 right_pitch=-0.2166 right_roll=-0.0073 right_gripper=0.1019\nstate[joint_eff]: [-0.0068, -1.2513, 7.3094, 1.6972, -0.0366, -0.0415, -0.0122, -0.253, -4.506, 5.1624, 1.3016, 0.2711, -0.1343, 0.442]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6066e8a85a816657f633d275123c7b207d2f810a0c0922859ebf5da18cc1dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08e3f2cc7baa7a5812c0b78b9283097808c46a1b4cc90f79001853b1d3115cde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f5f464b4739a82c902d454b8c665732dc0195c73346c137f3af6392921015bb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 9.261 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8017, 0.6075, -0.3885, -0.0227, -0.0418, 0.9994, 0.0814, 1.3441, 0.6342, -0.0601, 0.0639, -0.0082, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1777 left_yaw=0.0011 left_pitch=-0.0118 left_roll=-0.0002 left_gripper=0.9994 right_x=0.362 right_y=0.0218 right_z=0.0837 right_yaw=0.0211 right_pitch=-0.1959 right_roll=-0.0375 right_gripper=0.9992\nstate[joint_eff]: [-0.0342, -1.3607, 7.1179, 1.7558, -0.0708, 0.0366, -0.0122, -0.1436, -5.6547, 6.6667, 1.9658, -0.1685, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0422, 0.9994, 0.0784, 1.5139, 0.5014, 0.165, 0.0444, -0.0193, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0013 left_pitch=-0.0152 left_roll=-0.0004 left_gripper=0.9994 right_x=0.3482 right_y=0.0231 right_z=0.0149 right_yaw=0.0401 right_pitch=-0.2741 right_roll=-0.0348 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -1.5111, 7.0496, 1.79, -0.0708, -0.0708, -0.0122, 0.1846, -6.4752, 6.065, 1.9951, 0.2027, 0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0425, 0.9994, 0.0803, 1.5009, 0.4862, 0.2253, 0.017, -0.012, 0.1019]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0015 left_pitch=-0.0152 left_roll=-0.0008 left_gripper=0.9994 right_x=0.3545 right_y=0.0291 right_z=0.0239 right_yaw=0.0622 right_pitch=-0.2166 right_roll=-0.0073 right_gripper=0.1019\nstate[joint_eff]: [-0.0068, -1.2513, 7.3094, 1.6972, -0.0366, -0.0415, -0.0122, -0.253, -4.506, 5.1624, 1.3016, 0.2711, -0.1343, 0.442]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6066e8a85a816657f633d275123c7b207d2f810a0c0922859ebf5da18cc1dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08e3f2cc7baa7a5812c0b78b9283097808c46a1b4cc90f79001853b1d3115cde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5f464b4739a82c902d454b8c665732dc0195c73346c137f3af6392921015bb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS0gYKEAgSGAI4AUIIdGhpbmtpbmcSDJySQPZFQDIuwN+lGxoMzWKtBx99kOsqLgPrIjDkyGoXtFO71SBIabi96j5aQ/km3wcxKTpW4kIYOCElGubOmcPylIFLUMKLK+K2SXkq7wWGIKhm5zgfd79ULuJ/JSjrXG07kdyxn8Ss8SvTIMVZLhHRSKGgHni70I7uzIblyfD5sBHIKSzwba5/jaJneJIofnEIKVQEudWitXX4CjtCX5kLj6/nPFow7ask9/0rES2GswxfrLka//erfGezNnMg2tM38vDgSd4ClFHVov/fPAEWuPTX7eQDTM/ju0YeRXDC/WN5+tQ3rm60MGs5VnNfRdyhRl03JEeGKmbR59pG5wNlZuGkO2s5s64E8qncbgdj64IQJ4UyVMAYUUvaLGFfO6B6JlIG+QU2ieG6IGubLlxP9hpVdXD0nWZB3h0CxxuybqRmGgFxXSrt97NOm8b0tchwiUsSmHYhzV2zhEWDjlk848VswgdmW3AotDwNsSWta9bfp6XAHUsLTauDVH5d+AzAWM5TEbWFDbNEcaSrkLPDJmHlylKAn9422RqfV7yRbCoysQKsEWrRV3xbSINzX5pZfb22cJeBQCaAJYiT00EFhSHrWg01kX0bp2yCiSAWBOH+f51fy4t+UyRfv528frZdR3LszlG0D0bOtgWwxO+jbCbvgWAAfe+OPgPGdlwNxh/Q5G9EzDNK4w/LvggIyCaO0jJVNQ89sY1kZ1yz+d+V1YVZRjD4c+2glF3ea6qFoDdTPlVtU6AuHI0LPMpWmhgNMTAie0zaVtyyY/MCwTJP8BhxNNivKjVt0Bww5s50NVJzypQkPDASbtBzxP6uKg/4KKMkR4YtjUBx2TJXH7J/cWyIhFzrP9lNANBmT5WyNWg+ORx/8+L5XiL7APGLoPonb3E0pUy8s8jjeItQ65bgeIBaXKD0f+SbgMfez1FPqujw8xCUaVfAz/sDScjj5hxVjQZZvQ7rDVsTpSWuy/MSxqvowA++duBq0Sv6XkkyRguAHWG3NajozswErPFStwafAQpS38WTN23ISO+rmntlrxgkaqXyRgUone1E0VL/Dt16kxjLH0ad2IRGR/oix2hn08BIr9omQjlDFjVLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015zQ9CFuDuSBbjZYtswG61r",
      "input": {
        "note": "Gripper settled at 0.10 (~1 cm), so it looks like it has the pink bowl's wall. Lifting to check the grasp and get clearance.",
        "targets": {
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_015zQ9CFuDuSBbjZYtswG61r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3893, -0.0227, -0.0452, 0.9994, 0.0784, 1.2526, 0.8284, -0.4042, 0.0135, -0.0231, 0.1019]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1765 left_yaw=0.003 left_pitch=-0.0164 left_roll=-0.003 left_gripper=0.9994 right_x=0.3511 right_y=0.0288 right_z=0.1349 right_yaw=0.0693 right_pitch=-0.2556 right_roll=-0.0132 right_gripper=0.1019\nstate[joint_eff]: [-0.0342, -1.4154, 7.2, 1.7167, -0.0562, 0.0513, -0.0122, -0.212, -6.188, 9.7983, 1.7021, 0.0171, 0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a2075ea84b51b88a004360a6c6be2d8427babd941d7ccf96556b02799dee890",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5567fd6fe2c4899776b3ad54e048d66f27cafcbe8886b55f9aa6626771912187",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c5850f6ec10b2d767e10b8ae4f0d330e719c91fa29dea45210fa077df6f3ad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 11.32 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0422, 0.9994, 0.0784, 1.5139, 0.5014, 0.165, 0.0444, -0.0193, 0.9992]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0013 left_pitch=-0.0152 left_roll=-0.0004 left_gripper=0.9994 right_x=0.3482 right_y=0.0231 right_z=0.0149 right_yaw=0.0401 right_pitch=-0.2741 right_roll=-0.0348 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -1.5111, 7.0496, 1.79, -0.0708, -0.0708, -0.0122, 0.1846, -6.4752, 6.065, 1.9951, 0.2027, 0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0425, 0.9994, 0.0803, 1.5009, 0.4862, 0.2253, 0.017, -0.012, 0.1019]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0015 left_pitch=-0.0152 left_roll=-0.0008 left_gripper=0.9994 right_x=0.3545 right_y=0.0291 right_z=0.0239 right_yaw=0.0622 right_pitch=-0.2166 right_roll=-0.0073 right_gripper=0.1019\nstate[joint_eff]: [-0.0068, -1.2513, 7.3094, 1.6972, -0.0366, -0.0415, -0.0122, -0.253, -4.506, 5.1624, 1.3016, 0.2711, -0.1343, 0.442]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3893, -0.0227, -0.0452, 0.9994, 0.0784, 1.2526, 0.8284, -0.4042, 0.0135, -0.0231, 0.1019]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1765 left_yaw=0.003 left_pitch=-0.0164 left_roll=-0.003 left_gripper=0.9994 right_x=0.3511 right_y=0.0288 right_z=0.1349 right_yaw=0.0693 right_pitch=-0.2556 right_roll=-0.0132 right_gripper=0.1019\nstate[joint_eff]: [-0.0342, -1.4154, 7.2, 1.7167, -0.0562, 0.0513, -0.0122, -0.212, -6.188, 9.7983, 1.7021, 0.0171, 0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a2075ea84b51b88a004360a6c6be2d8427babd941d7ccf96556b02799dee890",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5567fd6fe2c4899776b3ad54e048d66f27cafcbe8886b55f9aa6626771912187",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c5850f6ec10b2d767e10b8ae4f0d330e719c91fa29dea45210fa077df6f3ad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G4isxvrMGc3c4ZJMPUpC4N",
      "input": {
        "note": "Pink bowl is lifted with the right gripper. Carrying it over the middle (lavender) bowl, offset so the pink bowl's centre lines up with it.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.19,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01G4isxvrMGc3c4ZJMPUpC4N",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.049, 0.9994, 0.5766, 1.607, 1.2461, -0.5835, 0.308, 0.3202, 0.1019]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.005 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9994 right_x=0.3791 right_y=0.1869 right_z=0.1524 right_yaw=0.1125 right_pitch=-0.3099 right_roll=-0.0384 right_gripper=0.1019\nstate[joint_eff]: [-0.0615, -1.1829, 7.0085, 1.7851, -0.0757, 0.0122, -0.0122, 0.1983, -7.5556, 9.5932, 1.409, 0.3687, 0.2076, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84d92ec7b98d2f5640abc3e96a458a9c2c3edc715329314451e7f5078ab95e3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:750a3d5efb30643e77720aaadd1c8e800eff6a5d61a767b883118aa245a954ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f0cb4e044018b5124fc6c4e54262d2de307ffa0766d82ae0c742d524ca9b5e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 6.983 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0425, 0.9994, 0.0803, 1.5009, 0.4862, 0.2253, 0.017, -0.012, 0.1019]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0015 left_pitch=-0.0152 left_roll=-0.0008 left_gripper=0.9994 right_x=0.3545 right_y=0.0291 right_z=0.0239 right_yaw=0.0622 right_pitch=-0.2166 right_roll=-0.0073 right_gripper=0.1019\nstate[joint_eff]: [-0.0068, -1.2513, 7.3094, 1.6972, -0.0366, -0.0415, -0.0122, -0.253, -4.506, 5.1624, 1.3016, 0.2711, -0.1343, 0.442]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3893, -0.0227, -0.0452, 0.9994, 0.0784, 1.2526, 0.8284, -0.4042, 0.0135, -0.0231, 0.1019]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1765 left_yaw=0.003 left_pitch=-0.0164 left_roll=-0.003 left_gripper=0.9994 right_x=0.3511 right_y=0.0288 right_z=0.1349 right_yaw=0.0693 right_pitch=-0.2556 right_roll=-0.0132 right_gripper=0.1019\nstate[joint_eff]: [-0.0342, -1.4154, 7.2, 1.7167, -0.0562, 0.0513, -0.0122, -0.212, -6.188, 9.7983, 1.7021, 0.0171, 0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.049, 0.9994, 0.5766, 1.607, 1.2461, -0.5835, 0.308, 0.3202, 0.1019]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.005 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9994 right_x=0.3791 right_y=0.1869 right_z=0.1524 right_yaw=0.1125 right_pitch=-0.3099 right_roll=-0.0384 right_gripper=0.1019\nstate[joint_eff]: [-0.0615, -1.1829, 7.0085, 1.7851, -0.0757, 0.0122, -0.0122, 0.1983, -7.5556, 9.5932, 1.409, 0.3687, 0.2076, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84d92ec7b98d2f5640abc3e96a458a9c2c3edc715329314451e7f5078ab95e3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:750a3d5efb30643e77720aaadd1c8e800eff6a5d61a767b883118aa245a954ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f0cb4e044018b5124fc6c4e54262d2de307ffa0766d82ae0c742d524ca9b5e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MWfWzy8LACa2quSoBhtieA",
      "input": {
        "note": "The pink bowl slipped out during the carry and is now sitting on the table just right of the lavender bowl. Opening and moving over its right wall to grasp it again.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.12,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01MWfWzy8LACa2quSoBhtieA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.049, 0.9994, 0.3664, 1.6081, 1.0256, -0.3786, 0.1921, 0.1566, 0.9947]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.005 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9994 right_x=0.3907 right_y=0.1176 right_z=0.0917 right_yaw=0.0922 right_pitch=-0.364 right_roll=-0.0579 right_gripper=0.9947\nstate[joint_eff]: [-0.0615, -0.841, 7.0222, 1.707, -0.0562, -0.0269, -0.0122, -0.2256, -8.1436, 6.3932, 1.619, -0.0904, 0.0611, -0.1343]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c72a610b29e40ece624194033f629e09278117a306e39943a935e33fbb4629c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7484b943486c2a9f9c14cf594500a528a8f3de917c5c72097d6eb5ec5be59662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c8683694c718337f2d77a36ab3aebde6e9ae408f4350d175dd83ac3e0f937177",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 3.93 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3893, -0.0227, -0.0452, 0.9994, 0.0784, 1.2526, 0.8284, -0.4042, 0.0135, -0.0231, 0.1019]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1765 left_yaw=0.003 left_pitch=-0.0164 left_roll=-0.003 left_gripper=0.9994 right_x=0.3511 right_y=0.0288 right_z=0.1349 right_yaw=0.0693 right_pitch=-0.2556 right_roll=-0.0132 right_gripper=0.1019\nstate[joint_eff]: [-0.0342, -1.4154, 7.2, 1.7167, -0.0562, 0.0513, -0.0122, -0.212, -6.188, 9.7983, 1.7021, 0.0171, 0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.049, 0.9994, 0.5766, 1.607, 1.2461, -0.5835, 0.308, 0.3202, 0.1019]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.005 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9994 right_x=0.3791 right_y=0.1869 right_z=0.1524 right_yaw=0.1125 right_pitch=-0.3099 right_roll=-0.0384 right_gripper=0.1019\nstate[joint_eff]: [-0.0615, -1.1829, 7.0085, 1.7851, -0.0757, 0.0122, -0.0122, 0.1983, -7.5556, 9.5932, 1.409, 0.3687, 0.2076, -0.0171]",
      "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]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.049, 0.9994, 0.3664, 1.6081, 1.0256, -0.3786, 0.1921, 0.1566, 0.9947]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.005 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9994 right_x=0.3907 right_y=0.1176 right_z=0.0917 right_yaw=0.0922 right_pitch=-0.364 right_roll=-0.0579 right_gripper=0.9947\nstate[joint_eff]: [-0.0615, -0.841, 7.0222, 1.707, -0.0562, -0.0269, -0.0122, -0.2256, -8.1436, 6.3932, 1.619, -0.0904, 0.0611, -0.1343]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c72a610b29e40ece624194033f629e09278117a306e39943a935e33fbb4629c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7484b943486c2a9f9c14cf594500a528a8f3de917c5c72097d6eb5ec5be59662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8683694c718337f2d77a36ab3aebde6e9ae408f4350d175dd83ac3e0f937177",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011doRGktYJ5fxUpySw9P98F",
      "input": {
        "note": "Wrist view shows the pink bowl centred with its right wall ~3.5 cm right of the jaw centre and slightly ahead. Shifting right and forward to straddle the wall.",
        "targets": {
          "right_x": 0.415,
          "right_y": 0.085
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_011doRGktYJ5fxUpySw9P98F",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0494, 0.9994, 0.2634, 1.6459, 1.0283, -0.3695, 0.1371, 0.0795, 0.9956]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0052 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9994 right_x=0.4006 right_y=0.0867 right_z=0.0779 right_yaw=0.0805 right_pitch=-0.4022 right_roll=-0.0644 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.3197, 7.0085, 1.6874, -0.0659, -0.0611, -0.0122, -0.1299, -7.7333, 10.1675, 1.409, -0.0073, 0.0122, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b7f02268d3e61b3d15acbf18a43921a5394f70ba5d17b3554e08a437f7350f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95764dbbb7170ef3ee92c78737537426460e8f1450733bb32a460062505617e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e8278aaefff662ecc6d0e1bc528f9f53b19cf4ed75b265fe4f2b390697cef25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 2.788 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.049, 0.9994, 0.5766, 1.607, 1.2461, -0.5835, 0.308, 0.3202, 0.1019]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.005 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9994 right_x=0.3791 right_y=0.1869 right_z=0.1524 right_yaw=0.1125 right_pitch=-0.3099 right_roll=-0.0384 right_gripper=0.1019\nstate[joint_eff]: [-0.0615, -1.1829, 7.0085, 1.7851, -0.0757, 0.0122, -0.0122, 0.1983, -7.5556, 9.5932, 1.409, 0.3687, 0.2076, -0.0171]",
      "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]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.049, 0.9994, 0.3664, 1.6081, 1.0256, -0.3786, 0.1921, 0.1566, 0.9947]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.005 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9994 right_x=0.3907 right_y=0.1176 right_z=0.0917 right_yaw=0.0922 right_pitch=-0.364 right_roll=-0.0579 right_gripper=0.9947\nstate[joint_eff]: [-0.0615, -0.841, 7.0222, 1.707, -0.0562, -0.0269, -0.0122, -0.2256, -8.1436, 6.3932, 1.619, -0.0904, 0.0611, -0.1343]",
