adhoc

completed
2026-09-22T23:05:42.793558+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
417.2 s
total steps
280
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls sit in a row across the table. I'm moving the left arm up and to its left to look down on the leftmost (white/teal) bowl and judge its position in the wrist view.
move_to
left_x0.3500left_y0.0500left_z0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7948, 0.6044, -0.3813, -0.0223, -0.0257, 0.9995, -0.02, 0.7921, 0.601, -0.3794, -0.0147, -0.02, 0.9968] state[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1797 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2944 right_y=0.0003 right_z=0.1792 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9968 state[joint_eff]: [-0.212, -1.5932, 10.0991, 1.7753, -0.0171, 0.1148, -0.0611, -0.5538, -1.4701, 10.3316, 1.9121, -0.0708, 0.0366, -0.3443] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": 0.05, "left_z": 0.25, "left_gripper": 1}, "note": "Three bowls sit in a row across the table. I'm moving the left arm up and to its left to look down on the leftmost (white/teal) bowl and judge its position in the wrist view."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteMoving +y took the left arm away from the bowls (they slid to the bottom-right of its wrist view), so the bowls lie to the arm's right. Repositioning over the bowl nearest the left arm to line it up in the wrist camera.
move_to
left_x0.3800left_y-0.0300left_z0.2200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.2066, 1.0828, 0.9493, -0.482, 0.1322, 0.0639, 0.9995, -0.0216, 0.7975, 0.5999, -0.3897, -0.0162, -0.0204, 0.9966] state[eef_state]: left_x=0.344 left_y=0.052 left_z=0.2306 left_yaw=0.0478 left_pitch=-0.0378 left_roll=-0.0147 left_gripper=0.9995 right_x=0.2932 right_y=0.0001 right_z=0.1751 right_yaw=-0.0 right_pitch=-0.0168 right_roll=0.0009 right_gripper=0.9966 state[joint_eff]: [0.2256, -4.1641, 8.2803, 1.5995, 0.0708, 0.2369, -0.0611, 0.0479, -1.6342, 7.1043, 1.7949, -0.0366, -0.0464, -0.0366] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.03, "left_z": 0.22}, "note": "Moving +y took the left arm away from the bowls (they slid to the bottom-right of its wrist view), so the bowls lie to the arm's right. Repositioning over the bowl nearest the left arm to line it up in the wrist camera."})
tool
executing move_to over 8 steps (0.8s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe white bowl now sits just right of the jaw column and low in the left wrist view, i.e. just beyond the fingertips. Moving out and down to hover over its left rim, which is where I plan to pinch the bowl wall.
move_to
left_x0.4100left_y0.0100left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1535, 1.2095, 0.9508, -0.4313, -0.1307, -0.1276, 0.9995, -0.0219, 0.7986, 0.5999, -0.3923, -0.0166, -0.02, 0.9966] state[eef_state]: left_x=0.3679 left_y=-0.03 left_z=0.1984 left_yaw=0.0132 left_pitch=-0.1114 left_roll=-0.0079 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.1743 right_yaw=-0.0003 right_pitch=-0.0206 right_roll=0.0015 right_gripper=0.9966 state[joint_eff]: [-0.335, -4.1231, 10.2906, 1.9902, -0.1197, -0.0806, -0.0122, -0.0889, -1.347, 7.2, 1.7656, -0.0562, -0.0269, -0.0122] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": 0.01, "left_z": 0.12}, "note": "The white bowl now sits just right of the jaw column and low in the left wrist view, i.e. just beyond the fingertips. Moving out and down to hover over its left rim, which is where I plan to pinch the bowl wall."})
tool
executing move_to over 6 steps (0.6s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe bowl's left rim now sits between the open jaws in the wrist view. Descending to rim height before closing on the bowl wall.
move_to
left_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.0044, 1.4292, 0.8093, -0.1421, -0.0296, -0.0517, 0.9994, -0.0216, 0.8005, 0.598, -0.3935, -0.0162, -0.0204, 0.9966] state[eef_state]: left_x=0.3955 left_y=0.0105 left_z=0.1097 left_yaw=0.0449 left_pitch=-0.1901 left_roll=-0.0102 left_gripper=0.9994 right_x=0.2926 right_y=0.0001 right_z=0.1726 right_yaw=-0.0 right_pitch=-0.0255 right_roll=0.0011 right_gripper=0.9966 state[joint_eff]: [0.3624, -6.2974, 6.3385, 1.9072, 0.0513, 0.0855, -0.0171, -0.1436, -1.4291, 7.1863, 1.7216, -0.0366, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03}, "note": "The bowl's left rim now sits between the open jaws in the wrist view. Descending to rim height before closing on the bowl wall."})
tool
executing move_to over 6 steps (0.6s)
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 noteWrist view shows the bowl wall lying between the open jaws. Raising slightly to the rim lip and closing to pinch the bowl's rim.
move_to
left_z0.0500left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.0044, 1.6165, 0.6315, 0.1501, -0.0238, -0.0494, 0.9995, -0.0219, 0.8032, 0.598, -0.3931, -0.0166, -0.02, 0.9966] state[eef_state]: left_x=0.3831 left_y=0.0095 left_z=0.0221 left_yaw=0.0393 left_pitch=-0.263 left_roll=-0.01 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.172 right_yaw=-0.0003 right_pitch=-0.0278 right_roll=0.0016 right_gripper=0.9966 state[joint_eff]: [-0.0342, -6.5299, 5.3812, 1.9512, -0.105, -0.0708, -0.0073, -0.1026, -1.4838, 7.0496, 1.6923, -0.0415, -0.0415, -0.0122] 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": {"left_z": 0.05, "left_gripper": 0}, "note": "Wrist view shows the bowl wall lying between the open jaws. Raising slightly to the rim lip and closing to pinch the bowl's rim."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteGripper closed to 0.023, which could be an empty close or a thin bowl wall. Lifting 8 cm to see in the overhead view whether the bowl came with it.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.0044, 1.5494, 0.6621, 0.0292, -0.0082, -0.0643, 0.0234, -0.0219, 0.8036, 0.5957, -0.3927, -0.0166, -0.0204, 0.9966] state[eef_state]: left_x=0.3769 left_y=0.0067 left_z=0.0373 left_yaw=0.0342 left_pitch=-0.2867 left_roll=-0.0316 left_gripper=0.0234 right_x=0.2926 right_y=0.0001 right_z=0.1709 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.0014 right_gripper=0.9966 state[joint_eff]: [-0.335, -6.5026, 7.3778, 1.243, -0.2906, 0.2613, 0.9255, -0.0205, -1.0598, 7.241, 1.7363, -0.0317, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Gripper closed to 0.023, which could be an empty close or a thin bowl wall. Lifting 8 cm to see in the overhead view whether the bowl came with it."})
tool
executing move_to over 6 steps (0.6s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe close was empty — the bowl stayed on the table. In the wrist view the bowl's leftmost point runs off the bottom of the frame, so the jaws were too far forward; pulling back 3.5 cm and reopening to try again at the bowl's left extreme.
move_to
left_x0.3400left_z0.0450left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.0017, 1.4155, 0.8448, -0.3054, -0.0151, -0.0689, 0.0307, -0.0219, 0.8043, 0.5957, -0.3931, -0.0166, -0.0204, 0.9966] state[eef_state]: left_x=0.3757 left_y=0.0069 left_z=0.1016 left_yaw=0.0404 left_pitch=-0.3045 left_roll=-0.0286 left_gripper=0.0307 right_x=0.2926 right_y=0.0001 right_z=0.1706 right_yaw=-0.0001 right_pitch=-0.0313 right_roll=0.0014 right_gripper=0.9966 state[joint_eff]: [-0.1573, -7.4325, 8.7453, 1.4725, 0.0562, 0.0122, 1.033, -0.1983, -1.3333, 7.0632, 1.7118, -0.0513, -0.0708, -0.0122] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_z": 0.045, "left_gripper": 1}, "note": "The close was empty \u2014 the bowl stayed on the table. In the wrist view the bowl's leftmost point runs off the bottom of the frame, so the jaws were too far forward; pulling back 3.5 cm and reopening to try again at the bowl's left extreme."})
tool
executing move_to over 10 steps (1.0s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe wrist view is now filled by the bowl's interior with its left rim just outside the left jaw, so the gripper sits slightly inside the bowl. Shifting 3 cm to the arm's left to bring the rim lip between the jaws.
move_to
left_y0.0370left_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.0017, 1.3956, 0.5812, -0.1036, -0.0158, -0.0723, 0.9949, -0.0219, 0.8051, 0.5953, -0.3927, -0.0162, -0.0204, 0.9966] state[eef_state]: left_x=0.3356 left_y=0.007 left_z=0.0391 left_yaw=0.0436 left_pitch=-0.3465 left_roll=-0.0284 left_gripper=0.9949 right_x=0.2926 right_y=0.0 right_z=0.1703 right_yaw=-0.0004 right_pitch=-0.032 right_roll=0.0012 right_gripper=0.9966 state[joint_eff]: [-0.1709, -6.188, 5.7368, 1.6435, -0.0317, 0.0464, -0.0952, -0.0615, -1.388, 7.0496, 1.7216, -0.0562, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": 0.037, "left_z": 0.055}, "note": "The wrist view is now filled by the bowl's interior with its left rim just outside the left jaw, so the gripper sits slightly inside the bowl. Shifting 3 cm to the arm's left to bring the rim lip between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe bowl's left rim now lies between the two open jaws in the wrist view. Closing to pinch the rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.1181, 1.3876, 0.5995, -0.1532, 0.0299, -0.0143, 0.9957, -0.0219, 0.8074, 0.5953, -0.3931, -0.0166, -0.02, 0.9966] state[eef_state]: left_x=0.3303 left_y=0.0375 left_z=0.0409 left_yaw=0.0854 left_pitch=-0.3693 left_roll=-0.0305 left_gripper=0.9957 right_x=0.2927 right_y=0.0001 right_z=0.1696 right_yaw=-0.0003 right_pitch=-0.0347 right_roll=0.0018 right_gripper=0.9966 state[joint_eff]: [-0.8684, -6.3658, 8.3077, 1.243, 0.2857, 0.1636, 0.0757, -0.1026, -1.388, 7.0359, 1.7314, -0.0317, -0.0024, -0.0171] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The bowl's left rim now lies between the two open jaws in the wrist view. Closing to pinch the rim."})
tool
executing move_to over 10 steps (1.0s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe closed jaws are sitting inside the bowl (gripper reads 0.008 = empty), so I was inboard of the rim. Lifting clear and reopening before approaching the bowl's other (right) rim, which is the reachable side.
move_to
left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.1177, 1.3846, 0.6029, -0.1749, 0.0288, -0.0231, 0.0082, -0.0219, 0.8093, 0.5953, -0.3931, -0.0166, -0.02, 0.9966] state[eef_state]: left_x=0.3273 left_y=0.0372 left_z=0.04 left_yaw=0.0909 left_pitch=-0.3847 left_roll=-0.0354 left_gripper=0.0082 right_x=0.2928 right_y=0.0001 right_z=0.1691 right_yaw=-0.0003 right_pitch=-0.0366 right_roll=0.0018 right_gripper=0.9966 state[joint_eff]: [-0.1846, -4.6838, 6.0103, 1.536, 0.0122, 0.0904, 0.6178, -0.1846, -1.4701, 7.2, 1.7314, -0.0757, -0.0171, -0.0122] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12, "left_gripper": 1}, "note": "The closed jaws are sitting inside the bowl (gripper reads 0.008 = empty), so I was inboard of the rim. Lifting clear and reopening before approaching the bowl's other (right) rim, which is the reachable side."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteFrom above, the bowl is centred on the jaw column with its rim spanning about 13 cm, so its far-left rim is out of reach; moving over the bowl's right rim instead, staying above rim height.
move_to
left_x0.3500left_y-0.0250left_z0.1150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.1177, 1.2785, 0.8097, -0.5186, 0.0292, -0.0277, 0.9944, -0.0219, 0.8101, 0.5953, -0.3931, -0.0162, -0.02, 0.9966] state[eef_state]: left_x=0.3234 left_y=0.0367 left_z=0.1019 left_yaw=0.0929 left_pitch=-0.4157 left_roll=-0.0395 left_gripper=0.9944 right_x=0.2929 right_y=0.0 right_z=0.1689 right_yaw=-0.0006 right_pitch=-0.0374 right_roll=0.0016 right_gripper=0.9966 state[joint_eff]: [-0.0342, -6.1197, 9.2376, 1.3455, -0.0415, 0.0952, 0.0464, -0.2256, -1.347, 7.0085, 1.7167, -0.0464, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.025, "left_z": 0.115}, "note": "From above, the bowl is centred on the jaw column with its rim spanning about 13 cm, so its far-left rim is out of reach; moving over the bowl's right rim instead, staying above rim height."})
tool
executing move_to over 6 steps (0.6s)
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 bowl's right rim edge sits between the open jaws but a bit farther out than the fingertips, so I'm advancing 3 cm and dropping to rim height ready to pinch.
move_to
left_x0.3750left_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1234, 1.3682, 0.9009, -0.5644, -0.0811, -0.2081, 0.9951, -0.0219, 0.8101, 0.5953, -0.3931, -0.0166, -0.0204, 0.9966] state[eef_state]: left_x=0.3386 left_y=-0.024 left_z=0.1027 left_yaw=0.0633 left_pitch=-0.4551 left_roll=-0.0392 left_gripper=0.9951 right_x=0.2929 right_y=0.0001 right_z=0.1689 right_yaw=-0.0001 right_pitch=-0.0374 right_roll=0.0015 right_gripper=0.9966 state[joint_eff]: [-0.253, -4.6564, 8.8274, 1.2869, -0.2466, -0.0122, 0.0562, -0.0615, -1.2239, 7.0496, 1.7607, -0.0513, -0.0415, -0.0122] 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": {"left_x": 0.375, "left_z": 0.055}, "note": "The bowl's right rim edge sits between the open jaws but a bit farther out than the fingertips, so I'm advancing 3 cm and dropping to rim height ready to pinch."})
tool
executing move_to over 4 steps (0.4s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe bowl's right rim wall is now between the jaws at rim height; closing to pinch it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1101, 1.5661, 0.8852, -0.4194, -0.0826, -0.2165, 0.9951, -0.0216, 0.8146, 0.5953, -0.3931, -0.0166, -0.02, 0.9966] state[eef_state]: left_x=0.3583 left_y=-0.0213 left_z=0.0491 left_yaw=0.0903 left_pitch=-0.5223 left_roll=-0.0274 left_gripper=0.9951 right_x=0.2931 right_y=0.0002 right_z=0.1676 right_yaw=0.0001 right_pitch=-0.0419 right_roll=0.0019 right_gripper=0.9966 state[joint_eff]: [0.253, -7.4598, 6.3795, 1.3553, 0.0415, 0.1978, -0.0073, -0.0479, -1.6752, 7.0085, 1.7118, -0.0855, -0.0269, -0.0171] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The bowl's right rim wall is now between the jaws at rim height; closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteGripper closed to 0.015 and the wrist view shows the bowl pulled right up against the jaws — lifting to check whether the bowl came with it.
move_to
left_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1104, 1.5837, 0.8829, -0.4095, -0.0875, -0.21, 0.0154, -0.0219, 0.8158, 0.5953, -0.3935, -0.0166, -0.02, 0.9966] state[eef_state]: left_x=0.3586 left_y=-0.0206 left_z=0.0436 left_yaw=0.0917 left_pitch=-0.5311 left_roll=-0.0167 left_gripper=0.0154 right_x=0.2931 right_y=0.0001 right_z=0.1673 right_yaw=-0.0003 right_pitch=-0.0435 right_roll=0.002 right_gripper=0.9966 state[joint_eff]: [-0.212, -7.8154, 6.2974, 0.8181, -0.0269, -0.0708, 0.6422, -0.1709, -1.4291, 7.241, 1.7363, -0.0806, 0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.14}, "note": "Gripper closed to 0.015 and the wrist view shows the bowl pulled right up against the jaws \u2014 lifting to check whether the bowl came with it."})
tool
executing move_to over 7 steps (0.7s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe bowl lifted with the jaws (it stays fixed in the wrist view through the 8 cm lift). Carrying it over the next bowl to the right, offsetting 6 cm so the held bowl's centre lands over the target bowl.
move_to
left_x0.3700left_y-0.1800left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1104, 1.5131, 1.1419, -0.7589, -0.0837, -0.2104, 0.0164, -0.0219, 0.8158, 0.5953, -0.3931, -0.0166, -0.02, 0.9966] state[eef_state]: left_x=0.3596 left_y=-0.0214 left_z=0.1202 left_yaw=0.0907 left_pitch=-0.5512 left_roll=-0.0162 left_gripper=0.0164 right_x=0.2932 right_y=0.0001 right_z=0.1673 right_yaw=-0.0003 right_pitch=-0.0431 right_roll=0.002 right_gripper=0.9966 state[joint_eff]: [-0.212, -8.4991, 8.8274, 1.0818, -0.1343, -0.0171, 1.0232, -0.0205, -1.3607, 7.2, 1.7265, -0.0464, -0.0171, -0.0171] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.18, "left_z": 0.18}, "note": "The bowl lifted with the jaws (it stays fixed in the wrist view through the 8 cm lift). Carrying it over the next bowl to the right, offsetting 6 cm so the held bowl's centre lands over the target bowl."})
tool
executing move_to over 15 steps (1.5s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteWrist view shows the target (purple) bowl still about 10 cm to the right of the jaws while I carry the first bowl on the left. Sliding further right so the carried bowl comes over the target.
move_to
left_x0.3800left_y-0.2400left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5648, 1.763, 1.6226, -1.0775, -0.2413, -0.6224, 0.0164, -0.0216, 0.8173, 0.5953, -0.3939, -0.0166, -0.0204, 0.9966] state[eef_state]: left_x=0.3665 left_y=-0.178 left_z=0.1697 left_yaw=0.0686 left_pitch=-0.5747 left_roll=-0.0219 left_gripper=0.0164 right_x=0.2932 right_y=0.0002 right_z=0.1668 right_yaw=0.0003 right_pitch=-0.0454 right_roll=0.0017 right_gripper=0.9966 state[joint_eff]: [-0.3487, -8.2393, 8.7863, 0.7595, -0.3687, -0.0513, 0.9744, -0.0615, -1.4838, 7.0359, 1.6825, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.24, "left_z": 0.18}, "note": "Wrist view shows the target (purple) bowl still about 10 cm to the right of the jaws while I carry the first bowl on the left. Sliding further right so the carried bowl comes over the target."})
tool
executing move_to over 6 steps (0.6s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteTarget bowl is now ~4 cm right of the jaws; since the carried bowl hangs ~6 cm to the left of the jaws, I need another 10 cm of travel right to line the two bowls up.
move_to
left_y-0.3400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6731, 1.9591, 1.8904, -1.1938, -0.2543, -0.7231, 0.0168, -0.0219, 0.8173, 0.5953, -0.3939, -0.0162, -0.02, 0.9966] state[eef_state]: left_x=0.3752 left_y=-0.2377 left_z=0.1699 left_yaw=0.0551 left_pitch=-0.6024 left_roll=-0.025 left_gripper=0.0168 right_x=0.2932 right_y=0.0 right_z=0.1668 right_yaw=-0.0006 right_pitch=-0.0454 right_roll=0.0018 right_gripper=0.9966 state[joint_eff]: [-0.253, -9.7983, 8.5812, 0.569, -0.3053, -0.0464, 0.9353, -0.0205, -1.3607, 6.9949, 1.6728, -0.0415, 0.0024, -0.0171] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.34}, "note": "Target bowl is now ~4 cm right of the jaws; since the carried bowl hangs ~6 cm to the left of the jaws, I need another 10 cm of travel right to line the two bowls up."})
tool
executing move_to over 10 steps (1.0s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe purple target bowl now peeks out just left of and beyond the carried bowl, so I'm nudging 2 cm right and 3 cm forward to centre the carried bowl over it before releasing.
move_to
left_x0.4050left_y-0.3600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8394, 2.3711, 2.5412, -1.4631, -0.2768, -0.8909, 0.019, -0.0219, 0.8173, 0.5945, -0.3935, -0.0166, -0.02, 0.9966] state[eef_state]: left_x=0.3768 left_y=-0.3423 left_z=0.1658 left_yaw=0.0313 left_pitch=-0.611 left_roll=-0.0583 left_gripper=0.019 right_x=0.2931 right_y=0.0001 right_z=0.1665 right_yaw=-0.0003 right_pitch=-0.0457 right_roll=0.002 right_gripper=0.9966 state[joint_eff]: [-0.4855, -12.7521, 7.241, 0.3004, -0.3004, 0.0073, 0.8571, -0.2393, -1.388, 7.0632, 1.6972, -0.0611, -0.0513, -0.0122] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.405, "left_y": -0.36}, "note": "The purple target bowl now peeks out just left of and beyond the carried bowl, so I'm nudging 2 cm right and 3 cm forward to centre the carried bowl over it before releasing."})
tool
executing move_to over 3 steps (0.3s)
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 noteThe carried bowl now hides the purple bowl from both the wrist and top views, so it is directly above it. Lowering to nest the carried bowl into the purple one.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8322, 2.5324, 2.8105, -1.5547, -0.2775, -0.8948, 0.022, -0.0219, 0.8185, 0.5945, -0.3939, -0.0162, -0.0204, 0.9966] state[eef_state]: left_x=0.392 left_y=-0.3533 left_z=0.1585 left_yaw=0.033 left_pitch=-0.6 left_roll=-0.0747 left_gripper=0.022 right_x=0.2931 right_y=0.0 right_z=0.1661 right_yaw=-0.0004 right_pitch=-0.0473 right_roll=0.0015 right_gripper=0.9966 state[joint_eff]: [0.4308, -12.7248, 8.3487, 0.6471, -0.1832, 0.1685, 0.6081, -0.1436, -1.347, 7.2684, 1.7265, -0.0562, -0.0317, -0.0122] 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": {"left_z": 0.12}, "note": "The carried bowl now hides the purple bowl from both the wrist and top views, so it is directly above it. Lowering to nest the carried bowl into the purple one."})
tool
executing move_to over 3 steps (0.3s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe purple bowl's rim peeks out beyond the far side of the carried bowl, meaning I am ~3 cm short; advancing so the carried bowl sits concentric over it.
move_to
left_x0.4150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8291, 2.4084, 2.3882, -1.3655, -0.2783, -0.8909, 0.0215, -0.0219, 0.8185, 0.5945, -0.3931, -0.0162, -0.0204, 0.9966] state[eef_state]: left_x=0.3805 left_y=-0.3382 left_z=0.108 left_yaw=0.0966 left_pitch=-0.6677 left_roll=0.0332 left_gripper=0.0215 right_x=0.2932 right_y=0.0 right_z=0.1663 right_yaw=-0.0004 right_pitch=-0.0465 right_roll=0.0015 right_gripper=0.9966 state[joint_eff]: [-0.3487, -16.1573, 6.7897, 1.0574, -0.1685, -0.0366, 0.7204, -0.212, -0.9641, 6.9949, 1.707, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.415}, "note": "The purple bowl's rim peeks out beyond the far side of the carried bowl, meaning I am ~3 cm short; advancing so the carried bowl sits concentric over it."})
tool
executing move_to over 3 steps (0.3s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteCarried bowl is concentric over the purple bowl (which is fully hidden behind it). Lowering the last centimetres and opening the jaws to nest it.
move_to
left_z0.0850left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8131, 2.4821, 2.4958, -1.3479, -0.2935, -0.8841, 0.0234, -0.0216, 0.8204, 0.5945, -0.3931, -0.0166, -0.0204, 0.9966] state[eef_state]: left_x=0.4031 left_y=-0.3465 left_z=0.1048 left_yaw=0.0873 left_pitch=-0.6245 left_roll=-0.0034 left_gripper=0.0234 right_x=0.2933 right_y=0.0002 right_z=0.1657 right_yaw=0.0003 right_pitch=-0.0484 right_roll=0.0018 right_gripper=0.9966 state[joint_eff]: [0.9094, -12.7521, 7.3641, 0.359, -0.5055, 0.2027, 0.7253, -0.1299, -1.4838, 7.2137, 1.6825, -0.0513, -0.0659, -0.0122] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.085, "left_gripper": 1}, "note": "Carried bowl is concentric over the purple bowl (which is fully hidden behind it). Lowering the last centimetres and opening the jaws to nest it."})
tool
executing move_to over 10 steps (1.0s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteBowl released into the purple bowl; lifting straight up to clear the stack before moving away so I can see the result.
