adhoc

completed
2026-09-22T19:14:34.914422+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
277.1 s
total steps
248
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

give_up

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 in a row between the arms (green-ish left, white/blue middle, pink right). Moving left arm above the left rim of the leftmost bowl to grasp its wall.
move_to
left_x0.3000left_y-0.1100left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3782, -0.0223, -0.0288, 0.9996, -0.0219, 0.7925, 0.6014, -0.3794, -0.017, -0.0334, 0.998] state[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1805 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0001 right_z=0.1793 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.998 state[joint_eff]: [-0.5402, -1.5385, 10.0855, 1.8242, -0.022, 0.1538, -0.0562, -0.5128, -1.3607, 10.3179, 1.917, -0.1197, 0.1636, -0.2222] 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": 0.3, "left_y": -0.11, "left_z": 0.12}, "note": "Three bowls in a row between the arms (green-ish left, white/blue middle, pink right). Moving left arm above the left rim of the leftmost bowl to grasp its wall."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteWhite bowl sits ahead of the left gripper, centred on the jaw column. Moving forward and to the bowl's left side so the jaws can straddle its left rim wall.
move_to
left_x0.3700left_y-0.0550left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6334, 1.0676, 0.4961, -0.1467, -0.4854, -0.3691, 0.9996, -0.0219, 0.8001, 0.6003, -0.3897, -0.0166, -0.0303, 0.9979] state[eef_state]: left_x=0.2941 left_y=-0.1093 left_z=0.1125 left_yaw=-0.0464 left_pitch=-0.0535 left_roll=0.0262 left_gripper=0.9996 right_x=0.2934 right_y=0.0001 right_z=0.1746 right_yaw=-0.002 right_pitch=-0.0191 right_roll=0.0027 right_gripper=0.9979 state[joint_eff]: [-0.335, -3.5077, 6.3658, 1.7998, -0.3199, -0.1783, -0.0122, -0.0752, -1.8393, 7.1453, 1.8144, -0.0513, -0.0659, -0.022] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.055, "left_z": 0.12}, "note": "White bowl sits ahead of the left gripper, centred on the jaw column. Moving forward and to the bowl's left side so the jaws can straddle its left rim wall."})
tool
executing move_to over 6 steps (0.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteBowl's left rim now lines up with the jaw column. Descending so the open jaws straddle the rim wall.
move_to
left_x0.3650left_y-0.0500left_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2615, 1.2713, 0.5873, -0.0307, -0.234, -0.1692, 0.9996, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0341, 0.9979] state[eef_state]: left_x=0.3522 left_y=-0.0482 left_z=0.0975 left_yaw=0.0139 left_pitch=-0.1238 left_roll=0.0333 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0001 right_pitch=-0.0275 right_roll=-0.0002 right_gripper=0.9979 state[joint_eff]: [0.1709, -4.8342, 8.9504, 1.8828, -0.0757, 0.2027, -0.0171, -0.2393, -1.6205, 7.0359, 1.7607, -0.0806, -0.0366, -0.0171] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.365, "left_y": -0.05, "left_z": 0.04}, "note": "Bowl's left rim now lines up with the jaw column. Descending so the open jaws straddle the rim wall."})
tool
executing move_to over 4 steps (0.4s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe white bowl's left wall sits between the open jaws at z≈0.027. 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]: [-0.2581, 1.4937, 0.4942, 0.1947, -0.2176, -0.1577, 0.9996, -0.0219, 0.8059, 0.5999, -0.3931, -0.0166, -0.0341, 0.9979] state[eef_state]: left_x=0.3499 left_y=-0.0492 left_z=0.0269 left_yaw=0.0014 left_pitch=-0.214 left_roll=0.055 left_gripper=0.9996 right_x=0.2932 right_y=0.0001 right_z=0.1721 right_yaw=0.0001 right_pitch=-0.0286 right_roll=-0.0002 right_gripper=0.9979 state[joint_eff]: [-0.1162, -6.5983, 5.8462, 2.0195, -0.2369, -0.105, -0.0171, -0.0752, -1.3333, 7.0085, 1.7118, -0.0317, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The white bowl's left wall sits between the open jaws at z\u22480.027. Closing to pinch the rim."})
tool
executing move_to over 10 steps (1.0s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteGripper closed to 0.037 on the thin bowl wall (ambiguous). Lifting to check whether the white bowl comes up with the jaws.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2581, 1.4899, 0.4862, 0.2268, -0.2043, -0.1822, 0.0368, -0.0219, 0.8082, 0.5999, -0.3927, -0.0166, -0.0341, 0.9978] state[eef_state]: left_x=0.3526 left_y=-0.0523 left_z=0.0305 left_yaw=0.0021 left_pitch=-0.1889 left_roll=0.0204 left_gripper=0.0368 right_x=0.2934 right_y=0.0001 right_z=0.1716 right_yaw=0.0001 right_pitch=-0.0305 right_roll=-0.0002 right_gripper=0.9978 state[joint_eff]: [-0.253, -4.6564, 6.2017, 0.9548, -0.2271, 0.1832, 0.7643, -0.2256, -1.2923, 7.0359, 1.7656, -0.0806, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.09}, "note": "Gripper closed to 0.037 on the thin bowl wall (ambiguous). Lifting to check whether the white bowl comes up with the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe white bowl stays fixed relative to the jaws after lifting, so it is held. Carrying it over the lavender middle bowl (gripper offset ~5 cm left of bowl centre).