      "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, 0.8062, 0.6075, -0.3897, -0.0227, -0.0494, 0.9994, 0.2634, 1.6459, 1.0283, -0.3695, 0.1371, 0.0795, 0.9956]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0052 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9994 right_x=0.4006 right_y=0.0867 right_z=0.0779 right_yaw=0.0805 right_pitch=-0.4022 right_roll=-0.0644 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.3197, 7.0085, 1.6874, -0.0659, -0.0611, -0.0122, -0.1299, -7.7333, 10.1675, 1.409, -0.0073, 0.0122, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b7f02268d3e61b3d15acbf18a43921a5394f70ba5d17b3554e08a437f7350f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95764dbbb7170ef3ee92c78737537426460e8f1450733bb32a460062505617e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e8278aaefff662ecc6d0e1bc528f9f53b19cf4ed75b265fe4f2b390697cef25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSzAcKEAgSGAI4AUIIdGhpbmtpbmcSDF09ENyaDAwX5hVvQBoMkHGG3vJJid+lqzCVIjBV7eLp++IzzHgRhaqaEqr0A0PGTC0wI2DgKHDihKVwQqDsH/zJKFqTdWdRpe0fQeQq6QaQAJvfuJivNfsmUQL5UydcV4g9b35e8THBcxDZcXls95yoUutPud/wkSUJ7SP+PYENKe9ld2WkeJdiZ9VSmRoWk/Cj3nAVRJe3jielBawTa2IbZLo7pIweioSdqX6rq8B45qFQfh+tW8sHoGrH0tS9VfWy14Pb3Y/mofOyJiw2CdKTaVWex3Mu/qELbLq6j6x/e2N+BBOE9Ewv9W3ia1c2S7CC6eIHq4oVVv6rYpkScjEhc6F7weP6XLbdU0jVsxMd1BosWFyzPZh++BOEFIQ4cikZ9iN/P7eTtuIqvwFlUslzOs6UapZI8r9dYBdYQUsksZYIjNYnKzagcC21yvOOBruMhH7M1TGv1pekX0xbs319JvqYNibj0Mx9J7u3euSQhAawVfEbIexN0atwqu1mXA0gFsENxow1eXADPVJUviXVvTPMwjkSQMTa55Ce1WOdv631dhO0012GJOThdjLEbpW1b8Gz14aLB+GtHJCsg84ONZDC8Edhwe8hzBiiTfZSx2nrlTA9E3LXIOxMas4RCaXbQ2+ZI657DJe7XfF2lkfA6sYKzMrcQtV6LgX/fSCH1P2ZWbmgKMgm/opV+znRuW0DdBtbd1kx214IQmm768yDNyVmgMKC3oN3SdOc+iIZ5AbNrt3GYbVwaJUHsDuU2iyTzvvmv6aSGmuz7hyKyGYvv5i4R1fms9yiEJM/neAt4GfOD8qPe9ufE4pTZzUDY1LqaVxhHXpfiIldeMIQDmkEo3fJEn09/PCIojq+/yB/FvX243/VE7nLZLT8M3yfwCeCp4lJMU6dqA9blW0YtG9EEaX41BPoWBiCOg2Q/gQ9nARqRKOVjhrlT4mVhaYmKRr7KlRshnvO+JXhMpc4wymjGN5KPHj+QriizIgcKzftjsIKAvDy7bCOgpILJNlF1kCWyY8JbQ/S8RGflVGY+W3t5UDcX2gOs02S6UA6j1o/1KYvfSk/p19vR66rz+Hk+yPH56NAhYrUalG/oL1sQqzmfET5cYm7vvYNs/xJH+3ehU2awHJaR56Qrf/JmdSmEda8cUesmOs1f+utZUSxQIj4oui+R+psJAKB1st0cXgJpk6O7zyQlslTLNd6aD9WAogV532tnprBFYY8a+hCMMdhmeZY66tMx5B3vPIL+bw0FuA3U8PHXKQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015cNZScuRsiMbDqiSsr7ock",
      "input": {
        "note": "Pink bowl's right wall now lines up with the jaw centre. Descending low to straddle the wall.",
        "targets": {
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_015cNZScuRsiMbDqiSsr7ock",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0494, 0.9994, 0.2646, 1.7744, 0.8852, -0.1688, 0.1242, 0.0647, 0.9958]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0052 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3857 right_y=0.0855 right_z=0.0044 right_yaw=0.0966 right_pitch=-0.4745 right_roll=-0.0748 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.1966, 7.1043, 1.7216, -0.0513, -0.0708, -0.0122, -0.1026, -8.0615, 5.4496, 1.5067, 0.232, 0.0562, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b857addde4676c480b83cc60916843c0422e4e98aee47d35431a6b88edd106df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a54e3df05a4765a9c8882173d7feed865c1920aa6ea5cf5b81b85c9a071795f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e8ab38d756b1500ceae4c3ed92d52f7e298841816b47dce5455f8999c15dc3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 5.191 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.049, 0.9994, 0.3664, 1.6081, 1.0256, -0.3786, 0.1921, 0.1566, 0.9947]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.005 left_pitch=-0.0175 left_roll=-0.0061 left_gripper=0.9994 right_x=0.3907 right_y=0.1176 right_z=0.0917 right_yaw=0.0922 right_pitch=-0.364 right_roll=-0.0579 right_gripper=0.9947\nstate[joint_eff]: [-0.0615, -0.841, 7.0222, 1.707, -0.0562, -0.0269, -0.0122, -0.2256, -8.1436, 6.3932, 1.619, -0.0904, 0.0611, -0.1343]",
      "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, 0.8062, 0.6075, -0.3897, -0.0227, -0.0494, 0.9994, 0.2634, 1.6459, 1.0283, -0.3695, 0.1371, 0.0795, 0.9956]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0052 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9994 right_x=0.4006 right_y=0.0867 right_z=0.0779 right_yaw=0.0805 right_pitch=-0.4022 right_roll=-0.0644 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.3197, 7.0085, 1.6874, -0.0659, -0.0611, -0.0122, -0.1299, -7.7333, 10.1675, 1.409, -0.0073, 0.0122, 0.0806]",
      "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]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0494, 0.9994, 0.2646, 1.7744, 0.8852, -0.1688, 0.1242, 0.0647, 0.9958]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0052 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3857 right_y=0.0855 right_z=0.0044 right_yaw=0.0966 right_pitch=-0.4745 right_roll=-0.0748 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.1966, 7.1043, 1.7216, -0.0513, -0.0708, -0.0122, -0.1026, -8.0615, 5.4496, 1.5067, 0.232, 0.0562, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b857addde4676c480b83cc60916843c0422e4e98aee47d35431a6b88edd106df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a54e3df05a4765a9c8882173d7feed865c1920aa6ea5cf5b81b85c9a071795f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e8ab38d756b1500ceae4c3ed92d52f7e298841816b47dce5455f8999c15dc3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EuyoewGND97TXnEyGb4Uov",
      "input": {
        "note": "Jaws straddle the pink bowl's wall near the table. Closing to pinch it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EuyoewGND97TXnEyGb4Uov",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0494, 0.9994, 0.2668, 1.7576, 0.8906, -0.1314, 0.0879, 0.0769, 0.0332]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0052 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3953 right_y=0.0957 right_z=0.0167 right_yaw=0.1294 right_pitch=-0.4201 right_roll=-0.0237 right_gripper=0.0332\nstate[joint_eff]: [-0.0068, -1.3333, 7.0085, 1.6874, -0.0806, -0.0806, -0.0122, -0.1709, -6.5846, 5.641, 0.7692, 0.3199, -0.2222, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:982ad081eb4f9a5c691d9b2d18476afffddb31b3ad08f898853627af4d9eea69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:008b9d6daab521472d1808047d34290059ab184b186946ed00ef4d8843b6a884",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a70a570779c230d7f6dbf40e10dc0fa3c1e4beeaef38c8db510bfbec7d03eca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 6.518 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0494, 0.9994, 0.2634, 1.6459, 1.0283, -0.3695, 0.1371, 0.0795, 0.9956]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0052 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9994 right_x=0.4006 right_y=0.0867 right_z=0.0779 right_yaw=0.0805 right_pitch=-0.4022 right_roll=-0.0644 right_gripper=0.9956\nstate[joint_eff]: [-0.0889, -1.3197, 7.0085, 1.6874, -0.0659, -0.0611, -0.0122, -0.1299, -7.7333, 10.1675, 1.409, -0.0073, 0.0122, 0.0806]",
      "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]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0494, 0.9994, 0.2646, 1.7744, 0.8852, -0.1688, 0.1242, 0.0647, 0.9958]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0052 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3857 right_y=0.0855 right_z=0.0044 right_yaw=0.0966 right_pitch=-0.4745 right_roll=-0.0748 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.1966, 7.1043, 1.7216, -0.0513, -0.0708, -0.0122, -0.1026, -8.0615, 5.4496, 1.5067, 0.232, 0.0562, 0.0024]",
      "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]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0494, 0.9994, 0.2668, 1.7576, 0.8906, -0.1314, 0.0879, 0.0769, 0.0332]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0052 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3953 right_y=0.0957 right_z=0.0167 right_yaw=0.1294 right_pitch=-0.4201 right_roll=-0.0237 right_gripper=0.0332\nstate[joint_eff]: [-0.0068, -1.3333, 7.0085, 1.6874, -0.0806, -0.0806, -0.0122, -0.1709, -6.5846, 5.641, 0.7692, 0.3199, -0.2222, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:982ad081eb4f9a5c691d9b2d18476afffddb31b3ad08f898853627af4d9eea69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:008b9d6daab521472d1808047d34290059ab184b186946ed00ef4d8843b6a884",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a70a570779c230d7f6dbf40e10dc0fa3c1e4beeaef38c8db510bfbec7d03eca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQkKEAgSGAI4AUIIdGhpbmtpbmcSDF/MaeVYsDHh1QgjFBoM65+bk9yDPxBtb71MIjCq96QpZ+vLbXt65rlpR+MdSi3KmFAMN5W0RtxVsIV4ZcCH1DGD9R8UhguGJS1+wqIqsgjZShTeP9Rmde0Fjn1hvXfwttV/tKEvxAKcEWN188OBIBGnjSDFMQsucXTtfW3ywl8VavNEipGnxJNnhHt3IoNLFfyRCfSje5uHK/3YSCR6GDc/UUcpIJ3oUoPVgylCJwHESawpeyhGTA82EaStBxZs7tFZLym7kYm6bSWM17GYTw8ZEjn/pI1AzGc8GZSJ8+q/CRS1e4w1Oj9o6bOsf9pWkfxqL0FIF7+Yaelqes79xCnzDpv82vBGJQbGF0Y7UykKuo0zmC/C6VIjHR3RB7TgdqiPLxMffy3j88QTq7VIrf4VlIpyBEn7y+eRPLnpHSUvtDLWsGOPwRz2fb/BpiuIbXa2aAkXQviZmE10RnGBuHBv1wZcorPgEnQt5tacgsnL07r/qJ5gJZsCSJ8Um/Eknj1ozGoIO+Kjro9RRs3v9YnJTAPhrXUaVIG5PVJxqOSZV7zQxO2P8tnPNhwuKQ41zBIaC0FVSMxgF3y1wsa+5M+B2AApKuI0czMSlzP3gHyBz0tHPI/mK2fK+hprEeBRh97jXmibWObrSdqqMdZzJC9E8IYp0Eb5dic5UK0XKhzdt4S6OXHJRMj2yqF85Cdi7P/yYtWThZRFPYLwiL/d3jNs8onKyaZs9f4AfWdbr7FksxFX1xo7K6M2RstBpzepsIcq7qMYTyH67lKuMcSRbLqbgLBVNxg9LY6g+ae6rJM4QuACEGU5ODH9MzjyaVzajf7puqqA9pUUiHyqUttwhXld6rBx/dNZgvMAIQnvs9XexWJZ0cNUgETKE7zGulqwIORwjAi04Q0OR0zIhpBYsaCEtZ592/XwmdvXNzYEE82cagwuXlkCYjUnP71iSX/OUyaMBK/LSN/8AzqRiT/dFDT5xuQYEfWZOFJx7MrttGc23nH9d3fBOP8+ACAPZqLCxC5dzsxG+tnngdLHSsCLXPJPDYcxwTfQaE+pHZYLHIFQrwyWFzlmlX0Y+kFYzeTkpkVsq941wsZCMemYXw9ehkVLz5b/dBuDFNDCmGXnm9bqnFgm+c4Jpc8XPMu+pQdsa/Mjcb47ze19RvZmaGlr+86+1jfxEMeeEslpBlQ6Xj/RWucuywAoASATy14UjfWbUMv/MFe44qAqKP5Iz5yLeELrQHCRElHcBt3Ngpxp86UUGEB0ZhcOvETRSrOr3vdWYpJVyChTBMHRsXyqXYigMxdUqj9oKcRqhOTlEggf3xdC2cjyeApwcq7eZ24KAk5voRMboKBOrdTCiaXj59sT47szYw0G0vs1L6RhlY/bi1uGnWdJrgd9DBeivRz6Z14M1TG41CQaWiCTjLO2ydEgq/W4HrEztPGoJO+kBpAV+GxK0NzwGHJVsaM8cDeKPJeIl39lnAqFC11zW63YnlHmTP2CBuz09PUQfzO6kFhPOdYIAfpBkPeRSqKQoM1vYyIuczsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MGuajkThY6mr5VAFgT8bR9",
      "input": {
        "note": "Gripper closed to 0.033, which could be a thin wall or empty. Lifting 6 cm to check whether the pink bowl comes up.",
        "targets": {
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01MGuajkThY6mr5VAFgT8bR9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3893, -0.0227, -0.0494, 0.9994, 0.2672, 1.6745, 0.9905, -0.363, 0.0849, 0.07, 0.0445]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1763 left_yaw=0.0052 left_pitch=-0.0171 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3871 right_y=0.0942 right_z=0.0533 right_yaw=0.1336 right_pitch=-0.4686 right_roll=-0.0321 right_gripper=0.0445\nstate[joint_eff]: [-0.1846, -1.0872, 7.0769, 1.7607, -0.0855, -0.0611, -0.0122, -0.2256, -9.935, 8.9094, 1.3993, 0.0415, 0.0464, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e7e879c26215d9a30e7ac09029929e00c99eafdb6f762d49ae60e17eb240127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75d7aa060023002691f764974270290046e7687e3a49d0461a1a8fc836481969",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3a133ca8953ac5ae77394b79038b7c6a4ac35284ebdd23a21d2d79eee403f7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 12 attempt 0 · /messages · status 200 · 5.08 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0494, 0.9994, 0.2646, 1.7744, 0.8852, -0.1688, 0.1242, 0.0647, 0.9958]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0052 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3857 right_y=0.0855 right_z=0.0044 right_yaw=0.0966 right_pitch=-0.4745 right_roll=-0.0748 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -1.1966, 7.1043, 1.7216, -0.0513, -0.0708, -0.0122, -0.1026, -8.0615, 5.4496, 1.5067, 0.232, 0.0562, 0.0024]",
      "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]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0494, 0.9994, 0.2668, 1.7576, 0.8906, -0.1314, 0.0879, 0.0769, 0.0332]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0052 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3953 right_y=0.0957 right_z=0.0167 right_yaw=0.1294 right_pitch=-0.4201 right_roll=-0.0237 right_gripper=0.0332\nstate[joint_eff]: [-0.0068, -1.3333, 7.0085, 1.6874, -0.0806, -0.0806, -0.0122, -0.1709, -6.5846, 5.641, 0.7692, 0.3199, -0.2222, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3893, -0.0227, -0.0494, 0.9994, 0.2672, 1.6745, 0.9905, -0.363, 0.0849, 0.07, 0.0445]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1763 left_yaw=0.0052 left_pitch=-0.0171 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3871 right_y=0.0942 right_z=0.0533 right_yaw=0.1336 right_pitch=-0.4686 right_roll=-0.0321 right_gripper=0.0445\nstate[joint_eff]: [-0.1846, -1.0872, 7.0769, 1.7607, -0.0855, -0.0611, -0.0122, -0.2256, -9.935, 8.9094, 1.3993, 0.0415, 0.0464, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e7e879c26215d9a30e7ac09029929e00c99eafdb6f762d49ae60e17eb240127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75d7aa060023002691f764974270290046e7687e3a49d0461a1a8fc836481969",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3a133ca8953ac5ae77394b79038b7c6a4ac35284ebdd23a21d2d79eee403f7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+woKEAgSGAI4AUIIdGhpbmtpbmcSDD0VjTYnYrAsMbDffhoMdHyHDw4MitrXOLm/IjASSCvf708Up6n/bQ4sRY+tsd7+FiQqgz3fhHnKvZkOF/gzPHyk/2dTiOp7gQ6DGRYqmAp2BJeHDCsUhnffrDpG710bcbXX1pMB+74pNVUEsyO7lqGaqPSfFpBBJebjc23ZvXWsCR/WHt3NS0m1/xGo94ZQItQVJ+HTxzlmKKB+j7tLCDDYD4iSc198TJ5V7xMzFPv48Dm3h4boS2NZNLIqMpjedqbiNTD9mG/G5huc9zJMCLWIL8G1uVsSB/jRWv2/UgXgkQT4V9lR60wFenHIbwZnO4t9ocMDA4ezA5NrQyObEZy4QEfFJp/2Q2mQOSP9NOkWjJX87wx0V1icRHFEFVuglyivpLdgNnG2IkWm3qAy8SlLrrU2NGYYWwu18Pn9QYUyqSXMKFcsYsXmPxy9j+PTY9P8nejkccpCbcGF6AABobtNBe4VvWmcNW5pRb6JrPXy8KJlFnVu3hCYCmaZcfwZL75Bbz8qcCC7m+NZKijht5ru1S8Rh6iQ+sTuQo2VMiIpqm+Gtk6FmnHikfX10hEu2aeysMZOyd/EVwVwAbaDMxRa+hRek42RzYSiOLjgdR8w2ptfyoS8N3GzfxKH3Kp0stWiNbHDLpCQw1U+9wVOR/nM3DSFc7rys2dnfQsi/1f3l+VvLC80OKg2XNjlU7hZ866BllaG0eYOS31v6pzdy4k87dn+F219If7ak588cy9vCH0OCjap+yQh2JIEfVNxVqJ8Q90h1eqNS4nDjgMwPBMmu1jyi8k6oDXhSLRFDfM3+IlnEFY0/31MZit52revUJaf4Xsrpp+KQXlyO4uXVxL6kx3SNmjEk2xnwRaYEEIi+y//KcXIIqI3M7ZQ8FlEHSn+OV2GOXxauT+m6GI3mzFSVLtUjcDr/nv5qfi4zyQlzJsQd8Jw8VS2T+iqe/LYx9VWaqt2e9RPNPy2V5DuZCrTQPJ4GvEv9VKtwehisaH0w76Gfj9HUKsZlp3WJbSPnjDBF9UBPYoUG+7qXPQIK5hB3dpIjfPdlqbSYF6tosan5y/ORwbabCmd6hT4cBWIl5g3ZeH5O8rG0CRU9ZpMa4HhToccb97i/P8JSWsD6kwEEBvXBgTFLdtyjpac6kFMJboqCfz7sFmMjAg4fpbYY/R+4EiFddOCMU+qW2w8vxhLXSgIvnyUHO10kjSkuqOmD2zlTfoiNbaBqNUWqggwULtjexQNFuISI9k1QlhWlssieJUATr/Wvc5C4VBNe1RJg0zUDBUKrtVCTXW805ma0l1rvGsN1BzDT5QJSC2MgIKCqBIoNmsqcV0Lb5YGnNBPA0+JWhckFOSCqmO99CmSxAhM4DWnEMJzMwfXb+MjABThfaaGLRCbCPS+6eha+sUY1J1+uPXN89lp80e521O/Md5sQ8szqTq6T1wE8RmA23GCLSOxPgUjthKar1c+8U3GspL4X9Q98yFD+FM85ptcKBiRMbyP97/2zp64TZR+f/kSSO3Y6Uv4WBiKKEIzV2PWE7IcoNUoo9mGoRr0D9sBN8+M494BhlV/BLOv4P5XyLgK/9cacYHPi9bSPG4D5AGJ5lAYjByyT8sHqQAyKGG5QRoM3/47MShQ6FSrurw0rj1NE7IIAatnDRbYF5QO1KTpZ1x4ckXx6SZLjKxEj2tH1Kp+fGFX4h78iAFrBLRFdfPkorLenCULAN7DUD7h66u1/gQ2OsNCVx7OQOGpfMczCcnD7CZYJk7Mmi2Xj5iBPHKzXcendCwIf0sUcCaYXDTE2BC9p03wknEbOp2sPJfRMRHcJP8XwYR/uHD65GAnjdZY8aW6vJrFfxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012trCkDnsSUymJyzqrwatY9",
      "input": {
        "note": "The pink bowl stays fixed in the wrist view while lifting, so it's held. Raising it to clear the lavender bowl's rim before moving sideways.",
        "targets": {
          "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_012trCkDnsSUymJyzqrwatY9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3893, -0.0227, -0.0494, 0.9994, 0.2665, 1.6264, 1.1675, -0.6365, 0.0875, 0.0586, 0.0457]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1763 left_yaw=0.0052 left_pitch=-0.0171 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3827 right_y=0.0922 right_z=0.1022 right_yaw=0.1339 right_pitch=-0.5165 right_roll=-0.0483 right_gripper=0.0457\nstate[joint_eff]: [-0.0752, -1.1145, 7.0496, 1.6874, -0.0806, -0.0513, -0.0122, -0.2667, -10.0034, 9.0325, 1.1453, -0.0464, 0.0952, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f72b991912673c0e5fcafedd176f21014732acaddefc08c8817c3b25c2fb115c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cac6a94a7214fd3535c81f04c97d26d05e7438497fedf7c104e0b9aad5e5344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:67edb7dbdadebac08e8a6d86408c00ac53b30f7195890b8eea54885b976e9ba0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 6.776 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0494, 0.9994, 0.2668, 1.7576, 0.8906, -0.1314, 0.0879, 0.0769, 0.0332]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0052 left_pitch=-0.0175 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3953 right_y=0.0957 right_z=0.0167 right_yaw=0.1294 right_pitch=-0.4201 right_roll=-0.0237 right_gripper=0.0332\nstate[joint_eff]: [-0.0068, -1.3333, 7.0085, 1.6874, -0.0806, -0.0806, -0.0122, -0.1709, -6.5846, 5.641, 0.7692, 0.3199, -0.2222, 0.5153]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3893, -0.0227, -0.0494, 0.9994, 0.2672, 1.6745, 0.9905, -0.363, 0.0849, 0.07, 0.0445]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1763 left_yaw=0.0052 left_pitch=-0.0171 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3871 right_y=0.0942 right_z=0.0533 right_yaw=0.1336 right_pitch=-0.4686 right_roll=-0.0321 right_gripper=0.0445\nstate[joint_eff]: [-0.1846, -1.0872, 7.0769, 1.7607, -0.0855, -0.0611, -0.0122, -0.2256, -9.935, 8.9094, 1.3993, 0.0415, 0.0464, 1.033]",