move_to
left_z0.2800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8219, 2.4718, 2.3081, -1.2148, -0.308, -0.8879, 0.9954, -0.0219, 0.8204, 0.5945, -0.3931, -0.0166, -0.0204, 0.9966] state[eef_state]: left_x=0.3985 left_y=-0.3448 left_z=0.0613 left_yaw=0.1163 left_pitch=-0.64 left_roll=0.0492 left_gripper=0.9954 right_x=0.2933 right_y=0.0001 right_z=0.1657 right_yaw=-0.0001 right_pitch=-0.0484 right_roll=0.0018 right_gripper=0.9966 state[joint_eff]: [0.0205, -17.8667, 5.8735, 0.7399, -0.2808, -0.022, -0.1441, -0.0205, -1.2376, 7.1863, 1.7411, -0.0611, -0.0806, -0.0122] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.28}, "note": "Bowl released into the purple bowl; lifting straight up to clear the stack before moving away so I can see the result."})
tool
executing move_to over 15 steps (1.5s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteFirst bowl is nested successfully — only the stack and the pink bowl remain. Parking the left arm out of the way and bringing the right arm over the pink bowl's near rim, since that bowl is beyond the left arm's reach.
move_to
left_x0.2500left_y-0.0500left_z0.3000right_x0.4000right_y0.0800right_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8162, 2.3005, 2.5099, -1.5658, -0.3233, -0.8791, 0.9957, -0.0219, 0.823, 0.5945, -0.3931, -0.0166, -0.02, 0.9966] state[eef_state]: left_x=0.3679 left_y=-0.3041 left_z=0.1864 left_yaw=0.1128 left_pitch=-0.615 left_roll=0.0421 left_gripper=0.9957 right_x=0.2935 right_y=0.0001 right_z=0.165 right_yaw=-0.0003 right_pitch=-0.0511 right_roll=0.0021 right_gripper=0.9966 state[joint_eff]: [0.5949, -15.8154, 5.4222, 0.696, -0.3687, 0.1783, 0.0317, -0.0889, -1.6068, 7.0085, 1.6972, -0.0562, -0.0317, -0.0122] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.05, "left_z": 0.3, "right_x": 0.4, "right_y": 0.08, "right_z": 0.15}, "note": "First bowl is nested successfully \u2014 only the stack and the pink bowl remain. Parking the left arm out of the way and bringing the right arm over the pink bowl's near rim, since that bowl is beyond the left arm's reach."})
tool
executing move_to over 23 steps (2.3s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteRight wrist view shows the pink bowl centred under the jaws, so I'm sliding 6 cm to its right rim and dropping to rim height to pinch the wall.
move_to
right_y0.0200right_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3504, 1.3785, 1.7142, -1.5681, -0.2066, -0.4557, 0.9957, 0.2874, 1.3796, 0.7971, -0.131, 0.2092, 0.1394, 0.9966] state[eef_state]: left_x=0.2594 left_y=-0.0524 left_z=0.2794 left_yaw=0.1495 left_pitch=-0.606 left_roll=0.0342 left_gripper=0.9957 right_x=0.3845 right_y=0.0791 right_z=0.1277 right_yaw=0.0314 right_pitch=-0.1246 right_roll=-0.0213 right_gripper=0.9966 state[joint_eff]: [0.2667, -5.1761, 5.5453, 0.9402, -0.1734, 0.0904, -0.0073, 0.212, -5.3402, 10.0308, 1.9023, 0.2808, 0.232, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.02, "right_z": 0.06}, "note": "Right wrist view shows the pink bowl centred under the jaws, so I'm sliding 6 cm to its right rim and dropping to rim height to pinch the wall."})
tool
executing move_to over 5 steps (0.5s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
assistant
agent noteThe pink bowl's right rim is between the jaws but sits a little beyond the fingertips; advancing ~3 cm before closing.
move_to
right_x0.4000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3534, 1.3762, 1.7088, -1.5677, -0.2005, -0.4469, 0.9958, 0.0738, 1.4799, 0.5831, 0.1078, 0.0788, 0.0238, 0.9966] state[eef_state]: left_x=0.2582 left_y=-0.054 left_z=0.2783 left_yaw=0.136 left_pitch=-0.6113 left_roll=0.0336 left_gripper=0.9958 right_x=0.3691 right_y=0.017 right_z=0.0463 right_yaw=-0.0104 right_pitch=-0.216 right_roll=-0.0317 right_gripper=0.9966 state[joint_eff]: [-0.0342, -4.3145, 5.1214, 0.9695, -0.2271, -0.1538, -0.0073, -0.2256, -5.8735, 6.2564, 1.9512, -0.1392, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4}, "note": "The pink bowl's right rim is between the jaws but sits a little beyond the fingertips; advancing ~3 cm before closing."})
tool
executing move_to over 3 steps (0.3s)
step 197
assistant
agent notePink bowl's rim wall is now straddled by the open jaws; closing to pinch it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3538, 1.3758, 1.6962, -1.5658, -0.2024, -0.4606, 0.9958, 0.0654, 1.5902, 0.6556, 0.1276, 0.0475, 0.0002, 0.9966] state[eef_state]: left_x=0.2576 left_y=-0.0535 left_z=0.2749 left_yaw=0.1499 left_pitch=-0.6192 left_roll=0.0352 left_gripper=0.9958 right_x=0.389 right_y=0.0207 right_z=0.0366 right_yaw=0.021 right_pitch=-0.2358 right_roll=-0.027 right_gripper=0.9966 state[joint_eff]: [-0.5128, -4.7111, 5.3265, 0.9597, -0.149, 0.0513, -0.0122, 0.0205, -7.0769, 8.2256, 1.5116, 0.2125, 0.1538, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Pink bowl's rim wall is now straddled by the open jaws; closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 207
assistant
agent noteGripper settled at 0.024, consistent with a rim pinch; lifting 12 cm to confirm the pink bowl comes up with it.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3595, 1.3724, 1.676, -1.5589, -0.2031, -0.4614, 0.9958, 0.0654, 1.5936, 0.6579, 0.1261, 0.0345, 0.004, 0.0237] state[eef_state]: left_x=0.2564 left_y=-0.0545 left_z=0.2704 left_yaw=0.1488 left_pitch=-0.6275 left_roll=0.0416 left_gripper=0.9958 right_x=0.3892 right_y=0.023 right_z=0.0359 right_yaw=0.0301 right_pitch=-0.2388 right_roll=-0.0147 right_gripper=0.0237 state[joint_eff]: [-0.1846, -5.2308, 5.4496, 0.9597, -0.2759, -0.0904, -0.0122, -0.0342, -6.2154, 5.641, 1.2381, 0.2076, -0.1148, 1.033] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16}, "note": "Gripper settled at 0.024, consistent with a rim pinch; lifting 12 cm to confirm the pink bowl comes up with it."})
tool
executing move_to over 9 steps (0.9s)
step 216
assistant
agent notePink bowl is held (wrist view unchanged through the lift). Carrying it across toward the stacked pair, staying high; I'll refine the alignment from the wrist view there.
move_to
right_x0.4000right_y0.3300right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3668, 1.3659, 1.647, -1.5448, -0.2073, -0.4618, 0.9958, 0.0654, 1.4059, 0.9546, -0.3985, 0.0353, -0.0048, 0.0292] state[eef_state]: left_x=0.2555 left_y=-0.0554 left_z=0.2647 left_yaw=0.1487 left_pitch=-0.6328 left_roll=0.0508 left_gripper=0.9958 right_x=0.3855 right_y=0.0226 right_z=0.1345 right_yaw=0.0339 right_pitch=-0.2789 right_roll=-0.0228 right_gripper=0.0292 state[joint_eff]: [-0.4034, -5.5043, 5.559, 0.9939, -0.2613, -0.1148, -0.0171, -0.0479, -7.8564, 9.853, 1.5458, 0.0073, 0.0562, 1.033] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.33, "right_z": 0.2}, "note": "Pink bowl is held (wrist view unchanged through the lift). Carrying it across toward the stacked pair, staying high; I'll refine the alignment from the wrist view there."})
tool
executing move_to over 26 steps (2.6s)
step 242
assistant
agent noteThe stacked pair is visible just right of the jaws while the pink bowl hangs to the left; shifting ~9 cm right so the carried bowl comes over the stack.
move_to
right_y0.2400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3798, 1.3552, 1.6135, -1.5295, -0.2108, -0.469, 0.9958, 0.8467, 2.0792, 1.9949, -0.9939, 0.4755, 0.609, 0.0312] state[eef_state]: left_x=0.2534 left_y=-0.0575 left_z=0.2586 left_yaw=0.1465 left_pitch=-0.6376 left_roll=0.0559 left_gripper=0.9958 right_x=0.3925 right_y=0.3271 right_z=0.1818 right_yaw=0.0709 right_pitch=-0.3311 right_roll=-0.056 right_gripper=0.0312 state[joint_eff]: [-0.1026, -5.4906, 5.8598, 0.989, -0.2759, -0.0757, -0.0122, 0.1026, -11.4803, 9.2923, 1.1697, 0.5299, 0.1294, 1.0232] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.24}, "note": "The stacked pair is visible just right of the jaws while the pink bowl hangs to the left; shifting ~9 cm right so the carried bowl comes over the stack."})
tool
executing move_to over 8 steps (0.8s)
step 250
assistant
agent noteThe stack is now hidden behind the carried pink bowl, so it is underneath it; lowering toward nesting height.
move_to
right_z0.1250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3931, 1.3422, 1.5776, -1.5063, -0.218, -0.4728, 0.9957, 0.7017, 1.8393, 1.615, -0.8589, 0.4034, 0.4782, 0.0312] state[eef_state]: left_x=0.2525 left_y=-0.0595 left_z=0.253 left_yaw=0.1421 left_pitch=-0.6336 left_roll=0.0614 left_gripper=0.9957 right_x=0.387 right_y=0.241 right_z=0.1652 right_yaw=0.0518 right_pitch=-0.382 right_roll=-0.092 right_gripper=0.0312 state[joint_eff]: [-0.2256, -5.3265, 5.3812, 0.9206, -0.359, -0.1294, -0.0171, -0.3761, -11.5624, 6.6256, 1.536, 0.1538, 0.0464, 1.0281] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.125}, "note": "The stack is now hidden behind the carried pink bowl, so it is underneath it; lowering toward nesting height."})
tool
executing move_to over 3 steps (0.3s)
step 253
assistant
agent noteReleasing the pink bowl onto the stack below.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4061, 1.3346, 1.5452, -1.4879, -0.2234, -0.4767, 0.9958, 0.6987, 1.8393, 1.4818, -0.7612, 0.3992, 0.4614, 0.0312] state[eef_state]: left_x=0.2514 left_y=-0.0616 left_z=0.2467 left_yaw=0.1389 left_pitch=-0.6364 left_roll=0.0692 left_gripper=0.9958 right_x=0.3805 right_y=0.2346 right_z=0.1277 right_yaw=0.0527 right_pitch=-0.4136 right_roll=-0.1223 right_gripper=0.0312 state[joint_eff]: [-0.294, -5.6684, 5.5863, 0.9109, -0.3346, -0.0806, -0.0073, 0.3077, -8.9504, 7.4735, 1.6728, 0.2564, 0.1538, 1.0281] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Releasing the pink bowl onto the stack below."})
tool
executing move_to over 10 steps (1.0s)
step 263
assistant
agent noteBowl released; pulling the right arm up and back so the overhead camera can show whether all three bowls are now nested.
move_to
right_x0.2800right_y0.0500right_z0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4191, 1.3209, 1.5116, -1.4689, -0.2337, -0.4873, 0.9958, 0.6983, 1.8591, 1.4574, -0.7628, 0.387, 0.4515, 0.9954] state[eef_state]: left_x=0.2497 left_y=-0.0625 left_z=0.2417 left_yaw=0.1425 left_pitch=-0.6314 left_roll=0.0754 left_gripper=0.9958 right_x=0.3748 right_y=0.2322 right_z=0.11 right_yaw=0.0545 right_pitch=-0.4576 right_roll=-0.1488 right_gripper=0.9954 state[joint_eff]: [-0.294, -5.2581, 5.5316, 0.9744, -0.3004, -0.0269, -0.0171, -0.0615, -11.2889, 8.2393, 0.9988, 0.3004, 0.0562, -0.0269] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.05, "right_z": 0.3}, "note": "Bowl released; pulling the right arm up and back so the overhead camera can show whether all three bowls are now nested."})
tool
executing move_to over 16 steps (1.6s)
step 279
assistant
agent noteAll three bowls are now nested in one stack near the middle of the table: I pinched each bowl's rim wall with one jaw inside and one outside, lifted, and lowered it concentrically into the next bowl. The overhead view now shows a single bowl outline (the pink one on top) where three separate bowls used to stand.
done
hindsightKey things learned: (1) In this rig's top_cam the LEFT arm appears on the image LEFT and its +y is image-left, but the effective scale along the bowl row was only ~1.3–1.5 px/cm (much coarser than the 2.2–3.5 px/cm quoted), so overhead pixel estimates badly underestimate lateral distances — verify with the wrist camera. (2) Bowls (~13 cm diameter, ~7 cm tall) can't be grasped across; pinch the rim wall at the bowl's y-extreme (left- or right-most point) with one jaw inside and one outside. A successful rim pinch settles at gripper ≈0.015–0.03, which overlaps the "empty" threshold — confirm by lifting and checking that the wrist image does NOT change. (3) Approach procedure that worked: hover ~10 cm above, centre the bowl on the jaw column, then note that the bowl's y-extreme appears a couple of rows above the jaws means you must advance x by ~3 cm before descending to rim height (z≈0.04–0.055). (4) When placing, the held bowl hangs ~6.5 cm to the side of the grasp point (opposite the grasped rim) and ~7 cm below it; aim the jaws at target_center_y ∓0.065 and release at z≈0.09–0.13. The best alignment cue is the target bowl disappearing behind the carried one in the wrist view.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4305, 1.3106, 1.4826, -1.4506, -0.2367, -0.498, 0.9958, 0.3073, 1.3376, 1.6386, -1.372, 0.2253, 0.1066, 0.9958] state[eef_state]: left_x=0.2485 left_y=-0.0646 left_z=0.2368 left_yaw=0.141 left_pitch=-0.6296 left_roll=0.0739 left_gripper=0.9958 right_x=0.2885 right_y=0.0539 right_z=0.2863 right_yaw=0.0268 right_pitch=-0.4679 right_roll=-0.1546 right_gripper=0.9958 state[joint_eff]: [-0.253, -5.012, 5.6547, 0.9451, -0.2906, -0.0122, -0.0171, -0.1983, -5.2171, 7.8564, 1.16, 0.0611, 0.022, 0.0317] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
done({"summary": "All three bowls are now nested in one stack near the middle of the table: I pinched each bowl's rim wall with one jaw inside and one outside, lifted, and lowered it concentrically into the next bowl. The overhead view now shows a single bowl outline (the pink one on top) where three separate bowls used to stand.", "hindsight": "Key things learned: (1) In this rig's top_cam the LEFT arm appears on the image LEFT and its +y is image-left, but the effective scale along the bowl row was only ~1.3\u20131.5 px/cm (much coarser than the 2.2\u20133.5 px/cm quoted), so overhead pixel estimates badly underestimate lateral distances \u2014 verify with the wrist camera. (2) Bowls (~13 cm diameter, ~7 cm tall) can't be grasped across; pinch the rim wall at the bowl's y-extreme (left- or right-most point) with one jaw inside and one outside. A successful rim pinch settles at gripper \u22480.015\u20130.03, which overlaps the \"empty\" threshold \u2014 confirm by lifting and checking that the wrist image does NOT change. (3) Approach procedure that worked: hover ~10 cm above, centre the bowl on the jaw column, then note that the bowl's y-extreme appears a couple of rows above the jaws means you must advance x by ~3 cm before descending to rim height (z\u22480.04\u20130.055). (4) When placing, the held bowl hangs ~6.5 cm to the side of the grasp point (opposite the grasped rim) and ~7 cm below it; aim the jaws at target_center_y \u22130.065 and release at z\u22480.09\u20130.13. The best alignment cue is the target bowl disappearing behind the carried one in the wrist view."})
tool
done: All three bowls are now nested in one stack near the middle of the table: I pinched each bowl's rim wall with one jaw inside and one outside, lifted, and lowered it concentrically into the next bowl. The overhead view now shows a single bowl outline (the pink one on top) where three separate bowls used to stand.
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 · 35.46 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6044, -0.3813, -0.0223, -0.0257, 0.9995, -0.02, 0.7921, 0.601, -0.3794, -0.0147, -0.02, 0.9968]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1797 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2944 right_y=0.0003 right_z=0.1792 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -1.5932, 10.0991, 1.7753, -0.0171, 0.1148, -0.0611, -0.5538, -1.4701, 10.3316, 1.9121, -0.0708, 0.0366, -0.3443]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:461467221bfa8032d3b27ed6f50756ebcff7d1edb0b67f2a5bc2b088144f3e06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05a8fa681a426958398e2c3e32fcaea40c1d3b5865dd6e13f5f64dd27f7bdc75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d56f6f04723413b395091ff05359e2b4a54cd1344b4422ccab9d2f9d86d7c1cc",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 39.56 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6044, -0.3813, -0.0223, -0.0257, 0.9995, -0.02, 0.7921, 0.601, -0.3794, -0.0147, -0.02, 0.9968]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1797 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2944 right_y=0.0003 right_z=0.1792 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -1.5932, 10.0991, 1.7753, -0.0171, 0.1148, -0.0611, -0.5538, -1.4701, 10.3316, 1.9121, -0.0708, 0.0366, -0.3443]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:461467221bfa8032d3b27ed6f50756ebcff7d1edb0b67f2a5bc2b088144f3e06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05a8fa681a426958398e2c3e32fcaea40c1d3b5865dd6e13f5f64dd27f7bdc75",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d56f6f04723413b395091ff05359e2b4a54cd1344b4422ccab9d2f9d86d7c1cc",
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  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L1iGxj8ad6d95kxfyaH1Nn",
      "input": {
        "note": "Three bowls sit in a row across the table. I'm moving the left arm up and to its left to look down on the leftmost (white/teal) bowl and judge its position in the wrist view.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.35,
          "left_y": 0.05,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01L1iGxj8ad6d95kxfyaH1Nn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.2066, 1.0828, 0.9493, -0.482, 0.1322, 0.0639, 0.9995, -0.0216, 0.7975, 0.5999, -0.3897, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.344 left_y=0.052 left_z=0.2306 left_yaw=0.0478 left_pitch=-0.0378 left_roll=-0.0147 left_gripper=0.9995 right_x=0.2932 right_y=0.0001 right_z=0.1751 right_yaw=-0.0 right_pitch=-0.0168 right_roll=0.0009 right_gripper=0.9966\nstate[joint_eff]: [0.2256, -4.1641, 8.2803, 1.5995, 0.0708, 0.2369, -0.0611, 0.0479, -1.6342, 7.1043, 1.7949, -0.0366, -0.0464, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85a18f7f45296c6dc72bf1967e3f5dc5fc084cb2e93f8966004daba8bbe3138c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:906d5d19bd7aa276fc67a4bb8cb220dcd9306f5d4db8a50418139d50334c5991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:81fd3dc637b57db4dd604399fb228362fa56b4d5dd5f4561e07f87ba22d2b868",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 13.77 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6044, -0.3813, -0.0223, -0.0257, 0.9995, -0.02, 0.7921, 0.601, -0.3794, -0.0147, -0.02, 0.9968]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1797 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2944 right_y=0.0003 right_z=0.1792 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -1.5932, 10.0991, 1.7753, -0.0171, 0.1148, -0.0611, -0.5538, -1.4701, 10.3316, 1.9121, -0.0708, 0.0366, -0.3443]",
      "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]: [0.2066, 1.0828, 0.9493, -0.482, 0.1322, 0.0639, 0.9995, -0.0216, 0.7975, 0.5999, -0.3897, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.344 left_y=0.052 left_z=0.2306 left_yaw=0.0478 left_pitch=-0.0378 left_roll=-0.0147 left_gripper=0.9995 right_x=0.2932 right_y=0.0001 right_z=0.1751 right_yaw=-0.0 right_pitch=-0.0168 right_roll=0.0009 right_gripper=0.9966\nstate[joint_eff]: [0.2256, -4.1641, 8.2803, 1.5995, 0.0708, 0.2369, -0.0611, 0.0479, -1.6342, 7.1043, 1.7949, -0.0366, -0.0464, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85a18f7f45296c6dc72bf1967e3f5dc5fc084cb2e93f8966004daba8bbe3138c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:906d5d19bd7aa276fc67a4bb8cb220dcd9306f5d4db8a50418139d50334c5991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81fd3dc637b57db4dd604399fb228362fa56b4d5dd5f4561e07f87ba22d2b868",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FG6xs65CEAKkpqqPMDtbX7",
      "input": {