move_to
left_z0.1600left_y-0.1900left_x0.3600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2581, 1.3403, 0.5888, -0.0212, -0.2066, -0.1871, 0.0436, -0.0219, 0.8101, 0.5999, -0.3927, -0.0166, -0.0341, 0.9979] state[eef_state]: left_x=0.3522 left_y=-0.0518 left_z=0.0761 left_yaw=0.0065 left_pitch=-0.1843 left_roll=0.0172 left_gripper=0.0436 right_x=0.2935 right_y=0.0001 right_z=0.1711 right_yaw=0.0001 right_pitch=-0.0324 right_roll=-0.0001 right_gripper=0.9979 state[joint_eff]: [-0.253, -5.7778, 8.6222, 1.5946, -0.1148, 0.0073, 1.0281, -0.1709, -1.4154, 7.0222, 1.7363, 0.0024, -0.0611, -0.0073] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.16, "left_y": -0.19, "left_x": 0.36}, "note": "The white bowl stays fixed relative to the jaws after lifting, so it is held. Carrying it over the lavender middle bowl (gripper offset ~5 cm left of bowl centre)."})
tool
executing move_to over 13 steps (1.3s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteCarried white bowl is almost over the lavender bowl; the lavender rim peeks out ahead-right, so nudging forward and right to centre it.
move_to
left_x0.3850left_y-0.2050left_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6949, 1.5143, 1.0737, -0.469, -0.4774, -0.5205, 0.0458, -0.0219, 0.8101, 0.5983, -0.3935, -0.0166, -0.0341, 0.9979] state[eef_state]: left_x=0.3551 left_y=-0.1857 left_z=0.1463 left_yaw=-0.0165 left_pitch=-0.2091 left_roll=0.0187 left_gripper=0.0458 right_x=0.2932 right_y=0.0001 right_z=0.1702 right_yaw=0.0001 right_pitch=-0.0347 right_roll=-0.0001 right_gripper=0.9979 state[joint_eff]: [-0.5538, -6.2838, 9.3607, 1.2723, -0.4713, 0.0757, 1.0281, -0.3214, -1.3333, 7.5419, 1.707, -0.0611, -0.0708, -0.0171] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.385, "left_y": -0.205, "left_z": 0.14}, "note": "Carried white bowl is almost over the lavender bowl; the lavender rim peeks out ahead-right, so nudging forward and right to centre it."})
tool
executing move_to over 3 steps (0.3s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteWhite bowl is roughly centred over the lavender bowl. Lowering it into the lavender bowl before releasing.
move_to
left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.688, 1.6382, 1.1454, -0.4706, -0.4767, -0.5392, 0.0458, -0.0219, 0.8116, 0.598, -0.3935, -0.0166, -0.0341, 0.9979] state[eef_state]: left_x=0.3717 left_y=-0.196 left_z=0.126 left_yaw=0.0082 left_pitch=-0.2506 left_roll=0.0399 left_gripper=0.0458 right_x=0.2933 right_y=0.0001 right_z=0.1696 right_yaw=0.0001 right_pitch=-0.0366 right_roll=-0.0 right_gripper=0.9979 state[joint_eff]: [0.3487, -8.6906, 9.5795, 1.3358, -0.3004, 0.2466, 1.0379, -0.1162, -0.8821, 7.0906, 1.707, -0.0806, -0.0611, -0.0171] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.065}, "note": "White bowl is roughly centred over the lavender bowl. Lowering it into the lavender bowl before releasing."})
tool
executing move_to over 4 steps (0.4s)
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 noteDescent stopped at z≈0.116, so the white bowl is sitting on the lavender rim; the lavender bowl is still ahead-right. Lifting slightly and shifting forward/right to centre.
move_to
left_z0.1400left_x0.4000left_y-0.2250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6815, 1.6672, 1.1484, -0.4641, -0.4686, -0.5213, 0.0458, -0.0219, 0.8116, 0.5957, -0.3935, -0.0166, -0.0341, 0.9978] state[eef_state]: left_x=0.3742 left_y=-0.1962 left_z=0.1161 left_yaw=0.0021 left_pitch=-0.2704 left_roll=0.0599 left_gripper=0.0458 right_x=0.2929 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0389 right_roll=0.0 right_gripper=0.9978 state[joint_eff]: [-0.3761, -9.2513, 9.5111, 1.4823, -0.2271, 0.0904, 1.0281, -0.1026, -1.1419, 7.4188, 1.707, -0.0415, -0.0513, -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_z": 0.14, "left_x": 0.4, "left_y": -0.225}, "note": "Descent stopped at z\u22480.116, so the white bowl is sitting on the lavender rim; the lavender bowl is still ahead-right. Lifting slightly and shifting forward/right to centre."})
tool
executing move_to over 3 steps (0.3s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe last move produced no motion at all; trying a pure lift first to get the arm unstuck.