      "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]: [-0.0196, 0.8062, 0.6075, -0.3893, -0.0227, -0.0494, 0.9994, 0.2665, 1.6264, 1.1675, -0.6365, 0.0875, 0.0586, 0.0457]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1763 left_yaw=0.0052 left_pitch=-0.0171 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3827 right_y=0.0922 right_z=0.1022 right_yaw=0.1339 right_pitch=-0.5165 right_roll=-0.0483 right_gripper=0.0457\nstate[joint_eff]: [-0.0752, -1.1145, 7.0496, 1.6874, -0.0806, -0.0513, -0.0122, -0.2667, -10.0034, 9.0325, 1.1453, -0.0464, 0.0952, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f72b991912673c0e5fcafedd176f21014732acaddefc08c8817c3b25c2fb115c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cac6a94a7214fd3535c81f04c97d26d05e7438497fedf7c104e0b9aad5e5344",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67edb7dbdadebac08e8a6d86408c00ac53b30f7195890b8eea54885b976e9ba0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrAkKEAgSGAI4AUIIdGhpbmtpbmcSDLhuu8ONDJ3UgG0zvRoMkzmEwl6Od9F0L4VoIjAtLVQju5bYeN6FU+TdnLdY8krkS/kNH7zEDhZIBF23tyuokY+MZolZ+7zncl0qXhkqyQhX5Y+Y0cYcKO1i/Vxza+2B2dGfSM8XadK3H8uaYx/DBRfl7bIsM9FoAd29+dcFFX8Pb82N+zC7hYH6ahzsCvtQWkNrdVrm6XYldBLUtePzFGV9rqrlygdbnYgmwh0veoNVBVtv/bztUotMAxME+4wip2C9h7AGmLDwbzyp8UIyjNwXaRPPY0W94T3GIala7rHl2V6oD9e2whLOIw0WeginZhK0GG9jp5LBAhJpOTwYDpdb3kZdzg9sJvRGUSEH9fnUyiTnrd4mfliwCRp/8o/o1Xr+SnfdYYVuvU1SOOMrN4Q/slW/tiPNqg2Ctt7nPXBcJT/305zrdfzCGTrz6Y3GLCQ6QGr/Bgek7lWMXVtI1feQdp9T/6rR3oayIxnu85kUk8hasAn1niuqFRhh69BSSzpgF+ncWd31cqtDaHEg3uNr8eBv2CwGDm1js8K5JaQHSE6gcU8n26ktNbHmnOuuvFtzILV1GRvf9OMeIsS0cUbNWv42iJXxf0R1LWLJ1OyCNE/Hbk1m+OX6ijOIeUlRx1oKXX8SQ/7JfQiKCDMVxYyk9lque94u6knVtZPfOR7xlOUc01Tkp8nycYjCKQsBRym9iNsa7H6A9qMkL6td0ZlrOwPGZh0pB3+2wUsvcrG+mIGCIfg3vsOLaqsqBbpsfm2WLNy6kcfOf+6DOV3LiPmGCAlLJ0ujgodaHNXUaDi16eB6ytXhY1S83C1UpFI5uMq9gVyWbJohpty/wVSswY5woWNAYkabLZlktmePzUW18rCFCZopAXwXZ8F0Z0ssuRbzkFaSN4ImEF+NlN5Z1DejlI95wlIhdhb96ApPtYXVwRq2dLg4wX7gJ4Wfi9dLjr+7FY1FBIhiJIDED9YGsZV/t7Ujphea3cDZQXSKHrIe6fxGVfFpz9VlGFnWvGDrhYjEO+VLyscIOZbExWI/XqclE82p5yjv379AvgHxNb0U1SsrcRDg28YUcCWQHhCR3zjmrKSgT781rI+0O4UJa98gFQKoUHhwTR2hWx5a2Te6zhMNbWrKX72Nly6p+eFXfz7VP9aNX5HOmsGSnhVcWSbIKAq/i/szxxvU2Pg6xh5vu+hSXeNqaJbU1q9lU+YwuYzj/OTrkdB1JFj1GcpHC2HJyhHLDGvBPyyNtXY0HW++3DDoOj4yYJi1UUlkE3w73cYUZ9S1niYw73g0ZOriFYvY/KOUbFsffUWbpzqA+32B+FMek6mI6i1P71W2J4Q4P807oFz7kcMOe9pqUwtVOjPVKaEVG81e5PzRbMQbPLMJ51qkogbAG+zRA+0evricFUIGPV54lRew3SBzOzvuqPDMghfD4QP96jqsj+aQNCoNgLGPcWQkx+usPLRBWnwpJ4N+sgguvh9RED03OKuGxwMiUVWscLk0qAmwpfzNgU0zWSB+S4E7X/QAPWFZ/tudw/2eZ/1DP5W6vOXJAW86/IF8OJHbmy1h3hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vtf3f5hrAWEswcm9Mic9cx",
      "input": {
        "note": "Wrist view is unchanged after a 5 cm lift, so the pink bowl is held. Carrying it sideways to sit over the lavender bowl.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.225,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Vtf3f5hrAWEswcm9Mic9cx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.3553, 1.7126, 1.3296, -0.8051, 0.1608, 0.1413, 0.0501]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0052 left_pitch=-0.0167 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3819 right_y=0.1154 right_z=0.1108 right_yaw=0.0877 right_pitch=-0.5908 right_roll=-0.1048 right_gripper=0.0501\nstate[joint_eff]: [-0.0615, -0.8821, 7.0496, 1.707, -0.0269, -0.0757, -0.0122, 3.412, -7.6376, 7.1316, 0.7448, 0.2222, 0.2027, 0.7839]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8666c52ba1a73e4a5e753fc871d477e5829c11f7029b9af67694ad1d85c0f654",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e5dd6a8726afc9dda49fecbc95f4a483b04a1b343683fccbcd32679ed858be0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac35142863263ffec88a6a8b7315a731007c6e078a0722bd64c3422843c969d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 5.098 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3893, -0.0227, -0.0494, 0.9994, 0.2672, 1.6745, 0.9905, -0.363, 0.0849, 0.07, 0.0445]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1763 left_yaw=0.0052 left_pitch=-0.0171 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3871 right_y=0.0942 right_z=0.0533 right_yaw=0.1336 right_pitch=-0.4686 right_roll=-0.0321 right_gripper=0.0445\nstate[joint_eff]: [-0.1846, -1.0872, 7.0769, 1.7607, -0.0855, -0.0611, -0.0122, -0.2256, -9.935, 8.9094, 1.3993, 0.0415, 0.0464, 1.033]",
      "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]: [-0.0196, 0.8062, 0.6075, -0.3893, -0.0227, -0.0494, 0.9994, 0.2665, 1.6264, 1.1675, -0.6365, 0.0875, 0.0586, 0.0457]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1763 left_yaw=0.0052 left_pitch=-0.0171 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3827 right_y=0.0922 right_z=0.1022 right_yaw=0.1339 right_pitch=-0.5165 right_roll=-0.0483 right_gripper=0.0457\nstate[joint_eff]: [-0.0752, -1.1145, 7.0496, 1.6874, -0.0806, -0.0513, -0.0122, -0.2667, -10.0034, 9.0325, 1.1453, -0.0464, 0.0952, 1.0281]",
      "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]: [-0.0196, 0.8047, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.3553, 1.7126, 1.3296, -0.8051, 0.1608, 0.1413, 0.0501]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0052 left_pitch=-0.0167 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3819 right_y=0.1154 right_z=0.1108 right_yaw=0.0877 right_pitch=-0.5908 right_roll=-0.1048 right_gripper=0.0501\nstate[joint_eff]: [-0.0615, -0.8821, 7.0496, 1.707, -0.0269, -0.0757, -0.0122, 3.412, -7.6376, 7.1316, 0.7448, 0.2222, 0.2027, 0.7839]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8666c52ba1a73e4a5e753fc871d477e5829c11f7029b9af67694ad1d85c0f654",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e5dd6a8726afc9dda49fecbc95f4a483b04a1b343683fccbcd32679ed858be0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac35142863263ffec88a6a8b7315a731007c6e078a0722bd64c3422843c969d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J3P7n3Agdn4TB5U6QQ9iN1",
      "input": {
        "note": "The arm stalled at y≈0.115 with the wrist pitched back a lot, and the pink bowl looks unmoved in the top view. Trying a smaller sideways step while commanding pitch back to level.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.4,
          "right_y": 0.17,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01J3P7n3Agdn4TB5U6QQ9iN1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.5694, 1.5688, 0.9058, -0.0837, 0.4236, 0.1806, 0.0514]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3903 right_y=0.1678 right_z=0.1157 right_yaw=0.1077 right_pitch=-0.1008 right_roll=-0.1292 right_gripper=0.0514\nstate[joint_eff]: [-0.0068, -1.5658, 7.1453, 1.6923, -0.0122, -0.0366, -0.0122, 0.335, -8.7043, 6.9812, 1.9121, 0.359, -0.0317, 0.7643]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:662e3f2749da2dab3431fa21fed0fde270e3cf60e2a17c71c2b39e466e88b694",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d2daacfafa92cd4f3264543a8c61676bf3b7afc3a5c9664af05bd4e2cc361ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13c9e69247e2da04043e49cbbb1dfcc825f9f1dce935adfcccb5b7bd709d114f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 5.105 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3893, -0.0227, -0.0494, 0.9994, 0.2665, 1.6264, 1.1675, -0.6365, 0.0875, 0.0586, 0.0457]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1763 left_yaw=0.0052 left_pitch=-0.0171 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3827 right_y=0.0922 right_z=0.1022 right_yaw=0.1339 right_pitch=-0.5165 right_roll=-0.0483 right_gripper=0.0457\nstate[joint_eff]: [-0.0752, -1.1145, 7.0496, 1.6874, -0.0806, -0.0513, -0.0122, -0.2667, -10.0034, 9.0325, 1.1453, -0.0464, 0.0952, 1.0281]",
      "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]: [-0.0196, 0.8047, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.3553, 1.7126, 1.3296, -0.8051, 0.1608, 0.1413, 0.0501]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0052 left_pitch=-0.0167 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3819 right_y=0.1154 right_z=0.1108 right_yaw=0.0877 right_pitch=-0.5908 right_roll=-0.1048 right_gripper=0.0501\nstate[joint_eff]: [-0.0615, -0.8821, 7.0496, 1.707, -0.0269, -0.0757, -0.0122, 3.412, -7.6376, 7.1316, 0.7448, 0.2222, 0.2027, 0.7839]",
      "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]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.5694, 1.5688, 0.9058, -0.0837, 0.4236, 0.1806, 0.0514]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3903 right_y=0.1678 right_z=0.1157 right_yaw=0.1077 right_pitch=-0.1008 right_roll=-0.1292 right_gripper=0.0514\nstate[joint_eff]: [-0.0068, -1.5658, 7.1453, 1.6923, -0.0122, -0.0366, -0.0122, 0.335, -8.7043, 6.9812, 1.9121, 0.359, -0.0317, 0.7643]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:662e3f2749da2dab3431fa21fed0fde270e3cf60e2a17c71c2b39e466e88b694",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d2daacfafa92cd4f3264543a8c61676bf3b7afc3a5c9664af05bd4e2cc361ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13c9e69247e2da04043e49cbbb1dfcc825f9f1dce935adfcccb5b7bd709d114f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsAkKEAgSGAI4AUIIdGhpbmtpbmcSDJD/M3eY7s/X7WW0fRoMZdk/yGD/j6j22p9CIjB8Pxh8pFanV2/5CVFDg11oj3OhjIXq3KfszUKcMnoArNSycUNsISesaH5HgYNxcdkqzQibBBbSIf8vhnuIK1XhM2l9nUFt3JcUutkAjvukXRQnkrpd8oTpn1cZrQVEn25T0jKr/6a/VjfJI+DQVExsw/UBSFSRQgEXkewv0cD4QcL3ogurmWjeM4U1HCfN24oGSSCQ9PeCh+d2Fn6AHATUsGwX1Cb0UNhWldb9B7H1rhj7lIar/G/HP9kHTxldVNsWXtDMXQ+/VUUAyqpaHciywMQom9yxPi4LfgCT8BIdbCU6+zFYugVExzoj/ox7HKQpHgznisJSjSiuElo8hCBmLwUmxjQxpWKJC/uFmwulvOO4+wFrML1HFkoyKLo8o+9F5B0wtlNtdE9erTyTlSSUW+k2QqRvoOymwNzrs7XXP/vo4oxoLsp/sBvLYU0HD7eCmlEYqHRFuhzjcZaxlrb+Chp/BRvjAvPf/AvOq9+GtiJoVQxH9ASOYytGlkcmSkv7Jo5DXl/GIcVqcTEqR2vxr06g8r9fvaG5RtSLGKPgKVhpd8XinGc79yaL4gactu+l97jf4bvII5XclJYZCrVa1rp1WZgS/NQFKqcruW0TTmSh8Z/OxTx6Fo0tohS7ISgnTDoz+MQCi1fPPnsE+CD6gIR98Rs/oo81WjzSaZ7zoOQQ3+0a0Z2xv0mU3vFcY8ZmxMpfUfb0z/ppkve+vMPb7IiT2zgV4k48/gBiCdYbiR6+C+bduBjq2hDaFa4mi866ICBW5+VbyNt7YytZx8VDH/JD4ht0TYRtXG1KQLlqq2/kbk+JBJykbcdKPCVgd5OgBryWmvMoUZdRLnm9YTazuSRVbf6qlZVO3O9YNs+jzYWy3aEai0U3luwyD2XbodobxTutfeBdy1ToVg+LAI/vq6pYFoC97xUDJyaeKv+glMisxUyjXEZRbjvkqWLVSTCKq6mGyd0V16PyGb03vAQW5gRFiJ9ierGtuBouFJvj79yvSN3fCOl3cQnEHaOxuriU3sdH8kPj2LW3CKdO3vwrFe8wegdn4LST5lSKDK2joFUj4zjElKOV27Wp8nPxA+f7QrG6EnY8UpbtUnp3L0MBSgCSQhPaAi5DbF8iInl6YD+jaW9eLs62I3LyLdD71ahkZ0stzqQGwd3Qe1wWwkzBTbWYGpdp6V1U0/n0I4JkxWjpkEriEpgNGTSN1LtE3OJ4CIF3LLcXe5JgN9JpVVBT64+yuc27PkSAFoO55GnZo4Kw5iF6fwwe4rt2GSvjjXaPOVE/AGs/vk6eHmLXRDvnT3qci5AxRHxvEJYwk3WYRdNxSogkHt656KJeMDG6pexFMgSHnq9ZC6nbMP9gOHINx3Uu+iRciCrgcno8P8K3BstWDgk6xwz8x2QX2GuBo9t5Zo6WSGk+YfPbOWhvyvflMyc72TbeflDMEyt+MbzaZRPafGsnIyVnFzlxHD73B6tBizfRnMCtxiSZhO4TXLhT8JtTAE8lUTK6tICmv1mbtCsE3GUDrEWeXI82yCp0D/YYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NzkHpPumwsy663zoK8i2eV",
      "input": {
        "note": "The pink bowl is now carried and partly overlaps the lavender bowl in the top view. Nudging a bit further left so it's centred over the lavender bowl.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.41,
          "right_y": 0.19,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NzkHpPumwsy663zoK8i2eV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.6033, 1.6085, 0.9333, -0.0486, 0.4507, 0.1692, 0.0531]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3961 right_y=0.1838 right_z=0.1179 right_yaw=0.1273 right_pitch=-0.073 right_roll=-0.1442 right_gripper=0.0531\nstate[joint_eff]: [-0.0752, -1.3607, 7.0359, 1.7167, -0.0855, -0.0806, -0.0122, 0.4171, -6.5436, 9.9624, 1.8388, 0.3639, 0.0073, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d666ece9ed47af4dd1d9924dfca1f8bf222b220fd6d1f670a7226d9867e5ca2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:047bd60618bf467d6f52860ab218b993a11050d6ed6364d0ce057b8f688f16e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c3bb6a3766ca17930bbfbc5eba7ad4917fe39680181773f77830ce45a8d9ed14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 3.966 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8047, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.3553, 1.7126, 1.3296, -0.8051, 0.1608, 0.1413, 0.0501]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1765 left_yaw=0.0052 left_pitch=-0.0167 left_roll=-0.0064 left_gripper=0.9994 right_x=0.3819 right_y=0.1154 right_z=0.1108 right_yaw=0.0877 right_pitch=-0.5908 right_roll=-0.1048 right_gripper=0.0501\nstate[joint_eff]: [-0.0615, -0.8821, 7.0496, 1.707, -0.0269, -0.0757, -0.0122, 3.412, -7.6376, 7.1316, 0.7448, 0.2222, 0.2027, 0.7839]",
      "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]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.5694, 1.5688, 0.9058, -0.0837, 0.4236, 0.1806, 0.0514]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3903 right_y=0.1678 right_z=0.1157 right_yaw=0.1077 right_pitch=-0.1008 right_roll=-0.1292 right_gripper=0.0514\nstate[joint_eff]: [-0.0068, -1.5658, 7.1453, 1.6923, -0.0122, -0.0366, -0.0122, 0.335, -8.7043, 6.9812, 1.9121, 0.359, -0.0317, 0.7643]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.6033, 1.6085, 0.9333, -0.0486, 0.4507, 0.1692, 0.0531]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3961 right_y=0.1838 right_z=0.1179 right_yaw=0.1273 right_pitch=-0.073 right_roll=-0.1442 right_gripper=0.0531\nstate[joint_eff]: [-0.0752, -1.3607, 7.0359, 1.7167, -0.0855, -0.0806, -0.0122, 0.4171, -6.5436, 9.9624, 1.8388, 0.3639, 0.0073, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d666ece9ed47af4dd1d9924dfca1f8bf222b220fd6d1f670a7226d9867e5ca2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:047bd60618bf467d6f52860ab218b993a11050d6ed6364d0ce057b8f688f16e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3bb6a3766ca17930bbfbc5eba7ad4917fe39680181773f77830ce45a8d9ed14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0QkKEAgSGAI4AUIIdGhpbmtpbmcSDCjIQ0w/nAUL7yJsqhoM1W7odb8StW3kXlX8IjDmM6QoiARSRMlS7Avc8h7D3YPcOWDptGJJCRxOPXTEkPgvax0HwOmj/f5dqP8mFaYq7gh/KYCtua4aSe3puuSDX6ydlP4xzbDHcqKgcpQq7rAAHk5YU44YAJ/eb8PYhupEoauzuc7XFjkIrawcFhORgFskEo0uUT/FffjNMpzHbmVoscZXFyxvZ4y7s3UqceDz8XzvLTdgw6bQKKrPeeE7wDVrkxJmtAsUY+15AZ9w/5Cr4U1f5DB3LCRmAFT1HHS0JPvhUFplYKKbV1B6FWwqRS4Ar6ZEWqgUDHNIpJD6PQz94JtkWjJpiDrbuWxtwd7VGukKIHUfne0jNu9yLLAIXMNap7zoL3u5w4G+uLh9N7RzM9oA3q6V2PGoUT2rm7iZ1Zl4VDbO2K9NhGhlTO6HTlqQQz9IAeRPjzpYgDH9jOl9SqcNspYrQzzVQQ1FFg/o3sv4cXUfEGfKZ0aExuxN0g30pN98wSvUrHxT5fR8Ogzk7O1inhuStnPrpGVAEIY+NIVEKjw5s5TMtkQHZMiz5mZqo/6xuy3UMHLs9AEcpEF/JFtVojCfPI4WZYNcHvDiyExSs0ZIlsoB/JkIF3VsyWYor/g0PfeTwNdeeRYDPPy8/GxPb06A7BQySmo2iq/VL6ztt9w9U8fcFgIz4XaE6pnw47HLHtfV7kb1tAHmqhd5bTOo7aKAvBEk4B9j96EuggsCc2uTXj06I/2BAf7YO+pKI02Ub/vsjvTHQ1lSw//su+Pr6pZKh7ydZJzOK2eyCbBJ42Uq+u8za/NGDYUfvtNEFEuAlYPsjcGQMeK+fMbGsGXma4cbC+1yKqcmVdKUf32G5pMhfek3lluc0JCL6n441MHLGXMwjhUJIhHzfU/kraZ1gUc4X+2u5UeEvYO62kqeP6TFWS7LXjH9KWIVQglkzCwTl0aFRr2WVSJJSuU/0qVCcbXl8g4E6W/Eb3cv4D8IM4/MTTPVMxviDcqryTdphE0UMcmhaKi7kZ01kyflhyTADRuwfMhMI9VFqKoHQGNdNh6mRxzmV+WC/5/mHZ5cUUeCWvAAJhqPWyqemb/Zp7GuNhpGO46lpKC+iwUD2AYRzyMt5NSL10fl9W6HHLfKjT7A0gXmOvTbj6bFLTCwH3XgUWjKxjPsk3Y61kd5HAmazDNbO2vK8GKGXa10hX6IwwzFg1BBVJTPz2t8PPabgLqUTads/UZSBF45CPprOXLz/nbQ2vwcGHgUBLhy8Pw2wEi6slJbd0+2HsrA3h5yzi8ZwrK3SBFIuYKzBnXCh7HEeYN/9XEPtCGmoFlaFs7fmrqZvvfaButtage17un7cuprsEni80dIykNT3fhz/iA+fhKOUhNxd1xmYWYDcAloX98dyOQ/y+ZqZLD7vmXs5Nj19NagDSWeBjG1yATpxmKlCIntVnf18L/YVvDgVM1OcEN4idel0QLBIgiAEpx/dCDyU6/CQ/lVk9YcuK0WiPf9qvKZQWOaxC/LLuXiNkjITXCwuKcn6V6A7/BYy3TCCq/AT2gd5j1Edvd3Zr1QGd1DUKOwbevv5Ur5PHOez/mFmAiNHZDLNgm+9ASn6sMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q8ZEQJBJKmUAi9bFJi7jPz",
      "input": {
        "note": "Pink bowl hangs roughly over the lavender bowl. Lowering it into the lavender bowl before releasing.",
        "targets": {