        "note": "Moving +y took the left arm away from the bowls (they slid to the bottom-right of its wrist view), so the bowls lie to the arm's right. Repositioning over the bowl nearest the left arm to line it up in the wrist camera.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.03,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01FG6xs65CEAKkpqqPMDtbX7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1535, 1.2095, 0.9508, -0.4313, -0.1307, -0.1276, 0.9995, -0.0219, 0.7986, 0.5999, -0.3923, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3679 left_y=-0.03 left_z=0.1984 left_yaw=0.0132 left_pitch=-0.1114 left_roll=-0.0079 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.1743 right_yaw=-0.0003 right_pitch=-0.0206 right_roll=0.0015 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -4.1231, 10.2906, 1.9902, -0.1197, -0.0806, -0.0122, -0.0889, -1.347, 7.2, 1.7656, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1edcb26e3bb433a3f5397175efb2cab4b2e04507c2e21be271b6610f0ed99980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64d4c8d8571e8ecef7f5360af911860a580785f041ea8392adc4cf74f8073267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7abf9516b122b7c5ce57078c7e406414b7caed4d7538f2e9320b6b4d3c9f637",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 16.32 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6044, -0.3813, -0.0223, -0.0257, 0.9995, -0.02, 0.7921, 0.601, -0.3794, -0.0147, -0.02, 0.9968]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1797 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2944 right_y=0.0003 right_z=0.1792 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9968\nstate[joint_eff]: [-0.212, -1.5932, 10.0991, 1.7753, -0.0171, 0.1148, -0.0611, -0.5538, -1.4701, 10.3316, 1.9121, -0.0708, 0.0366, -0.3443]",
      "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]: [0.2066, 1.0828, 0.9493, -0.482, 0.1322, 0.0639, 0.9995, -0.0216, 0.7975, 0.5999, -0.3897, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.344 left_y=0.052 left_z=0.2306 left_yaw=0.0478 left_pitch=-0.0378 left_roll=-0.0147 left_gripper=0.9995 right_x=0.2932 right_y=0.0001 right_z=0.1751 right_yaw=-0.0 right_pitch=-0.0168 right_roll=0.0009 right_gripper=0.9966\nstate[joint_eff]: [0.2256, -4.1641, 8.2803, 1.5995, 0.0708, 0.2369, -0.0611, 0.0479, -1.6342, 7.1043, 1.7949, -0.0366, -0.0464, -0.0366]",
      "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]: [-0.1535, 1.2095, 0.9508, -0.4313, -0.1307, -0.1276, 0.9995, -0.0219, 0.7986, 0.5999, -0.3923, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3679 left_y=-0.03 left_z=0.1984 left_yaw=0.0132 left_pitch=-0.1114 left_roll=-0.0079 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.1743 right_yaw=-0.0003 right_pitch=-0.0206 right_roll=0.0015 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -4.1231, 10.2906, 1.9902, -0.1197, -0.0806, -0.0122, -0.0889, -1.347, 7.2, 1.7656, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1edcb26e3bb433a3f5397175efb2cab4b2e04507c2e21be271b6610f0ed99980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64d4c8d8571e8ecef7f5360af911860a580785f041ea8392adc4cf74f8073267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7abf9516b122b7c5ce57078c7e406414b7caed4d7538f2e9320b6b4d3c9f637",
        "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_01352dxBLkqcxidpHd9vJkjo",
      "input": {
        "note": "The white bowl now sits just right of the jaw column and low in the left wrist view, i.e. just beyond the fingertips. Moving out and down to hover over its left rim, which is where I plan to pinch the bowl wall.",
        "targets": {
          "left_x": 0.41,
          "left_y": 0.01,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01352dxBLkqcxidpHd9vJkjo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0044, 1.4292, 0.8093, -0.1421, -0.0296, -0.0517, 0.9994, -0.0216, 0.8005, 0.598, -0.3935, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3955 left_y=0.0105 left_z=0.1097 left_yaw=0.0449 left_pitch=-0.1901 left_roll=-0.0102 left_gripper=0.9994 right_x=0.2926 right_y=0.0001 right_z=0.1726 right_yaw=-0.0 right_pitch=-0.0255 right_roll=0.0011 right_gripper=0.9966\nstate[joint_eff]: [0.3624, -6.2974, 6.3385, 1.9072, 0.0513, 0.0855, -0.0171, -0.1436, -1.4291, 7.1863, 1.7216, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a09a18e340790f46017107b454dd2dc8a37c3dd0a573701aabbbc9340dfdcb46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc188ffb2d9664b5dbb67ba37457911f70c9dbdfb3c3b6d2e4b8b22401ba4db8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:970eda04f9300da72ed1a815dd5887f06ed26c5640dec80f3e71c46b5347b3fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 15.11 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.2066, 1.0828, 0.9493, -0.482, 0.1322, 0.0639, 0.9995, -0.0216, 0.7975, 0.5999, -0.3897, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.344 left_y=0.052 left_z=0.2306 left_yaw=0.0478 left_pitch=-0.0378 left_roll=-0.0147 left_gripper=0.9995 right_x=0.2932 right_y=0.0001 right_z=0.1751 right_yaw=-0.0 right_pitch=-0.0168 right_roll=0.0009 right_gripper=0.9966\nstate[joint_eff]: [0.2256, -4.1641, 8.2803, 1.5995, 0.0708, 0.2369, -0.0611, 0.0479, -1.6342, 7.1043, 1.7949, -0.0366, -0.0464, -0.0366]",
      "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]: [-0.1535, 1.2095, 0.9508, -0.4313, -0.1307, -0.1276, 0.9995, -0.0219, 0.7986, 0.5999, -0.3923, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3679 left_y=-0.03 left_z=0.1984 left_yaw=0.0132 left_pitch=-0.1114 left_roll=-0.0079 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.1743 right_yaw=-0.0003 right_pitch=-0.0206 right_roll=0.0015 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -4.1231, 10.2906, 1.9902, -0.1197, -0.0806, -0.0122, -0.0889, -1.347, 7.2, 1.7656, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0044, 1.4292, 0.8093, -0.1421, -0.0296, -0.0517, 0.9994, -0.0216, 0.8005, 0.598, -0.3935, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3955 left_y=0.0105 left_z=0.1097 left_yaw=0.0449 left_pitch=-0.1901 left_roll=-0.0102 left_gripper=0.9994 right_x=0.2926 right_y=0.0001 right_z=0.1726 right_yaw=-0.0 right_pitch=-0.0255 right_roll=0.0011 right_gripper=0.9966\nstate[joint_eff]: [0.3624, -6.2974, 6.3385, 1.9072, 0.0513, 0.0855, -0.0171, -0.1436, -1.4291, 7.1863, 1.7216, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a09a18e340790f46017107b454dd2dc8a37c3dd0a573701aabbbc9340dfdcb46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc188ffb2d9664b5dbb67ba37457911f70c9dbdfb3c3b6d2e4b8b22401ba4db8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:970eda04f9300da72ed1a815dd5887f06ed26c5640dec80f3e71c46b5347b3fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QLTM2vW8TcaKqtfmrf5bDe",
      "input": {
        "note": "The bowl's left rim now sits between the open jaws in the wrist view. Descending to rim height before closing on the bowl wall.",
        "targets": {
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QLTM2vW8TcaKqtfmrf5bDe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0044, 1.6165, 0.6315, 0.1501, -0.0238, -0.0494, 0.9995, -0.0219, 0.8032, 0.598, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3831 left_y=0.0095 left_z=0.0221 left_yaw=0.0393 left_pitch=-0.263 left_roll=-0.01 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.172 right_yaw=-0.0003 right_pitch=-0.0278 right_roll=0.0016 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -6.5299, 5.3812, 1.9512, -0.105, -0.0708, -0.0073, -0.1026, -1.4838, 7.0496, 1.6923, -0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5d7f132eca6a9845a424116b3147c02910a896fd8e829c6533e87a4b208aa16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c00c131de8bed3e8c6f80283aa704315bd54bf844988f2fe9bdf464640ae77d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e305f164148b8493d01004d283364e8a44b48c9534b35f0f02829016f3b256c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 7.769 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1535, 1.2095, 0.9508, -0.4313, -0.1307, -0.1276, 0.9995, -0.0219, 0.7986, 0.5999, -0.3923, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3679 left_y=-0.03 left_z=0.1984 left_yaw=0.0132 left_pitch=-0.1114 left_roll=-0.0079 left_gripper=0.9995 right_x=0.2929 right_y=0.0001 right_z=0.1743 right_yaw=-0.0003 right_pitch=-0.0206 right_roll=0.0015 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -4.1231, 10.2906, 1.9902, -0.1197, -0.0806, -0.0122, -0.0889, -1.347, 7.2, 1.7656, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0044, 1.4292, 0.8093, -0.1421, -0.0296, -0.0517, 0.9994, -0.0216, 0.8005, 0.598, -0.3935, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3955 left_y=0.0105 left_z=0.1097 left_yaw=0.0449 left_pitch=-0.1901 left_roll=-0.0102 left_gripper=0.9994 right_x=0.2926 right_y=0.0001 right_z=0.1726 right_yaw=-0.0 right_pitch=-0.0255 right_roll=0.0011 right_gripper=0.9966\nstate[joint_eff]: [0.3624, -6.2974, 6.3385, 1.9072, 0.0513, 0.0855, -0.0171, -0.1436, -1.4291, 7.1863, 1.7216, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0044, 1.6165, 0.6315, 0.1501, -0.0238, -0.0494, 0.9995, -0.0219, 0.8032, 0.598, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3831 left_y=0.0095 left_z=0.0221 left_yaw=0.0393 left_pitch=-0.263 left_roll=-0.01 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.172 right_yaw=-0.0003 right_pitch=-0.0278 right_roll=0.0016 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -6.5299, 5.3812, 1.9512, -0.105, -0.0708, -0.0073, -0.1026, -1.4838, 7.0496, 1.6923, -0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5d7f132eca6a9845a424116b3147c02910a896fd8e829c6533e87a4b208aa16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c00c131de8bed3e8c6f80283aa704315bd54bf844988f2fe9bdf464640ae77d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e305f164148b8493d01004d283364e8a44b48c9534b35f0f02829016f3b256c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019ARmLJJ1sXzU7c5AzxFvKq",
      "input": {
        "note": "Wrist view shows the bowl wall lying between the open jaws. Raising slightly to the rim lip and closing to pinch the bowl's rim.",
        "targets": {
          "left_gripper": 0,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019ARmLJJ1sXzU7c5AzxFvKq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0044, 1.5494, 0.6621, 0.0292, -0.0082, -0.0643, 0.0234, -0.0219, 0.8036, 0.5957, -0.3927, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3769 left_y=0.0067 left_z=0.0373 left_yaw=0.0342 left_pitch=-0.2867 left_roll=-0.0316 left_gripper=0.0234 right_x=0.2926 right_y=0.0001 right_z=0.1709 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.0014 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -6.5026, 7.3778, 1.243, -0.2906, 0.2613, 0.9255, -0.0205, -1.0598, 7.241, 1.7363, -0.0317, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b61d3e20c2184a980aebceedb3b82849d7000a4e2d7c91f9e23a11de56ea6e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b37fa9c61a29c6febe8d21caa7037d1b11a098c3daca213d48938c973e1fce7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8aec33709268f5b75b4f4bda2bb502bd04fabec60d540ebd6e2bb3625b2b7632",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 37.26 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0044, 1.4292, 0.8093, -0.1421, -0.0296, -0.0517, 0.9994, -0.0216, 0.8005, 0.598, -0.3935, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3955 left_y=0.0105 left_z=0.1097 left_yaw=0.0449 left_pitch=-0.1901 left_roll=-0.0102 left_gripper=0.9994 right_x=0.2926 right_y=0.0001 right_z=0.1726 right_yaw=-0.0 right_pitch=-0.0255 right_roll=0.0011 right_gripper=0.9966\nstate[joint_eff]: [0.3624, -6.2974, 6.3385, 1.9072, 0.0513, 0.0855, -0.0171, -0.1436, -1.4291, 7.1863, 1.7216, -0.0366, -0.0611, -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]: [0.0044, 1.6165, 0.6315, 0.1501, -0.0238, -0.0494, 0.9995, -0.0219, 0.8032, 0.598, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3831 left_y=0.0095 left_z=0.0221 left_yaw=0.0393 left_pitch=-0.263 left_roll=-0.01 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.172 right_yaw=-0.0003 right_pitch=-0.0278 right_roll=0.0016 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -6.5299, 5.3812, 1.9512, -0.105, -0.0708, -0.0073, -0.1026, -1.4838, 7.0496, 1.6923, -0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0044, 1.5494, 0.6621, 0.0292, -0.0082, -0.0643, 0.0234, -0.0219, 0.8036, 0.5957, -0.3927, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3769 left_y=0.0067 left_z=0.0373 left_yaw=0.0342 left_pitch=-0.2867 left_roll=-0.0316 left_gripper=0.0234 right_x=0.2926 right_y=0.0001 right_z=0.1709 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.0014 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -6.5026, 7.3778, 1.243, -0.2906, 0.2613, 0.9255, -0.0205, -1.0598, 7.241, 1.7363, -0.0317, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b61d3e20c2184a980aebceedb3b82849d7000a4e2d7c91f9e23a11de56ea6e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b37fa9c61a29c6febe8d21caa7037d1b11a098c3daca213d48938c973e1fce7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aec33709268f5b75b4f4bda2bb502bd04fabec60d540ebd6e2bb3625b2b7632",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjAQKjgEIEhgCKkCrneVK6slE5ALNBTZb9c/urVFuov27SaatsvjhTPLyY1yoMpnIH9X409KRYSzDD1KRGBNYaRXXNWD1jx2rlknMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdWUzNUGEgypfBxAX21Dm3xP2zAaDD7ZzyNxdH8MygFvnyIwaKW2AlBMiu2/3JqafRPcaXrSgTY8oK5XnlriKWbp/+VB7u0sI6GM6AvyaZ3srcwyKqoCnNsbcO/a8WOnpVwey9pXohG9lZou4O9Fp1Rrf7apQyT41cquQmEcTtMDRPATPNjPIeDURqASk5ySOtv18gyOQAYa/an1P/h3B//qLvE9dlmWIndpvmz1cqtJXIcQYPSkcljjg+Oh2Z4q7L+rxET7tqzcEkvLrsbBYnIMWm9gqx8YqZqrWjNbZIbXXHHlobmVumMIzmsUWDC8G6y5iiy4ucErNgbkUm8T0J01Jfd9FUzELHuesqmnzBsxfkFtzE5PF3dw+hwRvcCnlN8eVn9sHGc1yFzNVZW6bpl0LSdPxn7WVQbCrTwRqJ3ytTeYzkNFrpnJegUs47rMk+t+tyBAH+s0hFvhZZ7sTQ5EjqtRHU0jYaWWLvdQJe0US2REZqmm6zFMJs9krq3JaRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019XTWurSE7Za4GwsG1RB9pW",
      "input": {
        "note": "Gripper closed to 0.023, which could be an empty close or a thin bowl wall. Lifting 8 cm to see in the overhead view whether the bowl came with it.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_019XTWurSE7Za4GwsG1RB9pW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0017, 1.4155, 0.8448, -0.3054, -0.0151, -0.0689, 0.0307, -0.0219, 0.8043, 0.5957, -0.3931, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3757 left_y=0.0069 left_z=0.1016 left_yaw=0.0404 left_pitch=-0.3045 left_roll=-0.0286 left_gripper=0.0307 right_x=0.2926 right_y=0.0001 right_z=0.1706 right_yaw=-0.0001 right_pitch=-0.0313 right_roll=0.0014 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -7.4325, 8.7453, 1.4725, 0.0562, 0.0122, 1.033, -0.1983, -1.3333, 7.0632, 1.7118, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23a255febad8bc4361a162ddc33af4e699f95bcb7cf186db15e670ba5322beaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f90fdb99b5a2103a9a96597005b7f3ddf49780dfc18570f18dd54bf2e3becfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9f2d5e70527fec4d3c51227749c6bc07399218695341442c4269b2d373ad8f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 15.62 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0044, 1.6165, 0.6315, 0.1501, -0.0238, -0.0494, 0.9995, -0.0219, 0.8032, 0.598, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3831 left_y=0.0095 left_z=0.0221 left_yaw=0.0393 left_pitch=-0.263 left_roll=-0.01 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.172 right_yaw=-0.0003 right_pitch=-0.0278 right_roll=0.0016 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -6.5299, 5.3812, 1.9512, -0.105, -0.0708, -0.0073, -0.1026, -1.4838, 7.0496, 1.6923, -0.0415, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0044, 1.5494, 0.6621, 0.0292, -0.0082, -0.0643, 0.0234, -0.0219, 0.8036, 0.5957, -0.3927, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3769 left_y=0.0067 left_z=0.0373 left_yaw=0.0342 left_pitch=-0.2867 left_roll=-0.0316 left_gripper=0.0234 right_x=0.2926 right_y=0.0001 right_z=0.1709 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.0014 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -6.5026, 7.3778, 1.243, -0.2906, 0.2613, 0.9255, -0.0205, -1.0598, 7.241, 1.7363, -0.0317, -0.0757, -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]: [0.0017, 1.4155, 0.8448, -0.3054, -0.0151, -0.0689, 0.0307, -0.0219, 0.8043, 0.5957, -0.3931, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3757 left_y=0.0069 left_z=0.1016 left_yaw=0.0404 left_pitch=-0.3045 left_roll=-0.0286 left_gripper=0.0307 right_x=0.2926 right_y=0.0001 right_z=0.1706 right_yaw=-0.0001 right_pitch=-0.0313 right_roll=0.0014 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -7.4325, 8.7453, 1.4725, 0.0562, 0.0122, 1.033, -0.1983, -1.3333, 7.0632, 1.7118, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23a255febad8bc4361a162ddc33af4e699f95bcb7cf186db15e670ba5322beaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f90fdb99b5a2103a9a96597005b7f3ddf49780dfc18570f18dd54bf2e3becfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9f2d5e70527fec4d3c51227749c6bc07399218695341442c4269b2d373ad8f9",
        "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_01FmL3hMrcyiZ43DFZexAyiU",
      "input": {
        "note": "The close was empty — the bowl stayed on the table. In the wrist view the bowl's leftmost point runs off the bottom of the frame, so the jaws were too far forward; pulling back 3.5 cm and reopening to try again at the bowl's left extreme.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.34,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FmL3hMrcyiZ43DFZexAyiU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0017, 1.3956, 0.5812, -0.1036, -0.0158, -0.0723, 0.9949, -0.0219, 0.8051, 0.5953, -0.3927, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3356 left_y=0.007 left_z=0.0391 left_yaw=0.0436 left_pitch=-0.3465 left_roll=-0.0284 left_gripper=0.9949 right_x=0.2926 right_y=0.0 right_z=0.1703 right_yaw=-0.0004 right_pitch=-0.032 right_roll=0.0012 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -6.188, 5.7368, 1.6435, -0.0317, 0.0464, -0.0952, -0.0615, -1.388, 7.0496, 1.7216, -0.0562, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66bf21756b1030ff4c7112ec4575a09d015e4215104f7b44ad8f3ae55e1105b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00c9a44a40bfe692802e8f6dcc50164c8784cb15a5cb06b4786a7f5618afebaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08b598bbe7a6ee17f07ca208dcf07a0ccb71a95b788ae2298415ac797c1cc00e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /messages · status 200 · 3.999 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0044, 1.5494, 0.6621, 0.0292, -0.0082, -0.0643, 0.0234, -0.0219, 0.8036, 0.5957, -0.3927, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3769 left_y=0.0067 left_z=0.0373 left_yaw=0.0342 left_pitch=-0.2867 left_roll=-0.0316 left_gripper=0.0234 right_x=0.2926 right_y=0.0001 right_z=0.1709 right_yaw=-0.0001 right_pitch=-0.0301 right_roll=0.0014 right_gripper=0.9966\nstate[joint_eff]: [-0.335, -6.5026, 7.3778, 1.243, -0.2906, 0.2613, 0.9255, -0.0205, -1.0598, 7.241, 1.7363, -0.0317, -0.0757, -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]: [0.0017, 1.4155, 0.8448, -0.3054, -0.0151, -0.0689, 0.0307, -0.0219, 0.8043, 0.5957, -0.3931, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3757 left_y=0.0069 left_z=0.1016 left_yaw=0.0404 left_pitch=-0.3045 left_roll=-0.0286 left_gripper=0.0307 right_x=0.2926 right_y=0.0001 right_z=0.1706 right_yaw=-0.0001 right_pitch=-0.0313 right_roll=0.0014 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -7.4325, 8.7453, 1.4725, 0.0562, 0.0122, 1.033, -0.1983, -1.3333, 7.0632, 1.7118, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0017, 1.3956, 0.5812, -0.1036, -0.0158, -0.0723, 0.9949, -0.0219, 0.8051, 0.5953, -0.3927, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3356 left_y=0.007 left_z=0.0391 left_yaw=0.0436 left_pitch=-0.3465 left_roll=-0.0284 left_gripper=0.9949 right_x=0.2926 right_y=0.0 right_z=0.1703 right_yaw=-0.0004 right_pitch=-0.032 right_roll=0.0012 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -6.188, 5.7368, 1.6435, -0.0317, 0.0464, -0.0952, -0.0615, -1.388, 7.0496, 1.7216, -0.0562, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66bf21756b1030ff4c7112ec4575a09d015e4215104f7b44ad8f3ae55e1105b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00c9a44a40bfe692802e8f6dcc50164c8784cb15a5cb06b4786a7f5618afebaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08b598bbe7a6ee17f07ca208dcf07a0ccb71a95b788ae2298415ac797c1cc00e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JT4pQBqAruXptfxZKaaQR5",
      "input": {
        "note": "The wrist view is now filled by the bowl's interior with its left rim just outside the left jaw, so the gripper sits slightly inside the bowl. Shifting 3 cm to the arm's left to bring the rim lip between the jaws.",
        "targets": {
          "left_y": 0.037,