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Q8ZEQJBJKmUAi9bFJi7jPz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.6106, 1.6165, 0.9436, -0.0471, 0.4606, 0.1604, 0.056]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3976 right_y=0.1867 right_z=0.1195 right_yaw=0.1315 right_pitch=-0.0673 right_roll=-0.1553 right_gripper=0.056\nstate[joint_eff]: [-0.1162, -1.3333, 7.0632, 1.6825, -0.0904, -0.0806, -0.0122, -0.335, -7.4051, 9.1966, 1.9267, 0.3687, 0.022, 0.5934]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef9d88b6e6a172299c5579ca5ef05f1f8b2c3867c50ee8e792e012b0e675160b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a1e455ecb45140899c72b4150752865dd7fbe2de70da96e6e23b3fa5d1eecff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7a71a60b7c36aedf1b5560f50a3ad7cfbbfc3a4658a83502814db1565b74b10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 5.11 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.5694, 1.5688, 0.9058, -0.0837, 0.4236, 0.1806, 0.0514]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3903 right_y=0.1678 right_z=0.1157 right_yaw=0.1077 right_pitch=-0.1008 right_roll=-0.1292 right_gripper=0.0514\nstate[joint_eff]: [-0.0068, -1.5658, 7.1453, 1.6923, -0.0122, -0.0366, -0.0122, 0.335, -8.7043, 6.9812, 1.9121, 0.359, -0.0317, 0.7643]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.6033, 1.6085, 0.9333, -0.0486, 0.4507, 0.1692, 0.0531]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3961 right_y=0.1838 right_z=0.1179 right_yaw=0.1273 right_pitch=-0.073 right_roll=-0.1442 right_gripper=0.0531\nstate[joint_eff]: [-0.0752, -1.3607, 7.0359, 1.7167, -0.0855, -0.0806, -0.0122, 0.4171, -6.5436, 9.9624, 1.8388, 0.3639, 0.0073, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.6106, 1.6165, 0.9436, -0.0471, 0.4606, 0.1604, 0.056]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3976 right_y=0.1867 right_z=0.1195 right_yaw=0.1315 right_pitch=-0.0673 right_roll=-0.1553 right_gripper=0.056\nstate[joint_eff]: [-0.1162, -1.3333, 7.0632, 1.6825, -0.0904, -0.0806, -0.0122, -0.335, -7.4051, 9.1966, 1.9267, 0.3687, 0.022, 0.5934]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef9d88b6e6a172299c5579ca5ef05f1f8b2c3867c50ee8e792e012b0e675160b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a1e455ecb45140899c72b4150752865dd7fbe2de70da96e6e23b3fa5d1eecff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7a71a60b7c36aedf1b5560f50a3ad7cfbbfc3a4658a83502814db1565b74b10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSswgKEAgSGAI4AUIIdGhpbmtpbmcSDIpMkwxhbzl10O/AiBoMIvtOZAE0k+pGHWN/IjC3Oh87e+7TspVlVSKkEeAwGQOdTccCgEXuhIcZsZkSD/agqRgrNjPHUJsf+TJSn5Iq0AdoMGAJMdohNzDgyaiUJ66XDkevxWXf55JGB8wPtIMiGqP+ILPnIVOe/uO9IbvxLKWjuV7kcEIhrebXT0g6nUQzLSCi1kx9bvLBnoQGgs3qnXSkz0Sn740m3qFI98ve8VsdK/zlAvdHPDWbmxabeK09E72HcM2OZlvrKyahQb0RoF/64VLHtn8UBSTF6tu0fDW69leHUK+x9ZcLGufMzdxNx6XyTEnsZLSu3VbOGahP+NdnIzRaX4hU0SWL1J+ceg2uRye8RjOuqvMx4kFsV+GCrpYM/NEGdyn078RtSKQzej/eWgIut42hq+lF8+QABpaP7ujJIx6hCmHQFCurZ4bbPdUd8kcs7YDCNZRnel55Hd0GtN8ELQFWqKRzLoQQSdsQdo4F/Bk6XouLO4DZ/t0d9UBoNj/my2jqJuN/BB9x7E+lDe9cCTw3/2meaXZ3Z0wEmn6bbZ0RyDnlIHT9VSjfXuReDBEhl2d8cCSG/piy0bRzXbPxfIxpnjwLKPiVP+ZScyjm2oTMOdjMS10uYbZWftzUVgRfOqF68HlpHvFlD3LdCa/t6i+6z7IcJykl9exMQYL+8lviYsmgId1eOvCQuro2MAR2TRJ7pR7SWX4Xofqu5JrpuvOaB72WkQ/bZMoEGxWRv8Er0BjjJirb5UqNaXjMvRYf4lP/AWgpEpeibNH9fedcP1pD9WPtLXeB8ny6hUkbO9gt+u3meXqHHFD/OwuJ7jtqIWp/BgikBTFVqDkEERLUNhcPecysnzmpA55hdEfNyRqc0dXgJBy0W8hZ/c9gSvKze+koGHMeIREEizk8tc5Hh6kl4RdcXmtexD2ZiDMHzqylPAXUJJ2G1GYrw05Yy36XT9inneVSxLtoIOsPCmNcQ4V3ZjhDJHA3FyLwu5SIMGwM8m7kt2AI0k8g59rv84ypQH5/N7EgZAbbDh5jnKVNfnQXhWkV9l5mHd+DvUNoDOu+LqSfg98MuLKQqZ8mbGttOahKXL78P2Kh4b5JDlyT7SsUpIyo+W8SqfCAm9YhQDcg8zbprDogOQYJVu2cyHhIxBmvC9nXr3j6ug0dlmrfBlx9kB4ecG2ozMADIR2lDVnjGxwCIRElzE1VXFn6kYA0NuzlUa12N2ZklXD4Htxzw35Xfn85HVtU3mpxyxWHs8v5Q8gilmC1ZPXqBLBHYZmIkGWSw//xtIo5D8eZusrNwOToJAK78RSgI7So8F3CFzWPItnFbRyjxbHNof7tBwmJLPmgWbnH7+F6hbrDyN83Es0Z5rZryez64qcdEaGDx7k+WZtN8YYkHFziGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MP1Wy3cy2GSWvZ27Hh9rrp",
      "input": {
        "note": "The descent stopped at z≈0.12, so the pink bowl seems to be resting on or in the lavender bowl. Opening to let go.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MP1Wy3cy2GSWvZ27Hh9rrp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.6106, 1.6165, 0.9417, -0.0547, 0.4587, 0.1555, 0.9951]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3961 right_y=0.1861 right_z=0.1174 right_yaw=0.1353 right_pitch=-0.0768 right_roll=-0.1626 right_gripper=0.9951\nstate[joint_eff]: [-0.0342, -1.3333, 7.0769, 1.6923, -0.0366, -0.0317, -0.0122, -0.1026, -7.5556, 6.5846, 1.6142, 0.1538, 0.1001, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e1accc0b499cf3921038f2c60087545cb1d93b56aafc3ed77ea52d473f55dd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48c7861263f575c376ed2bedf0201bbe356455ee97ef6c9b9929216250f218b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f921f11f500b2bda9f1319717c0a7aaf5766dabac1cdb6ac98970ca5231052a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 8.831 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.6033, 1.6085, 0.9333, -0.0486, 0.4507, 0.1692, 0.0531]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3961 right_y=0.1838 right_z=0.1179 right_yaw=0.1273 right_pitch=-0.073 right_roll=-0.1442 right_gripper=0.0531\nstate[joint_eff]: [-0.0752, -1.3607, 7.0359, 1.7167, -0.0855, -0.0806, -0.0122, 0.4171, -6.5436, 9.9624, 1.8388, 0.3639, 0.0073, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.6106, 1.6165, 0.9436, -0.0471, 0.4606, 0.1604, 0.056]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3976 right_y=0.1867 right_z=0.1195 right_yaw=0.1315 right_pitch=-0.0673 right_roll=-0.1553 right_gripper=0.056\nstate[joint_eff]: [-0.1162, -1.3333, 7.0632, 1.6825, -0.0904, -0.0806, -0.0122, -0.335, -7.4051, 9.1966, 1.9267, 0.3687, 0.022, 0.5934]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.6106, 1.6165, 0.9417, -0.0547, 0.4587, 0.1555, 0.9951]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3961 right_y=0.1861 right_z=0.1174 right_yaw=0.1353 right_pitch=-0.0768 right_roll=-0.1626 right_gripper=0.9951\nstate[joint_eff]: [-0.0342, -1.3333, 7.0769, 1.6923, -0.0366, -0.0317, -0.0122, -0.1026, -7.5556, 6.5846, 1.6142, 0.1538, 0.1001, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e1accc0b499cf3921038f2c60087545cb1d93b56aafc3ed77ea52d473f55dd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48c7861263f575c376ed2bedf0201bbe356455ee97ef6c9b9929216250f218b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f921f11f500b2bda9f1319717c0a7aaf5766dabac1cdb6ac98970ca5231052a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2QkKEAgSGAI4AUIIdGhpbmtpbmcSDHDOIXZ73bq/HWetRRoMqXqtHfhjXAR8I7RPIjB+cay9VpLD8bZdwDY2+YLXrtr5B46KjSW6SHArAelaq5r/i4JljPBo2vG2wDc+u9Eq9gieWJvwDsY8dmsreGxqzbc7LvHFLAgBkRmN1CzeyufZpUbfYPP8V0SgmXfaei3rvQk+e7AcZ1hds3+fb8QGpNoiqH0OxjpvlZpOihUkjfKB0Njpsnl0q9Ou5hJTEM2h3Qgi3M4+lRqJHbU5vqBdX1DurkH8fMQ9oVEoYge1065QrjMHyMmc90hUokrZ6anXtUL0q/LlrVMUCP7sEt13Q4J9mr74ZeRg3fTGFgR0aKsnE+XAgTH6GltfbGBm6GJmprK1GrkNiIsjKaPE+wOJQzwDw2WgDZXrCmoghKYkZELB4uEh80LWnMmsFTyPNb2Y78UkhPpZsO1wtN8ekKPHPGHO0ZOg9ONWF2i0Zjfq/poNCioV0HVU393N56byLVEzsYNHKYtIkztyDEglT5zslubcTn6eGJQHJ/8OmnxMjGQuJoFOim3XfkCi4u2B8lgXys9QKfO4uMhzBf7r69aVt6sq2i19W+Bxk5oN5kgulaJjZ5Xqb20WrTzZczJoVpAWZ7QM/ZWJ4Ml1ZL7Q7gejdfNL/uhkOiO7fPK/ZgNxAHzJR2dVEUDh+E4JclY7we7kMqk39Q7nKCVfqOvSi1ArbmKlFWyQjfIcR7BZFItQuZpE4CcxDKj46BdICmaL/rky2FwhvNnfpX8/aBNute4kM3/yMIJhukPZDikBkTx8QgkiKkP8vFMZLZit9CrlD3d27WB7wNCLQ6MVWBK7AHERFFCYDm/AiAJw9y5PI0sxKd47mrmfidIEwkXFY6CKlDRv7AGzJ5gBLT5FkGFdRlX5VO5pJV4PM9IckBRmFI2mtuIzuTMXxHbwpUKCFFFOLzDTa3XXc4+cVATmvp8B+qm/utyy0MVMZv+W2vs+UM7n3CPMYCYAamby9g+sCijh8ZlFq5ZqG9pQet6vsbVfsHXyREuNVhPaXe58TvrMK+xzMrSt07ufJXTNh8ZoBxTckSJ9oSLeR49a05O3dRFjeH1sl5cji0xiFue7K1ygNSRrsswX8diR7Q3P2MPw2bKpptFB797nD+nf5GwDchMfv8V1e/ZLJ/sThmerJR2Qfy4KU12jKo68pSgM6KEzyvd5mKb5BZl19YjqdCJCblMzAgecoznw+iNverE9pI0VW18OTxsIbCPZ7QPPCyZm1Wod64alV0Qb7sixx6DR6oKiLOZK0SYYNSHcuZfvGip6Edxn9TABtHzcIweQ9+MxTkTtPD2/ujbMyeUQzPY1XMHf0FWsKEd226vWvTbfVt9k7TBO768olYyuA6wXarpf7I7TX2vDcIlxewnRCJzwSGJL1jPE9XEVprMvNfJm8zDcuxHISTf4Vari1NsE9i35YglkNLUWZ3HJYNPCX8syihuNRYKtbErCE2xR7EHcTcfpPkg+u4o1SgkQSgQizauz0pzG1o08MaaEddfSxLOB1LoC41bclNEK70ouKHlUWeW4HUCE3wuo8PFlIuqmG4FtvOUIcnwejHE4FyYy8oeV+4gP16YM075Es6hJtptxRYs6e/ynmiwetwNqYfz3QhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KuVJh6spgw5BEjY67eSMae",
      "input": {
        "note": "After releasing, the wrist view shows the pink and lavender bowls side by side, so the pink bowl probably landed next to the lavender one instead of in it. Moving the arm up and back to see the top view clearly.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01KuVJh6spgw5BEjY67eSMae",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.4015, -0.0227, -0.0494, 0.9994, 0.2813, 0.9485, 0.8268, -0.5438, 0.2314, -0.0483, 0.9963]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1723 left_yaw=0.0053 left_pitch=-0.0347 left_roll=-0.006 left_gripper=0.9994 right_x=0.3053 right_y=0.0498 right_z=0.2071 right_yaw=0.1029 right_pitch=-0.0814 right_roll=-0.1659 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.4564, 7.0496, 1.8339, -0.0757, -0.0757, -0.0122, -0.1162, -2.359, 10.2906, 1.8339, 0.0806, -0.0317, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6d8ddf7c376fa0b883bdcdb6defc627e68c21505a57dedd0742a3d49837a3f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:391ead5c25308bf4044daa2b7f9b7f795b85c46f1d9fbf8498e969889b086168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fbc832413287f990594e9198c8bbf3e86fca2b7a79caecfa34ef059cc312787b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 5.69 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.6106, 1.6165, 0.9436, -0.0471, 0.4606, 0.1604, 0.056]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3976 right_y=0.1867 right_z=0.1195 right_yaw=0.1315 right_pitch=-0.0673 right_roll=-0.1553 right_gripper=0.056\nstate[joint_eff]: [-0.1162, -1.3333, 7.0632, 1.6825, -0.0904, -0.0806, -0.0122, -0.335, -7.4051, 9.1966, 1.9267, 0.3687, 0.022, 0.5934]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.6106, 1.6165, 0.9417, -0.0547, 0.4587, 0.1555, 0.9951]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3961 right_y=0.1861 right_z=0.1174 right_yaw=0.1353 right_pitch=-0.0768 right_roll=-0.1626 right_gripper=0.9951\nstate[joint_eff]: [-0.0342, -1.3333, 7.0769, 1.6923, -0.0366, -0.0317, -0.0122, -0.1026, -7.5556, 6.5846, 1.6142, 0.1538, 0.1001, 0.0708]\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]: [-0.0196, 0.8116, 0.6075, -0.4015, -0.0227, -0.0494, 0.9994, 0.2813, 0.9485, 0.8268, -0.5438, 0.2314, -0.0483, 0.9963]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1723 left_yaw=0.0053 left_pitch=-0.0347 left_roll=-0.006 left_gripper=0.9994 right_x=0.3053 right_y=0.0498 right_z=0.2071 right_yaw=0.1029 right_pitch=-0.0814 right_roll=-0.1659 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.4564, 7.0496, 1.8339, -0.0757, -0.0757, -0.0122, -0.1162, -2.359, 10.2906, 1.8339, 0.0806, -0.0317, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6d8ddf7c376fa0b883bdcdb6defc627e68c21505a57dedd0742a3d49837a3f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:391ead5c25308bf4044daa2b7f9b7f795b85c46f1d9fbf8498e969889b086168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbc832413287f990594e9198c8bbf3e86fca2b7a79caecfa34ef059cc312787b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B2EoWNMS33RwxTKQBUVtPX",
      "input": {
        "note": "The pink bowl landed right beside the lavender bowl (about 10 cm to its right), not in it. Moving over the pink bowl's right wall to grasp it again.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.4,
          "right_y": 0.19,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01B2EoWNMS33RwxTKQBUVtPX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.6296, 1.6585, 0.8291, 0.0505, 0.4862, 0.3176, 0.9965]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0053 left_pitch=-0.0461 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3811 right_y=0.1799 right_z=0.076 right_yaw=0.0432 right_pitch=-0.0993 right_roll=-0.0752 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.7299, 7.1863, 1.7509, -0.0757, -0.0024, -0.0122, 0.5538, -8.4581, 8.5265, 1.6923, 0.3492, 0.1441, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad5eae1c4fbc42bd2312054923cf90e54f1b86a3121e058b3542266b88270a4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a31ee7a68c4a5890dc5de5544b106a81e924684d4f9d7b928fc14706a1ba7624",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1884ab6e84423c4333b2aed969f3a1231381bd2626c866a0c96429d4c80fdc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /messages · status 200 · 4.011 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3904, -0.0227, -0.0494, 0.9994, 0.6106, 1.6165, 0.9417, -0.0547, 0.4587, 0.1555, 0.9951]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.175 left_yaw=0.0052 left_pitch=-0.0221 left_roll=-0.0063 left_gripper=0.9994 right_x=0.3961 right_y=0.1861 right_z=0.1174 right_yaw=0.1353 right_pitch=-0.0768 right_roll=-0.1626 right_gripper=0.9951\nstate[joint_eff]: [-0.0342, -1.3333, 7.0769, 1.6923, -0.0366, -0.0317, -0.0122, -0.1026, -7.5556, 6.5846, 1.6142, 0.1538, 0.1001, 0.0708]\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]: [-0.0196, 0.8116, 0.6075, -0.4015, -0.0227, -0.0494, 0.9994, 0.2813, 0.9485, 0.8268, -0.5438, 0.2314, -0.0483, 0.9963]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1723 left_yaw=0.0053 left_pitch=-0.0347 left_roll=-0.006 left_gripper=0.9994 right_x=0.3053 right_y=0.0498 right_z=0.2071 right_yaw=0.1029 right_pitch=-0.0814 right_roll=-0.1659 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.4564, 7.0496, 1.8339, -0.0757, -0.0757, -0.0122, -0.1162, -2.359, 10.2906, 1.8339, 0.0806, -0.0317, 0.1148]",
      "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]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.6296, 1.6585, 0.8291, 0.0505, 0.4862, 0.3176, 0.9965]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0053 left_pitch=-0.0461 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3811 right_y=0.1799 right_z=0.076 right_yaw=0.0432 right_pitch=-0.0993 right_roll=-0.0752 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.7299, 7.1863, 1.7509, -0.0757, -0.0024, -0.0122, 0.5538, -8.4581, 8.5265, 1.6923, 0.3492, 0.1441, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad5eae1c4fbc42bd2312054923cf90e54f1b86a3121e058b3542266b88270a4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a31ee7a68c4a5890dc5de5544b106a81e924684d4f9d7b928fc14706a1ba7624",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1884ab6e84423c4333b2aed969f3a1231381bd2626c866a0c96429d4c80fdc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QkKEAgSGAI4AUIIdGhpbmtpbmcSDL7ezOZ7msO0C9ZEHhoMM95mI8PlK6vU3mJzIjDQgv2rbQgXxF40MEmWeBzR9vz12M//Bi8ZTb6Kw0ZGTEYMm6nDTvff5VtSox8YOacqjgnB6oUV6YuolyzKyBUZZpmek1H5GY8UwY+2sBTCCbV/s9jjKWKoMCpf+Wf5HISU3uFYvYhadsWGdz5PPGnPQj7857u6bS5smUPBwD/hP0R7zUrKXTD5LQoJgT/bx36sbR4sGxmzAeuSPE2gEb7KrRZISFu52jm+yiPrbPTVqVo162wcm9+UGx1KIY+UM1VC0ijN5wozE3FaKbJcqzBkNJb6lanFxILI+UkoZ51TA74wjzahNucHLOZuGdXSiVy/nT2QBu9zLwcYFBcrJYs4rZPEitUIsi4VebvMUbafUXGZgD0B+m/8PpxgSRKkZua/9HJaCdKJfYEMZuoTOGegLqfLP8YcgTv7x0CN7FYH3j+DC3TEP2Dv8gw/zmocQUTBDOmW5gQXXObDObdC7qi4qKeqZknBFrSrCZJO2aQRDp143eYayX696w9JEX1yxfwiQ7boYnxIAfcSIxL0B4ocNN3BIh19RFpCWvWK69zvLUul8oKCk4Bl8lphPa8BUjXp4hyHiLa4z6ADpE+ovQ1guknhn6CNQvo0PtoZx7G4r4n+9XvqvBal3ivtq7AYKOegCXZmNr0oLwZArO7puiZ3ifdidqBSCBkj5Mo+SajxhI8gUfI4FejlY6CxnUf7kjK+uqO2l33OKS9kIaSTO+9K1xysrgLTCsQjfNBCPKaDFUAPKXmnPU5+/LQ3TQEzw9pmKapUoA/9g0oHVFprQfTrlu+N/YXxMo5Pde/nhdoE9TOvFIv85VoUBwyh4GT0WKIvl4LT/3whdFZa/ex/Adb+o9jci6XJVx5wHjyAKsBfhuXXf/KFBULl7w7bw0oSbnHlt06LefOp/5e00o/zl+G1lIad3/oCtSbhLcI0IoEftLmV42WDX05ZL5/9eaY7AndSDRkBF0oGoZUyLUNpOV/MIFY4EY2umcxHQ1/AzEelsiZsQcXUY7cVX7TZo0FmC87fs4asJm/CTmppbxEr9RTWKApOba/YcuMc4cB6yOTqRc1jNnXT0NzTCbeTHTgT0lGQdxDTjK881a0b1ErliKlOz1BQjEgoowtCyRPILv32cJVMEdfi7UQCWEi4zj1JUpFPGkffC4tl0eKuL/tcRin+8alzLL1bFGbtpIE3SLqRxGSia3YoTkK74kMos5aynXqDd1C/PSL1r7b1O5te4XrX5V/UNHpgeiDlKrdSzGJ+otJyGpufKdgrSJq2gsxXFEFergIzv/6iLgy4fY73fBL9D6m8Jd5lUlNgo1uuFx6jILzIHbkKz1JfmgNuJe6TfY5wfeB/8B3i5XCXZQMgAaPQPXkvxyngfozwJfVz+JlicnXfzDEmlCU5tRjcT05/zhUAKx/huEq+wfPadYzzWaM9AYL7p7JH3nxRaKpPCr9+DX6qRfRU49CXMaP6BY13+Hm2v8I8IPbcuO/3Mxaq/bjJxWSiQQgdO6yl0xR0CUlWSbKI+yu1jh/8yXs4pKXXPgRNngzPK77Erllxzn3ekTPSTHPuLEkGa1JB8yRkC96piSZ2SkFu5GpbGla6Yw01mflPnrZRdCf9S5yFWKgXXgThhxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XsjYZSwbnKdryzc7n8GdA5",
      "input": {
        "note": "The wrist view shows the pink bowl almost centred under the jaws, so its right wall is ~5 cm further right. Shifting right to straddle that wall.",
        "targets": {
          "right_x": 0.395,
          "right_y": 0.135,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XsjYZSwbnKdryzc7n8GdA5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8169, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5461, 1.6474, 0.7979, 0.0681, 0.44, 0.2687, 0.9966]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1696 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3879 right_y=0.1519 right_z=0.0691 right_yaw=0.0219 right_pitch=-0.1209 right_roll=-0.087 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.4017, 7.1179, 1.6728, -0.0366, -0.0659, -0.0122, 0.4855, -9.0051, 5.9009, 1.5507, 0.2173, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6963e2ab7db32da36a0df5bc5c42f8be8e728803de09a84e3fbea2c1976305f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:886da752b903a921910268413909a146146d385b64f04f5089b055b6c60e7542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a5a5c20b030f7f392b4a827c14f3f687c90e9814ee6b2cdaa961cacab3b8478",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 8.449 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.4015, -0.0227, -0.0494, 0.9994, 0.2813, 0.9485, 0.8268, -0.5438, 0.2314, -0.0483, 0.9963]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1723 left_yaw=0.0053 left_pitch=-0.0347 left_roll=-0.006 left_gripper=0.9994 right_x=0.3053 right_y=0.0498 right_z=0.2071 right_yaw=0.1029 right_pitch=-0.0814 right_roll=-0.1659 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.4564, 7.0496, 1.8339, -0.0757, -0.0757, -0.0122, -0.1162, -2.359, 10.2906, 1.8339, 0.0806, -0.0317, 0.1148]",
      "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]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.6296, 1.6585, 0.8291, 0.0505, 0.4862, 0.3176, 0.9965]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0053 left_pitch=-0.0461 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3811 right_y=0.1799 right_z=0.076 right_yaw=0.0432 right_pitch=-0.0993 right_roll=-0.0752 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.7299, 7.1863, 1.7509, -0.0757, -0.0024, -0.0122, 0.5538, -8.4581, 8.5265, 1.6923, 0.3492, 0.1441, 0.0073]",
      "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]: [-0.0196, 0.8169, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5461, 1.6474, 0.7979, 0.0681, 0.44, 0.2687, 0.9966]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1696 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3879 right_y=0.1519 right_z=0.0691 right_yaw=0.0219 right_pitch=-0.1209 right_roll=-0.087 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.4017, 7.1179, 1.6728, -0.0366, -0.0659, -0.0122, 0.4855, -9.0051, 5.9009, 1.5507, 0.2173, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6963e2ab7db32da36a0df5bc5c42f8be8e728803de09a84e3fbea2c1976305f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:886da752b903a921910268413909a146146d385b64f04f5089b055b6c60e7542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a5a5c20b030f7f392b4a827c14f3f687c90e9814ee6b2cdaa961cacab3b8478",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSoQcKEAgSGAI4AUIIdGhpbmtpbmcSDD/ypsFJvYg5k2ekyRoM7VGsSeeDmYznIvMRIjCVSaIHO+7UTyjwZdpLN/B37jPpenovm8orIdvQW13JXFrpBX5zbesnKFFB+4zxrFUqvgYC6YBTFNCoso67d12fpOIJGQuEicuKUgG43XYSlXwlbXKnY1PD4ajYD4d7lHj7er5gVyrYmgTd9Vzm68GfH419/9W0ad9Wsu3EBcJc5qq/JOtCvvt7se5Qum876T/ltVaxUYO3oAh3aZvCsEyQDNv9OGZWUummyaYZuoUaf0ecHmbJZbKrRmAZVfpTthM786RJ4pCC0haC0fsniyCnMaplMfc9PzvbSp5ZJoVp5h/7f5s9D9wFzpWWuhBE5f8Iml0Uay0HttyYGyxTzBMvpM/B27bKCncyv17huh/2eIBnn+P5m0gtJnYUPfTgDYP6ugpIoDXK8o4WGLCr8s1SOaaPntXqICm095HA3hCq1dwtbMkzBgTZJ3tzWp8z41jCi7CX+B0/rBjIrp77mQ0HV2WBPZ9tP8CbkU9/7LbbehDL0/Totf/iZR5nMexqhGC6NcDvTSEy6zENoy82hrsnkYGNbiyBT7KIF3GS6P4zsRjovAgbi5NeNrOp7xpHTw15j3HSjh3+QQnZcP/A1ig1ga4QXjewiau+7G+9RVxasQTmVru+97fJgeaPsEyjQhIKDVPBkNV9BoAPbtaJ2XMoSvzksb2oBZOYWTUN2B2D/x1xgI5JX6JN7JkGRl7rmz9WxC0D/G4DaKu09bmYsCtqTnlD9fF4Qp1rnsQdeK1FGSK5p+/3MHziVjdqWtG01DHu6hrF1/vNEHouIkQ/MF60Ndkds8Kob5MkB7Iu+2WGe+DjkH7Ol73+lAWRnBNUt15QGbC2Tkv47h21sUSTtBmzb9uN87uhBoYTUw2yuiT13T3pkCm1qgwmby+7zTLGHTBsyKCs9jxnmFDftYq8v5dJ2w2D8J+ygulkHi2Gsd3hlHY95uoUQyL46cZvOtZU9xiZm3aAd8wKLp27LRg1i08c+7NgTZM3uE4NaDSA32mUEj6Yz5VDAAg3eXHFmEbLacm1a//PlyGB+/+rZaNbPuBkzm9h8CB74fBEg5VQbuNOXK9MJrVR5Q1qsd5x1brHdPb4ULViktJEyouaGV1Wm5p6+K96uvfZLy52GN5ltjlOnxU95+YiZ17h09MvyHxS636YMG15SufOpRHGhHDlbnRBiRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019dVAdck47fdsyjGT5gvdSv",
      "input": {
        "note": "Pink bowl's right wall now sits between the open jaws. Descending to grasp it low.",
        "targets": {
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_019dVAdck47fdsyjGT5gvdSv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8169, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5545, 1.6474, 0.7979, 0.0639, 0.429, 0.2607, 0.9966]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1696 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3856 right_y=0.1566 right_z=0.0678 right_yaw=0.0431 right_pitch=-0.1287 right_roll=-0.0885 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.3744, 7.1863, 1.7118, -0.0317, -0.0317, -0.0122, -0.1162, -9.0188, 5.9692, 1.6093, 0.1294, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0569df84ce94b4ed68a2e0c7e056a572c8613d9a6dc92395be2a4b4a271f506",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dc0519204fc2ab92cc6e34d2394c63a66aca902905e13ea6a426253d43bfdb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b9c83e99ae292d8465cad98605557ccfb7b91a34bf9966916a3b7775435a142b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 4.172 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.6296, 1.6585, 0.8291, 0.0505, 0.4862, 0.3176, 0.9965]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1697 left_yaw=0.0053 left_pitch=-0.0461 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3811 right_y=0.1799 right_z=0.076 right_yaw=0.0432 right_pitch=-0.0993 right_roll=-0.0752 right_gripper=0.9965\nstate[joint_eff]: [-0.1436, -1.7299, 7.1863, 1.7509, -0.0757, -0.0024, -0.0122, 0.5538, -8.4581, 8.5265, 1.6923, 0.3492, 0.1441, 0.0073]",
      "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]: [-0.0196, 0.8169, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5461, 1.6474, 0.7979, 0.0681, 0.44, 0.2687, 0.9966]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1696 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3879 right_y=0.1519 right_z=0.0691 right_yaw=0.0219 right_pitch=-0.1209 right_roll=-0.087 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.4017, 7.1179, 1.6728, -0.0366, -0.0659, -0.0122, 0.4855, -9.0051, 5.9009, 1.5507, 0.2173, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8169, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5545, 1.6474, 0.7979, 0.0639, 0.429, 0.2607, 0.9966]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1696 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3856 right_y=0.1566 right_z=0.0678 right_yaw=0.0431 right_pitch=-0.1287 right_roll=-0.0885 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.3744, 7.1863, 1.7118, -0.0317, -0.0317, -0.0122, -0.1162, -9.0188, 5.9692, 1.6093, 0.1294, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0569df84ce94b4ed68a2e0c7e056a572c8613d9a6dc92395be2a4b4a271f506",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dc0519204fc2ab92cc6e34d2394c63a66aca902905e13ea6a426253d43bfdb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9c83e99ae292d8465cad98605557ccfb7b91a34bf9966916a3b7775435a142b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XpdYdcwKJV5YutNU79wzQW",
      "input": {
        "note": "The descent didn't happen (held at z≈0.068); a jaw is probably resting on the pink rim, and the wall is still right of the jaw centre. Shifting right a bit more before trying to descend again.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.13,
          "right_z": 0.075
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01XpdYdcwKJV5YutNU79wzQW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9994, 0.5545, 1.6474, 0.7979, 0.0635, 0.429, 0.2607, 0.9966]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3855 right_y=0.1565 right_z=0.0677 right_yaw=0.0431 right_pitch=-0.1291 right_roll=-0.0887 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -1.4291, 6.9949, 1.7118, -0.0659, -0.0708, -0.0122, -0.1299, -8.8, 5.9282, 1.6532, 0.1441, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e08a2302623cfcf3c6bac9e7e9a71cea3119818c3ab9e63b945fe6010df3b0b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8815188b5767e8a9742c2df62cd625b4a68c07c24c37ca5d6ce83dbb4fef6ae8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf07a3be0dedf5303d8edd04c8de1ce81f040d0dea9fc47ecbb9aab7c15f07eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 7.214 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8169, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5461, 1.6474, 0.7979, 0.0681, 0.44, 0.2687, 0.9966]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1696 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3879 right_y=0.1519 right_z=0.0691 right_yaw=0.0219 right_pitch=-0.1209 right_roll=-0.087 right_gripper=0.9966\nstate[joint_eff]: [-0.0615, -1.4017, 7.1179, 1.6728, -0.0366, -0.0659, -0.0122, 0.4855, -9.0051, 5.9009, 1.5507, 0.2173, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8169, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5545, 1.6474, 0.7979, 0.0639, 0.429, 0.2607, 0.9966]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1696 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3856 right_y=0.1566 right_z=0.0678 right_yaw=0.0431 right_pitch=-0.1287 right_roll=-0.0885 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.3744, 7.1863, 1.7118, -0.0317, -0.0317, -0.0122, -0.1162, -9.0188, 5.9692, 1.6093, 0.1294, -0.0366, -0.0122]",
      "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, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9994, 0.5545, 1.6474, 0.7979, 0.0635, 0.429, 0.2607, 0.9966]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3855 right_y=0.1565 right_z=0.0677 right_yaw=0.0431 right_pitch=-0.1291 right_roll=-0.0887 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -1.4291, 6.9949, 1.7118, -0.0659, -0.0708, -0.0122, -0.1299, -8.8, 5.9282, 1.6532, 0.1441, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e08a2302623cfcf3c6bac9e7e9a71cea3119818c3ab9e63b945fe6010df3b0b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8815188b5767e8a9742c2df62cd625b4a68c07c24c37ca5d6ce83dbb4fef6ae8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf07a3be0dedf5303d8edd04c8de1ce81f040d0dea9fc47ecbb9aab7c15f07eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wcKEAgSGAI4AUIIdGhpbmtpbmcSDNUnq+4gcAnfpqph5xoMw42gGNNeyy7BJJ3WIjDWIaJ4V6YTjXYmFdmgJe9cD5M5/4NOPRm5WQS2/TM9iryu7FEX9BV0FRtAlUfBo4wq+AZUB/qufZlfs+bOFaw3T7ewG8wnJtI2tzJAG6Dj3SK55ORvEOqhq/Aj1aQRuxNadQiLw/1HYv6aPIobMqGHoaOhjdjNY2yjm2Rn5gD3ehWD5iGT9uSy5gh6/+Ef+e2PgTuZ7is30XIgxkFFxoqpUA33qbQVLurWypTggfO3GNhVtQp7lJi8omzSTLC6++MR2azBn47iuo2UFXsgoP6NOdf5BRhEKt+ZY0Stcd07EUzz42Z9RTKwMTQCpwiK9LaGRa/3i7JscYS3WU6CiupxEPR1rjhj+aedBeWniK79GwBxZ3XuO1n3JQ6oLZcO/g8EOC21DPH5N9ZpAfMhnpttG89If92Q7wTLIVekTsrZjA/2V8GvdrZ6NnU1Z47hVqPbG9d/LO0HuYCURR9KMqtjWPsyNId/y/+OUP0ZJChK6TR++nLCQQWpLXelVikQ2lwaiFr+G+9T82+nD2IBL54jQbkUC4WyrhLP7ELVH/dD6Jl8ttjpEBHSUfgN7Ih7BpVrWlU14ZUOTgilMiAV9ZHAT28V2+C0oIOqROlF/nUbj2yQEbw7KAeKPGMc4/45ercOegqkqfN5d5o4a7b19fyNgmoDRyHUd4NAbLxd6FCG3p1Voexb6DqE7wQlfwQCDFtiL9leU1qdWyWtZN/+kUCx9KHRzaV7gySKVKr+oilWhv5e0f535YgAC5M5pd1LFPLybWYA5Jmbec8nJyrCQok6UeyEtbcDe5dbecRbK9cWD3UoqF0z/WOfxjcqlkyComBOtJpScKJP9rM5VXiby5nWHIYGaKeHk67HS53mC4QMy00y5RIfTBlP0p6C4ECp6Fs9u4O+QCF+SItaTYX4lxp+WPgkB27AgAjnYx6ELk1pPT7sTiid+NmWXBSqB63+MXnLbsPdsp6n2d5vohmKk9h0+PYTE/9v09WHca19gzl1NdTBGwgz7IGOY4TmwV4D8lZPK27FfZPKPIxLBkUuschRmmClLtmS48Q+0TMIzCE4vTCeSpmITDUNx0laRiZT2XMG0m8XOilj7E5SVr7LPL2sERusJZJj5iXPQuPwr5lVnxEU2ZTme5Tjxop3ly2xZPMdFxv1C/NS08NRqceWa0GXzy9giZCnfyT7offUR50SNhlyR5Ub58K0q8I/zI2dIv3nl2b5ktXPZGvHEsDK6lARsjQou2PnNQrxI3kYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EWxoGphVmmL2dFn1C6WD1q",
      "input": {
        "note": "The right arm isn't responding to small moves (the readback is frozen), so it may be snagged. Raising it clear to free it up.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.14,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01EWxoGphVmmL2dFn1C6WD1q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6075, -0.4076, -0.0227, -0.0494, 0.9994, 0.5545, 1.4136, 0.8688, -0.2504, 0.4183, 0.2569, 0.9966]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1689 left_yaw=0.0053 left_pitch=-0.0488 left_roll=-0.0056 left_gripper=0.9994 right_x=0.3602 right_y=0.1429 right_z=0.132 right_yaw=0.053 right_pitch=-0.141 right_roll=-0.0894 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -1.0325, 7.0222, 1.7509, -0.0855, -0.0757, -0.0122, -0.212, -6.612, 9.812, 1.5556, 0.2613, -0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:298a36f8e5735d3738c904bbfdfaadbcf2c5622615f8d9f9fd38141d1650bff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01762c24e169986c88f48e04fe2966b9086573becf446f8acb354cb58983c109",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:86b27be98f2b7050d1f89ee5c615048cd58ad2b69f78e18a0a1d63d45d69b41f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 3.078 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8169, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5545, 1.6474, 0.7979, 0.0639, 0.429, 0.2607, 0.9966]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1696 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3856 right_y=0.1566 right_z=0.0678 right_yaw=0.0431 right_pitch=-0.1287 right_roll=-0.0885 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.3744, 7.1863, 1.7118, -0.0317, -0.0317, -0.0122, -0.1162, -9.0188, 5.9692, 1.6093, 0.1294, -0.0366, -0.0122]",
      "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, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9994, 0.5545, 1.6474, 0.7979, 0.0635, 0.429, 0.2607, 0.9966]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3855 right_y=0.1565 right_z=0.0677 right_yaw=0.0431 right_pitch=-0.1291 right_roll=-0.0887 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -1.4291, 6.9949, 1.7118, -0.0659, -0.0708, -0.0122, -0.1299, -8.8, 5.9282, 1.6532, 0.1441, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6075, -0.4076, -0.0227, -0.0494, 0.9994, 0.5545, 1.4136, 0.8688, -0.2504, 0.4183, 0.2569, 0.9966]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1689 left_yaw=0.0053 left_pitch=-0.0488 left_roll=-0.0056 left_gripper=0.9994 right_x=0.3602 right_y=0.1429 right_z=0.132 right_yaw=0.053 right_pitch=-0.141 right_roll=-0.0894 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -1.0325, 7.0222, 1.7509, -0.0855, -0.0757, -0.0122, -0.212, -6.612, 9.812, 1.5556, 0.2613, -0.0073, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:298a36f8e5735d3738c904bbfdfaadbcf2c5622615f8d9f9fd38141d1650bff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01762c24e169986c88f48e04fe2966b9086573becf446f8acb354cb58983c109",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86b27be98f2b7050d1f89ee5c615048cd58ad2b69f78e18a0a1d63d45d69b41f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KYgaJuB9Y1ZqRYJiLfSvpa",
      "input": {