          "left_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01JT4pQBqAruXptfxZKaaQR5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1181, 1.3876, 0.5995, -0.1532, 0.0299, -0.0143, 0.9957, -0.0219, 0.8074, 0.5953, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3303 left_y=0.0375 left_z=0.0409 left_yaw=0.0854 left_pitch=-0.3693 left_roll=-0.0305 left_gripper=0.9957 right_x=0.2927 right_y=0.0001 right_z=0.1696 right_yaw=-0.0003 right_pitch=-0.0347 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [-0.8684, -6.3658, 8.3077, 1.243, 0.2857, 0.1636, 0.0757, -0.1026, -1.388, 7.0359, 1.7314, -0.0317, -0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4554fac1b59bedc57102fd518ccf0fa3f175e7bc47d622104d21e12801f731e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c5c625c3449f7caf6625e9666c8ad72f7aaa30341904f0e0d04da54165bf363",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d28d6b5f2197a18cddbd27368dccbe7ae5f2ca7e359d24ee4113937b0166da2a",
        "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 · 18.03 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0017, 1.4155, 0.8448, -0.3054, -0.0151, -0.0689, 0.0307, -0.0219, 0.8043, 0.5957, -0.3931, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3757 left_y=0.0069 left_z=0.1016 left_yaw=0.0404 left_pitch=-0.3045 left_roll=-0.0286 left_gripper=0.0307 right_x=0.2926 right_y=0.0001 right_z=0.1706 right_yaw=-0.0001 right_pitch=-0.0313 right_roll=0.0014 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -7.4325, 8.7453, 1.4725, 0.0562, 0.0122, 1.033, -0.1983, -1.3333, 7.0632, 1.7118, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0017, 1.3956, 0.5812, -0.1036, -0.0158, -0.0723, 0.9949, -0.0219, 0.8051, 0.5953, -0.3927, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3356 left_y=0.007 left_z=0.0391 left_yaw=0.0436 left_pitch=-0.3465 left_roll=-0.0284 left_gripper=0.9949 right_x=0.2926 right_y=0.0 right_z=0.1703 right_yaw=-0.0004 right_pitch=-0.032 right_roll=0.0012 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -6.188, 5.7368, 1.6435, -0.0317, 0.0464, -0.0952, -0.0615, -1.388, 7.0496, 1.7216, -0.0562, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1181, 1.3876, 0.5995, -0.1532, 0.0299, -0.0143, 0.9957, -0.0219, 0.8074, 0.5953, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3303 left_y=0.0375 left_z=0.0409 left_yaw=0.0854 left_pitch=-0.3693 left_roll=-0.0305 left_gripper=0.9957 right_x=0.2927 right_y=0.0001 right_z=0.1696 right_yaw=-0.0003 right_pitch=-0.0347 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [-0.8684, -6.3658, 8.3077, 1.243, 0.2857, 0.1636, 0.0757, -0.1026, -1.388, 7.0359, 1.7314, -0.0317, -0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4554fac1b59bedc57102fd518ccf0fa3f175e7bc47d622104d21e12801f731e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c5c625c3449f7caf6625e9666c8ad72f7aaa30341904f0e0d04da54165bf363",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d28d6b5f2197a18cddbd27368dccbe7ae5f2ca7e359d24ee4113937b0166da2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS+AQKjgEIEhgCKkDz9wjKDbfQok7iydvCJpd1zbP3Xo5Ni6obsobMBONC1stvsbd9q5S245Sw17ABN+C/yyU4CtnBZc14VRmf8+WZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZCVzNUGEgyxTh/dpYz11OyWDxQaDM7j4kMKzcINvirl/yIwd93tonQczDQbZgZb3GMY1VZPVXYLxUJWHlCqz4IZeBVLyduLp6DxQQ8JPcSc0mFCKpYDLKsFZqDLdvMR3WQxUPeGA+NjKnGM6z0OlZdXH52HrCRE/p7PMP2Eynx2Kw6X0aA7vXDFFV9jNhdf63AoxRvGJy/r2qbHM/W3HX9z0UhU1ledeuCwdiCH8Sw6h3bxJkWrPFl7uyZ0QKQOqAAjSBLRy4Aus+1jwhACaO4de76hj7Qb2WB3gebv8Lwzjwbgih30BjjiAfzaq5qhBnXj+/gdae7f6nhg/+sxlytDtIHIlP5XP0T0dwHFHlMoCmZRtYb2uqJnzyo8+KhTf2CaI1I/IAAyv4qd4q9AYdBcB6UUqp6dHsOASmeeeMyHOmJqaMXbwbRgag9FKsilTik/L+ulkA+y+a8Ou1UbHLJzqbjnGCbVfs+VpepAqdH3Go9nSw4MoTaH8F5GfCRLoIM/ogla///FE4P7sUQkZIfBwkYHGBXkK5KAhrw8V02o2vCnOAI3Q576WqBCO57J+D76fws6MuKbeglC4K966dp/e2qDfgbTS/cl7FFk6T6UigHT/JNfRcN6malv5cj6TXeGGR6Jz92iCT9bfxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WbMew8ScHfGFBpEuGhYhfE",
      "input": {
        "note": "The bowl's left rim now lies between the two open jaws in the wrist view. Closing to pinch the rim.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WbMew8ScHfGFBpEuGhYhfE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1177, 1.3846, 0.6029, -0.1749, 0.0288, -0.0231, 0.0082, -0.0219, 0.8093, 0.5953, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3273 left_y=0.0372 left_z=0.04 left_yaw=0.0909 left_pitch=-0.3847 left_roll=-0.0354 left_gripper=0.0082 right_x=0.2928 right_y=0.0001 right_z=0.1691 right_yaw=-0.0003 right_pitch=-0.0366 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -4.6838, 6.0103, 1.536, 0.0122, 0.0904, 0.6178, -0.1846, -1.4701, 7.2, 1.7314, -0.0757, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd912c0a2ae536ed3bd23e473d1c625c59277d977c5daf71b210b7c83a33cfd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ddc79016ba9f45de08aa9d070fecf1e2ff5c282dce0b5db0e1aaee3bb94a3dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b3f36fff2bab3b9d15375f6e0484a9fc081affe06715575a61287ce5cfa5b82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 14.74 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0017, 1.3956, 0.5812, -0.1036, -0.0158, -0.0723, 0.9949, -0.0219, 0.8051, 0.5953, -0.3927, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3356 left_y=0.007 left_z=0.0391 left_yaw=0.0436 left_pitch=-0.3465 left_roll=-0.0284 left_gripper=0.9949 right_x=0.2926 right_y=0.0 right_z=0.1703 right_yaw=-0.0004 right_pitch=-0.032 right_roll=0.0012 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -6.188, 5.7368, 1.6435, -0.0317, 0.0464, -0.0952, -0.0615, -1.388, 7.0496, 1.7216, -0.0562, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1181, 1.3876, 0.5995, -0.1532, 0.0299, -0.0143, 0.9957, -0.0219, 0.8074, 0.5953, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3303 left_y=0.0375 left_z=0.0409 left_yaw=0.0854 left_pitch=-0.3693 left_roll=-0.0305 left_gripper=0.9957 right_x=0.2927 right_y=0.0001 right_z=0.1696 right_yaw=-0.0003 right_pitch=-0.0347 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [-0.8684, -6.3658, 8.3077, 1.243, 0.2857, 0.1636, 0.0757, -0.1026, -1.388, 7.0359, 1.7314, -0.0317, -0.0024, -0.0171]",
      "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]: [0.1177, 1.3846, 0.6029, -0.1749, 0.0288, -0.0231, 0.0082, -0.0219, 0.8093, 0.5953, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3273 left_y=0.0372 left_z=0.04 left_yaw=0.0909 left_pitch=-0.3847 left_roll=-0.0354 left_gripper=0.0082 right_x=0.2928 right_y=0.0001 right_z=0.1691 right_yaw=-0.0003 right_pitch=-0.0366 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -4.6838, 6.0103, 1.536, 0.0122, 0.0904, 0.6178, -0.1846, -1.4701, 7.2, 1.7314, -0.0757, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd912c0a2ae536ed3bd23e473d1c625c59277d977c5daf71b210b7c83a33cfd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ddc79016ba9f45de08aa9d070fecf1e2ff5c282dce0b5db0e1aaee3bb94a3dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b3f36fff2bab3b9d15375f6e0484a9fc081affe06715575a61287ce5cfa5b82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ah9Wp7o2fRtkRqVxYSwSMb",
      "input": {
        "note": "The closed jaws are sitting inside the bowl (gripper reads 0.008 = empty), so I was inboard of the rim. Lifting clear and reopening before approaching the bowl's other (right) rim, which is the reachable side.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ah9Wp7o2fRtkRqVxYSwSMb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1177, 1.2785, 0.8097, -0.5186, 0.0292, -0.0277, 0.9944, -0.0219, 0.8101, 0.5953, -0.3931, -0.0162, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3234 left_y=0.0367 left_z=0.1019 left_yaw=0.0929 left_pitch=-0.4157 left_roll=-0.0395 left_gripper=0.9944 right_x=0.2929 right_y=0.0 right_z=0.1689 right_yaw=-0.0006 right_pitch=-0.0374 right_roll=0.0016 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -6.1197, 9.2376, 1.3455, -0.0415, 0.0952, 0.0464, -0.2256, -1.347, 7.0085, 1.7167, -0.0464, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c8151d9abcc2d343a7a1ac8fe8d8cdcccee4c29975d6a25deb4fe9da4b5e6fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f5391d7f66b4188f1a08fea0d6d6f15900c58836aead4047236caa5481c6e7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0775ca6f917eef31bf76f30a310068e8074b0a258883b16033a157788ffabb5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 8.542 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1181, 1.3876, 0.5995, -0.1532, 0.0299, -0.0143, 0.9957, -0.0219, 0.8074, 0.5953, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3303 left_y=0.0375 left_z=0.0409 left_yaw=0.0854 left_pitch=-0.3693 left_roll=-0.0305 left_gripper=0.9957 right_x=0.2927 right_y=0.0001 right_z=0.1696 right_yaw=-0.0003 right_pitch=-0.0347 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [-0.8684, -6.3658, 8.3077, 1.243, 0.2857, 0.1636, 0.0757, -0.1026, -1.388, 7.0359, 1.7314, -0.0317, -0.0024, -0.0171]",
      "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]: [0.1177, 1.3846, 0.6029, -0.1749, 0.0288, -0.0231, 0.0082, -0.0219, 0.8093, 0.5953, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3273 left_y=0.0372 left_z=0.04 left_yaw=0.0909 left_pitch=-0.3847 left_roll=-0.0354 left_gripper=0.0082 right_x=0.2928 right_y=0.0001 right_z=0.1691 right_yaw=-0.0003 right_pitch=-0.0366 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -4.6838, 6.0103, 1.536, 0.0122, 0.0904, 0.6178, -0.1846, -1.4701, 7.2, 1.7314, -0.0757, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1177, 1.2785, 0.8097, -0.5186, 0.0292, -0.0277, 0.9944, -0.0219, 0.8101, 0.5953, -0.3931, -0.0162, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3234 left_y=0.0367 left_z=0.1019 left_yaw=0.0929 left_pitch=-0.4157 left_roll=-0.0395 left_gripper=0.9944 right_x=0.2929 right_y=0.0 right_z=0.1689 right_yaw=-0.0006 right_pitch=-0.0374 right_roll=0.0016 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -6.1197, 9.2376, 1.3455, -0.0415, 0.0952, 0.0464, -0.2256, -1.347, 7.0085, 1.7167, -0.0464, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c8151d9abcc2d343a7a1ac8fe8d8cdcccee4c29975d6a25deb4fe9da4b5e6fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f5391d7f66b4188f1a08fea0d6d6f15900c58836aead4047236caa5481c6e7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0775ca6f917eef31bf76f30a310068e8074b0a258883b16033a157788ffabb5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QoGMh2xQnbiCyQScwdKcyq",
      "input": {
        "note": "From above, the bowl is centred on the jaw column with its rim spanning about 13 cm, so its far-left rim is out of reach; moving over the bowl's right rim instead, staying above rim height.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.025,
          "left_z": 0.115
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QoGMh2xQnbiCyQScwdKcyq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 1.3682, 0.9009, -0.5644, -0.0811, -0.2081, 0.9951, -0.0219, 0.8101, 0.5953, -0.3931, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3386 left_y=-0.024 left_z=0.1027 left_yaw=0.0633 left_pitch=-0.4551 left_roll=-0.0392 left_gripper=0.9951 right_x=0.2929 right_y=0.0001 right_z=0.1689 right_yaw=-0.0001 right_pitch=-0.0374 right_roll=0.0015 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -4.6564, 8.8274, 1.2869, -0.2466, -0.0122, 0.0562, -0.0615, -1.2239, 7.0496, 1.7607, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de257ef1296bdf45d5b0be74ca0486f5617e5d3d2f7f3b8236621b9cb3ee67b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7a8a868f6da672df86aa9634b4f2fbfe4fcc08371700c21ccb29c6392332701",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:11d9905ce85b20256a1008dfdbf674a9b9601d5def56f194448ceb016b6563b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 3.702 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1177, 1.3846, 0.6029, -0.1749, 0.0288, -0.0231, 0.0082, -0.0219, 0.8093, 0.5953, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3273 left_y=0.0372 left_z=0.04 left_yaw=0.0909 left_pitch=-0.3847 left_roll=-0.0354 left_gripper=0.0082 right_x=0.2928 right_y=0.0001 right_z=0.1691 right_yaw=-0.0003 right_pitch=-0.0366 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -4.6838, 6.0103, 1.536, 0.0122, 0.0904, 0.6178, -0.1846, -1.4701, 7.2, 1.7314, -0.0757, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1177, 1.2785, 0.8097, -0.5186, 0.0292, -0.0277, 0.9944, -0.0219, 0.8101, 0.5953, -0.3931, -0.0162, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3234 left_y=0.0367 left_z=0.1019 left_yaw=0.0929 left_pitch=-0.4157 left_roll=-0.0395 left_gripper=0.9944 right_x=0.2929 right_y=0.0 right_z=0.1689 right_yaw=-0.0006 right_pitch=-0.0374 right_roll=0.0016 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -6.1197, 9.2376, 1.3455, -0.0415, 0.0952, 0.0464, -0.2256, -1.347, 7.0085, 1.7167, -0.0464, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 1.3682, 0.9009, -0.5644, -0.0811, -0.2081, 0.9951, -0.0219, 0.8101, 0.5953, -0.3931, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3386 left_y=-0.024 left_z=0.1027 left_yaw=0.0633 left_pitch=-0.4551 left_roll=-0.0392 left_gripper=0.9951 right_x=0.2929 right_y=0.0001 right_z=0.1689 right_yaw=-0.0001 right_pitch=-0.0374 right_roll=0.0015 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -4.6564, 8.8274, 1.2869, -0.2466, -0.0122, 0.0562, -0.0615, -1.2239, 7.0496, 1.7607, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de257ef1296bdf45d5b0be74ca0486f5617e5d3d2f7f3b8236621b9cb3ee67b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7a8a868f6da672df86aa9634b4f2fbfe4fcc08371700c21ccb29c6392332701",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11d9905ce85b20256a1008dfdbf674a9b9601d5def56f194448ceb016b6563b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9QoKjgEIEhgCKkD0MBkkAoRRo9ymx8h7GfqUZ2fnvaLB1Gsihx5lVi00RQMKNoOrCPwriPTHS9Rlc/KLt+jzPshXyV58qSH6w3+QMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbuVzNUGEgxQIGt4an7Rft38Qj0aDIBxr74POgNTjw3NKyIwKKVWR7eoRo46nSLOa7Lv53Mm1gV1n9HtfHsbR1sPetbSiXnoOljBO9waXJaY3QmeKpMJa3NQXc2XTjxska7rrzwoLCLCr/O9Bj9fbZu/BYCD0P/2H0n6kJX2X4cniPzP1LV4Z+uYiKFcJPamkw9aadT1lOESMPMjNeOqqJUoAu77dKUB/cSAdGsgwDGYF+ZiTMnxfDsbat1OABX0zfVmmB1Vew8HkUivYJssdrFgN0shbFbdeOg3TYGFEq5rz/SCahCQQwbrF9ww3V395rmyuOC84JmFoc0U5ArmOZbT5TdpCMEJZXgLV/qYAo9YXROAsf3u6hr98BY+s2ZFOcjpUZO2Qr8eQWQDpEyg6j5HmfHmpDlry0yMpp1kwAGqGNBHUhTsyXOaNDzVBqv4ByU2qYuCoE+/pbVu8S5HHEw7ETrmpahPm2VTKygcxjki/xDxWFFX2PTobKjlWwDn1ZGf3ZTseAPfP2lZVK6p2PMX5VROzFKTbAWRzJf1V/fornXKuZTC0LEdx2ktWHQIVvj1wizbpPdJ3wglIpPYVHkT0+YqsZxjgIE7wyPXcQloOt+7yS4IDLM9KMQa1+zOSVaoTsS9rOHFXwh7haT3rg4Ockpn3eQtO4su9sB+SfHXpf7mghRRhNT+CYpL1JdF+nXJvSFenfuuKjwBbKctWJOXlsdL4DlbFlBFEnBKZ07U775VMV3Inyly0nPtZvAo5MfxcGBLHFacfILkkBB1IWLgxxkJWaXJ8Yc8a3b8sTym/QJyP0WVYjQ/LFDbEwg7yyV6ts/9usuMqf8/rBBIW9zdyX1X1dCzLRN/knmiAzvTb3bF47icw+sWbPJYF5WO0rFPXp8hiPOyAcieftQOQyl+jw7ioqq0odBv/I377afBy/CkG4PCqd3egM0OVhGIXBPfu4f4FDv+thE0DJlVNSpxtC29rcS/YJkJUbcctWpKBoFa6jzIjRnw8o67pVFLW0blo4EgYwpavjuf6SA7sBENh4Xp4jGDfJXnDAKV2yB0I0TS7P4yMhQp3nPysJAgYnDcdqbgenqBOkbPI62qJJGeptjojf/d1IVgn2cl8ynaBP+0HyXEF7gRG5Hud/JCfR/e83/fvDkhyFrXRuOSuionKa4cHul6Z3nrrfiAcgbKZG+erRrok64TJnVtjN1WjYfEtuTI8RG/gAEVdyn0FUxsg0SgjfjzuXKfe4H9GXwG5IqH6dAp9fbsWYLw+AxzdhYDgymWUV2BiKqKdDA5G9JgvjQQBXYCsMrVY7DI5izaWAhZf7fCbBsLL1X0XBaVo9RSmbj17skKAprwmWnrcuQ0nNB/St5m62mR37gI6APAsyKiPxpq0yzEElFK+jKHsQKUItvvLj2Acb6nF/n9tZ7IR3TjNSUMNlV/8Ju/q1HGDsgNo/UDHPoMO9bf6dRz3Ip1QvXhRwm9bgTFxSAgVfFYoWlZDecVC0HsSZTtCXggg4VOPIBwTQJ+LVL8G+XR6wVfuyIOs7/SKv1ngYqpj8f22dEqrKGLvJTzETuKuN8l047fsbj3rUW/7/w0X9lXT6v09DO1CmusOiEorWSEoUmyL0K2CO9YN6g8Q/ngMU8H/pHnrrU6jQ4g0ZRRrt8SuygGCIlGg4mRyRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ELBcuo2RyKWuREwtkLPqxD",
      "input": {
        "note": "The bowl's right rim edge sits between the open jaws but a bit farther out than the fingertips, so I'm advancing 3 cm and dropping to rim height ready to pinch.",
        "targets": {
          "left_x": 0.375,
          "left_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01ELBcuo2RyKWuREwtkLPqxD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1101, 1.5661, 0.8852, -0.4194, -0.0826, -0.2165, 0.9951, -0.0216, 0.8146, 0.5953, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3583 left_y=-0.0213 left_z=0.0491 left_yaw=0.0903 left_pitch=-0.5223 left_roll=-0.0274 left_gripper=0.9951 right_x=0.2931 right_y=0.0002 right_z=0.1676 right_yaw=0.0001 right_pitch=-0.0419 right_roll=0.0019 right_gripper=0.9966\nstate[joint_eff]: [0.253, -7.4598, 6.3795, 1.3553, 0.0415, 0.1978, -0.0073, -0.0479, -1.6752, 7.0085, 1.7118, -0.0855, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54ec514355d17e65b018a4e44c719362d2dde95d320666b8ba9d4d12cf71606e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2146c5eb87866308a2b1de1eca9b902b83e6c677497d33993f3c03f4a33f71f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:720e420954efbf8def0865a2911a2f968bbd0c575a1dcbb3909f019b123030aa",
        "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 · 3.405 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1177, 1.2785, 0.8097, -0.5186, 0.0292, -0.0277, 0.9944, -0.0219, 0.8101, 0.5953, -0.3931, -0.0162, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3234 left_y=0.0367 left_z=0.1019 left_yaw=0.0929 left_pitch=-0.4157 left_roll=-0.0395 left_gripper=0.9944 right_x=0.2929 right_y=0.0 right_z=0.1689 right_yaw=-0.0006 right_pitch=-0.0374 right_roll=0.0016 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -6.1197, 9.2376, 1.3455, -0.0415, 0.0952, 0.0464, -0.2256, -1.347, 7.0085, 1.7167, -0.0464, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1234, 1.3682, 0.9009, -0.5644, -0.0811, -0.2081, 0.9951, -0.0219, 0.8101, 0.5953, -0.3931, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3386 left_y=-0.024 left_z=0.1027 left_yaw=0.0633 left_pitch=-0.4551 left_roll=-0.0392 left_gripper=0.9951 right_x=0.2929 right_y=0.0001 right_z=0.1689 right_yaw=-0.0001 right_pitch=-0.0374 right_roll=0.0015 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -4.6564, 8.8274, 1.2869, -0.2466, -0.0122, 0.0562, -0.0615, -1.2239, 7.0496, 1.7607, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1101, 1.5661, 0.8852, -0.4194, -0.0826, -0.2165, 0.9951, -0.0216, 0.8146, 0.5953, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3583 left_y=-0.0213 left_z=0.0491 left_yaw=0.0903 left_pitch=-0.5223 left_roll=-0.0274 left_gripper=0.9951 right_x=0.2931 right_y=0.0002 right_z=0.1676 right_yaw=0.0001 right_pitch=-0.0419 right_roll=0.0019 right_gripper=0.9966\nstate[joint_eff]: [0.253, -7.4598, 6.3795, 1.3553, 0.0415, 0.1978, -0.0073, -0.0479, -1.6752, 7.0085, 1.7118, -0.0855, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54ec514355d17e65b018a4e44c719362d2dde95d320666b8ba9d4d12cf71606e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2146c5eb87866308a2b1de1eca9b902b83e6c677497d33993f3c03f4a33f71f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:720e420954efbf8def0865a2911a2f968bbd0c575a1dcbb3909f019b123030aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QQKjgEIEhgCKkA1tOGZgCUQkwepvMGCpUHOfz14vdX+yBTgKc0uYvYnta1AgmP2VwBL/jd8EDPS3GKqJTROxFiw6ZPY5b8JSs4WMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcCVzNUGEgzQGOMZ1Gb079HxY34aDD/R7luNHCKv5wKX3SIwkNbji6SIv/kDAc2m55Cj84Ql9zXk3wZSvLCDzmmO5toSwly/bcY1Cj3yCVXzI3xBKvsCKAxLWoYjsPzlp+KLVkoTFHl+cWYwO6moqLI0spUkZdok0IdZ+A0ml2vHLwVY7985Z85OhlP90AHLKkEYMRmYbNxlQ/5+kVJYQ5AgOOUOyg5w5QLv4jcHv929IcaT1ikp9pQSHCRgKaVy+0AMB16yAqV6momhGK5RiHPOORtaDI9VYwFV0xJsFdQ2gZH6Ka+wM1ahTkah+XhfXjIICaySRfPMz1OvAgrFn3Qre4gt1QFV8J5767gm1GLX+dWRwL7nPDCxx3ilRMKQZbjkU5HTRYIBfX+CJDEQvYKmd/lQN3sXxyl1/g/lvXaJ9uYMKlrY0x287adw2OlQYYFcSgrtqMNT5bvKZR/ZV2kaDFlvSj9Zep5E7sC7wvzoifZzgZIlLkOvAFBJIIcx6oDMAq9L3Sp1XWpYLvbl+VyMA8EMJMhQ+UNqW+FerbH9vvKHsWRGJRelabcH+NlpwmYWOLIj12juNb0aDKWMR3GCjtZKT9DBElCyDB+9eD032BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0151iPjhqdhq3jKmdXnen4Xm",
      "input": {
        "note": "The bowl's right rim wall is now between the jaws at rim height; closing to pinch it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0151iPjhqdhq3jKmdXnen4Xm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1104, 1.5837, 0.8829, -0.4095, -0.0875, -0.21, 0.0154, -0.0219, 0.8158, 0.5953, -0.3935, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3586 left_y=-0.0206 left_z=0.0436 left_yaw=0.0917 left_pitch=-0.5311 left_roll=-0.0167 left_gripper=0.0154 right_x=0.2931 right_y=0.0001 right_z=0.1673 right_yaw=-0.0003 right_pitch=-0.0435 right_roll=0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -7.8154, 6.2974, 0.8181, -0.0269, -0.0708, 0.6422, -0.1709, -1.4291, 7.241, 1.7363, -0.0806, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c66ca7ce52378fece7f63d219ede0e4d2e3c246004129d2bb0eef88c9cb61081",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20323abed575f82bcf3f436158f46fed3e9799797ab2da43bad5a31cc7156b1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92de91fbd2054f3a5286be3ea91a28bb76556486612ffb12a8220ff05293bc19",
        "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 · 11.98 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 1.3682, 0.9009, -0.5644, -0.0811, -0.2081, 0.9951, -0.0219, 0.8101, 0.5953, -0.3931, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3386 left_y=-0.024 left_z=0.1027 left_yaw=0.0633 left_pitch=-0.4551 left_roll=-0.0392 left_gripper=0.9951 right_x=0.2929 right_y=0.0001 right_z=0.1689 right_yaw=-0.0001 right_pitch=-0.0374 right_roll=0.0015 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -4.6564, 8.8274, 1.2869, -0.2466, -0.0122, 0.0562, -0.0615, -1.2239, 7.0496, 1.7607, -0.0513, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1101, 1.5661, 0.8852, -0.4194, -0.0826, -0.2165, 0.9951, -0.0216, 0.8146, 0.5953, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3583 left_y=-0.0213 left_z=0.0491 left_yaw=0.0903 left_pitch=-0.5223 left_roll=-0.0274 left_gripper=0.9951 right_x=0.2931 right_y=0.0002 right_z=0.1676 right_yaw=0.0001 right_pitch=-0.0419 right_roll=0.0019 right_gripper=0.9966\nstate[joint_eff]: [0.253, -7.4598, 6.3795, 1.3553, 0.0415, 0.1978, -0.0073, -0.0479, -1.6752, 7.0085, 1.7118, -0.0855, -0.0269, -0.0171]",
      "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]: [-0.1104, 1.5837, 0.8829, -0.4095, -0.0875, -0.21, 0.0154, -0.0219, 0.8158, 0.5953, -0.3935, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3586 left_y=-0.0206 left_z=0.0436 left_yaw=0.0917 left_pitch=-0.5311 left_roll=-0.0167 left_gripper=0.0154 right_x=0.2931 right_y=0.0001 right_z=0.1673 right_yaw=-0.0003 right_pitch=-0.0435 right_roll=0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -7.8154, 6.2974, 0.8181, -0.0269, -0.0708, 0.6422, -0.1709, -1.4291, 7.241, 1.7363, -0.0806, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c66ca7ce52378fece7f63d219ede0e4d2e3c246004129d2bb0eef88c9cb61081",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20323abed575f82bcf3f436158f46fed3e9799797ab2da43bad5a31cc7156b1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92de91fbd2054f3a5286be3ea91a28bb76556486612ffb12a8220ff05293bc19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxQMKjgEIEhgCKkC2rtcGlkXv0QK7f/3Mm2CZdEkksReK1JNJtWEc2/tOwcI37kosGn1r03P5PCjfb5/gSPTuhyqz5jdNCkH3tL6FMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcSVzNUGEgzSgdELuyMQRnJ2Dw0aDBnGUoNMq9tGGuVwfiIwPOHa3LZUKG+KsvV5HLa3nBDK/62fwUY0zrBR/2FKZMsE2/93OxL74H5982BvWIkZKuMBbwlwn3KhguLyXdfu4wYopD49O2+y6m8HRLs2/WP/ksWJAw7EHWVmGtFcpaLgUXkjOqG6gjKh0nQCVKUw1Mf8sc34JjASfiGHE6v6fUzW4mEAsCp0P1FUlx2SzZq/8HzLpojivIuNxFFIG6/ICwtO4vxJW9bS4v469JCmAs3fW/w5gzJOgGgeS80YeMojk73UVGIJSzfheoavSTrvH/5u61+w+bFYTIYG0tCAjUDrlJOVmbHRVUBKB2w/OVQANQTkAVspehh+Sp7f2jFMcsKALbOaX5XKgvoyNw3+NM7jG8nx+x8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PFUPTAypAswQmPHZmX2SXk",
      "input": {
        "note": "Gripper closed to 0.015 and the wrist view shows the bowl pulled right up against the jaws — lifting to check whether the bowl came with it.",
        "targets": {
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01PFUPTAypAswQmPHZmX2SXk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1104, 1.5131, 1.1419, -0.7589, -0.0837, -0.2104, 0.0164, -0.0219, 0.8158, 0.5953, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3596 left_y=-0.0214 left_z=0.1202 left_yaw=0.0907 left_pitch=-0.5512 left_roll=-0.0162 left_gripper=0.0164 right_x=0.2932 right_y=0.0001 right_z=0.1673 right_yaw=-0.0003 right_pitch=-0.0431 right_roll=0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -8.4991, 8.8274, 1.0818, -0.1343, -0.0171, 1.0232, -0.0205, -1.3607, 7.2, 1.7265, -0.0464, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61e9e81e9d07add978bad46dbf56893262c8ef17d43a8412e03fca0249e07f89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20dd40ef8e4ca8aee590057572f63ca256836fe7fdfe80759940653e7078558a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a632efd8390f8964ad6e6fd9103d442596043f9757294dc37ac041f53ca87c1",
        "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 · 11.54 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1101, 1.5661, 0.8852, -0.4194, -0.0826, -0.2165, 0.9951, -0.0216, 0.8146, 0.5953, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3583 left_y=-0.0213 left_z=0.0491 left_yaw=0.0903 left_pitch=-0.5223 left_roll=-0.0274 left_gripper=0.9951 right_x=0.2931 right_y=0.0002 right_z=0.1676 right_yaw=0.0001 right_pitch=-0.0419 right_roll=0.0019 right_gripper=0.9966\nstate[joint_eff]: [0.253, -7.4598, 6.3795, 1.3553, 0.0415, 0.1978, -0.0073, -0.0479, -1.6752, 7.0085, 1.7118, -0.0855, -0.0269, -0.0171]",
      "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]: [-0.1104, 1.5837, 0.8829, -0.4095, -0.0875, -0.21, 0.0154, -0.0219, 0.8158, 0.5953, -0.3935, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3586 left_y=-0.0206 left_z=0.0436 left_yaw=0.0917 left_pitch=-0.5311 left_roll=-0.0167 left_gripper=0.0154 right_x=0.2931 right_y=0.0001 right_z=0.1673 right_yaw=-0.0003 right_pitch=-0.0435 right_roll=0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -7.8154, 6.2974, 0.8181, -0.0269, -0.0708, 0.6422, -0.1709, -1.4291, 7.241, 1.7363, -0.0806, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1104, 1.5131, 1.1419, -0.7589, -0.0837, -0.2104, 0.0164, -0.0219, 0.8158, 0.5953, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3596 left_y=-0.0214 left_z=0.1202 left_yaw=0.0907 left_pitch=-0.5512 left_roll=-0.0162 left_gripper=0.0164 right_x=0.2932 right_y=0.0001 right_z=0.1673 right_yaw=-0.0003 right_pitch=-0.0431 right_roll=0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -8.4991, 8.8274, 1.0818, -0.1343, -0.0171, 1.0232, -0.0205, -1.3607, 7.2, 1.7265, -0.0464, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61e9e81e9d07add978bad46dbf56893262c8ef17d43a8412e03fca0249e07f89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20dd40ef8e4ca8aee590057572f63ca256836fe7fdfe80759940653e7078558a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a632efd8390f8964ad6e6fd9103d442596043f9757294dc37ac041f53ca87c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y6E5wMhttVRs4xffvWaA8r",
      "input": {
        "note": "The bowl lifted with the jaws (it stays fixed in the wrist view through the 8 cm lift). Carrying it over the next bowl to the right, offsetting 6 cm so the held bowl's centre lands over the target bowl.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.18,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01Y6E5wMhttVRs4xffvWaA8r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.763, 1.6226, -1.0775, -0.2413, -0.6224, 0.0164, -0.0216, 0.8173, 0.5953, -0.3939, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3665 left_y=-0.178 left_z=0.1697 left_yaw=0.0686 left_pitch=-0.5747 left_roll=-0.0219 left_gripper=0.0164 right_x=0.2932 right_y=0.0002 right_z=0.1668 right_yaw=0.0003 right_pitch=-0.0454 right_roll=0.0017 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -8.2393, 8.7863, 0.7595, -0.3687, -0.0513, 0.9744, -0.0615, -1.4838, 7.0359, 1.6825, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3b78367cc46423206fbcb898c405ae550ffcfaf5394cb8020f2c98c355c402b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d59d44fd22c35f3c06ab82945fe653cdab1e5229868f43f05fc43d9a5c1427e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9ba9879336871217462f748db012b7aacb8210607db7afa3412c5a257e899152",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 8.285 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1104, 1.5837, 0.8829, -0.4095, -0.0875, -0.21, 0.0154, -0.0219, 0.8158, 0.5953, -0.3935, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3586 left_y=-0.0206 left_z=0.0436 left_yaw=0.0917 left_pitch=-0.5311 left_roll=-0.0167 left_gripper=0.0154 right_x=0.2931 right_y=0.0001 right_z=0.1673 right_yaw=-0.0003 right_pitch=-0.0435 right_roll=0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -7.8154, 6.2974, 0.8181, -0.0269, -0.0708, 0.6422, -0.1709, -1.4291, 7.241, 1.7363, -0.0806, 0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1104, 1.5131, 1.1419, -0.7589, -0.0837, -0.2104, 0.0164, -0.0219, 0.8158, 0.5953, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3596 left_y=-0.0214 left_z=0.1202 left_yaw=0.0907 left_pitch=-0.5512 left_roll=-0.0162 left_gripper=0.0164 right_x=0.2932 right_y=0.0001 right_z=0.1673 right_yaw=-0.0003 right_pitch=-0.0431 right_roll=0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -8.4991, 8.8274, 1.0818, -0.1343, -0.0171, 1.0232, -0.0205, -1.3607, 7.2, 1.7265, -0.0464, -0.0171, -0.0171]",
      "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]: [-0.5648, 1.763, 1.6226, -1.0775, -0.2413, -0.6224, 0.0164, -0.0216, 0.8173, 0.5953, -0.3939, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3665 left_y=-0.178 left_z=0.1697 left_yaw=0.0686 left_pitch=-0.5747 left_roll=-0.0219 left_gripper=0.0164 right_x=0.2932 right_y=0.0002 right_z=0.1668 right_yaw=0.0003 right_pitch=-0.0454 right_roll=0.0017 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -8.2393, 8.7863, 0.7595, -0.3687, -0.0513, 0.9744, -0.0615, -1.4838, 7.0359, 1.6825, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3b78367cc46423206fbcb898c405ae550ffcfaf5394cb8020f2c98c355c402b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d59d44fd22c35f3c06ab82945fe653cdab1e5229868f43f05fc43d9a5c1427e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ba9879336871217462f748db012b7aacb8210607db7afa3412c5a257e899152",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RsXNPJwzi8kJdWfG2ULVcz",
      "input": {
        "note": "Wrist view shows the target (purple) bowl still about 10 cm to the right of the jaws while I carry the first bowl on the left. Sliding further right so the carried bowl comes over the target.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.24,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01RsXNPJwzi8kJdWfG2ULVcz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6731, 1.9591, 1.8904, -1.1938, -0.2543, -0.7231, 0.0168, -0.0219, 0.8173, 0.5953, -0.3939, -0.0162, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3752 left_y=-0.2377 left_z=0.1699 left_yaw=0.0551 left_pitch=-0.6024 left_roll=-0.025 left_gripper=0.0168 right_x=0.2932 right_y=0.0 right_z=0.1668 right_yaw=-0.0006 right_pitch=-0.0454 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -9.7983, 8.5812, 0.569, -0.3053, -0.0464, 0.9353, -0.0205, -1.3607, 6.9949, 1.6728, -0.0415, 0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0b9fc476d2780aa41ea2681f1dd025673a0cad736ff00131a4b5360b5e900bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56027bcde38c3b2f365bcd155d451d7fe586390d10b08ebbabb69d5a2c46af91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ecc01ac86f0bd5728d59d79c5bf8a5c104b40e6a4a49f0e54f3210c8c035f1b9",
        "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 · 7.654 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1104, 1.5131, 1.1419, -0.7589, -0.0837, -0.2104, 0.0164, -0.0219, 0.8158, 0.5953, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3596 left_y=-0.0214 left_z=0.1202 left_yaw=0.0907 left_pitch=-0.5512 left_roll=-0.0162 left_gripper=0.0164 right_x=0.2932 right_y=0.0001 right_z=0.1673 right_yaw=-0.0003 right_pitch=-0.0431 right_roll=0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -8.4991, 8.8274, 1.0818, -0.1343, -0.0171, 1.0232, -0.0205, -1.3607, 7.2, 1.7265, -0.0464, -0.0171, -0.0171]",
      "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]: [-0.5648, 1.763, 1.6226, -1.0775, -0.2413, -0.6224, 0.0164, -0.0216, 0.8173, 0.5953, -0.3939, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3665 left_y=-0.178 left_z=0.1697 left_yaw=0.0686 left_pitch=-0.5747 left_roll=-0.0219 left_gripper=0.0164 right_x=0.2932 right_y=0.0002 right_z=0.1668 right_yaw=0.0003 right_pitch=-0.0454 right_roll=0.0017 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -8.2393, 8.7863, 0.7595, -0.3687, -0.0513, 0.9744, -0.0615, -1.4838, 7.0359, 1.6825, -0.0415, -0.0513, -0.0122]",
      "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]: [-0.6731, 1.9591, 1.8904, -1.1938, -0.2543, -0.7231, 0.0168, -0.0219, 0.8173, 0.5953, -0.3939, -0.0162, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3752 left_y=-0.2377 left_z=0.1699 left_yaw=0.0551 left_pitch=-0.6024 left_roll=-0.025 left_gripper=0.0168 right_x=0.2932 right_y=0.0 right_z=0.1668 right_yaw=-0.0006 right_pitch=-0.0454 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -9.7983, 8.5812, 0.569, -0.3053, -0.0464, 0.9353, -0.0205, -1.3607, 6.9949, 1.6728, -0.0415, 0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0b9fc476d2780aa41ea2681f1dd025673a0cad736ff00131a4b5360b5e900bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56027bcde38c3b2f365bcd155d451d7fe586390d10b08ebbabb69d5a2c46af91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecc01ac86f0bd5728d59d79c5bf8a5c104b40e6a4a49f0e54f3210c8c035f1b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuAoKjgEIEhgCKkB4yONg/EsxDwtwJZOe6s+mSpc5fwYp9fpAFL4bPHIjXCIYU4kRc7UfwGpf4dsAjNzKrcetf5UznSXSZGHV6bUvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeaVzNUGEgwPtgRspM3iWxkK42caDD7N8F/wt4HnjeomgiIwNumR5IzTZN/yPHq9YKeJjn7tLVln48niVtpXF2RIMBIV77vCghiU7QPM1Wjq8qhjKtYIhHcvsWAdvZ1eNoiq5L9uWdnDiEg6AkK8TsCCbwCvXDIh+hSA27kcu7yocfK3vh6NFaZ3ZN2fMUnM2go1f5BFCpY8Rc7KzFrY7VHy4VpipBSdC8p/00s6Me4Pt0zWNw+dBdfidXoBBGv0tTj0au2JHoPOatDjenn8B6r249O8tdcQ+caq0BEUstoKnmHuWI3XnyPHRTGH1UuiDldiAl850ukVR3AU6e67ufhGMp6yFEF77Q0SYIg8dGReHqBafmWNYr/zT6BGgPQfrt8Rrq9eYQdXC9L2waFkKOwI8n7mipcWy8zg/Mi1sW20CokkPqLt7hWRqGeaRkIthZO7TQwk+Hf2jH9ijjYJMtZRqZZ4N/46snuEysSLluyPsuYYjZ6EHICT1OYITVLQ1eeVfd5sXh7M+7As+S4ME7Mfn3GvUpipsv5+dtl/cXJWNORMkNHNtTMb+rvqExItmE1k6zvYDAk/9JWRAshV21Jv8ugGUw+G/mEdcNFAak0H7S9U8C6gE7mou+PvGUp+4knkUQrjByBJicwdzxU4cx/qWiwMWF6JPmS+hdePXkGC31PWfo+6/0uidnpvLE57gY8GLA6LeFdjPPT1JToYVzx5TxvudX9OsCTowixxmr9VP29Dh7DHthGrqR/w4PQ/igwJCaV7TmH2DUgYPHC0ej2sFp2OF3MU39Hj/OKC/9TK6KMIuC9HXQmCok6VN46dpCTu3ptKIekUgIc/fFiz3lwYQZOS/ynVNDrbTcG7nzUQOsAJc3tOClcCtQbqL3gb4yFCBAeiHDesvs8x2cQ8K9gpNnHE6bwRkUKzzryakpoMHO6+sKz6P0NVSM2uUoFFSuoT6iiodbgvqQtXF9Cs/+vXrpz6PjzzKYp6lpH3lvvsKz6UiEQ+Ocbc7D+5rF/U/4fFWqyo9U/k+rZHZI/w9Y78keT2kACZUcqNIXkXG7oMiaYyUVUnIo8MHNfVvm6VtpY2yLAEG9peiXUAt0NjbV2jnpr70dC5lQhO8oWlt86ish9LzFswdAKtP8wMDAdzEGLDlXG6o1xz4+zAY5PDPR2dW84+RI27m9sswS+ZP26F2k0ZxAyoU0yaX2+tYR6LvIm1/DuQfgeQG492V0tl90xsH2awYXRhqxRVY/H6ipKNITngvbx5JCxxfGO5yAa7b5jf19l1NvjEWrtK6Vztqrdi8Q9/VpQjdl9OBgOrJHjlGxDJe8PxojpVcAAizIor3gQpx1mEMDxPbzCh8JI6Rw6+HbDDrDi9V9foT1X4sSjDZIMIshNWIQUY1zt9p26P03U5KTI81XoTzq/S63wj2GkDfx1VMIhbcMSfXXx3QbGCEVA0+WrzgUkgt6+3WPPEFn5I3BbEQycdLFwBYFJ9kUuygdj11waYrlzC56/CmKjAOhp5k0mYCxIZtgAmvRZN6PzU1pNmzVOVVL1Dn6Y8+59V2f2N+eRZ4VoylBdkzX+5slW5szoAqLXkFna2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WCfpNJUp86kf27jzPrTaWY",
      "input": {
        "note": "Target bowl is now ~4 cm right of the jaws; since the carried bowl hangs ~6 cm to the left of the jaws, I need another 10 cm of travel right to line the two bowls up.",
        "targets": {
          "left_y": -0.34
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WCfpNJUp86kf27jzPrTaWY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8394, 2.3711, 2.5412, -1.4631, -0.2768, -0.8909, 0.019, -0.0219, 0.8173, 0.5945, -0.3935, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3768 left_y=-0.3423 left_z=0.1658 left_yaw=0.0313 left_pitch=-0.611 left_roll=-0.0583 left_gripper=0.019 right_x=0.2931 right_y=0.0001 right_z=0.1665 right_yaw=-0.0003 right_pitch=-0.0457 right_roll=0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.4855, -12.7521, 7.241, 0.3004, -0.3004, 0.0073, 0.8571, -0.2393, -1.388, 7.0632, 1.6972, -0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ee652bfc7f366e6e4b17c62ba4d5466d4ff2860c129683dd26ade0006c46a03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f49388beb569f6fc6e9392ba2e387abd8d8ba43bd8b20e3a56894cd30b5c528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77e43a973618df76d9ae3ccd3f881a65681ca52eeac3a8eef97f6087b1ea0d32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 6.684 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5648, 1.763, 1.6226, -1.0775, -0.2413, -0.6224, 0.0164, -0.0216, 0.8173, 0.5953, -0.3939, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3665 left_y=-0.178 left_z=0.1697 left_yaw=0.0686 left_pitch=-0.5747 left_roll=-0.0219 left_gripper=0.0164 right_x=0.2932 right_y=0.0002 right_z=0.1668 right_yaw=0.0003 right_pitch=-0.0454 right_roll=0.0017 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -8.2393, 8.7863, 0.7595, -0.3687, -0.0513, 0.9744, -0.0615, -1.4838, 7.0359, 1.6825, -0.0415, -0.0513, -0.0122]",
      "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]: [-0.6731, 1.9591, 1.8904, -1.1938, -0.2543, -0.7231, 0.0168, -0.0219, 0.8173, 0.5953, -0.3939, -0.0162, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3752 left_y=-0.2377 left_z=0.1699 left_yaw=0.0551 left_pitch=-0.6024 left_roll=-0.025 left_gripper=0.0168 right_x=0.2932 right_y=0.0 right_z=0.1668 right_yaw=-0.0006 right_pitch=-0.0454 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -9.7983, 8.5812, 0.569, -0.3053, -0.0464, 0.9353, -0.0205, -1.3607, 6.9949, 1.6728, -0.0415, 0.0024, -0.0171]",
      "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]: [-0.8394, 2.3711, 2.5412, -1.4631, -0.2768, -0.8909, 0.019, -0.0219, 0.8173, 0.5945, -0.3935, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3768 left_y=-0.3423 left_z=0.1658 left_yaw=0.0313 left_pitch=-0.611 left_roll=-0.0583 left_gripper=0.019 right_x=0.2931 right_y=0.0001 right_z=0.1665 right_yaw=-0.0003 right_pitch=-0.0457 right_roll=0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.4855, -12.7521, 7.241, 0.3004, -0.3004, 0.0073, 0.8571, -0.2393, -1.388, 7.0632, 1.6972, -0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ee652bfc7f366e6e4b17c62ba4d5466d4ff2860c129683dd26ade0006c46a03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f49388beb569f6fc6e9392ba2e387abd8d8ba43bd8b20e3a56894cd30b5c528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77e43a973618df76d9ae3ccd3f881a65681ca52eeac3a8eef97f6087b1ea0d32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkQkKjgEIEhgCKkD6eBBFjWRDQaFdjbZqH3w0/Z+ylsVdANZymOEJIbO1rJMiDaj1A3D5+SWN9L0n4KXvWaLTbG3EuWp4fovaOdItMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe+VzNUGEgygRB+VvceBxSowSOYaDDfCUzgUPuQk4AkmziIwTCKV9DF+OWJlRBHL/w9O3fXHC2yFzERhqukYbDT81yeTYI7z0ku8Ulcm+JUJ7ArvKq8HaUpNlFDl1pCS3UfpLlNG/FE+8R4JbMZYi8bzJ4GmMeMZVEx/jnbdXhaTi780fQmndSNGdbsw/56uJRcsdlokj+XsgWlbjO3wsDpSj9Do4eaXYuntfUnn/jl1IT3n+7Z73CGa5Jdvrjpy4G0dp4KMxSJXMGCv6MqrPJMkpamYytd6X6D3VugST7QuCYzWfim4kaAwfn1DdqVSXuJYd5GYwzZCG3rdzVs0kLW0RQ6V4pTbbKdSVLtaS6f+ftKEKyOYFXrwXM0vNoH+jp2VVl64z6+b5+ejXZYrvPBLVQLfFshlwLDC21+t83eedsZug8BdY5KbnGTLEZk640fma5Z/M6BSLJcj0yTtvuBMqiywThxe5grCCMkFGrfZLUhLp7dEIvuuSaPxtq2PAB2u1TENQJq7cbIWgRODHLrrBEFwsUJm5ochSh4AVygyS9p1DxVJicXmNDyzOR5QtWQZqE8BvAVHy/Q5/7Ng9LCi5uoszTNQ4TLtKd5n7ZR2iy4pdzeV9/Mldw27BlrmUJUtBZOhDYJ+AHzZ0VW9BuIVvsMLvoC19Rtqj/gxmzigB+XUa/jol0BPwi6eCDxqSRXXj3jjfM9oe/zW2Lnr66LVH0zp4CM8r1W5oud+BmbIHiQxLX+5A4JQhEEWNiVAyi57Sq/EfyTXvWrIn/WPXCOaWWViaOvt1QQpP01g6b76vAlFrrcmbPvgFpfFn0dPPXl8CKZa+PrDjf1+dXmW40YbxPqmvCiSICyW2dGjM/V0fPwuV8QjRuZbas6UJF0R39WY6l3lrmuMkfZKIsaZEEU8xaH7fnEYYSJZOss2X1rscDLfB/2M2BGou4GEMTrgy3JOWQEq+p+E2Z4rqebnJKCClK1G7KNAWTm0PysY3ProonL2zUXjSa1etftbRuE952rHqCrxG3T3ePbK9qTCCE9weR3aSDR+Z5qMCVRgLB75XZtdDume0Bn79YH4sKklWQW7vM3hTFdDkYlEsiuyUCPsDeO0ueTquaYXDon/Ihg0KWkdgaT1a3ji+Cm9q9/za7QtKnvDBN112U4luum+9rpkAd5LjjU4VzIW5jT2e9Ssf0eyKUcrMsicn58Lv2b+mjMKtQiG+imsKBLAOawtZAZEpT/yj97ROSUcdxyZM8thJ+uUNGQ1qLf59cWdaDoRd+bArB9GYreYJfXHxo+TqRkiUogM6xdgkIPB65l2V5MAdRbe2Ut5ylp+UBalGiQsZZHYgUEwxIY3U+kIFQOEvU2pQk4/NxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N3D46yAqW1qBPdwVJXa2z4",