        "note": "The arm is free again and the pink bowl's right wall sits on the jaw column, a little ahead. Moving forward slightly and descending to straddle the wall.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.14,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KYgaJuB9Y1ZqRYJiLfSvpa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.506, 1.755, 0.6781, 0.2623, 0.3771, 0.2268, 0.9966]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0526 left_roll=-0.0055 left_gripper=0.9994 right_x=0.378 right_y=0.1392 right_z=0.0139 right_yaw=0.0523 right_pitch=-0.1734 right_roll=-0.0945 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.6752, 7.1316, 1.6679, -0.0464, -0.0464, -0.0122, -0.6359, -5.2171, 4.8479, 0.989, 0.1197, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7a69ce8ef9e503fedfc530ee081b16d0d61ee944ef5c98f1964046b741bcb22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd7f7a4df938a8aa62b1619b18d805901aa56c9c2b943132becf2221c8b0be98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ccce864ae9d2907216d2586fb93df925e3f8d594491b707aea90d05c67671efe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 7.518 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4076, -0.0227, -0.0494, 0.9994, 0.5545, 1.6474, 0.7979, 0.0635, 0.429, 0.2607, 0.9966]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1695 left_yaw=0.0053 left_pitch=-0.0465 left_roll=-0.0057 left_gripper=0.9994 right_x=0.3855 right_y=0.1565 right_z=0.0677 right_yaw=0.0431 right_pitch=-0.1291 right_roll=-0.0887 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -1.4291, 6.9949, 1.7118, -0.0659, -0.0708, -0.0122, -0.1299, -8.8, 5.9282, 1.6532, 0.1441, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6075, -0.4076, -0.0227, -0.0494, 0.9994, 0.5545, 1.4136, 0.8688, -0.2504, 0.4183, 0.2569, 0.9966]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1689 left_yaw=0.0053 left_pitch=-0.0488 left_roll=-0.0056 left_gripper=0.9994 right_x=0.3602 right_y=0.1429 right_z=0.132 right_yaw=0.053 right_pitch=-0.141 right_roll=-0.0894 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -1.0325, 7.0222, 1.7509, -0.0855, -0.0757, -0.0122, -0.212, -6.612, 9.812, 1.5556, 0.2613, -0.0073, -0.0171]",
      "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]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.506, 1.755, 0.6781, 0.2623, 0.3771, 0.2268, 0.9966]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0526 left_roll=-0.0055 left_gripper=0.9994 right_x=0.378 right_y=0.1392 right_z=0.0139 right_yaw=0.0523 right_pitch=-0.1734 right_roll=-0.0945 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.6752, 7.1316, 1.6679, -0.0464, -0.0464, -0.0122, -0.6359, -5.2171, 4.8479, 0.989, 0.1197, -0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7a69ce8ef9e503fedfc530ee081b16d0d61ee944ef5c98f1964046b741bcb22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd7f7a4df938a8aa62b1619b18d805901aa56c9c2b943132becf2221c8b0be98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccce864ae9d2907216d2586fb93df925e3f8d594491b707aea90d05c67671efe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Wall between jaws, low. Close.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J1xzp43GM6gSNfyorqGCD2",
      "input": {
        "note": "The pink bowl's wall is right between the jaws near the table. Closing to grip it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01J1xzp43GM6gSNfyorqGCD2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5095, 1.737, 0.6853, 0.3275, 0.3538, 0.2447, 0.0352]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0526 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3895 right_y=0.1516 right_z=0.0333 right_yaw=0.07 right_pitch=-0.0982 right_roll=-0.0266 right_gripper=0.0352\nstate[joint_eff]: [-0.0479, -1.4154, 7.1316, 1.6825, -0.0708, -0.0806, -0.0122, -0.294, -5.7504, 4.6564, 0.5446, 0.5201, -0.5592, 0.7155]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4f8748ef562cd3efe22a51acaa634b48396b010637ad574d666a62af4e6a949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8258dd81a2a89916b2d30b19162904bd5aed7d37ff50f2f9318906bdb5ee8ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8afb6fe127c1fd5d53a8c6a5f6cf5e8e548998385b4a3a572c2d3c0474a06308",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 4.177 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8196, 0.6075, -0.4076, -0.0227, -0.0494, 0.9994, 0.5545, 1.4136, 0.8688, -0.2504, 0.4183, 0.2569, 0.9966]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1689 left_yaw=0.0053 left_pitch=-0.0488 left_roll=-0.0056 left_gripper=0.9994 right_x=0.3602 right_y=0.1429 right_z=0.132 right_yaw=0.053 right_pitch=-0.141 right_roll=-0.0894 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -1.0325, 7.0222, 1.7509, -0.0855, -0.0757, -0.0122, -0.212, -6.612, 9.812, 1.5556, 0.2613, -0.0073, -0.0171]",
      "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]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.506, 1.755, 0.6781, 0.2623, 0.3771, 0.2268, 0.9966]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0526 left_roll=-0.0055 left_gripper=0.9994 right_x=0.378 right_y=0.1392 right_z=0.0139 right_yaw=0.0523 right_pitch=-0.1734 right_roll=-0.0945 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.6752, 7.1316, 1.6679, -0.0464, -0.0464, -0.0122, -0.6359, -5.2171, 4.8479, 0.989, 0.1197, -0.1001, -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]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5095, 1.737, 0.6853, 0.3275, 0.3538, 0.2447, 0.0352]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0526 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3895 right_y=0.1516 right_z=0.0333 right_yaw=0.07 right_pitch=-0.0982 right_roll=-0.0266 right_gripper=0.0352\nstate[joint_eff]: [-0.0479, -1.4154, 7.1316, 1.6825, -0.0708, -0.0806, -0.0122, -0.294, -5.7504, 4.6564, 0.5446, 0.5201, -0.5592, 0.7155]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4f8748ef562cd3efe22a51acaa634b48396b010637ad574d666a62af4e6a949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8258dd81a2a89916b2d30b19162904bd5aed7d37ff50f2f9318906bdb5ee8ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8afb6fe127c1fd5d53a8c6a5f6cf5e8e548998385b4a3a572c2d3c0474a06308",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+QoKEAgSGAI4AUIIdGhpbmtpbmcSDAFxgsaJHzFD7F5dzhoMmgM2qvL54OA4f9TGIjAdYRZfagb4UZ53+drePYi/J3itSw0iKtZnBFBS2UqXIOF5Ty97gjtIadICcaQ8ZPYqlgoX/xpBEQharTpbzfOgc4mv9Uu3ncbbTxEWXvXdtqD34nOUv3m/jKX25qqtr2RS7sWOvy1stg7l8StWgREt1N8nPfvWQlaHsvjMCaNs679/f8DcL+9ZmcpK5K+nxP/TnRC1ncgrBSRFVbf2uNPJ/xoEB4D4Lj2HthdESBbh64h1MrMvfHOT5wHQkPjlfuJlpBIWCpiwloz9Q/nZBT2cI0nwalyIN+Pcwh6fUXC2RuStKF+PVidrHzQL8mPrPcFaxC1KkT8vJB0oDjQ4u632HSDbGfYFpWbHTj08Fv0U/eokPg94dy3pD5jpLwV/aOpxYMNud4Cioo6rzpymF9sEbbH6RQ6X3uRS68hu/LSk9SK0fZJ5YJrLF0bmin3qCjf/2tDSm985Ia9AA1ZNbH69+/Zv3xR61sNTWMNmBFZr8i0CG5zWswIP+ydO6eVDFgjergR93N/DWpLLzrJ1z/N5vE7ns9d1idAw5mxn4jaaRM/GE7VfyG0S2sIgMBQ2PSllXYegGmG9InRFQjWrY30u+63tObYowN7MfD5V13uavXifasNhgif242UHZ3JlkbjN47Y2K20uHktULz1SwVNqBFQ0kvmICOrpQNFeKNMtP4pfU9skYVybah+kWPi2ETrV9UxbQ65UssO8J0XtdYmiYHb4Ute/x+UcK27+iQbJGbXNvmgqtGhaBtxL34trjpHeYtHjn63crpWLjQ4kr4l4tRQa3EonxSypMCB4PsCaYRfcSifzktm4MRYlz1UbJXWdpY1PrUmDzD7PRhTKIH9BA4sverXsC7CmR57nWhEvJGi2tED4fxk9i80kx1SGLd0bUVt3ZTWQ5R4UTHzL4PX2smnKMoEDPTrYV25xE1F/QM9nfZDZwq2p68nmAbvWJRqWI8l0qwR1IskjitvbzbBSd/ttMtTLsELCYGHWMj7151py+vvh6QHL3yrJT8MPuiHb9+m5Rs9+8mmfz4f1YNQT/16gFipUD+im4zjr0fJQxtuGpnHuIbnlwIWR6wAYvjnPtUnfR6ogfMfJ58twZP+DNGAnZPdL1OdkuQcSYmXYC4CymEzHAUPJfIKCrAvxXigSGkpQHpErYMdO//zvPmoh1tURXCJ0PpI2qg+DDviIECfxRoUkwxKdU0I8fLTF8EwE4Ni6iQQcy+iwhF2r+aTzZ3qAq3fYfn9DWquIeMccPdWbl2gh79faz3vB5wd3tOFTy7jsIdk7LPV1KPrUu6lvIEW+aI8MM5BmXXG2GU8R0Yk2Rh7jOw74o/MTEvwzOIh++xKYlm9zjFrJ5z6FTGj7YaPmKpr2xMZ08KDj0hJVlopBMVRWXhHgqzez+OqdNc83kIaWB3I1dLXDXwmX/9EId1toOw7aKknFIZhq/2YNuReuQHuQJFW9WKvFenThQsdFX+tY8VHrPqQPgij0eRNBhnelipa/EJO1LFWUEo6DEFSxW8Xgs7qUMaajVPD+1XcTHuXeqGczJW9PFisVgEk77hme7Wg2aL6nz6KyuF1Kct88XnFmpxUVP+LdgYVsu4Nk/3b1htl5Bz7yTRCnVk6FVVltWNhuaczJQc9FRFNd+un88MVkpswdSxfi/lq8BZAFWYiGPU1evM8UcPwbjXZ+XpdnBhTJKDu4D5E6KLl5nAANoCtqHpYH0MkktQISyBzgG+aaO8bzIzEnYyy27nIvh7krr15HMfJLR+kydvcOHaR+u2GHjGJhPLQli0lT2nk1AGmGskTMNSAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NzHjDyh1Xrg6dXeVS7vBAi",
      "input": {
        "note": "Gripper settled at 0.035 on the pink bowl's wall. Lifting it high so it will clear the lavender bowl's rim.",
        "targets": {
          "right_pitch": 0.0,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01NzHjDyh1Xrg6dXeVS7vBAi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5247, 1.417, 1.0344, -0.3099, 0.3618, 0.2077, 0.0413]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1674 left_yaw=0.0053 left_pitch=-0.0545 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3847 right_y=0.1546 right_z=0.187 right_yaw=0.1 right_pitch=-0.068 right_roll=-0.0475 right_gripper=0.0413\nstate[joint_eff]: [-0.0889, -1.4701, 7.0359, 1.6972, -0.0904, -0.0806, -0.0122, 0.0752, -7.9111, 10.1538, 1.8535, 0.4615, 0.0952, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6470b4b528445851edc40b5d1e5d77821fa7cd498a47c5263d9489ef57a52168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a65005d8bcf2282e0c35ae97fa1f72da496d176b601fa347017208058c9bd0d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:48e639beba00e46b21dfcfce7b44ed65f377e55be95a1ad1064c5d2f9484efc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 5.094 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.506, 1.755, 0.6781, 0.2623, 0.3771, 0.2268, 0.9966]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0526 left_roll=-0.0055 left_gripper=0.9994 right_x=0.378 right_y=0.1392 right_z=0.0139 right_yaw=0.0523 right_pitch=-0.1734 right_roll=-0.0945 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.6752, 7.1316, 1.6679, -0.0464, -0.0464, -0.0122, -0.6359, -5.2171, 4.8479, 0.989, 0.1197, -0.1001, -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]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5095, 1.737, 0.6853, 0.3275, 0.3538, 0.2447, 0.0352]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0526 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3895 right_y=0.1516 right_z=0.0333 right_yaw=0.07 right_pitch=-0.0982 right_roll=-0.0266 right_gripper=0.0352\nstate[joint_eff]: [-0.0479, -1.4154, 7.1316, 1.6825, -0.0708, -0.0806, -0.0122, -0.294, -5.7504, 4.6564, 0.5446, 0.5201, -0.5592, 0.7155]",
      "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]: [-0.0196, 0.8249, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5247, 1.417, 1.0344, -0.3099, 0.3618, 0.2077, 0.0413]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1674 left_yaw=0.0053 left_pitch=-0.0545 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3847 right_y=0.1546 right_z=0.187 right_yaw=0.1 right_pitch=-0.068 right_roll=-0.0475 right_gripper=0.0413\nstate[joint_eff]: [-0.0889, -1.4701, 7.0359, 1.6972, -0.0904, -0.0806, -0.0122, 0.0752, -7.9111, 10.1538, 1.8535, 0.4615, 0.0952, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6470b4b528445851edc40b5d1e5d77821fa7cd498a47c5263d9489ef57a52168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a65005d8bcf2282e0c35ae97fa1f72da496d176b601fa347017208058c9bd0d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48e639beba00e46b21dfcfce7b44ed65f377e55be95a1ad1064c5d2f9484efc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgQcKEAgSGAI4AUIIdGhpbmtpbmcSDHcZfFhiIjAh7Xya1hoMNSl4Hs3ripiTDpEtIjDL4evcZOXtNLqG08J+fLPRkqq4uPj9JGlN7jDS+1WO0tT1ymhef3qlKx6lnjZzz+kqngag8r0APK/MmDs7sBldJhz5vTujb+qWzudB5SP/JKJGGJEJ+moVC0q8a5lBNDsaifC+1kqpBuGUNeriJ90EuhJlzx/ykb7HaTFKQEd+Vs+98qdQJvR6vAeYnQoqfr3+qVjeDfWurb2jDiOhHtS9FdxYkFEKNEEM7WUi6Eo5nEjs9KbED/6EI1FcT2nwUjrQVblFlqDL8Jko2NIo20rUBfqob9l0YQU4XV4SfImvc2t9MXa4qSy111/TWGkEXwjm7KSPWdFQlvw1ECGs0K1+kj33/NteF42OhM7VPGuTkrkSGisvpfXOtjqiBbjehfcGQuNk8vIw4wtTr9yWiodx6un4hHp4e9tUDkDKRFQwKZSHsHOYMq3Qy6nP0Z07n8TIJHhQAm0vwsijZzQ3TpQW6vS+nacdgVM4aaCBIauTHCsMf2LfV4dv0/GOy9/4+UWLLZVXZn9zDUFCt9kcy337qTjx/HsVz7Mcn4MyMr/6Qt1SgqYHsxbmndqk7LwnUNyXAdivMpVkvekaGlWztrgXe62p+F6IHTs1cAgmBqDHO23S3aHIflmqPRWdftxUIIsLBYoOg+ayPsQis9BpUSGuxsskFvgFVItsQkL1q4wxZSVZ+wuLPAqXRW27U9hOJJc5x/G7yL9Nb5D/qW3XkZKgDoLlyWiXnJDsS3/lxcLU297A1o9bHUauF7ndbzjgLG9ghdR7QiktX6PgQ4CRJ68IIkfqg8WQ0FUfXcDjo13jvbvigQOAEXEViD63MfjWdOuTUmGnzzmx/s55hl6RghHRFcd+SaGanLN2VMkztt0JR3SJLhSL6GKkPwtdl7BQsKQtX15zdR12Kkgpwqqfb70oUZEewvX+eK4M/DbF4Rx/2/Pc9nhd1dt2gVFcuzy5fIsCjY86bzuFwyQZFrDj3vFd9pMHrb7Cgdq0RRMAW/96A8vWn2kiBepVkGQnndWM25BhXBacPtYjwYYa+7//EEeSFii3QDkn+zyGQAS5nF6nUPdxQDStR6cjgGFJk8puMnPCEI3FjH+4MrY8C9D5u4zguZNfvvf5fKFMDVM207LdNp0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UwqPGCw3Dw3vqnpeqsSDCj",
      "input": {
        "note": "The pink bowl is lifted and held. It was about 11 cm right of the lavender bowl, so I'm moving it 11 cm left to sit over the lavender bowl.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.4,
          "right_y": 0.265,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UwqPGCw3Dw3vqnpeqsSDCj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8253, 0.6075, -0.4084, -0.0227, -0.0494, 0.9994, 0.775, 1.6951, 1.2781, -0.3634, 0.5358, 0.3244, 0.0422]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1672 left_yaw=0.0053 left_pitch=-0.0553 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3884 right_y=0.2592 right_z=0.1736 right_yaw=0.1469 right_pitch=-0.0803 right_roll=-0.0994 right_gripper=0.0422\nstate[joint_eff]: [-0.0479, -1.1145, 7.0085, 1.663, -0.0464, -0.0415, -0.0122, 0.2256, -8.7316, 10.2632, 1.7216, 0.3932, 0.2906, 0.9744]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7851f2b2d7b7d18d9d11292061c77adfafdb3dbe6462d7d7635b16382236eded",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:472fdb82365d7371a0e47e0e05814035718d1bf5e8d560b6e2e2283c6b5428dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6c899bd2be3d6d8ccd8a073b55bc4e1d5941aefb822ec5966cf4e880e3e057a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 4.518 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5095, 1.737, 0.6853, 0.3275, 0.3538, 0.2447, 0.0352]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0526 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3895 right_y=0.1516 right_z=0.0333 right_yaw=0.07 right_pitch=-0.0982 right_roll=-0.0266 right_gripper=0.0352\nstate[joint_eff]: [-0.0479, -1.4154, 7.1316, 1.6825, -0.0708, -0.0806, -0.0122, -0.294, -5.7504, 4.6564, 0.5446, 0.5201, -0.5592, 0.7155]",
      "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]: [-0.0196, 0.8249, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5247, 1.417, 1.0344, -0.3099, 0.3618, 0.2077, 0.0413]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1674 left_yaw=0.0053 left_pitch=-0.0545 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3847 right_y=0.1546 right_z=0.187 right_yaw=0.1 right_pitch=-0.068 right_roll=-0.0475 right_gripper=0.0413\nstate[joint_eff]: [-0.0889, -1.4701, 7.0359, 1.6972, -0.0904, -0.0806, -0.0122, 0.0752, -7.9111, 10.1538, 1.8535, 0.4615, 0.0952, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8253, 0.6075, -0.4084, -0.0227, -0.0494, 0.9994, 0.775, 1.6951, 1.2781, -0.3634, 0.5358, 0.3244, 0.0422]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1672 left_yaw=0.0053 left_pitch=-0.0553 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3884 right_y=0.2592 right_z=0.1736 right_yaw=0.1469 right_pitch=-0.0803 right_roll=-0.0994 right_gripper=0.0422\nstate[joint_eff]: [-0.0479, -1.1145, 7.0085, 1.663, -0.0464, -0.0415, -0.0122, 0.2256, -8.7316, 10.2632, 1.7216, 0.3932, 0.2906, 0.9744]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7851f2b2d7b7d18d9d11292061c77adfafdb3dbe6462d7d7635b16382236eded",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:472fdb82365d7371a0e47e0e05814035718d1bf5e8d560b6e2e2283c6b5428dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c899bd2be3d6d8ccd8a073b55bc4e1d5941aefb822ec5966cf4e880e3e057a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoggKEAgSGAI4AUIIdGhpbmtpbmcSDEgzcarACoS37apr8hoMP6dXjB7sPwajeM/ZIjBX+fp2xTWv05pbTRA9kw8y7GT5dCz26kOEB4SA/7tWEzxxucV9zxahh7LJJKxV07UqvwcXVRsAhSN5Y5ZIbYAQkZ6D7K3FSkR90E3LcKYgIIG1YoWWa/d8BFqO01Izr/RpfN1ox9ZvsT7zOr96ikr6VNfrcscbPZEYSlemxuEdkdZ7pcoiasoyMvrYPOECnwqxZsjATHChAtiRGXHx26MnwiYsF2askydyMT/2FWzNiFvre/RK1xcudyCbnXpCjc2IK7AUP1siFMwBgiqprLw2zwOfoBdeFxdpRZYuYZVTfUVMuD4EfiNZssZGu/J1WVbnEv6BMuQfAMp6lWWwtPy70GrNSnyPTdQxLPmToj4Y10txupYXJsFRA43hFWE6L4IF9z4uAl22ym880IVgM49ToNu3GWgM2KmDdDCS3qnIZLqMFddB1i+fXKv1JJiGuusvjpyhUyOOIjTH9lnacoXb87jO+ttF6k1UI2ZEvX4AaaxKwCU2sc0v3rWMICrzHOZqyM7bdx4gdh8xlfvL4uqSNgQFVLCRxEhvSU6bl6Cg6t4GZgu/WD0yzgu2EhmmQnXayTm7pgIObF9qPwBmgYdZ5KvcDJ2d/LIq5DbyCJDIvvOSSmAPGnhxZ69/buZqN1YBoMbOgeCVGaizREZxEX21w4M1FkSntta/pAwVI6jQMmPkKxVK22O8toDvd7/L1nMZZaaPOJ+psA3vEUaAtT0tnWR2AH0omGG/WulKFwOyLzBf71CxeJBFUYAtVigV+j3H6cHEQ6SUzRPnI6vuLHBpS4u9Ia9EXhO9Bxvmyzye1iGVhu+B6odO1Tq0GzBClj/3VtILcjxaB0WqLiRM9T18iknx2f4JXM58RwV5aOEQbG3NJgr5lNT5TgjN0JH/4tNXI8IwDR0WLKrnlP37eK2AVN05DQViIE4Jhg8l5j9PnJvon/2BvPgn6ghhZ3xxnNZtDjMXoKzNNNKaUxm+2bLjMI+0qVUryKv+gwBOJcHw4s1gJln5kmrhJkBen3LbrCiURl+gbchJvlEzqtW+zSrRwMuNAT9J44J+AicD+vCnBHuw9BSiEEzQ/K2Z0H530rfVS4LMR4wY7nEoYXpBp4MHfaBVPrf3pMta5yEkBdwZXXQRJ1EBbt+M5yRvdBNcQWqiliOoLTa/oNG/Xzy3rxyyec1RcE2GnlAWWupmAi1XsswcqEd+XMopxrW8HT68N8e66w2uXF+lEH+jua+xwEGSEQYlByCvDEJRZ2AiRLD22XUXPJxmFCeZp/21m42T/+xOxrP6Bsi+L8nMlcX6CyTAiUJW4hYoo+Yj0FudMkf5i8qGXMdP60jx58Lj7uwxO9M14RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FAPTRkBLuJ867zYDg7LzZ5",