      "input": {
        "note": "The purple target bowl now peeks out just left of and beyond the carried bowl, so I'm nudging 2 cm right and 3 cm forward to centre the carried bowl over it before releasing.",
        "targets": {
          "left_x": 0.405,
          "left_y": -0.36
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01N3D46yAqW1qBPdwVJXa2z4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8322, 2.5324, 2.8105, -1.5547, -0.2775, -0.8948, 0.022, -0.0219, 0.8185, 0.5945, -0.3939, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.392 left_y=-0.3533 left_z=0.1585 left_yaw=0.033 left_pitch=-0.6 left_roll=-0.0747 left_gripper=0.022 right_x=0.2931 right_y=0.0 right_z=0.1661 right_yaw=-0.0004 right_pitch=-0.0473 right_roll=0.0015 right_gripper=0.9966\nstate[joint_eff]: [0.4308, -12.7248, 8.3487, 0.6471, -0.1832, 0.1685, 0.6081, -0.1436, -1.347, 7.2684, 1.7265, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a213eaa0290bd69d5c87a9eefc86fa67489479371a41383dd4bac3c6e82a57ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:963fca30a1d4053e19a184b8c5680af9e80f29a37e2148ce75e6baf5bc900901",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:03f0738424787f7663cdfbefb66d9be23898ca3ebc95a138057262af05f52bb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 7.163 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6731, 1.9591, 1.8904, -1.1938, -0.2543, -0.7231, 0.0168, -0.0219, 0.8173, 0.5953, -0.3939, -0.0162, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3752 left_y=-0.2377 left_z=0.1699 left_yaw=0.0551 left_pitch=-0.6024 left_roll=-0.025 left_gripper=0.0168 right_x=0.2932 right_y=0.0 right_z=0.1668 right_yaw=-0.0006 right_pitch=-0.0454 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [-0.253, -9.7983, 8.5812, 0.569, -0.3053, -0.0464, 0.9353, -0.0205, -1.3607, 6.9949, 1.6728, -0.0415, 0.0024, -0.0171]",
      "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]: [-0.8394, 2.3711, 2.5412, -1.4631, -0.2768, -0.8909, 0.019, -0.0219, 0.8173, 0.5945, -0.3935, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3768 left_y=-0.3423 left_z=0.1658 left_yaw=0.0313 left_pitch=-0.611 left_roll=-0.0583 left_gripper=0.019 right_x=0.2931 right_y=0.0001 right_z=0.1665 right_yaw=-0.0003 right_pitch=-0.0457 right_roll=0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.4855, -12.7521, 7.241, 0.3004, -0.3004, 0.0073, 0.8571, -0.2393, -1.388, 7.0632, 1.6972, -0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8322, 2.5324, 2.8105, -1.5547, -0.2775, -0.8948, 0.022, -0.0219, 0.8185, 0.5945, -0.3939, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.392 left_y=-0.3533 left_z=0.1585 left_yaw=0.033 left_pitch=-0.6 left_roll=-0.0747 left_gripper=0.022 right_x=0.2931 right_y=0.0 right_z=0.1661 right_yaw=-0.0004 right_pitch=-0.0473 right_roll=0.0015 right_gripper=0.9966\nstate[joint_eff]: [0.4308, -12.7248, 8.3487, 0.6471, -0.1832, 0.1685, 0.6081, -0.1436, -1.347, 7.2684, 1.7265, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a213eaa0290bd69d5c87a9eefc86fa67489479371a41383dd4bac3c6e82a57ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:963fca30a1d4053e19a184b8c5680af9e80f29a37e2148ce75e6baf5bc900901",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03f0738424787f7663cdfbefb66d9be23898ca3ebc95a138057262af05f52bb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6ggKjgEIEhgCKkAdPEsyZyMxzq4+yuDlzE39mXVd8VMIm0Ktgy8a/SV5zEUc/uhL+FnWmPDUKsGZlIqPW4Yq/RySfbMIG6umGQXWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfaVzNUGEgwBBtfwkN5GVEEa02YaDECT6vKehGCv/kGnwCIwjLXG8qC15Q9Z1jmDCJ5wzUw7oerqhDWE054qyA2DRN37QoCJEql15/idKau0N3UZKogHWol0otLJ0G7bapXQoO4PWw2GjM2+5reMzdBRyOk/80hvNvzNOada3qRorMN7jCw9oMre+1bEphNa3Wsu/EMV+k+6Bf4rirryBjOzaahFIU19I0DBG9KyiqWxLyqoEeFDSs5Z4yStnfb31+PRwsxRYkUczBBG2L7zgFo9VDnF39XB41E291Cy/ogPx8Dq9gaYObnyLC2GPMOAWCwvPwA4WK5y0+lF8+N4vHal4aJ0/p6cinIFaa+pMPBZeflU6NGPw717TttTn/a5y33i55C+dsVsEvQtmIms9zqNYz7ZYea1pV89epbYHUtSRxhkXw4jfHWuXZ9usxSzC8HQ4rpDXkd7UosfuJliq+xYJ6Lk3jnYYBBLeNrlQ/GOpOOjpqYR3xAusl5tuU28RS4GTohFh2B1K+ZTcAg+VtDqWQerS006PE/ag00hyf72ywSmMnpOnmqQdAdILOMugf975h+8/AheAPK2e3wNvni7UOKCol93bwIAnzF1T1sEeyafPWWjneF73ijMhmkhm123YQyctCfP9Du3bE8qYwSt/MXf/HRmJEAQw1GLBxbYeT4sRQHC8QQnXsPuuD0Xw0O9TdeHwWp/K9mBqejBKOwAc+aPvfpiCxkC2FxkLkd7ZhiO/fCoox8dfYCjdJhaSNwjbxgoUlh8PFVP8x5gXw61sBABcmua6I1jgGwntyxEfzza/Yzr9/wNFXw0IdNfO4/XmAIesnCTnVrYdPHSWqT01IU536GeDq03muDt26pFLi6mlxyoMtR/CVIRqy8MUHI54gXUZUI8UrFAWdoszQUE2AC/uyYC/njMnw2T0Mcn/GhjddQnSFE88PPN4r/2KWuU2OVUyDSeihcEFcmUW3AsyIvloc+GXCRpgPLphahYQE0FXTuD9LuIhGoQgwF0jUh6tCgZFMGix7JZJzOhr4aWWkKSBJHwtY4/SzQ2hZMkXLRtkGnEAQnRIKVQiVDHq4Of9YD1Ilc1cPPqGu6F/jYTT2tGbkY56rSbi5Ag23Bok5XAYEoAI0axeRdmdWfGoNI1Q75+bAvK0LkV4qqU4SE5mH1CMcxwxkme7hpwSxvesSumoRpiTEseNmwYtgyk0Wg91pidFZqjeViRztQXW9iYu1sHfuE5oLMmhQ5TeAEk/hsczckFfgGtwQjIuAantcdBLOzgUDkfXHmkFmHke/vT7m52H9dGIrrl1NrJHhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C1Lj4pbrCQcTMTFVnisWWZ",
      "input": {
        "note": "The carried bowl now hides the purple bowl from both the wrist and top views, so it is directly above it. Lowering to nest the carried bowl into the purple one.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01C1Lj4pbrCQcTMTFVnisWWZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8291, 2.4084, 2.3882, -1.3655, -0.2783, -0.8909, 0.0215, -0.0219, 0.8185, 0.5945, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3805 left_y=-0.3382 left_z=0.108 left_yaw=0.0966 left_pitch=-0.6677 left_roll=0.0332 left_gripper=0.0215 right_x=0.2932 right_y=0.0 right_z=0.1663 right_yaw=-0.0004 right_pitch=-0.0465 right_roll=0.0015 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -16.1573, 6.7897, 1.0574, -0.1685, -0.0366, 0.7204, -0.212, -0.9641, 6.9949, 1.707, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94e6346531835cde14fa3fdeb0f678c43c27a5f0eacc2a7ba7004bc1c4f3d522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0352c14bec5a08609f1993ea7390a2d967973aa6a0c700dd8fd175de0553d0b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:089fd0e22756d100a36c7070819eb24838d47f402f936c84ff4757766ef72d13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 5.351 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8394, 2.3711, 2.5412, -1.4631, -0.2768, -0.8909, 0.019, -0.0219, 0.8173, 0.5945, -0.3935, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3768 left_y=-0.3423 left_z=0.1658 left_yaw=0.0313 left_pitch=-0.611 left_roll=-0.0583 left_gripper=0.019 right_x=0.2931 right_y=0.0001 right_z=0.1665 right_yaw=-0.0003 right_pitch=-0.0457 right_roll=0.002 right_gripper=0.9966\nstate[joint_eff]: [-0.4855, -12.7521, 7.241, 0.3004, -0.3004, 0.0073, 0.8571, -0.2393, -1.388, 7.0632, 1.6972, -0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8322, 2.5324, 2.8105, -1.5547, -0.2775, -0.8948, 0.022, -0.0219, 0.8185, 0.5945, -0.3939, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.392 left_y=-0.3533 left_z=0.1585 left_yaw=0.033 left_pitch=-0.6 left_roll=-0.0747 left_gripper=0.022 right_x=0.2931 right_y=0.0 right_z=0.1661 right_yaw=-0.0004 right_pitch=-0.0473 right_roll=0.0015 right_gripper=0.9966\nstate[joint_eff]: [0.4308, -12.7248, 8.3487, 0.6471, -0.1832, 0.1685, 0.6081, -0.1436, -1.347, 7.2684, 1.7265, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8291, 2.4084, 2.3882, -1.3655, -0.2783, -0.8909, 0.0215, -0.0219, 0.8185, 0.5945, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3805 left_y=-0.3382 left_z=0.108 left_yaw=0.0966 left_pitch=-0.6677 left_roll=0.0332 left_gripper=0.0215 right_x=0.2932 right_y=0.0 right_z=0.1663 right_yaw=-0.0004 right_pitch=-0.0465 right_roll=0.0015 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -16.1573, 6.7897, 1.0574, -0.1685, -0.0366, 0.7204, -0.212, -0.9641, 6.9949, 1.707, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94e6346531835cde14fa3fdeb0f678c43c27a5f0eacc2a7ba7004bc1c4f3d522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0352c14bec5a08609f1993ea7390a2d967973aa6a0c700dd8fd175de0553d0b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:089fd0e22756d100a36c7070819eb24838d47f402f936c84ff4757766ef72d13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISswgKjgEIEhgCKkBfUnyeSFE1QLyoPY4Y53XDNbvw82y8hY+kZBJXRp8wrVzOi4hHaB/G9/iCUow0EmwgtExYsiAo98DwHSPqdzAIMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf2VzNUGEgw8ks2fsSuv0dSp3MIaDH2FzE4ydWND7wp2oiIwS8mI0Rs1zwZ3CKAHE/z6Ii/nS3yzbhLc2wMIkRsvPFaLjc4JgC7L9YSNI3ql/UI1KtEGhndBPSn/OwNvS5/ipwzU4wdR7WqNgCMV5a36QvLqcrPT+rwraa4D+UXu1Rr0PGiHebfKs0sFLNsWSf1CTqUOp2F5Sy4r8iQLsmo4etqI12HiV6UJLR0tjui+pLB09BLjA2ixabWKM12lKMivX2z3oLq5SN927sdDj/0Oo5IKMgds6/kGA4mj/Wgg9GYCD/KJGYTN6ky2ZdKEX7hdDFrWbghKb0utSnfKfQCjvqBo5epcupd8AkMNxxVtnDeVjy6wx5tRDhZ9WWua9tKctwtrpLwZvzG/29glG6KbOSXQsizVjq5G70G7zYfHijx+8bTFDUIGwbWhPPLbUFVonrfjtclmPk8LZftMDKHboNpJ02Im8l1eeYmSLyxYdakygIN6hCCZrDBlaKBVTafrsBNS5fgIeC/szI1JcOx/LJXHfFv7YV5O6/AdVF+PdCDme5xwoktVsIr770IJssM3jdTYUahIR02XM9xR5ZWBfytEtNvp0ADGXTKHcyH83KhZ9sjGhQ2HeVXx1XKCUBsg+LLheguoNYG2fBJ34ZKJ12AjXYMUwS1Ia1vc4UsqwNAz2ezRvUvVx0RKWJdEh1tapIh9XArzDWhthE8uZ4n16h5VeNFZZD8s0w+rRdElf2MPua7V2gL+bfP0m8AljvJUHdETR21ePzmGkNNoYLYIuKyg5ef4la1lMgYrX5AQCNw2JAcehTbsPiwrI+QKqSnL5FTTi+gJBwyr/nayDnB+7v9FK3JHkBv4M1B1a3Bd7xbWL59BQT0jcJQLqh+WPSmhai3OSZ1jdz55e5SvNYggbFTeWOiGNodatzh32DJVYYG/qBF0RpZjKlkRXaHVoYnOu++qcoEh6AVD/iqrXzmmcNlB17B38NwVV37DZadLNfNBThvdrrLAk/i85O2Z/Q3qvNM3TiCbNbZz/xrqHQO0VZBSk/PhJ5/SMcznW32NY6R3fJa2tuAFdO6Bt9h8usmw5ZrMpk1MDSz4lwM5HhoK1KJzHiu5mAt65IVP6shnoYZVSRjz20notUenFoNHhJdONoeSAE5srXgvoTYXRKU2q+jKb3z54n/QUCPEqRtiCkfu/YxecHA9O9UBiYLHbH0icwuoPWl5gEkQDLqIlUlcaTvHfp8JGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LYdoj7cC3RfD8Rs9Wks9t4",
      "input": {
        "note": "The purple bowl's rim peeks out beyond the far side of the carried bowl, meaning I am ~3 cm short; advancing so the carried bowl sits concentric over it.",
        "targets": {
          "left_x": 0.415
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01LYdoj7cC3RfD8Rs9Wks9t4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8131, 2.4821, 2.4958, -1.3479, -0.2935, -0.8841, 0.0234, -0.0216, 0.8204, 0.5945, -0.3931, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.4031 left_y=-0.3465 left_z=0.1048 left_yaw=0.0873 left_pitch=-0.6245 left_roll=-0.0034 left_gripper=0.0234 right_x=0.2933 right_y=0.0002 right_z=0.1657 right_yaw=0.0003 right_pitch=-0.0484 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [0.9094, -12.7521, 7.3641, 0.359, -0.5055, 0.2027, 0.7253, -0.1299, -1.4838, 7.2137, 1.6825, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c977e744ba76fa21205d876db18577857e3058605692bad8a4f8dc03f81945b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:340b27e4b58ec20ee2b767a3a5818dbcf82f446cda1969f46390dc07f0c36b21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fc885dfcf43a107f48e7d83cad158f4f97c4a493540173c9bbe79e673561afc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 4.966 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8322, 2.5324, 2.8105, -1.5547, -0.2775, -0.8948, 0.022, -0.0219, 0.8185, 0.5945, -0.3939, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.392 left_y=-0.3533 left_z=0.1585 left_yaw=0.033 left_pitch=-0.6 left_roll=-0.0747 left_gripper=0.022 right_x=0.2931 right_y=0.0 right_z=0.1661 right_yaw=-0.0004 right_pitch=-0.0473 right_roll=0.0015 right_gripper=0.9966\nstate[joint_eff]: [0.4308, -12.7248, 8.3487, 0.6471, -0.1832, 0.1685, 0.6081, -0.1436, -1.347, 7.2684, 1.7265, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8291, 2.4084, 2.3882, -1.3655, -0.2783, -0.8909, 0.0215, -0.0219, 0.8185, 0.5945, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3805 left_y=-0.3382 left_z=0.108 left_yaw=0.0966 left_pitch=-0.6677 left_roll=0.0332 left_gripper=0.0215 right_x=0.2932 right_y=0.0 right_z=0.1663 right_yaw=-0.0004 right_pitch=-0.0465 right_roll=0.0015 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -16.1573, 6.7897, 1.0574, -0.1685, -0.0366, 0.7204, -0.212, -0.9641, 6.9949, 1.707, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8131, 2.4821, 2.4958, -1.3479, -0.2935, -0.8841, 0.0234, -0.0216, 0.8204, 0.5945, -0.3931, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.4031 left_y=-0.3465 left_z=0.1048 left_yaw=0.0873 left_pitch=-0.6245 left_roll=-0.0034 left_gripper=0.0234 right_x=0.2933 right_y=0.0002 right_z=0.1657 right_yaw=0.0003 right_pitch=-0.0484 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [0.9094, -12.7521, 7.3641, 0.359, -0.5055, 0.2027, 0.7253, -0.1299, -1.4838, 7.2137, 1.6825, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c977e744ba76fa21205d876db18577857e3058605692bad8a4f8dc03f81945b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:340b27e4b58ec20ee2b767a3a5818dbcf82f446cda1969f46390dc07f0c36b21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc885dfcf43a107f48e7d83cad158f4f97c4a493540173c9bbe79e673561afc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShwYKjgEIEhgCKkBJfWmTK3jr3pHfGQckbjFiG56WZXo3FjOnQ3C+Ib3NQlNBpv2QEjiH2vIntta4w5ReQVbHlP3uWyXWio6Gk8V6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYKWzNUGEgx1nlIb159a28sti2saDLPl3w2DzCYLwKuKJyIwA/ut6d86y1Wu/BvSu56YRxyLht/obIZPBRKAsKiTXz6yL7bQBnpF+6sI4piarPWIKqUEkLzey91Qy7TefI0vNeHc00vGHW4uYmaVMXbcZJyWsV2VoFySGbk4XB0l47Jswf8BtWPhRuU8djpEEtIDvr7QGKSWS/O+YqQAYpKJVJi1mOhxfcNBWFpRs7knp3GgapWf+7nZ3o4eVtDaQ+/F/xjO0iISSXlXDJ4M8bk4KZDopT3jj5QD4QFfEJ1H+3VlwadQFGlnTzy1KEEHVF6SCyOnSa8fPTeT01WigG/FlgNfMFUpI8icHPWh//BxA2I80RfM9/Eunxeyd++/Iipwv2S0n/Yyqs/0IFR46nAbErPz/8jY0XhMvmHo/yJLAjn0D2rV8VaFUZDhCH3w9sf1WtRKrzb/PC05TL6DmmySxnffNA/3Ch86YYeDd2fz+Hvi+FGquubwcE9w1GkGzDlcdAvfEiCf/4LXGAuOjbmbmjTQdQulr30q2YXE7oJbMkG93ng+9dMRHSU/7bp7mjhS3LAtpFZnugTENGLUy7/9pPmMcYa7gdDU4Z6PGbK44uNZrVhHUEDR+H2/VC7b2IZ5inCf6fapaA7KVXPVmTXPv0H2DzCt6qJ5zGbVUAmbtMpO7vxiG8yO2K16hJ4ZN2MM3TTWYzQ8N8hZVGzrpUggZvL2iMvWFXowmzoB5iAeZe5nzvbLIc0s1+OVB5OqsbsrSc8zsdDBsJ0tctyNt70ZsfkX9a9yFV4+LWsQ3lrhv7meZaLW1VA3fWSZozNREPxwTLBfPZQn/5mnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011C3r4SBPxt3jx91RFjq5ws",
      "input": {
        "note": "Carried bowl is concentric over the purple bowl (which is fully hidden behind it). Lowering the last centimetres and opening the jaws to nest it.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.085
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011C3r4SBPxt3jx91RFjq5ws",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8219, 2.4718, 2.3081, -1.2148, -0.308, -0.8879, 0.9954, -0.0219, 0.8204, 0.5945, -0.3931, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3985 left_y=-0.3448 left_z=0.0613 left_yaw=0.1163 left_pitch=-0.64 left_roll=0.0492 left_gripper=0.9954 right_x=0.2933 right_y=0.0001 right_z=0.1657 right_yaw=-0.0001 right_pitch=-0.0484 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -17.8667, 5.8735, 0.7399, -0.2808, -0.022, -0.1441, -0.0205, -1.2376, 7.1863, 1.7411, -0.0611, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d1d00267de6dfd83db01e03f92158fe3d0ec9a778ea54980ea6f56ca3e5d11d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:558f48f159e7ac2bf6fe17f4e98df46923c305ded8da78ad64b625824de7c268",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:86c35347f4edea73addc0066cc7342ca5b8c6898221e6debdecbed2eea90b41a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 16.27 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8291, 2.4084, 2.3882, -1.3655, -0.2783, -0.8909, 0.0215, -0.0219, 0.8185, 0.5945, -0.3931, -0.0162, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3805 left_y=-0.3382 left_z=0.108 left_yaw=0.0966 left_pitch=-0.6677 left_roll=0.0332 left_gripper=0.0215 right_x=0.2932 right_y=0.0 right_z=0.1663 right_yaw=-0.0004 right_pitch=-0.0465 right_roll=0.0015 right_gripper=0.9966\nstate[joint_eff]: [-0.3487, -16.1573, 6.7897, 1.0574, -0.1685, -0.0366, 0.7204, -0.212, -0.9641, 6.9949, 1.707, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8131, 2.4821, 2.4958, -1.3479, -0.2935, -0.8841, 0.0234, -0.0216, 0.8204, 0.5945, -0.3931, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.4031 left_y=-0.3465 left_z=0.1048 left_yaw=0.0873 left_pitch=-0.6245 left_roll=-0.0034 left_gripper=0.0234 right_x=0.2933 right_y=0.0002 right_z=0.1657 right_yaw=0.0003 right_pitch=-0.0484 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [0.9094, -12.7521, 7.3641, 0.359, -0.5055, 0.2027, 0.7253, -0.1299, -1.4838, 7.2137, 1.6825, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8219, 2.4718, 2.3081, -1.2148, -0.308, -0.8879, 0.9954, -0.0219, 0.8204, 0.5945, -0.3931, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3985 left_y=-0.3448 left_z=0.0613 left_yaw=0.1163 left_pitch=-0.64 left_roll=0.0492 left_gripper=0.9954 right_x=0.2933 right_y=0.0001 right_z=0.1657 right_yaw=-0.0001 right_pitch=-0.0484 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -17.8667, 5.8735, 0.7399, -0.2808, -0.022, -0.1441, -0.0205, -1.2376, 7.1863, 1.7411, -0.0611, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d1d00267de6dfd83db01e03f92158fe3d0ec9a778ea54980ea6f56ca3e5d11d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:558f48f159e7ac2bf6fe17f4e98df46923c305ded8da78ad64b625824de7c268",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86c35347f4edea73addc0066cc7342ca5b8c6898221e6debdecbed2eea90b41a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgwUKjgEIEhgCKkAkwvvqzjGjJAzjz4FZbik+fg0UPW1BwnnJT6vwcZWA2MK3vN1mk0Zg6DTJm6v/22+/6LTuwXy3orVLiFuwR2jGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYmWzNUGEgyA570NSrycNTX2WmIaDIzYjNlDezkDAn1aVCIwOXAd4Wprek5mggq/GvQaHXFC0lamoScPSMePJE1rfISkgGWtFg81u1cz3bpCGoAYKqEDgIyGQyvdJEkI01/V9BZhhyu6eZh02pbZg9VyPXIjybzmILpMSQDm5LLCf9m9qjmSw0x2fzsfBHGSBR8LKJF4ZaYFauO9WOk98mj/6lebLCQQy1qn/na2pXbStgB1bEsrDBmWTIlcPz/Ed+ot3MTZhzm0/4j/yBA4HTgD7io8qhDiod5GJlDV7V/q2rooQbIbgHLIEfwjWZFy925F01LydgaTqfvwYqWi+fbY1GwNwVdPxNMbrnV64jhppLtC06Ut7POUcnPLAZfkSxU7RVEtsHU3sQSqrEOTO0orWnGCTXvih2zJErXrG+eNa0FkrLlV5LSrv2zCM4sF9KpfnursqqHaec6Iktc9xjhMoDGm+JGWTu99e9zgNjIK63cCh0MPxA6aeSwcYhmQxIkpsnBwseS4ex4cXAQs8uR1zGJX3xYyuNJtrAuIwJmFePXUWb83Yt31uUYyevftdDjjCGXAHeNeJ0IxfrnsBb/y3VrGWo8X6hPbV2eIa1okcbvfrcQJxs0NvNJz1cprPCY0ka+01NKeP+OIqKmNGowkdQl+74LwGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gjhd4S8YUQeFZAzRfArpr5",
      "input": {
        "note": "Bowl released into the purple bowl; lifting straight up to clear the stack before moving away so I can see the result.",
        "targets": {
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01Gjhd4S8YUQeFZAzRfArpr5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8162, 2.3005, 2.5099, -1.5658, -0.3233, -0.8791, 0.9957, -0.0219, 0.823, 0.5945, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3679 left_y=-0.3041 left_z=0.1864 left_yaw=0.1128 left_pitch=-0.615 left_roll=0.0421 left_gripper=0.9957 right_x=0.2935 right_y=0.0001 right_z=0.165 right_yaw=-0.0003 right_pitch=-0.0511 right_roll=0.0021 right_gripper=0.9966\nstate[joint_eff]: [0.5949, -15.8154, 5.4222, 0.696, -0.3687, 0.1783, 0.0317, -0.0889, -1.6068, 7.0085, 1.6972, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99df2bf80f69bc074fb405e6d12d774e64d4ce4ed2a77909af1cd620645ca8ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:996ae10f393b83f2e58ced182fa61be386e0026b73a16e0fa1d1fdf9cb465c5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3986bec92983eeab70f86700618d055659043aa438b2a6ea865ee7b865d25cd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 9.821 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8131, 2.4821, 2.4958, -1.3479, -0.2935, -0.8841, 0.0234, -0.0216, 0.8204, 0.5945, -0.3931, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.4031 left_y=-0.3465 left_z=0.1048 left_yaw=0.0873 left_pitch=-0.6245 left_roll=-0.0034 left_gripper=0.0234 right_x=0.2933 right_y=0.0002 right_z=0.1657 right_yaw=0.0003 right_pitch=-0.0484 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [0.9094, -12.7521, 7.3641, 0.359, -0.5055, 0.2027, 0.7253, -0.1299, -1.4838, 7.2137, 1.6825, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8219, 2.4718, 2.3081, -1.2148, -0.308, -0.8879, 0.9954, -0.0219, 0.8204, 0.5945, -0.3931, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3985 left_y=-0.3448 left_z=0.0613 left_yaw=0.1163 left_pitch=-0.64 left_roll=0.0492 left_gripper=0.9954 right_x=0.2933 right_y=0.0001 right_z=0.1657 right_yaw=-0.0001 right_pitch=-0.0484 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -17.8667, 5.8735, 0.7399, -0.2808, -0.022, -0.1441, -0.0205, -1.2376, 7.1863, 1.7411, -0.0611, -0.0806, -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]: [-0.8162, 2.3005, 2.5099, -1.5658, -0.3233, -0.8791, 0.9957, -0.0219, 0.823, 0.5945, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3679 left_y=-0.3041 left_z=0.1864 left_yaw=0.1128 left_pitch=-0.615 left_roll=0.0421 left_gripper=0.9957 right_x=0.2935 right_y=0.0001 right_z=0.165 right_yaw=-0.0003 right_pitch=-0.0511 right_roll=0.0021 right_gripper=0.9966\nstate[joint_eff]: [0.5949, -15.8154, 5.4222, 0.696, -0.3687, 0.1783, 0.0317, -0.0889, -1.6068, 7.0085, 1.6972, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99df2bf80f69bc074fb405e6d12d774e64d4ce4ed2a77909af1cd620645ca8ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:996ae10f393b83f2e58ced182fa61be386e0026b73a16e0fa1d1fdf9cb465c5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3986bec92983eeab70f86700618d055659043aa438b2a6ea865ee7b865d25cd8",
        "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_019cmRPLdQkUPhmBx1MWhmZJ",
      "input": {
        "note": "First bowl is nested successfully — only the stack and the pink bowl remain. Parking the left arm out of the way and bringing the right arm over the pink bowl's near rim, since that bowl is beyond the left arm's reach.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.05,
          "left_z": 0.3,
          "right_x": 0.4,
          "right_y": 0.08,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_019cmRPLdQkUPhmBx1MWhmZJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3504, 1.3785, 1.7142, -1.5681, -0.2066, -0.4557, 0.9957, 0.2874, 1.3796, 0.7971, -0.131, 0.2092, 0.1394, 0.9966]\nstate[eef_state]: left_x=0.2594 left_y=-0.0524 left_z=0.2794 left_yaw=0.1495 left_pitch=-0.606 left_roll=0.0342 left_gripper=0.9957 right_x=0.3845 right_y=0.0791 right_z=0.1277 right_yaw=0.0314 right_pitch=-0.1246 right_roll=-0.0213 right_gripper=0.9966\nstate[joint_eff]: [0.2667, -5.1761, 5.5453, 0.9402, -0.1734, 0.0904, -0.0073, 0.212, -5.3402, 10.0308, 1.9023, 0.2808, 0.232, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68b967f00455de898529b9f4eb5bbcd05020facfcb9aa618591fbb21fc98f520",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48d81f67c1af865cf56fbb92a9f2883607d0e74aa5ec460987d82e5d97fe5031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2fed8f12a7376885365d408bb04f453651ea1b0a03aaa018cfba91f966047af5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 4.12 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8219, 2.4718, 2.3081, -1.2148, -0.308, -0.8879, 0.9954, -0.0219, 0.8204, 0.5945, -0.3931, -0.0166, -0.0204, 0.9966]\nstate[eef_state]: left_x=0.3985 left_y=-0.3448 left_z=0.0613 left_yaw=0.1163 left_pitch=-0.64 left_roll=0.0492 left_gripper=0.9954 right_x=0.2933 right_y=0.0001 right_z=0.1657 right_yaw=-0.0001 right_pitch=-0.0484 right_roll=0.0018 right_gripper=0.9966\nstate[joint_eff]: [0.0205, -17.8667, 5.8735, 0.7399, -0.2808, -0.022, -0.1441, -0.0205, -1.2376, 7.1863, 1.7411, -0.0611, -0.0806, -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]: [-0.8162, 2.3005, 2.5099, -1.5658, -0.3233, -0.8791, 0.9957, -0.0219, 0.823, 0.5945, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3679 left_y=-0.3041 left_z=0.1864 left_yaw=0.1128 left_pitch=-0.615 left_roll=0.0421 left_gripper=0.9957 right_x=0.2935 right_y=0.0001 right_z=0.165 right_yaw=-0.0003 right_pitch=-0.0511 right_roll=0.0021 right_gripper=0.9966\nstate[joint_eff]: [0.5949, -15.8154, 5.4222, 0.696, -0.3687, 0.1783, 0.0317, -0.0889, -1.6068, 7.0085, 1.6972, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3504, 1.3785, 1.7142, -1.5681, -0.2066, -0.4557, 0.9957, 0.2874, 1.3796, 0.7971, -0.131, 0.2092, 0.1394, 0.9966]\nstate[eef_state]: left_x=0.2594 left_y=-0.0524 left_z=0.2794 left_yaw=0.1495 left_pitch=-0.606 left_roll=0.0342 left_gripper=0.9957 right_x=0.3845 right_y=0.0791 right_z=0.1277 right_yaw=0.0314 right_pitch=-0.1246 right_roll=-0.0213 right_gripper=0.9966\nstate[joint_eff]: [0.2667, -5.1761, 5.5453, 0.9402, -0.1734, 0.0904, -0.0073, 0.212, -5.3402, 10.0308, 1.9023, 0.2808, 0.232, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68b967f00455de898529b9f4eb5bbcd05020facfcb9aa618591fbb21fc98f520",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48d81f67c1af865cf56fbb92a9f2883607d0e74aa5ec460987d82e5d97fe5031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fed8f12a7376885365d408bb04f453651ea1b0a03aaa018cfba91f966047af5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkwsKjgEIEhgCKkAp2da+b6RY0UsI7OK6u97ONcKCCHf1O+pMPB4qKnoyPOs+rqCDDoJcrl5/Mg5K8a65P7Iouqz9CgJArjcYM/37Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaaWzNUGEgwUPbVQGoU2/CRZYYYaDBOG3b7wu9hYpxxl/iIwAZ7SMu22GI0UyvdX4EkPMgCjG/IKQ8Oro4a/yN53r0ZVVVrFCKH5QMulOImH9VPzKrEJo8q7CvakUuR82BahjxSXqUzdZYMfYB0mlh7lkrIVP0se8aorLw+HgFHLCY79wnkc+zQ4k6uQ21b3gN7kB4GfBl0J8R8wET8raSFYtYub32rYJ+Qd2SvozpnAVFyLayri72LqFrzD1zU8N9wSRsRpV/RxX3XkhXrcnRNCNFtgRif8uA3V/NAXyZRquhO5ZNVhdvm92MLVG2GJoLTY7avP+OCzOPITtOTndpOYYG2/jccyaqtprHQPvJ7jEC0VpwtdyqhRbNjs9NeXlYg9l2neFN8jbThceINsRE6E9aBlD2fRorARMnVj9hYOC+wdF/cJDdOFF6l1U8/hU6UTedLQLafrdpxj+umlMR3jwCISJpEZVvHt/2AAkGfhNsT4+8Q9V+PoP/eE7yErZzaogRpxbdo3AO4xSSUj+74TDgTWBqT0/O/6R0gkGwwC2QAtX0ZQoUdteoQ1XaUzr2bdMNNg75i/U+x5MgHXPUskEE28KpVdLpKPqX5IlT3wYHDPtjJ8Bf4Vx44wCRLOXhzDPVZA9LOIA8H90yO5h5D2xetM0c40jfLEU+ufzosLvIjr63eWgIrA+OepCGI/WuSScb54cEzmpZii6KmV4A3tlIczauxGwu9+k3jlOkUN6Wm48yUcZ0D+vTeMRuafCmMkNxivBIowgePmNs4aaS8oGcSYASzyi+fiU9VPhavmJ9yXvHi9S1mF5T58CFqyr51cUQA5C2i58d/8UzUK1I7yAnI4080TqV15bRV5zoJz2SukN2yOEEEM9JR+X2skMVfO1dusZjmz9Pj826EplTN6fc2bMpgke/IDopBAt/7iOTanYx5EXrgbUu9ra6C+ROQm5ZggHacN8DF40d58EipgGMrYyvHBPGMtFMoGB+3BaVyHRtLmAIE4rXwEqUYwCOvNunS+zxEMgAM66UKtSHkXETIOWbX+ED8wEpOA9dMeeozhA6Yfy6a9neQ8wHqT6s7FT8Xw0zogWFCRSV5CSbr/GgGz2RqdyL6NRnynnpaEF48ChCldOVkyorBOFjnki5Mmu1MVAql5ehS5XQAxsjOsYMeudz2eDb/8Ad+PPKJRinZpnV2dK5Ru/TWPR2pyekWN7z9W6JF9mTgKxpempxuegBp0NQ3mn544jkDRD/W1pA4nCmwWCv1SnrGCalfnOr+11XrsuruwwzkbMhfLeeCB+wGQZLA4VmW2QsM4CQY1iTtpbt4JVPUKEs3NveraHQWZrfbvz4ngN9uRMlHgnq5hrub590tHDCPgISHiM7kYJzCd3CuBfbbjMActyNnYL4+DcPRbRnRlrIk/Oh6GXyD3uyNMV2Wr+R9a2grq4jSKSo4wr1zEUgT8XjhjRWuXghvbEESk0bI0XGjBJv9tZQvLpRy7ctUn57+Zc4+ZMXdfj9VCmDH1/spziXc5mNbn6OrXimgfaFKay2KcVXtOQttK6ioJIbQArbSh9dBOT1SjPRhfwubT5uja3RDHd+wQDu+XpePMccladJI/THu7Amevq6lDy+NHOA0D/UCJJG4MVKjWevFSkYc5apKQoNfxzcJwqKD1Nhltny1hve5jriiplKlgEL1YF0BX8dRAWcHusSZVZoD6eBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QPQuojvGxJFdHNoZRQWgQX",
      "input": {
        "note": "Right wrist view shows the pink bowl centred under the jaws, so I'm sliding 6 cm to its right rim and dropping to rim height to pinch the wall.",
        "targets": {
          "right_y": 0.02,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QPQuojvGxJFdHNoZRQWgQX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3534, 1.3762, 1.7088, -1.5677, -0.2005, -0.4469, 0.9958, 0.0738, 1.4799, 0.5831, 0.1078, 0.0788, 0.0238, 0.9966]\nstate[eef_state]: left_x=0.2582 left_y=-0.054 left_z=0.2783 left_yaw=0.136 left_pitch=-0.6113 left_roll=0.0336 left_gripper=0.9958 right_x=0.3691 right_y=0.017 right_z=0.0463 right_yaw=-0.0104 right_pitch=-0.216 right_roll=-0.0317 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -4.3145, 5.1214, 0.9695, -0.2271, -0.1538, -0.0073, -0.2256, -5.8735, 6.2564, 1.9512, -0.1392, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:547b1b59a08cb1e4428bcc493014100a682806359d66df65ffe8c24d62f7adcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:859b13c394055f82cf411d0ff2718c279564c4c2ba579b4bb4527d91f2d9c31d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e21d07b54411de36edff6beebe076a8de042c92156cbecf9fe3a6850f1d97a81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 2.756 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8162, 2.3005, 2.5099, -1.5658, -0.3233, -0.8791, 0.9957, -0.0219, 0.823, 0.5945, -0.3931, -0.0166, -0.02, 0.9966]\nstate[eef_state]: left_x=0.3679 left_y=-0.3041 left_z=0.1864 left_yaw=0.1128 left_pitch=-0.615 left_roll=0.0421 left_gripper=0.9957 right_x=0.2935 right_y=0.0001 right_z=0.165 right_yaw=-0.0003 right_pitch=-0.0511 right_roll=0.0021 right_gripper=0.9966\nstate[joint_eff]: [0.5949, -15.8154, 5.4222, 0.696, -0.3687, 0.1783, 0.0317, -0.0889, -1.6068, 7.0085, 1.6972, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3504, 1.3785, 1.7142, -1.5681, -0.2066, -0.4557, 0.9957, 0.2874, 1.3796, 0.7971, -0.131, 0.2092, 0.1394, 0.9966]\nstate[eef_state]: left_x=0.2594 left_y=-0.0524 left_z=0.2794 left_yaw=0.1495 left_pitch=-0.606 left_roll=0.0342 left_gripper=0.9957 right_x=0.3845 right_y=0.0791 right_z=0.1277 right_yaw=0.0314 right_pitch=-0.1246 right_roll=-0.0213 right_gripper=0.9966\nstate[joint_eff]: [0.2667, -5.1761, 5.5453, 0.9402, -0.1734, 0.0904, -0.0073, 0.212, -5.3402, 10.0308, 1.9023, 0.2808, 0.232, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3534, 1.3762, 1.7088, -1.5677, -0.2005, -0.4469, 0.9958, 0.0738, 1.4799, 0.5831, 0.1078, 0.0788, 0.0238, 0.9966]\nstate[eef_state]: left_x=0.2582 left_y=-0.054 left_z=0.2783 left_yaw=0.136 left_pitch=-0.6113 left_roll=0.0336 left_gripper=0.9958 right_x=0.3691 right_y=0.017 right_z=0.0463 right_yaw=-0.0104 right_pitch=-0.216 right_roll=-0.0317 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -4.3145, 5.1214, 0.9695, -0.2271, -0.1538, -0.0073, -0.2256, -5.8735, 6.2564, 1.9512, -0.1392, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:547b1b59a08cb1e4428bcc493014100a682806359d66df65ffe8c24d62f7adcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:859b13c394055f82cf411d0ff2718c279564c4c2ba579b4bb4527d91f2d9c31d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e21d07b54411de36edff6beebe076a8de042c92156cbecf9fe3a6850f1d97a81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3AQKjgEIEhgCKkAo3eQuQVyUmZUya3uBmt/QoCNW3HFKefkqXz3yG7AE7lhNyjyapCGutjqHBbEol+4RzpbPNrjXRFkk3/pdl2bmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAauWzNUGEgxZ3+16nHndf9suxdYaDI1dXT1m23uUV2rY4yIw0z8OfRtLSjGAYiSXBf0q154+KTLOBB1v5yB6IT3wKVyfJoAvHOv6e7xwimGYfNJMKvoCFTsW7w5Pt9FX1RFM0ZEbE4cMT2y5t4qSFDg52P1DuLhHGVhuymwhLir+BUarqIsvZ5ExwgrJgozX9dW06pOaFzJoPNmw0wS75TZgvdoC2QvwTHwJyl9ytQsHSa++Sau4ZgYC2KBVS2NQDIKh2jzoJjcTmnuo6zYld8y/i9mreI31nW+W/glshRRP5H4HZqtmFmdI8DRAiD+jBhU8PC6duq2AJFNQiQpbpL9TsIFuLzidPskKKZ6PiYPy+AyxrrU5me3yDEhhg0pO+zlPcvDSWVPGxLA+jgfA1o9YhoKCRVsxiMnRoXqSZ9RClkbXhqmaq4gsuWoELWzctVBSgOykjuL9FCDlVVXescL9zT2jMOIdKeqfQAP1R1yYImJw/4tY+wYrejKuB1NqgGSxstiOSDieZaayRLHHKVTNxVBzu/eeV8FCjg8Hnu/yrDs3zveyK3YwUr2RczWXRqh/nGtgjKXfGOAiAu7Hb2seMMs9KBoapnH5bZ3UnPjIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015vVPDtST5t77LD3xmNgF38",
      "input": {
        "note": "The pink bowl's right rim is between the jaws but sits a little beyond the fingertips; advancing ~3 cm before closing.",
        "targets": {
          "right_x": 0.4
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015vVPDtST5t77LD3xmNgF38",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3538, 1.3758, 1.6962, -1.5658, -0.2024, -0.4606, 0.9958, 0.0654, 1.5902, 0.6556, 0.1276, 0.0475, 0.0002, 0.9966]\nstate[eef_state]: left_x=0.2576 left_y=-0.0535 left_z=0.2749 left_yaw=0.1499 left_pitch=-0.6192 left_roll=0.0352 left_gripper=0.9958 right_x=0.389 right_y=0.0207 right_z=0.0366 right_yaw=0.021 right_pitch=-0.2358 right_roll=-0.027 right_gripper=0.9966\nstate[joint_eff]: [-0.5128, -4.7111, 5.3265, 0.9597, -0.149, 0.0513, -0.0122, 0.0205, -7.0769, 8.2256, 1.5116, 0.2125, 0.1538, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6852b77c3cbc6a3aa1a2e9a9521da9cdaf992208c7387515aed5013a65405036",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2f791076fc9423b7e8584db6d3e2eb763e6cfeeac157567d3bdc60199412ea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ebe9032c97c67f9005cbe578a6abb714b556fb2ef3f8f3f39b55f21acff23ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 26 attempt 0 · /messages · status 200 · 4.876 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3504, 1.3785, 1.7142, -1.5681, -0.2066, -0.4557, 0.9957, 0.2874, 1.3796, 0.7971, -0.131, 0.2092, 0.1394, 0.9966]\nstate[eef_state]: left_x=0.2594 left_y=-0.0524 left_z=0.2794 left_yaw=0.1495 left_pitch=-0.606 left_roll=0.0342 left_gripper=0.9957 right_x=0.3845 right_y=0.0791 right_z=0.1277 right_yaw=0.0314 right_pitch=-0.1246 right_roll=-0.0213 right_gripper=0.9966\nstate[joint_eff]: [0.2667, -5.1761, 5.5453, 0.9402, -0.1734, 0.0904, -0.0073, 0.212, -5.3402, 10.0308, 1.9023, 0.2808, 0.232, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.3534, 1.3762, 1.7088, -1.5677, -0.2005, -0.4469, 0.9958, 0.0738, 1.4799, 0.5831, 0.1078, 0.0788, 0.0238, 0.9966]\nstate[eef_state]: left_x=0.2582 left_y=-0.054 left_z=0.2783 left_yaw=0.136 left_pitch=-0.6113 left_roll=0.0336 left_gripper=0.9958 right_x=0.3691 right_y=0.017 right_z=0.0463 right_yaw=-0.0104 right_pitch=-0.216 right_roll=-0.0317 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -4.3145, 5.1214, 0.9695, -0.2271, -0.1538, -0.0073, -0.2256, -5.8735, 6.2564, 1.9512, -0.1392, -0.0708, -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]: [-0.3538, 1.3758, 1.6962, -1.5658, -0.2024, -0.4606, 0.9958, 0.0654, 1.5902, 0.6556, 0.1276, 0.0475, 0.0002, 0.9966]\nstate[eef_state]: left_x=0.2576 left_y=-0.0535 left_z=0.2749 left_yaw=0.1499 left_pitch=-0.6192 left_roll=0.0352 left_gripper=0.9958 right_x=0.389 right_y=0.0207 right_z=0.0366 right_yaw=0.021 right_pitch=-0.2358 right_roll=-0.027 right_gripper=0.9966\nstate[joint_eff]: [-0.5128, -4.7111, 5.3265, 0.9597, -0.149, 0.0513, -0.0122, 0.0205, -7.0769, 8.2256, 1.5116, 0.2125, 0.1538, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6852b77c3cbc6a3aa1a2e9a9521da9cdaf992208c7387515aed5013a65405036",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2f791076fc9423b7e8584db6d3e2eb763e6cfeeac157567d3bdc60199412ea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ebe9032c97c67f9005cbe578a6abb714b556fb2ef3f8f3f39b55f21acff23ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5AIKjgEIEhgCKkASlvOr6YDBhxGoIKdCieaNUB9EaIcigWvjTQQLAhT5yFkvKIinwoJ5bkMPMWA57p5BCbrPsB8l2ya+QLOeEFC2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa6WzNUGEgybVuC9q7WzTTo4KDsaDCzoUSjipjVPNfJLwSIwV06LriRmqmLydGaDu4Hqesw34KNM4IVpiqpiPVvhrEG7hRUFlNZd0OCaEFLo9EBnKoIBhievoM6z5nc7ebnafbgjUtLYy/Sr/YN7TuTV3Af2gyjDB4az2htIR5q54pWeSXLccWuHp1DlDzhRIOTJMLOIGOMRKiGOyFr5Thl3vk/v0J8Y/J1iI/xxpo2RpGr58l/4ME9iJbkVqOB2NdJegHSp0gaKswL2V1D/QwFcGLfLMUfr/RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019btHuds12ZpcKETB4w74rg",
      "input": {
        "note": "Pink bowl's rim wall is now straddled by the open jaws; closing to pinch it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019btHuds12ZpcKETB4w74rg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3595, 1.3724, 1.676, -1.5589, -0.2031, -0.4614, 0.9958, 0.0654, 1.5936, 0.6579, 0.1261, 0.0345, 0.004, 0.0237]\nstate[eef_state]: left_x=0.2564 left_y=-0.0545 left_z=0.2704 left_yaw=0.1488 left_pitch=-0.6275 left_roll=0.0416 left_gripper=0.9958 right_x=0.3892 right_y=0.023 right_z=0.0359 right_yaw=0.0301 right_pitch=-0.2388 right_roll=-0.0147 right_gripper=0.0237\nstate[joint_eff]: [-0.1846, -5.2308, 5.4496, 0.9597, -0.2759, -0.0904, -0.0122, -0.0342, -6.2154, 5.641, 1.2381, 0.2076, -0.1148, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c080cb0b0ee1c92748d532b13575a48d4d08a171f89db191f238a96dbe97772",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce50f1f269528968bef40bce3f935d526e9ed4e452e458ae765d77ff8f1e1979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f746a50018a8bac12f39dcde3e64ee5e1ffa4888d7fbb5a553333746f17e008e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 16.65 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3534, 1.3762, 1.7088, -1.5677, -0.2005, -0.4469, 0.9958, 0.0738, 1.4799, 0.5831, 0.1078, 0.0788, 0.0238, 0.9966]\nstate[eef_state]: left_x=0.2582 left_y=-0.054 left_z=0.2783 left_yaw=0.136 left_pitch=-0.6113 left_roll=0.0336 left_gripper=0.9958 right_x=0.3691 right_y=0.017 right_z=0.0463 right_yaw=-0.0104 right_pitch=-0.216 right_roll=-0.0317 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -4.3145, 5.1214, 0.9695, -0.2271, -0.1538, -0.0073, -0.2256, -5.8735, 6.2564, 1.9512, -0.1392, -0.0708, -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]: [-0.3538, 1.3758, 1.6962, -1.5658, -0.2024, -0.4606, 0.9958, 0.0654, 1.5902, 0.6556, 0.1276, 0.0475, 0.0002, 0.9966]\nstate[eef_state]: left_x=0.2576 left_y=-0.0535 left_z=0.2749 left_yaw=0.1499 left_pitch=-0.6192 left_roll=0.0352 left_gripper=0.9958 right_x=0.389 right_y=0.0207 right_z=0.0366 right_yaw=0.021 right_pitch=-0.2358 right_roll=-0.027 right_gripper=0.9966\nstate[joint_eff]: [-0.5128, -4.7111, 5.3265, 0.9597, -0.149, 0.0513, -0.0122, 0.0205, -7.0769, 8.2256, 1.5116, 0.2125, 0.1538, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3595, 1.3724, 1.676, -1.5589, -0.2031, -0.4614, 0.9958, 0.0654, 1.5936, 0.6579, 0.1261, 0.0345, 0.004, 0.0237]\nstate[eef_state]: left_x=0.2564 left_y=-0.0545 left_z=0.2704 left_yaw=0.1488 left_pitch=-0.6275 left_roll=0.0416 left_gripper=0.9958 right_x=0.3892 right_y=0.023 right_z=0.0359 right_yaw=0.0301 right_pitch=-0.2388 right_roll=-0.0147 right_gripper=0.0237\nstate[joint_eff]: [-0.1846, -5.2308, 5.4496, 0.9597, -0.2759, -0.0904, -0.0122, -0.0342, -6.2154, 5.641, 1.2381, 0.2076, -0.1148, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c080cb0b0ee1c92748d532b13575a48d4d08a171f89db191f238a96dbe97772",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce50f1f269528968bef40bce3f935d526e9ed4e452e458ae765d77ff8f1e1979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f746a50018a8bac12f39dcde3e64ee5e1ffa4888d7fbb5a553333746f17e008e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4QQKjgEIEhgCKkASsU3vKOw+Z/NQZpFzT1Wa1W2MR4eiSY75o2F+S/CFAO+jvO+6alNnE58Y5mlNx0UsGDw+UJ4SbFFpb/iJdrZaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbOWzNUGEgwwtWTGA4BCFnm+TR0aDPlIUecxNU7ZpmswrSIwwxKolRyQ0WClCoBczlPw6V+0Dri1J3GY47z43hR6Mlc6xcFbpMNS/gzV/P2JYPtWKv8Cy3EwO/T3WskShTOdhDBw3FqA2KTiM04cQ9MnOL2MymZRKqwV/eMFmKEacill/YZle2Aos7FQSN7zRCMjvdfhogGOKN5cSNrkza7Hlyu/3bc40B2pfs0JOLIpRqDI+1uwwLWG3JHp99iwBosOk95lGNNopyrMuXXE3zwIMnLvQf89VKUwQuc6EhbZDKXeG+2OqdkBqLULokaO2Demvk9AKisUxWGMm1zIrR2feNouVeG8TbTRZ7sHh5L/uQvUIz/lJudmSh0vSrccd6KQ6epqb4DHEOjRb2UphVGsAnhJ7digG//MHvISkN8eP6D8asTAH+YbUt6taQjCTtWKi0pB+Rl+GpymticbcsqqS80EPCKNROrzP/o3hKYJ4OEURIcpj557dioZSBHmHEkZg6n/D8c/NbQ6t3lXsskuSU9qeVp6lqSSfT4ikWnWpg6Zb3gB8LGetE/NCWrQkcD5dp/kk86kUWS/MF2ngFNyy6TOC/UFrzqehBjTiHgD4vgulIUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D3LkrDsXDAE8oByeUN49KT",
      "input": {
        "note": "Gripper settled at 0.024, consistent with a rim pinch; lifting 12 cm to confirm the pink bowl comes up with it.",
        "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_01D3LkrDsXDAE8oByeUN49KT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3668, 1.3659, 1.647, -1.5448, -0.2073, -0.4618, 0.9958, 0.0654, 1.4059, 0.9546, -0.3985, 0.0353, -0.0048, 0.0292]\nstate[eef_state]: left_x=0.2555 left_y=-0.0554 left_z=0.2647 left_yaw=0.1487 left_pitch=-0.6328 left_roll=0.0508 left_gripper=0.9958 right_x=0.3855 right_y=0.0226 right_z=0.1345 right_yaw=0.0339 right_pitch=-0.2789 right_roll=-0.0228 right_gripper=0.0292\nstate[joint_eff]: [-0.4034, -5.5043, 5.559, 0.9939, -0.2613, -0.1148, -0.0171, -0.0479, -7.8564, 9.853, 1.5458, 0.0073, 0.0562, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64884f6a3d8ac6eeeb7fd4dde7fd6f311577891200cf88603cc1d62b8cfe2cf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2ccc9c629b4e59b88569262e7a2c42da111ada242d3dedb24cff3d45c2f3070",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f599f2835b19afc0092e3508be175ab98840b5aeeb5a2d8d43e658b18bba338",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 6.816 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3538, 1.3758, 1.6962, -1.5658, -0.2024, -0.4606, 0.9958, 0.0654, 1.5902, 0.6556, 0.1276, 0.0475, 0.0002, 0.9966]\nstate[eef_state]: left_x=0.2576 left_y=-0.0535 left_z=0.2749 left_yaw=0.1499 left_pitch=-0.6192 left_roll=0.0352 left_gripper=0.9958 right_x=0.389 right_y=0.0207 right_z=0.0366 right_yaw=0.021 right_pitch=-0.2358 right_roll=-0.027 right_gripper=0.9966\nstate[joint_eff]: [-0.5128, -4.7111, 5.3265, 0.9597, -0.149, 0.0513, -0.0122, 0.0205, -7.0769, 8.2256, 1.5116, 0.2125, 0.1538, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3595, 1.3724, 1.676, -1.5589, -0.2031, -0.4614, 0.9958, 0.0654, 1.5936, 0.6579, 0.1261, 0.0345, 0.004, 0.0237]\nstate[eef_state]: left_x=0.2564 left_y=-0.0545 left_z=0.2704 left_yaw=0.1488 left_pitch=-0.6275 left_roll=0.0416 left_gripper=0.9958 right_x=0.3892 right_y=0.023 right_z=0.0359 right_yaw=0.0301 right_pitch=-0.2388 right_roll=-0.0147 right_gripper=0.0237\nstate[joint_eff]: [-0.1846, -5.2308, 5.4496, 0.9597, -0.2759, -0.0904, -0.0122, -0.0342, -6.2154, 5.641, 1.2381, 0.2076, -0.1148, 1.033]",