      "input": {
        "note": "In the top view the pink bowl now sits right over the lavender bowl. Lowering it in until it makes contact.",
        "targets": {
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01FAPTRkBLuJ867zYDg7LzZ5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.4076, -0.0227, -0.0494, 0.9994, 0.7769, 1.8256, 1.0283, -0.036, 0.5346, 0.321, 0.046]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1669 left_yaw=0.0053 left_pitch=-0.056 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3815 right_y=0.2539 right_z=0.0699 right_yaw=0.1483 right_pitch=-0.124 right_roll=-0.1328 right_gripper=0.046\nstate[joint_eff]: [0.0068, -1.5795, 7.1726, 1.7021, -0.0513, -0.0415, -0.0122, -0.3897, -8.3077, 6.0103, 1.7314, 0.1538, 0.0415, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4497403728df6e49ec6672b370d906b1ff0c807962b52b0b7404f6ea2b5d5b5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:362de134f2d1fb59d886666da2402bd596317dff74f12315ecb6d96487360ac5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:885156bfe9128fbacc93ed6d506b0cee6ba67c72d61b657ee3aed1dc175e83f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 8.428 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.5247, 1.417, 1.0344, -0.3099, 0.3618, 0.2077, 0.0413]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1674 left_yaw=0.0053 left_pitch=-0.0545 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3847 right_y=0.1546 right_z=0.187 right_yaw=0.1 right_pitch=-0.068 right_roll=-0.0475 right_gripper=0.0413\nstate[joint_eff]: [-0.0889, -1.4701, 7.0359, 1.6972, -0.0904, -0.0806, -0.0122, 0.0752, -7.9111, 10.1538, 1.8535, 0.4615, 0.0952, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8253, 0.6075, -0.4084, -0.0227, -0.0494, 0.9994, 0.775, 1.6951, 1.2781, -0.3634, 0.5358, 0.3244, 0.0422]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1672 left_yaw=0.0053 left_pitch=-0.0553 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3884 right_y=0.2592 right_z=0.1736 right_yaw=0.1469 right_pitch=-0.0803 right_roll=-0.0994 right_gripper=0.0422\nstate[joint_eff]: [-0.0479, -1.1145, 7.0085, 1.663, -0.0464, -0.0415, -0.0122, 0.2256, -8.7316, 10.2632, 1.7216, 0.3932, 0.2906, 0.9744]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.4076, -0.0227, -0.0494, 0.9994, 0.7769, 1.8256, 1.0283, -0.036, 0.5346, 0.321, 0.046]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1669 left_yaw=0.0053 left_pitch=-0.056 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3815 right_y=0.2539 right_z=0.0699 right_yaw=0.1483 right_pitch=-0.124 right_roll=-0.1328 right_gripper=0.046\nstate[joint_eff]: [0.0068, -1.5795, 7.1726, 1.7021, -0.0513, -0.0415, -0.0122, -0.3897, -8.3077, 6.0103, 1.7314, 0.1538, 0.0415, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4497403728df6e49ec6672b370d906b1ff0c807962b52b0b7404f6ea2b5d5b5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:362de134f2d1fb59d886666da2402bd596317dff74f12315ecb6d96487360ac5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:885156bfe9128fbacc93ed6d506b0cee6ba67c72d61b657ee3aed1dc175e83f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8wYKEAgSGAI4AUIIdGhpbmtpbmcSDKAAGUVMS1XlTwSxTxoMaB0w+EP45xwAgx3XIjBs2/KlScA01mANrnPjZ+nIiD0BxLltgSf2nMjh4GS8u2/Ayp/A47K9aXew05+NejAqkAZkogzcwxF+tTpZpMMP3+0XdyLDTg8aEdX2I7HXr0plOjzgkNDl/1dtCzBlCLMtjufo5jlcqUpMb+7p9WdbEjrVofYW5rNpMfQP6zlz1e651dXAm5zXvmzhHiGGVErEGsV0eKF4QUYNScHMzH/qD1tlx4WlYitX85Stry+bS6YVzS1OX1QljjBtJfZOMXXjCYErCqFcw2w3ERrNn1o3ig2Ffi9FNkHzR5RQCAMutGdJM1nJXdZtSrJZT46/gZnUZqQPKEdt4zt32O705UOOwdPWmrQoquhn/S1zLaiu+EM+iyuaX8y3KBXsirZ52XEAEIQVGJW+VR9I/NGncazWHYX1jQvoC/gP5JvM0X8vrP0TPp6T9HY4H3rtg3Asylyw97JgBc+U7wKihdtZzk4/a5clZGbktTvxyXO1AO9JfJX6Gdea7tmrFw9KeXrNFeXf9KXz/43FzfEVzcLECEM86aQ1g79TiIN+buf5Mvh12Jn/TLeMVFj05rT3mfJe5YZXKM3p7GE/cFInCQuz0uOy9k1lxMA+avntL0qWDbzGUgJ9KWzpgaN7/rixaU1xOAA4ry8nkj7Ghoze24fElhq3XD53TzA+F8mXGfm4f2jpFLSfkTRvkg5TnEx1k7eshBQeD0L+FSZCHKBwhWZzbCqWitBxMkSz+cI8+yxTB1lHK1GB6xgR5V56nRaxE3rNSX/ag2kWhfL6aoHTf7qnOBGVBEHZOj8ArxHEMevt3dkjN0BDzNUQVWTjsEPH5LMy2lrK3PoJLu3LEdPUUTG8c9ziP2b0xVPE7a7BGRylQEScyU6WGVR4Im11lv2Ux+nws+W1aEw0JZjji/QLUEiKX2yI+Gax2a2CYByn4QK3BJ5/kIvfBx7bowjq6FHmdElOEbPLLAnV6ras+GFjg2n686EapAQmV/3qhum2m89z4UGDx5UFK+yTzrBrqHcliq9v8TiDsBcJiCCP+h0FwWu7vf9SUp7ZoSZzZ2KJMEbD83s2U7msM8jXdqRoJdZ7qHVoot9l4+TTGXoD3Fd814XNmmqlIwL+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017DnfhoN5ZHL78uK9YMXGN2",
      "input": {
        "note": "The wrist view shows the pink bowl sitting down inside the lavender bowl. Releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017DnfhoN5ZHL78uK9YMXGN2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.7769, 1.8423, 1.0122, -0.0483, 0.5343, 0.3149, 0.9953]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1669 left_yaw=0.0053 left_pitch=-0.0564 left_roll=-0.0054 left_gripper=0.9994 right_x=0.3759 right_y=0.2485 right_z=0.0552 right_yaw=0.1481 right_pitch=-0.161 right_roll=-0.1639 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.4291, 7.2137, 1.7021, -0.0562, -0.0806, -0.0122, -0.212, -10.4137, 7.1179, 1.4921, 0.1783, -0.0073, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f70c0b67aa16d8909578298e3bfeb6503dd0c826ab8a1fb15265f30abd39607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26e1fcd3bb891e0006f27e96e0eb77d067c7d1f4d67aaedd1e8d9048f37c6f88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9cc44bc0ec14946c1cd337435b86ee9e71538184899f967c50d4368ad75e5b87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 15.08 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8253, 0.6075, -0.4084, -0.0227, -0.0494, 0.9994, 0.775, 1.6951, 1.2781, -0.3634, 0.5358, 0.3244, 0.0422]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1672 left_yaw=0.0053 left_pitch=-0.0553 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3884 right_y=0.2592 right_z=0.1736 right_yaw=0.1469 right_pitch=-0.0803 right_roll=-0.0994 right_gripper=0.0422\nstate[joint_eff]: [-0.0479, -1.1145, 7.0085, 1.663, -0.0464, -0.0415, -0.0122, 0.2256, -8.7316, 10.2632, 1.7216, 0.3932, 0.2906, 0.9744]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.4076, -0.0227, -0.0494, 0.9994, 0.7769, 1.8256, 1.0283, -0.036, 0.5346, 0.321, 0.046]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1669 left_yaw=0.0053 left_pitch=-0.056 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3815 right_y=0.2539 right_z=0.0699 right_yaw=0.1483 right_pitch=-0.124 right_roll=-0.1328 right_gripper=0.046\nstate[joint_eff]: [0.0068, -1.5795, 7.1726, 1.7021, -0.0513, -0.0415, -0.0122, -0.3897, -8.3077, 6.0103, 1.7314, 0.1538, 0.0415, 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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.7769, 1.8423, 1.0122, -0.0483, 0.5343, 0.3149, 0.9953]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1669 left_yaw=0.0053 left_pitch=-0.0564 left_roll=-0.0054 left_gripper=0.9994 right_x=0.3759 right_y=0.2485 right_z=0.0552 right_yaw=0.1481 right_pitch=-0.161 right_roll=-0.1639 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.4291, 7.2137, 1.7021, -0.0562, -0.0806, -0.0122, -0.212, -10.4137, 7.1179, 1.4921, 0.1783, -0.0073, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f70c0b67aa16d8909578298e3bfeb6503dd0c826ab8a1fb15265f30abd39607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26e1fcd3bb891e0006f27e96e0eb77d067c7d1f4d67aaedd1e8d9048f37c6f88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cc44bc0ec14946c1cd337435b86ee9e71538184899f967c50d4368ad75e5b87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSkQ4KEAgSGAI4AUIIdGhpbmtpbmcSDD2SFl+QdiOExyEcUxoMMjdWbBThc7ytPvb2IjBU9RDq4FuNXqpBGZOgdh87uSaQxnBOqDZyiRU9s70hLxhdz4/0KgUCpdayoRJOpRkqrg0/CvUSPMVpri/57nilCYexK/wA27a2TLp1npK2VI0Fb/Km0IiLI1M83WcXiQQjC07LEXLU2oZY1+mFpT686K3UWt0YVOidlKC8s5Mui3W1pLh7CrQ4FixMz36vWGjEmi0Jc0kxDgGY05ocZTpXDcZmfPWCFQFHy6HzmFqtayX55+hf1UYnKclE1oT3sFBhiPfAZOC8lGBz+N7ia9o1dasnolrV99S8qIj75y6nPBDIQpcHby31vELLMNsnh1O/GZYm8VJ6Es1w/mYcn9OrUfWxRqxEKgylpLZOHSXEP6bRywzHHUJJfHsUXYFjv0sEa+UPKWrGkP099U0ADSLhc60Ovu79Z0GLWiAffRrhB+zanb8tqe6/eRslYyEIpBn/9fio+KLGRCYqIS1vILDRpS6AVLlFn9UC0tQlNMlO1mWURHh/aJU9Gx6ZGr6ILoH4r0T5yfrCk0TIxqP7ZSQyvGGwprXw8ezk/9mas8I6dl7vH6PBDnNBISzwU1hjX0o7BW8pEySpuSjPQm3OxSo2wLldCgxbi9TdX3dC6VgJjDd7j0oT9+LUZzj2VXgrWnnwb7h5ilPqI/yKTFNi0D7+KLAGyi7u2v0xFGUlw0+V9wc8YGmbiVyOODdf/xQXyZrKGxIzfMikDrHmPLUcS8L78hlAH6U8CLsacU4DfOqLoH0R5Q1SFKBHegR0BtoHQsP2BMJys1UOhv2YqaOgrELXb1BWmYQMNZKSL7crxLdQTfjroIrZsn0Dk5W70D5q0cEmsMoc5K8AT+zVOXJBCH+WAsq9zBZVK43M/e6NoWkae0RP/vDWXQ9n50h8aD72UEBiWQhAddlxgRLZuiagS3OX/e73nYMnH+CEYKk4RV5JaWGGG9E4gXTRjhgdCYJ0UlTPfb7JCyYwvx6I1n0cFXVEbRXGE1X5Bw0VQLaQeBLKSwRiMK57XFKHRF0qDcp9SsxenJRbotZaWRhSV3ZUVWEyHkgwf+GxDeD9EMuZUX/ufJkA28DlZF8RDC3FE2UxUgMTNjM6VihCLebA4UGXUVbIFWri5XscP0v8//BM2SH0j4ST3l+lIVc6/m7aGJlmOZYg1KWvNLl3cMhFfbbUBnlZdtoQyzqw843KQkJigpDwHeXUMzFTxcmxsuFTafdwq5HGZ6Dk5R9HYi7BIkIvZ5mI97YXEAseNy7l+wFaTgi1tqSDXd4CQq5fJ4mm4WmzHRpp3oL9DLrvt2Q23MLGN8wG/OSOnYJP/7H+7pybH5qThcrL8Fww3BCXdp5aV1obvlXrI6rQEWJKLipOvcIxWZNj6CbdxEajG0hQ4iCNtbSQUEn8ukifYHrx/vkcvhrN7Ju6Khjgmm2ksoZ4xBZCyY8k6mr097jali8cF9bRn/+anCcltbA88kF5J8G+gamov/cZKWUCrvitUzoOcQ8XWyRC3tVZsgHEX8GWrKgqiVO/QyQ/gxvJabcc73x/km3p+K0SWdLJZU7Nt2tdf65ymi86vpG91t2DeOpuJrTbF9z/0EIo9Pt13TO4vZGscOrwBNYlFOQGWo7aWRgRHk5C2o384QhM1hUvb4I4hQFjIYieEimGRInT79wR4kjlzGP4xJF8V/tzfGAKeGQ5qgym9NEL2RxUc174QGT3ct73FNnv8V+8thtjB8X/0yf+pd3C5t+/T71J9qYmp9oY8SZmYIAnARMkjfff+TZolVgPFheW0k/ZFcjENYoJ6XJknaM3TUnQQ758tLDev0RCYCY0Jao1Re4z+NO9bp2SxgCldDIrow+BKzf61AkwHVEOPQFnKZyMoSNIjbITEfvD3yf8wmchj2BI/LrlCLhab68LamQr6/8vmo3l0jkiXjk8aOPVm93WHAoVyvhLT51UPku3RO14UnCnBDdYoYiO6yImtTz82VXfPf9R9Pjbsw0Q4TOq/38DCLwE9ice4/TsOgpdcmD0ZaYJJ+/E+LNdHq/LTtUn8TBb0DWhge8BNobwemyEN7YNSXkBOZh8vASOTLsMbGdbKX0VBizZP80Hbln14dHBLjBcemUJkl4BQ4a1Pdd0qkUL+u0I89lllJGjtYyNMTK2shG6ek5drOTLWza8/v0+yffV51W7pAvUw+XQ6rKlQ73LPcxa5C5GuyXRvnPUTr3Y+kD2+5jq6NNlnC2KU5ZS8Kj3femPRz/8kbJ76E/eLLos1MalO6eJyFyoEzrzaK1B1efkIg3I46nhdsZ7aIfgLqW2en4nTWYlebecv5RiMEXTn0lVgir8QATQb60tHzkGirTh61X3vZS2FcZE1RdYecwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ge5vGUEe85YDDCkKiNM7Wn",
      "input": {
        "note": "Pink is now nested in the lavender bowl. Next I'm moving the right arm out of the way and bringing the left arm over the white bowl's left wall.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.16,
          "left_z": 0.12,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01Ge5vGUEe85YDDCkKiNM7Wn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5644, 1.5623, 0.8616, -0.0731, -0.4351, -0.3908, 0.9994, 0.3145, 0.8909, 0.6918, -0.4088, 0.2897, 0.1623, 0.9963]\nstate[eef_state]: left_x=0.3869 left_y=-0.1526 left_z=0.1031 left_yaw=-0.0091 left_pitch=-0.116 left_roll=0.0199 left_gripper=0.9994 right_x=0.3023 right_y=0.0491 right_z=0.1911 right_yaw=-0.0254 right_pitch=-0.0065 right_roll=-0.0126 right_gripper=0.9963\nstate[joint_eff]: [-0.4171, -7.1726, 8.8821, 1.6142, -0.3053, -0.1001, -0.0122, -0.1162, -1.6342, 8.7316, 1.7949, 0.0317, 0.0269, 0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:766451b1fab4382758977fb725d340a027701a104ed7f44f06202d28df091116",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b7424c5cb59d187a75ad9f2e55e902773af8042b50e19a27c6d8208d7bbcedb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94c7690d4054f1281ec7e7c1a89da2a7e761b93d64d601fbee5eb437b2bfe234",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 3.258 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.4076, -0.0227, -0.0494, 0.9994, 0.7769, 1.8256, 1.0283, -0.036, 0.5346, 0.321, 0.046]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1669 left_yaw=0.0053 left_pitch=-0.056 left_roll=-0.0055 left_gripper=0.9994 right_x=0.3815 right_y=0.2539 right_z=0.0699 right_yaw=0.1483 right_pitch=-0.124 right_roll=-0.1328 right_gripper=0.046\nstate[joint_eff]: [0.0068, -1.5795, 7.1726, 1.7021, -0.0513, -0.0415, -0.0122, -0.3897, -8.3077, 6.0103, 1.7314, 0.1538, 0.0415, 0.652]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8268, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.7769, 1.8423, 1.0122, -0.0483, 0.5343, 0.3149, 0.9953]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1669 left_yaw=0.0053 left_pitch=-0.0564 left_roll=-0.0054 left_gripper=0.9994 right_x=0.3759 right_y=0.2485 right_z=0.0552 right_yaw=0.1481 right_pitch=-0.161 right_roll=-0.1639 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.4291, 7.2137, 1.7021, -0.0562, -0.0806, -0.0122, -0.212, -10.4137, 7.1179, 1.4921, 0.1783, -0.0073, -0.1978]",
      "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]: [-0.5644, 1.5623, 0.8616, -0.0731, -0.4351, -0.3908, 0.9994, 0.3145, 0.8909, 0.6918, -0.4088, 0.2897, 0.1623, 0.9963]\nstate[eef_state]: left_x=0.3869 left_y=-0.1526 left_z=0.1031 left_yaw=-0.0091 left_pitch=-0.116 left_roll=0.0199 left_gripper=0.9994 right_x=0.3023 right_y=0.0491 right_z=0.1911 right_yaw=-0.0254 right_pitch=-0.0065 right_roll=-0.0126 right_gripper=0.9963\nstate[joint_eff]: [-0.4171, -7.1726, 8.8821, 1.6142, -0.3053, -0.1001, -0.0122, -0.1162, -1.6342, 8.7316, 1.7949, 0.0317, 0.0269, 0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:766451b1fab4382758977fb725d340a027701a104ed7f44f06202d28df091116",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b7424c5cb59d187a75ad9f2e55e902773af8042b50e19a27c6d8208d7bbcedb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94c7690d4054f1281ec7e7c1a89da2a7e761b93d64d601fbee5eb437b2bfe234",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kd4Gzq2nsJctLB7FVh4Ve8",
      "input": {
        "note": "The pink bowl is nested in one bowl (bottom right of the top view), and there are two more bowls: lavender (top centre) and grey (under the left gripper). The grey bowl's right wall is between the left jaws, so I'm descending to grasp it.",
        "targets": {
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Kd4Gzq2nsJctLB7FVh4Ve8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.8023, 0.7013, 0.2768, -0.4427, -0.3923, 0.9994, 0.3141, 0.8959, 0.6895, -0.4362, 0.2756, 0.1493, 0.9965]\nstate[eef_state]: left_x=0.3806 left_y=-0.1492 left_z=0.0092 left_yaw=-0.0029 left_pitch=-0.1557 left_roll=0.0504 left_gripper=0.9994 right_x=0.2985 right_y=0.0502 right_z=0.1829 right_yaw=-0.0074 right_pitch=-0.0422 right_roll=-0.0268 right_gripper=0.9965\nstate[joint_eff]: [0.2667, -7.4462, 4.465, 1.6239, -0.1001, -0.022, -0.0122, -0.0889, -2.2632, 7.1863, 1.9023, 0.1636, 0.1148, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b90f191bd05e03b2964004cc1dacaeaf5c58e99fd7beec1b08480c42734f6cfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51f8bcbc37aaee74118c1b08f2bcddf8076178707f2c1dc454ebd9dc962109f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f38e83316b0499b4affbbe69336404ae6dfacc84f38972d478679b18522b5a33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 9.206 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.408, -0.0227, -0.0494, 0.9994, 0.7769, 1.8423, 1.0122, -0.0483, 0.5343, 0.3149, 0.9953]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1669 left_yaw=0.0053 left_pitch=-0.0564 left_roll=-0.0054 left_gripper=0.9994 right_x=0.3759 right_y=0.2485 right_z=0.0552 right_yaw=0.1481 right_pitch=-0.161 right_roll=-0.1639 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.4291, 7.2137, 1.7021, -0.0562, -0.0806, -0.0122, -0.212, -10.4137, 7.1179, 1.4921, 0.1783, -0.0073, -0.1978]",
      "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]: [-0.5644, 1.5623, 0.8616, -0.0731, -0.4351, -0.3908, 0.9994, 0.3145, 0.8909, 0.6918, -0.4088, 0.2897, 0.1623, 0.9963]\nstate[eef_state]: left_x=0.3869 left_y=-0.1526 left_z=0.1031 left_yaw=-0.0091 left_pitch=-0.116 left_roll=0.0199 left_gripper=0.9994 right_x=0.3023 right_y=0.0491 right_z=0.1911 right_yaw=-0.0254 right_pitch=-0.0065 right_roll=-0.0126 right_gripper=0.9963\nstate[joint_eff]: [-0.4171, -7.1726, 8.8821, 1.6142, -0.3053, -0.1001, -0.0122, -0.1162, -1.6342, 8.7316, 1.7949, 0.0317, 0.0269, 0.105]",
      "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]: [-0.5686, 1.8023, 0.7013, 0.2768, -0.4427, -0.3923, 0.9994, 0.3141, 0.8959, 0.6895, -0.4362, 0.2756, 0.1493, 0.9965]\nstate[eef_state]: left_x=0.3806 left_y=-0.1492 left_z=0.0092 left_yaw=-0.0029 left_pitch=-0.1557 left_roll=0.0504 left_gripper=0.9994 right_x=0.2985 right_y=0.0502 right_z=0.1829 right_yaw=-0.0074 right_pitch=-0.0422 right_roll=-0.0268 right_gripper=0.9965\nstate[joint_eff]: [0.2667, -7.4462, 4.465, 1.6239, -0.1001, -0.022, -0.0122, -0.0889, -2.2632, 7.1863, 1.9023, 0.1636, 0.1148, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b90f191bd05e03b2964004cc1dacaeaf5c58e99fd7beec1b08480c42734f6cfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51f8bcbc37aaee74118c1b08f2bcddf8076178707f2c1dc454ebd9dc962109f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f38e83316b0499b4affbbe69336404ae6dfacc84f38972d478679b18522b5a33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3wYKEAgSGAI4AUIIdGhpbmtpbmcSDBbuRP54mxVkjJZ7rhoMCDTCb5knuiPLQl/LIjDcEp1uwAZEhaJMZiwu0jfpc8ptkbI//nOMhWMRk/BQcWEYlye1DHJpq5YFlbQjj00q/AU7L82XFzAJW1Q5zr8VrqZbyPGM0NpQeEPbi+Vz+DCU/99J1YkYqWZQY2lTy0azmC51XksYW42s4EpVRAonV8uoZpNxWDDNmef5lee/CQay1tGBaAW4idewDBahSd74GpBbbj7ETueOCYlQagOFVmwIjnLih8UtdxnomxdaNz4ecRwZi+1JTLtPQAyiaWRNWjradOhPLAS1Apg8QPQkMao1lsuPdgs2tKWO8zos91a2vDzVdBpXAzGWty/g0P+6Tz4yE3svWGsIaAy0ZlXRnsLE0VY0Fgsz8aftkSpPQwbIZ126caiIwwktREjyXHgP1RhvojnpYJjLqZ22VGz9UQHX/EeDkINBVTEWoyQbe3n14vO+fm6iI4H1HagykO4fqKcJWv4JVT+zen575mqfmoPONX06/iDKHSfd4gkcizBDA773nYna4dZ2ToPomo0xNYbIsK7ndgQz9W2hfMzEXQ3AX5207hyMZ8+8OXAO/Bsa2oJHehO4mwngm+wrYLxm8ujp9MbK1G1q8cGwj07JYCWGf8K4d57ngeVs4qhMgKJlsc01WxJTyG5Upjy5oRRgHFn50cdU0OzSCDAVIyFJuRRsMs8PnbXXbCwRZPEm9qWg0s8RSoo5/0jLdaScKLKE/FE/nUSfs+NerWNhwwZ/qhBTuVhnBU33kxUQVr/dTXjMdM8tsYLC+xadWnMsplWTWrXLZH2to/6sXik5oTFhcFhm/JIlGXjrS8WGIPae3fHxNTUSimxVd1hpbeH7Ba4XfAD5BXVMWbdPIdN+4tHucv8Rw7Ky143TqTwlOQghSnEbirNqr+9yY0C6xj5ehH2JKoGODPlF61j7ybeGd/DSfxfqUhYyfdeeWE464jt34ug1T2Rc3/g0myjp7Rl0ElGcGoTvMqwMV813ZDNBAIvU+14ma7eiFZhkE6xEAXQOcFBEKbhM+X2/WEr5LnzvQlyEfh46wPmp5kMdRCzLRkwNhFJbxaKcUL2UCAdcp54lUaIUMObfYFdfPmbvxSVt+hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VDBdHAVtMrA2c6Bk3k2aNR",
      "input": {
        "note": "The grey bowl's wall is between the left jaws at table level. Closing to grip it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VDBdHAVtMrA2c6Bk3k2aNR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.564, 1.7832, 0.709, 0.3298, -0.527, -0.3565, 0.0226, 0.3141, 0.8963, 0.6895, -0.445, 0.2745, 0.1478, 0.9965]\nstate[eef_state]: left_x=0.3951 left_y=-0.1406 left_z=0.0325 left_yaw=0.0426 left_pitch=-0.0579 left_roll=0.0841 left_gripper=0.0226 right_x=0.2973 right_y=0.05 right_z=0.1811 right_yaw=-0.0058 right_pitch=-0.0511 right_roll=-0.0303 right_gripper=0.9965\nstate[joint_eff]: [-0.7043, -5.5453, 4.8342, 0.8571, 1.3016, -0.6178, 1.326, -0.1436, -1.3333, 6.9812, 1.6874, 0.0366, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4ead7d510063078ee66ffea093098df8d7f0650c35a692f239de2c7d20b64e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c25a15e2ebee48ccf80f71f197ca3c18df3bf5218ea939cc91495f2f0ce2744",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e87e1d423e4872ba13b6813614981277f600ad9270a652c3bd713e81077ea43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 3.482 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5644, 1.5623, 0.8616, -0.0731, -0.4351, -0.3908, 0.9994, 0.3145, 0.8909, 0.6918, -0.4088, 0.2897, 0.1623, 0.9963]\nstate[eef_state]: left_x=0.3869 left_y=-0.1526 left_z=0.1031 left_yaw=-0.0091 left_pitch=-0.116 left_roll=0.0199 left_gripper=0.9994 right_x=0.3023 right_y=0.0491 right_z=0.1911 right_yaw=-0.0254 right_pitch=-0.0065 right_roll=-0.0126 right_gripper=0.9963\nstate[joint_eff]: [-0.4171, -7.1726, 8.8821, 1.6142, -0.3053, -0.1001, -0.0122, -0.1162, -1.6342, 8.7316, 1.7949, 0.0317, 0.0269, 0.105]",
      "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]: [-0.5686, 1.8023, 0.7013, 0.2768, -0.4427, -0.3923, 0.9994, 0.3141, 0.8959, 0.6895, -0.4362, 0.2756, 0.1493, 0.9965]\nstate[eef_state]: left_x=0.3806 left_y=-0.1492 left_z=0.0092 left_yaw=-0.0029 left_pitch=-0.1557 left_roll=0.0504 left_gripper=0.9994 right_x=0.2985 right_y=0.0502 right_z=0.1829 right_yaw=-0.0074 right_pitch=-0.0422 right_roll=-0.0268 right_gripper=0.9965\nstate[joint_eff]: [0.2667, -7.4462, 4.465, 1.6239, -0.1001, -0.022, -0.0122, -0.0889, -2.2632, 7.1863, 1.9023, 0.1636, 0.1148, 0.0024]",
      "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]: [-0.564, 1.7832, 0.709, 0.3298, -0.527, -0.3565, 0.0226, 0.3141, 0.8963, 0.6895, -0.445, 0.2745, 0.1478, 0.9965]\nstate[eef_state]: left_x=0.3951 left_y=-0.1406 left_z=0.0325 left_yaw=0.0426 left_pitch=-0.0579 left_roll=0.0841 left_gripper=0.0226 right_x=0.2973 right_y=0.05 right_z=0.1811 right_yaw=-0.0058 right_pitch=-0.0511 right_roll=-0.0303 right_gripper=0.9965\nstate[joint_eff]: [-0.7043, -5.5453, 4.8342, 0.8571, 1.3016, -0.6178, 1.326, -0.1436, -1.3333, 6.9812, 1.6874, 0.0366, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4ead7d510063078ee66ffea093098df8d7f0650c35a692f239de2c7d20b64e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c25a15e2ebee48ccf80f71f197ca3c18df3bf5218ea939cc91495f2f0ce2744",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e87e1d423e4872ba13b6813614981277f600ad9270a652c3bd713e81077ea43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TH6J4zXE9qHjLpmm3u92bh",
      "input": {
        "note": "Gripper settled on the grey bowl's thin wall. Lifting and carrying it right so its centre sits over the lavender bowl.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.43,
          "left_y": -0.28,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01TH6J4zXE9qHjLpmm3u92bh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.786, 1.845, 1.47, -0.366, -0.6296, -0.5346, 0.0288, 0.3141, 0.8959, 0.6895, -0.4458, 0.2749, 0.1448, 0.9966]\nstate[eef_state]: left_x=0.4285 left_y=-0.2767 left_z=0.1887 left_yaw=-0.006 left_pitch=-0.0064 left_roll=-0.0116 left_gripper=0.0288 right_x=0.2972 right_y=0.0499 right_z=0.1811 right_yaw=-0.0044 right_pitch=-0.0515 right_roll=-0.0331 right_gripper=0.9966\nstate[joint_eff]: [-0.4855, -9.388, 9.4701, 1.3553, -0.5006, 0.0171, 1.033, 0.0068, -1.8256, 7.0085, 1.619, 0.0611, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:618899ded0de44e4ec79238d9e1e757d7167e3586496dc2d258ffc4c090f5d9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10de1ad05c31ea0c6deb19ac52c81d3669cbecaab5d9c2d90ad0f901909b9a4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b64c8fe05b9b513917646553a1ff860759bbf9d47b644a0197e5c97eaee0ccd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 4.636 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.8023, 0.7013, 0.2768, -0.4427, -0.3923, 0.9994, 0.3141, 0.8959, 0.6895, -0.4362, 0.2756, 0.1493, 0.9965]\nstate[eef_state]: left_x=0.3806 left_y=-0.1492 left_z=0.0092 left_yaw=-0.0029 left_pitch=-0.1557 left_roll=0.0504 left_gripper=0.9994 right_x=0.2985 right_y=0.0502 right_z=0.1829 right_yaw=-0.0074 right_pitch=-0.0422 right_roll=-0.0268 right_gripper=0.9965\nstate[joint_eff]: [0.2667, -7.4462, 4.465, 1.6239, -0.1001, -0.022, -0.0122, -0.0889, -2.2632, 7.1863, 1.9023, 0.1636, 0.1148, 0.0024]",
      "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]: [-0.564, 1.7832, 0.709, 0.3298, -0.527, -0.3565, 0.0226, 0.3141, 0.8963, 0.6895, -0.445, 0.2745, 0.1478, 0.9965]\nstate[eef_state]: left_x=0.3951 left_y=-0.1406 left_z=0.0325 left_yaw=0.0426 left_pitch=-0.0579 left_roll=0.0841 left_gripper=0.0226 right_x=0.2973 right_y=0.05 right_z=0.1811 right_yaw=-0.0058 right_pitch=-0.0511 right_roll=-0.0303 right_gripper=0.9965\nstate[joint_eff]: [-0.7043, -5.5453, 4.8342, 0.8571, 1.3016, -0.6178, 1.326, -0.1436, -1.3333, 6.9812, 1.6874, 0.0366, -0.0464, -0.0073]",
      "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]: [-0.786, 1.845, 1.47, -0.366, -0.6296, -0.5346, 0.0288, 0.3141, 0.8959, 0.6895, -0.4458, 0.2749, 0.1448, 0.9966]\nstate[eef_state]: left_x=0.4285 left_y=-0.2767 left_z=0.1887 left_yaw=-0.006 left_pitch=-0.0064 left_roll=-0.0116 left_gripper=0.0288 right_x=0.2972 right_y=0.0499 right_z=0.1811 right_yaw=-0.0044 right_pitch=-0.0515 right_roll=-0.0331 right_gripper=0.9966\nstate[joint_eff]: [-0.4855, -9.388, 9.4701, 1.3553, -0.5006, 0.0171, 1.033, 0.0068, -1.8256, 7.0085, 1.619, 0.0611, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:618899ded0de44e4ec79238d9e1e757d7167e3586496dc2d258ffc4c090f5d9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10de1ad05c31ea0c6deb19ac52c81d3669cbecaab5d9c2d90ad0f901909b9a4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b64c8fe05b9b513917646553a1ff860759bbf9d47b644a0197e5c97eaee0ccd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wYKEAgSGAI4AUIIdGhpbmtpbmcSDM79vknRs9ywxcDSLhoMZL+flsKDj033eamSIjDVdX0tMdhOQsgDu6AkQm+gAmiq+fXmLok8JRmhE1wC7rjvca5XIPMsG5ZDzmQTqXYqiAb0RUrQNV4yG86copjzhWrCN9Ob0VcgwIYbuOxZRyhiwutd8rW0oGI+zSZd4rLEKZz3zOK1r5EqePGZ6wyoB1wKf4TnJv0FiDfgaZEV65fjpzlcTXrL9VwI7Xa7W6K1dv3fWX3te96JqAXTBRxqIu69TYwhaPJ5jmp/yVXDSs/yJOZplZcKi8lwdtHAH7voUZU+oXPx1UepFtbPbE2bruaH+OP6oS5/QBW5ieY6QYrVBRWcoYHwB9tSnHw+QreSd3+Ihuk+HF4kmReJDubFHo1PfNR5z4q4FRpDejCDMVCPVcNTMjm73io9s0JXZzmvnvQ/Xd5a4O0v55/tJiDw4S0RTV2w/DDVzxSGqg8gHYM/XYC8WdlcDYL7kF6XJpHJUc+tG6+dh9RpPf+RNeIRyW9ZbkMtwK6rPY79kAmFsB3UiAQgSByXffD6O0Vxhlo9+KTq58QVlRVEwrlMIKZbiVcsABQy5uJ3O06gHXy9fseV9Fvq7uWd5zbvEZarNcG9Mf9CAH1p7B5ssj5Dst63PYaivJeDeR8N3JHVpouJscrtqOWTvh1VbTZtD5jfej2q8HUYOON0wWBQf43apv+pd7WRggbG+un87SocX2KC4s3Kdzu+2Njw7M9iBUb51iCQnIMSRXnjMv3ZCt6Qe+Sk7h6HmfMRJZ3noxhPO/ZVcc04uFHE4OFbLdHx8n3KpMEIvcCRiY7EgquRPofJpnb64Vb6xFlH+w7GxQNUrRYYNOqHClhlV9P//W67+cd/O1yUwpKEm/gGWikmKnm9qqOq9BNaSOADx4Gsk53hux/V/Af34Tm/MozmeWynzHv46zPXqtOcrvsPwyTrPTXkI0h0g2xvfSOR4bSBHdrloe3AL/73isXefflGBkbh4IiEhUxExsHrLOkeBdW1MR1ZcFOvkcGqC+F63qhHJT/LZcF00EGp5yeDjvNgrlu/qM71L/b6ysAwhB2yWcBRNtYYki2gOziGrDcbPnEFoZF0+Hmt4pQ3t9wvHiUc7WQg4F5r5uD7zxU3Qh00x+zzmRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ke96R5WNJwVps44yhroF1W",
      "input": {
        "note": "The grey bowl is carried directly above the lavender bowl (you can see lavender beneath it in the wrist view). Lowering it in.",
        "targets": {
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Ke96R5WNJwVps44yhroF1W",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.791, 1.9583, 1.2152, -0.0307, -0.6258, -0.5426, 0.0288, 0.3141, 0.8997, 0.6895, -0.4519, 0.2749, 0.1448, 0.9966]\nstate[eef_state]: left_x=0.423 left_y=-0.2755 left_z=0.086 left_yaw=-0.009 left_pitch=-0.0315 left_roll=0.003 left_gripper=0.0288 right_x=0.2966 right_y=0.0497 right_z=0.1789 right_yaw=-0.0046 right_pitch=-0.0609 right_roll=-0.0362 right_gripper=0.9966\nstate[joint_eff]: [0.3897, -8.9504, 5.559, 1.5946, -0.3101, 0.0366, 1.0281, -0.1846, -1.8393, 7.0496, 1.7216, 0.0513, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c432a3d5785a0925f86944cdaaf59ddb0558370dee25c31ac7cda9b7b239505b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a33fd27533332fffc1a85a4a46e7b20ddcb3de8b508b9f6e0dca7a741fea261",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e24ab8a4498072a909f9c8b4f18f392140dd31a2097a1133825b17597622cd9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
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call 35 attempt 0 · /messages · status 200 · 11.87 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.564, 1.7832, 0.709, 0.3298, -0.527, -0.3565, 0.0226, 0.3141, 0.8963, 0.6895, -0.445, 0.2745, 0.1478, 0.9965]\nstate[eef_state]: left_x=0.3951 left_y=-0.1406 left_z=0.0325 left_yaw=0.0426 left_pitch=-0.0579 left_roll=0.0841 left_gripper=0.0226 right_x=0.2973 right_y=0.05 right_z=0.1811 right_yaw=-0.0058 right_pitch=-0.0511 right_roll=-0.0303 right_gripper=0.9965\nstate[joint_eff]: [-0.7043, -5.5453, 4.8342, 0.8571, 1.3016, -0.6178, 1.326, -0.1436, -1.3333, 6.9812, 1.6874, 0.0366, -0.0464, -0.0073]",
      "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]: [-0.786, 1.845, 1.47, -0.366, -0.6296, -0.5346, 0.0288, 0.3141, 0.8959, 0.6895, -0.4458, 0.2749, 0.1448, 0.9966]\nstate[eef_state]: left_x=0.4285 left_y=-0.2767 left_z=0.1887 left_yaw=-0.006 left_pitch=-0.0064 left_roll=-0.0116 left_gripper=0.0288 right_x=0.2972 right_y=0.0499 right_z=0.1811 right_yaw=-0.0044 right_pitch=-0.0515 right_roll=-0.0331 right_gripper=0.9966\nstate[joint_eff]: [-0.4855, -9.388, 9.4701, 1.3553, -0.5006, 0.0171, 1.033, 0.0068, -1.8256, 7.0085, 1.619, 0.0611, -0.0464, -0.0073]\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]: [-0.791, 1.9583, 1.2152, -0.0307, -0.6258, -0.5426, 0.0288, 0.3141, 0.8997, 0.6895, -0.4519, 0.2749, 0.1448, 0.9966]\nstate[eef_state]: left_x=0.423 left_y=-0.2755 left_z=0.086 left_yaw=-0.009 left_pitch=-0.0315 left_roll=0.003 left_gripper=0.0288 right_x=0.2966 right_y=0.0497 right_z=0.1789 right_yaw=-0.0046 right_pitch=-0.0609 right_roll=-0.0362 right_gripper=0.9966\nstate[joint_eff]: [0.3897, -8.9504, 5.559, 1.5946, -0.3101, 0.0366, 1.0281, -0.1846, -1.8393, 7.0496, 1.7216, 0.0513, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c432a3d5785a0925f86944cdaaf59ddb0558370dee25c31ac7cda9b7b239505b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a33fd27533332fffc1a85a4a46e7b20ddcb3de8b508b9f6e0dca7a741fea261",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e24ab8a4498072a909f9c8b4f18f392140dd31a2097a1133825b17597622cd9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSxgkKEAgSGAI4AUIIdGhpbmtpbmcSDLfUZZ2B0YWzdkPUgBoMGHQtkx3QDOR83VhTIjBBDLUetpK8VGQMul5X1T/XAKnHTIW2lxBfpz4jaB1BBBbUeFpVklVZGMDZyq7XS7Aq4wgi+ec5VEHLxoxukkoYiDww6gmAfTlbFOT+d2hGNONNOzrrEdnL10wJtOcvhdb/CVJUhkBCFMPzf+3BmTmVEeY2VMzKhOBhAQ3C6xCRgtSYKulbh13L/YyDq5VA6HP0PQ+PY0xA6JppKICMFbDAG+LUTWlkpNmY5hB2R6cmSdhqEA2bg+oqUEk7u5P6wYAc95ZVpiRTnKE7hZ0gpvX0bLM93Fj/gc9Xlt83BBPZjPw56gaMFFOf6jcOav2y2cSnRg6JUhbdJKtvVLhj1Yy7RNn+1qY5IXUfh9re7+g5YTuZJ2JradespTYG4ylFb5kXncxYll7YVIS4YksTswgVE8CS6MaRELoiFY7S3LTuhoIGMjOUzAtKWZdshuGLlzCyk9a1FcMyVrdqm+XnDYl9Eexpuaxtx67xHYs6IO4LrD8XbRF7YXvJFKYF93wt/oLptITEEXiWUGy1f7UMvCf2mfPmT5QPIjCyBQjo5h/XS0W5ekp4I8y5sVHTFkdva4e+U89d2hMpJd0SJb9A/X58ZpYk1PLUDhqfIJuYLhACDrfK6LYoNe8sosR/akR9AzjiAogPVyFg49dB4alMzJ1YZkMMit1232TH/Yz9hORQC65Ps/BPR+hUkPLCOmsoglZk5JOtpCrnyjdUAZ010GcEO0e9QMKv3+Q8Bq8hTaLzeWFEpWgQuTlAnPPTzNA2msYDjuhQKA1S5wiwnybxs3YEnsAsk8teGKifcfYLCwhgPCfvg9MvoAIQEV0j23qbcWtTdkARFKA0pVd0BlblB1zUrIMHb1bniFNlA3z/6UYoXv+X0sZFk1Oy6hXRY8a/hSYWXBFYrgvChNu/4W9EOyA/u/x6WHNLIWoj+6okTVeIwrSf4KUb7HZXPZ+p2+5a+ty5Dl30YKuutfxf8vKa2tpZWR7zyHmjgFnf27UbCSOAf9arNxym3GAuUJnYfRq2tobimYutKFft9vpL2mt+Jd4bRYGxfuPkqA8qdAfCrrFjD+Qllf/T/NnzHt9VYpFfQmeMiWwoOIYRs0D6088PQIyAL7PLxkVGO9HfQZdBQ7BKN2l43R+W2aGR+tm1w/zYVd1Mnly05Lbz8SpBDbAmoYBRX+XdaxfSJoKuH2svX86j52YS67iTUyc8VlAJxc9cK+tyjsJXPqs8EzsdVKsoDau8yYvBwHMnvAnpHsZPulsLVsVFVUA9GU2SCqetRIfmFKtIvBd0v8kIFygvsiT2wkJHIk8Anmn3ywvHfh5KrnpFyLP4x7dQIkQZ/xwpuiwe+jFHz9RhvNWeWzxpJdblpgcRD5bibNgXnsU9qfWGaG7uqP7mxjec2mFPKS/NOT9ImA+XPW8AWNh+96Wt6KDjGGrgn8nE17gnPd7aqc+0ptratQW2F5y4ueoYqt5N+gmTp/ubw/US8XivXHS1G+AD02oo+EHov3w6o9nbfA4Ur+kMn6rliRuDm8+oSJa+Sb1VAcpCphz3J8K70+umuTAMQ+DXqhKGMnu7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G1WSYJ7ymC2mnN5S5kw8ph",
      "input": {
        "note": "The grey bowl sits low right over the lavender bowl. Releasing it so it nests inside.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01G1WSYJ7ymC2mnN5S5kw8ph",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7914, 1.9842, 1.1976, -0.0376, -0.6254, -0.5476, 0.9948, 0.3141, 0.8997, 0.6895, -0.4675, 0.2745, 0.1448, 0.9966]\nstate[eef_state]: left_x=0.4181 left_y=-0.2708 left_z=0.0663 left_yaw=-0.0052 left_pitch=-0.0672 left_roll=0.0344 left_gripper=0.9948 right_x=0.2944 right_y=0.0491 right_z=0.1759 right_yaw=-0.0046 right_pitch=-0.0758 right_roll=-0.0409 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -12.3419, 7.4188, 1.4383, -0.3297, 0.0415, -0.0024, -0.0342, -1.894, 6.9538, 1.7802, 0.0513, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:346b95b8b98e851542f0df892b65ee13f87ecb39361639eda62773fdd3ad1387",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4558d69f03185ad9bc9b0d825706f78a8c0e185dc7d1fa8208ef26c7b9a91d87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4f221751636cd106cd33780b55f0ab316e0448205b722cf97a89210dfc953aba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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