      "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]: [-0.3668, 1.3659, 1.647, -1.5448, -0.2073, -0.4618, 0.9958, 0.0654, 1.4059, 0.9546, -0.3985, 0.0353, -0.0048, 0.0292]\nstate[eef_state]: left_x=0.2555 left_y=-0.0554 left_z=0.2647 left_yaw=0.1487 left_pitch=-0.6328 left_roll=0.0508 left_gripper=0.9958 right_x=0.3855 right_y=0.0226 right_z=0.1345 right_yaw=0.0339 right_pitch=-0.2789 right_roll=-0.0228 right_gripper=0.0292\nstate[joint_eff]: [-0.4034, -5.5043, 5.559, 0.9939, -0.2613, -0.1148, -0.0171, -0.0479, -7.8564, 9.853, 1.5458, 0.0073, 0.0562, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64884f6a3d8ac6eeeb7fd4dde7fd6f311577891200cf88603cc1d62b8cfe2cf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2ccc9c629b4e59b88569262e7a2c42da111ada242d3dedb24cff3d45c2f3070",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f599f2835b19afc0092e3508be175ab98840b5aeeb5a2d8d43e658b18bba338",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DE9ZXWDh54TPzTcmehWb1f",
      "input": {
        "note": "Pink bowl is held (wrist view unchanged through the lift). Carrying it across toward the stacked pair, staying high; I'll refine the alignment from the wrist view there.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.33,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01DE9ZXWDh54TPzTcmehWb1f",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3798, 1.3552, 1.6135, -1.5295, -0.2108, -0.469, 0.9958, 0.8467, 2.0792, 1.9949, -0.9939, 0.4755, 0.609, 0.0312]\nstate[eef_state]: left_x=0.2534 left_y=-0.0575 left_z=0.2586 left_yaw=0.1465 left_pitch=-0.6376 left_roll=0.0559 left_gripper=0.9958 right_x=0.3925 right_y=0.3271 right_z=0.1818 right_yaw=0.0709 right_pitch=-0.3311 right_roll=-0.056 right_gripper=0.0312\nstate[joint_eff]: [-0.1026, -5.4906, 5.8598, 0.989, -0.2759, -0.0757, -0.0122, 0.1026, -11.4803, 9.2923, 1.1697, 0.5299, 0.1294, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d03c184361664d1951ae79d7ef4664e5dc81300196aeb38adaa92916b4f94b9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bb4eb18bd0a79335593188d1dc1ed37cef3bb10776cd5d797581658ecba9c22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe7fca19338f5de7422a5ba0e2b55283810f69f5e2c2c9f1fda568d0e1f7cadd",
        "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 · 4.533 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3595, 1.3724, 1.676, -1.5589, -0.2031, -0.4614, 0.9958, 0.0654, 1.5936, 0.6579, 0.1261, 0.0345, 0.004, 0.0237]\nstate[eef_state]: left_x=0.2564 left_y=-0.0545 left_z=0.2704 left_yaw=0.1488 left_pitch=-0.6275 left_roll=0.0416 left_gripper=0.9958 right_x=0.3892 right_y=0.023 right_z=0.0359 right_yaw=0.0301 right_pitch=-0.2388 right_roll=-0.0147 right_gripper=0.0237\nstate[joint_eff]: [-0.1846, -5.2308, 5.4496, 0.9597, -0.2759, -0.0904, -0.0122, -0.0342, -6.2154, 5.641, 1.2381, 0.2076, -0.1148, 1.033]",
      "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]: [-0.3668, 1.3659, 1.647, -1.5448, -0.2073, -0.4618, 0.9958, 0.0654, 1.4059, 0.9546, -0.3985, 0.0353, -0.0048, 0.0292]\nstate[eef_state]: left_x=0.2555 left_y=-0.0554 left_z=0.2647 left_yaw=0.1487 left_pitch=-0.6328 left_roll=0.0508 left_gripper=0.9958 right_x=0.3855 right_y=0.0226 right_z=0.1345 right_yaw=0.0339 right_pitch=-0.2789 right_roll=-0.0228 right_gripper=0.0292\nstate[joint_eff]: [-0.4034, -5.5043, 5.559, 0.9939, -0.2613, -0.1148, -0.0171, -0.0479, -7.8564, 9.853, 1.5458, 0.0073, 0.0562, 1.033]",
      "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]: [-0.3798, 1.3552, 1.6135, -1.5295, -0.2108, -0.469, 0.9958, 0.8467, 2.0792, 1.9949, -0.9939, 0.4755, 0.609, 0.0312]\nstate[eef_state]: left_x=0.2534 left_y=-0.0575 left_z=0.2586 left_yaw=0.1465 left_pitch=-0.6376 left_roll=0.0559 left_gripper=0.9958 right_x=0.3925 right_y=0.3271 right_z=0.1818 right_yaw=0.0709 right_pitch=-0.3311 right_roll=-0.056 right_gripper=0.0312\nstate[joint_eff]: [-0.1026, -5.4906, 5.8598, 0.989, -0.2759, -0.0757, -0.0122, 0.1026, -11.4803, 9.2923, 1.1697, 0.5299, 0.1294, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d03c184361664d1951ae79d7ef4664e5dc81300196aeb38adaa92916b4f94b9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bb4eb18bd0a79335593188d1dc1ed37cef3bb10776cd5d797581658ecba9c22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe7fca19338f5de7422a5ba0e2b55283810f69f5e2c2c9f1fda568d0e1f7cadd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AgKjgEIEhgCKkCeNzxHkSG+1ZExfTIvZhxtsNboQ0hzABVPhxTTEuPPTMclaNk+PwVtR4d7ZoIBGQIK5LFhmOwXyWR6ua35yTdjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc6WzNUGEgzEOHfCMpfzY6M8/98aDLGXBT0zNBnOlKZKHyIwld89/oOnEICuo28g1Zebu1TMfIq9Vh8jErkmD3ql+LwrsaFMjR3a8lHVPS97zhN7Ku4G4wIU6gLJu3XIOrwzQPsgi5+992Mf4QGPNjfegAAtvBBxTTZTG6gB+IkTIXnWBA1HSjhD3cdNCO0g1qTYlV0U3GsWpxoQB1EDiRU0D6tAkZG/3ty9wlupgyOR27gMj09+eeRLRyt0khqwzRCxf7IH2t8YaWtd8LINZhMqcS0ltHTLhKF/HSnwtSojcK/iZgz9/jb1ZejR9fDkQuEIMYATi0hMl+du8s38Y3hsRK9SdXUSowR28EzsvtW3sKZTIErr1Lu+BsRk/yTOn35iTDxxp+QsP1Ahv4N9vpiRBD/Kx6OG5PYf1/pdpbtFmzPvGWQtYzPYw0z1aMw9lQ/rdC6v/Y2S/hKuVkQ8ZdXDII/vo3xjYzLZFuSvaUrPkJ6JdVlPTX7ME3EsEjQeXz0HHh3A/fIIIWb4/kl+iGSSvVmqQN0Rwl0uEUBiBh4zmEp5SfLda5KkwvoSszmAGuIXb0tRkSuyUqNZi9/ZoT8xoWpab7+IoMe9Yj64JyBLOvwkQkM69Nu8qJK+bbLU0O/1kEngsm5dxYCuriAbVuhM5wU8J2rQhYEEmysj03Y7sRS913PjJIjHEQlh/SblRgmZW1t1+X4QpMKRob4nMhqgNQcAtXSgyD4spajKYoifYYghrOTUk5Cz7sBBCVJHuHgQv/LbEUqd3vy4IZwu+sJ8Lytnv84IflABlzzzacmpFRtP18Al/PJX7fs2vvFikbv8ZpPvKymV+bBWypjMWqYOjKWkJ+ThVUSWS6XRSlXkrEV6vbluz/yM4y4qoCwqFxUKSJvNUDdCs4x4GNHMCEmdvn4GIGc6l8TQHVxKipdPEF6INjDsQU5JoQXgMqPnGTYl31CpJv2k9qkcYTShglDJifmp/haxnjqmLIK0sbHuNXUnJ+2F73r6FpNpM0BOOtbLrmEH6mRi9N1zh4uUJSUBSgMQwWsUATYzxhyNHQtYrsXjj5+Z4Pey4yEOGnpKn/8eTdADEJrf9KYApyGhVMGj7twjfVUoAwKlSyhlsOA1uKCqB5eZC6kNoExGeiR++Y0vZ7mSjaY8Jp2vGiHMSlKljL4QHsx7pbDZEdSWgI2BaVvwEuyg9YMcispb/LG8g8p0BmD8rQX+djdlq0nf7y6HcdLdmd6Tct94L2q1BKpIiuIR9JF9b/t/xtVwMVSoRlJ0hx0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SC1LXmED5G5Lt4BuaZEX27",
      "input": {
        "note": "The stacked pair is visible just right of the jaws while the pink bowl hangs to the left; shifting ~9 cm right so the carried bowl comes over the stack.",
        "targets": {
          "right_y": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01SC1LXmED5G5Lt4BuaZEX27",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3931, 1.3422, 1.5776, -1.5063, -0.218, -0.4728, 0.9957, 0.7017, 1.8393, 1.615, -0.8589, 0.4034, 0.4782, 0.0312]\nstate[eef_state]: left_x=0.2525 left_y=-0.0595 left_z=0.253 left_yaw=0.1421 left_pitch=-0.6336 left_roll=0.0614 left_gripper=0.9957 right_x=0.387 right_y=0.241 right_z=0.1652 right_yaw=0.0518 right_pitch=-0.382 right_roll=-0.092 right_gripper=0.0312\nstate[joint_eff]: [-0.2256, -5.3265, 5.3812, 0.9206, -0.359, -0.1294, -0.0171, -0.3761, -11.5624, 6.6256, 1.536, 0.1538, 0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fa5089845f63949481e0d10b9a4e2fe6c631a41a018e529357b6e6d8cd7d832",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec7ceca889fd8a98a506f671fa3b1a3f85447c822c83c38fccad97d3484b2e0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4010893344f21344af4fa4f930252dc33ea4894384e5c365bc34ebc45d7e155b",
        "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 · 3.568 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3668, 1.3659, 1.647, -1.5448, -0.2073, -0.4618, 0.9958, 0.0654, 1.4059, 0.9546, -0.3985, 0.0353, -0.0048, 0.0292]\nstate[eef_state]: left_x=0.2555 left_y=-0.0554 left_z=0.2647 left_yaw=0.1487 left_pitch=-0.6328 left_roll=0.0508 left_gripper=0.9958 right_x=0.3855 right_y=0.0226 right_z=0.1345 right_yaw=0.0339 right_pitch=-0.2789 right_roll=-0.0228 right_gripper=0.0292\nstate[joint_eff]: [-0.4034, -5.5043, 5.559, 0.9939, -0.2613, -0.1148, -0.0171, -0.0479, -7.8564, 9.853, 1.5458, 0.0073, 0.0562, 1.033]",
      "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]: [-0.3798, 1.3552, 1.6135, -1.5295, -0.2108, -0.469, 0.9958, 0.8467, 2.0792, 1.9949, -0.9939, 0.4755, 0.609, 0.0312]\nstate[eef_state]: left_x=0.2534 left_y=-0.0575 left_z=0.2586 left_yaw=0.1465 left_pitch=-0.6376 left_roll=0.0559 left_gripper=0.9958 right_x=0.3925 right_y=0.3271 right_z=0.1818 right_yaw=0.0709 right_pitch=-0.3311 right_roll=-0.056 right_gripper=0.0312\nstate[joint_eff]: [-0.1026, -5.4906, 5.8598, 0.989, -0.2759, -0.0757, -0.0122, 0.1026, -11.4803, 9.2923, 1.1697, 0.5299, 0.1294, 1.0232]",
      "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]: [-0.3931, 1.3422, 1.5776, -1.5063, -0.218, -0.4728, 0.9957, 0.7017, 1.8393, 1.615, -0.8589, 0.4034, 0.4782, 0.0312]\nstate[eef_state]: left_x=0.2525 left_y=-0.0595 left_z=0.253 left_yaw=0.1421 left_pitch=-0.6336 left_roll=0.0614 left_gripper=0.9957 right_x=0.387 right_y=0.241 right_z=0.1652 right_yaw=0.0518 right_pitch=-0.382 right_roll=-0.092 right_gripper=0.0312\nstate[joint_eff]: [-0.2256, -5.3265, 5.3812, 0.9206, -0.359, -0.1294, -0.0171, -0.3761, -11.5624, 6.6256, 1.536, 0.1538, 0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fa5089845f63949481e0d10b9a4e2fe6c631a41a018e529357b6e6d8cd7d832",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec7ceca889fd8a98a506f671fa3b1a3f85447c822c83c38fccad97d3484b2e0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4010893344f21344af4fa4f930252dc33ea4894384e5c365bc34ebc45d7e155b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpAUKjgEIEhgCKkBYUsRK3puiwyFUGTUq0twJUR95sZcV1u1IYyfoRbC+sB6kbjUVCM6raE1ygIdOmtboA7Ui7dBVQ2Q2VYP7S+rBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdSWzNUGEgx42qaSCZEEdnY9+QcaDAH6Rf8G1OYQNQkltiIwe66RNmTGoZE8kKl8lzUdEh1dZaIMWvPo+gTZ3vqkIojEnAFm3tY+7c/MhU9MsqlFKsIDOkdGGrq801DWOc7BZOu3cwH6M2IGrxibcnRfd9ZfIRTB/3YUm7OvE21ftymZS4sFt0ElL80TnkR61PFIqoiY9SUklZI8PIxjIdD7uxKQZLQQzlXxbaclVFeH681xbjyrPQM/QRnDXsKa9G7CZFTRfLwrLQvX4cVpDHlDzktZ6QwrwSBORhmKXf6CzZX/gHpuXW4xgPOh96RRi8/ECflSvxwUU4cDor//6otHRTDG5n0OTEHiKHrdgUjV3i/wmJc1Mi5QNyGU/M+ZTI9JkPxRL1+7BKRP2L/AArOjOJmFr/TTaUk2ZHyv9ZPGsDhqNLOFzj6wutoohXN0shgafqwAXFCy7J2hlf90B4QhRftSRdb+hvrBfGhpLlWjiCYVm+yMF4xdjD1luQYoqBiYS13a6MWTbg2jLBc+o6cQqgrUz19Za5mdABeolE9dQzclrJ+5U4SdQ13TSwMNHF0lJowNgsKy4cIgyqQrH/xH/kttuyRk/1jtK3MWxU+63QZOZf5pZupKfms6QV4s986B9KntfadXDvVR53bIgdUyRyGshPoFpnAW4yjYdhjET40b6hs42P5K42PeUEInyAtp/MSfFubOGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FHQWHr6if4z89xLJDd3tnD",
      "input": {
        "note": "The stack is now hidden behind the carried pink bowl, so it is underneath it; lowering toward nesting height.",
        "targets": {
          "right_z": 0.125
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FHQWHr6if4z89xLJDd3tnD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4061, 1.3346, 1.5452, -1.4879, -0.2234, -0.4767, 0.9958, 0.6987, 1.8393, 1.4818, -0.7612, 0.3992, 0.4614, 0.0312]\nstate[eef_state]: left_x=0.2514 left_y=-0.0616 left_z=0.2467 left_yaw=0.1389 left_pitch=-0.6364 left_roll=0.0692 left_gripper=0.9958 right_x=0.3805 right_y=0.2346 right_z=0.1277 right_yaw=0.0527 right_pitch=-0.4136 right_roll=-0.1223 right_gripper=0.0312\nstate[joint_eff]: [-0.294, -5.6684, 5.5863, 0.9109, -0.3346, -0.0806, -0.0073, 0.3077, -8.9504, 7.4735, 1.6728, 0.2564, 0.1538, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:582f4dd54f4325bc36aadfe7c692ad8541c92f1fbb9a9a5a9471d731212a44e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61126c51578fdd45fcea4e99a4380eab0e1eb9192a48c8a3ff2d77a47bcf1b8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b6334b7b5dfe665f078887e466748ac4b1a7007846923727b9eb85fd422b498",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 4.463 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3798, 1.3552, 1.6135, -1.5295, -0.2108, -0.469, 0.9958, 0.8467, 2.0792, 1.9949, -0.9939, 0.4755, 0.609, 0.0312]\nstate[eef_state]: left_x=0.2534 left_y=-0.0575 left_z=0.2586 left_yaw=0.1465 left_pitch=-0.6376 left_roll=0.0559 left_gripper=0.9958 right_x=0.3925 right_y=0.3271 right_z=0.1818 right_yaw=0.0709 right_pitch=-0.3311 right_roll=-0.056 right_gripper=0.0312\nstate[joint_eff]: [-0.1026, -5.4906, 5.8598, 0.989, -0.2759, -0.0757, -0.0122, 0.1026, -11.4803, 9.2923, 1.1697, 0.5299, 0.1294, 1.0232]",
      "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]: [-0.3931, 1.3422, 1.5776, -1.5063, -0.218, -0.4728, 0.9957, 0.7017, 1.8393, 1.615, -0.8589, 0.4034, 0.4782, 0.0312]\nstate[eef_state]: left_x=0.2525 left_y=-0.0595 left_z=0.253 left_yaw=0.1421 left_pitch=-0.6336 left_roll=0.0614 left_gripper=0.9957 right_x=0.387 right_y=0.241 right_z=0.1652 right_yaw=0.0518 right_pitch=-0.382 right_roll=-0.092 right_gripper=0.0312\nstate[joint_eff]: [-0.2256, -5.3265, 5.3812, 0.9206, -0.359, -0.1294, -0.0171, -0.3761, -11.5624, 6.6256, 1.536, 0.1538, 0.0464, 1.0281]",
      "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]: [-0.4061, 1.3346, 1.5452, -1.4879, -0.2234, -0.4767, 0.9958, 0.6987, 1.8393, 1.4818, -0.7612, 0.3992, 0.4614, 0.0312]\nstate[eef_state]: left_x=0.2514 left_y=-0.0616 left_z=0.2467 left_yaw=0.1389 left_pitch=-0.6364 left_roll=0.0692 left_gripper=0.9958 right_x=0.3805 right_y=0.2346 right_z=0.1277 right_yaw=0.0527 right_pitch=-0.4136 right_roll=-0.1223 right_gripper=0.0312\nstate[joint_eff]: [-0.294, -5.6684, 5.5863, 0.9109, -0.3346, -0.0806, -0.0073, 0.3077, -8.9504, 7.4735, 1.6728, 0.2564, 0.1538, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:582f4dd54f4325bc36aadfe7c692ad8541c92f1fbb9a9a5a9471d731212a44e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61126c51578fdd45fcea4e99a4380eab0e1eb9192a48c8a3ff2d77a47bcf1b8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b6334b7b5dfe665f078887e466748ac4b1a7007846923727b9eb85fd422b498",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/wMKjgEIEhgCKkBTHVpaLlySBb2mfMd1ltAS9gZWmjxA2f9Xa/U8BXbUhsvqe5vexFFJvkqWdqonoRx/6aJEyAZEqY4ajzIOT6znMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdiWzNUGEgwX54kbh5BoPwJepVoaDBJy4un1oDOaST21xiIwDfY53XwxbqFamxMiBdLQrDYPCyCRpERMD50IWEp1NomkfYPD6hbgmHyCSPLYwXarKp0CkweVM0EQa1l5ZOSS3VNRSP6jJ/l+Ou9zdRacxuLwie1UkLVlGurRq3TiJKpuKDvHIkkFwp0512mdnU+DTMxXgtq5V5E02r+SY547WztNnuj5tl5VPTUgP1+KkNQCMgkSmBLrCLZf9D3uTycfUG1CiazDV1N03uiG1nFmsSJNu0ejcGmqZaSBHHRlj5R4hThnHzQcHsmlxNHMBs3eQt9qFta/I+iB4aM5XqPhuC2GmRcw2AJmwLk1c0eUnd9QnkPiJKTRnCESjaoN5Zweqhb6dpR4Kp83KXNg1XJ/+gydfmH/48Qxo1ijfI7V8omlY4LHDZDjIHmqrPSbuXqlb0g+plAc8UjRekqlm+v2IlgdFLjZIjmbbtyjgO4Xy1T+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LoHZNS16uDZFzX5pdeewZn",
      "input": {
        "note": "Releasing the pink bowl onto the stack below.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LoHZNS16uDZFzX5pdeewZn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4191, 1.3209, 1.5116, -1.4689, -0.2337, -0.4873, 0.9958, 0.6983, 1.8591, 1.4574, -0.7628, 0.387, 0.4515, 0.9954]\nstate[eef_state]: left_x=0.2497 left_y=-0.0625 left_z=0.2417 left_yaw=0.1425 left_pitch=-0.6314 left_roll=0.0754 left_gripper=0.9958 right_x=0.3748 right_y=0.2322 right_z=0.11 right_yaw=0.0545 right_pitch=-0.4576 right_roll=-0.1488 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -5.2581, 5.5316, 0.9744, -0.3004, -0.0269, -0.0171, -0.0615, -11.2889, 8.2393, 0.9988, 0.3004, 0.0562, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7512afbf498e36c3c6a7b772a7fd7b72a2d2e395691a96a09d16b76939f47b5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a8a0546150c88d192536f5c7be97c508e40ecccb9f9e0d802ad7efe31cd3e99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:284f4b85900a8198741e42a2549cbfb0e9b800698dd40b9704e576d8323f91be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 13.19 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3931, 1.3422, 1.5776, -1.5063, -0.218, -0.4728, 0.9957, 0.7017, 1.8393, 1.615, -0.8589, 0.4034, 0.4782, 0.0312]\nstate[eef_state]: left_x=0.2525 left_y=-0.0595 left_z=0.253 left_yaw=0.1421 left_pitch=-0.6336 left_roll=0.0614 left_gripper=0.9957 right_x=0.387 right_y=0.241 right_z=0.1652 right_yaw=0.0518 right_pitch=-0.382 right_roll=-0.092 right_gripper=0.0312\nstate[joint_eff]: [-0.2256, -5.3265, 5.3812, 0.9206, -0.359, -0.1294, -0.0171, -0.3761, -11.5624, 6.6256, 1.536, 0.1538, 0.0464, 1.0281]",
      "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]: [-0.4061, 1.3346, 1.5452, -1.4879, -0.2234, -0.4767, 0.9958, 0.6987, 1.8393, 1.4818, -0.7612, 0.3992, 0.4614, 0.0312]\nstate[eef_state]: left_x=0.2514 left_y=-0.0616 left_z=0.2467 left_yaw=0.1389 left_pitch=-0.6364 left_roll=0.0692 left_gripper=0.9958 right_x=0.3805 right_y=0.2346 right_z=0.1277 right_yaw=0.0527 right_pitch=-0.4136 right_roll=-0.1223 right_gripper=0.0312\nstate[joint_eff]: [-0.294, -5.6684, 5.5863, 0.9109, -0.3346, -0.0806, -0.0073, 0.3077, -8.9504, 7.4735, 1.6728, 0.2564, 0.1538, 1.0281]",
      "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]: [-0.4191, 1.3209, 1.5116, -1.4689, -0.2337, -0.4873, 0.9958, 0.6983, 1.8591, 1.4574, -0.7628, 0.387, 0.4515, 0.9954]\nstate[eef_state]: left_x=0.2497 left_y=-0.0625 left_z=0.2417 left_yaw=0.1425 left_pitch=-0.6314 left_roll=0.0754 left_gripper=0.9958 right_x=0.3748 right_y=0.2322 right_z=0.11 right_yaw=0.0545 right_pitch=-0.4576 right_roll=-0.1488 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -5.2581, 5.5316, 0.9744, -0.3004, -0.0269, -0.0171, -0.0615, -11.2889, 8.2393, 0.9988, 0.3004, 0.0562, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7512afbf498e36c3c6a7b772a7fd7b72a2d2e395691a96a09d16b76939f47b5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a8a0546150c88d192536f5c7be97c508e40ecccb9f9e0d802ad7efe31cd3e99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:284f4b85900a8198741e42a2549cbfb0e9b800698dd40b9704e576d8323f91be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISkQUKjgEIEhgCKkAMI1xz8B28kwAeQirMyQF5dCxOpg2awPXOrDh2A9wG5PkE4GzCUEcktCh4lgSmV6f4J6ONEpV6hFu5Cghm7SPDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd2WzNUGEgxC3u7n/XK59uKs9ekaDG5PV2n6QTEsHapUbiIwLssFvj5u19YXlXz5R4Qh6VsDGn3ZZc5BqpeJyU8NQhjYqWBPYe83RsWsx+Q2GFz6Kq8Dv+C2pCtWeJCjo6CfZdZEeulOhrYWqyUGAor1FY8sZnC80Mftb9UbWUnGu9fRj5JVOAnpJnQMywdL/b3YHti54QBPUeH2L4glQ37fmHzak5SC8LtNxx2Wh6DT1CfUV0eoePm3s0E/AaoNuDkvS5qgnri1x7i00zvcsmQprVf//EV2NG0QdS3IGdCULFkk4y+QYOWbvAzIypH9goUr8zr72heb/40/fG0b0ALnAMIKoOS/q2ALwBau5htktL9uvcDvy+KnWDkQiYo+Ldj0ADIPeTyITKFLbYWEHcpo+VpDZL1YlVv6diapjia1H0wbWLqgH8Enw00iTtLpggHl9LP4F8c5A4qR6nDG961B75zkIf2aGjOyvYE9iSAR0+oJ0aAmja8hrNKSsm0wAZz1OXjWTVuS6E3Zvix/3bFF8u9tN5IIasJH0Q36n+yR0DVoralK3t9YaDT9t9BNqeKkx0Wt24AhAn7f230o+3kL88OpC6HotWxfOJR9HzOXM6cXVeLjoh2t+djXqxVqnsk/bl5vHoOfeE5ejybNardNl+0SSSB5S86Zqj4KUWKo5Iip0CsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BdoWYre36BfMFFEBTtQSz4",
      "input": {
        "note": "Bowl released; pulling the right arm up and back so the overhead camera can show whether all three bowls are now nested.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.05,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01BdoWYre36BfMFFEBTtQSz4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4305, 1.3106, 1.4826, -1.4506, -0.2367, -0.498, 0.9958, 0.3073, 1.3376, 1.6386, -1.372, 0.2253, 0.1066, 0.9958]\nstate[eef_state]: left_x=0.2485 left_y=-0.0646 left_z=0.2368 left_yaw=0.141 left_pitch=-0.6296 left_roll=0.0739 left_gripper=0.9958 right_x=0.2885 right_y=0.0539 right_z=0.2863 right_yaw=0.0268 right_pitch=-0.4679 right_roll=-0.1546 right_gripper=0.9958\nstate[joint_eff]: [-0.253, -5.012, 5.6547, 0.9451, -0.2906, -0.0122, -0.0171, -0.1983, -5.2171, 7.8564, 1.16, 0.0611, 0.022, 0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f48efadad8f9ea3e2e5de6df04850151dc588c2c66844315e92d62824287f09b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34e2f1b50edceff718e795e667f38905cf20786373661d5236e19c23302e4585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:16f61c963df972e81204c650aa2f6f4e9071016216ceaf1d39ca7549ff924e61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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