move_to
left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6815, 1.6672, 1.1484, -0.4641, -0.4686, -0.5213, 0.0458, -0.0219, 0.8116, 0.5957, -0.3931, -0.0166, -0.0341, 0.9979] state[eef_state]: left_x=0.3742 left_y=-0.1962 left_z=0.1161 left_yaw=0.0021 left_pitch=-0.2704 left_roll=0.0599 left_gripper=0.0458 right_x=0.293 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0385 right_roll=0.0 right_gripper=0.9979 state[joint_eff]: [-0.3897, -9.2513, 9.5111, 1.4921, -0.2271, 0.1099, 1.0281, -0.0889, -1.3333, 7.0632, 1.746, -0.0806, -0.0708, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.16}, "note": "The last move produced no motion at all; trying a pure lift first to get the arm unstuck."})
tool
executing move_to over 3 steps (0.3s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteLeft arm is not responding to targets (joints unchanged). Commanding a nearby, less-extended pose with neutral orientation to recover IK tracking.
move_to
left_z0.1500left_x0.3600left_y-0.2000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6815, 1.6672, 1.1484, -0.4641, -0.469, -0.5209, 0.0458, -0.0219, 0.8116, 0.5953, -0.3931, -0.0166, -0.0341, 0.9979] state[eef_state]: left_x=0.3742 left_y=-0.1961 left_z=0.1161 left_yaw=0.0022 left_pitch=-0.2702 left_roll=0.0604 left_gripper=0.0458 right_x=0.2929 right_y=0.0001 right_z=0.1685 right_yaw=0.0001 right_pitch=-0.0389 right_roll=0.0 right_gripper=0.9979 state[joint_eff]: [-0.3761, -9.0462, 9.7026, 1.4823, -0.2564, 0.0904, 1.0281, -0.1983, -1.1966, 7.0769, 1.7167, -0.0562, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15, "left_x": 0.36, "left_y": -0.2, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "Left arm is not responding to targets (joints unchanged). Commanding a nearby, less-extended pose with neutral orientation to recover IK tracking."})
tool
executing move_to over 10 steps (1.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteArm is tracking again. The lavender bowl is still slightly ahead and right of the held white bowl, so shifting ~3 cm forward and right.
move_to
left_z0.1500left_x0.3800left_y-0.2300left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.767, 1.5318, 0.9287, -0.2134, -0.601, -0.5175, 0.0458, -0.0219, 0.812, 0.5953, -0.3931, -0.0166, -0.0341, 0.9978] state[eef_state]: left_x=0.355 left_y=-0.1984 left_z=0.1291 left_yaw=-0.0083 left_pitch=-0.0773 left_roll=0.0307 left_gripper=0.0458 right_x=0.293 right_y=0.0001 right_z=0.1684 right_yaw=0.0001 right_pitch=-0.0393 right_roll=0.0 right_gripper=0.9978 state[joint_eff]: [-0.5675, -8.5538, 6.5299, 1.8388, -0.4713, 0.0464, 1.0379, -0.0479, -1.2103, 7.0359, 1.746, -0.022, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15, "left_x": 0.38, "left_y": -0.23, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "Arm is tracking again. The lavender bowl is still slightly ahead and right of the held white bowl, so shifting ~3 cm forward and right."})
tool
executing move_to over 3 steps (0.3s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteHeight stays at 0.129, likely the white bowl dragging on the lavender rim. Lifting higher and shifting a bit more right/forward over the lavender bowl.
move_to
left_z0.1900left_x0.3850left_y-0.2400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7887, 1.6253, 1.0092, -0.1955, -0.6292, -0.522, 0.0458, -0.0219, 0.8139, 0.5953, -0.3931, -0.0166, -0.0341, 0.9978] state[eef_state]: left_x=0.3692 left_y=-0.2191 left_z=0.1287 left_yaw=-0.0075 left_pitch=-0.0594 left_roll=0.0383 left_gripper=0.0458 right_x=0.2931 right_y=0.0001 right_z=0.1679 right_yaw=0.0001 right_pitch=-0.0412 right_roll=0.0001 right_gripper=0.9978 state[joint_eff]: [-0.4171, -8.1709, 9.5521, 1.7021, -0.4322, -0.0269, 1.033, -0.1573, -0.9504, 7.0222, 1.707, -0.0513, -0.0366, -0.0073] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.19, "left_x": 0.385, "left_y": -0.24}, "note": "Height stays at 0.129, likely the white bowl dragging on the lavender rim. Lifting higher and shifting a bit more right/forward over the lavender bowl."})
tool
executing move_to over 4 steps (0.4s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteArm is barely tracking lateral/upward targets here; the white bowl is only ~2–3 cm off the lavender bowl's centre. Trying to lower it in—nesting bowls tend to self-centre.
move_to
left_z0.0800left_x0.3750left_y-0.2300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7952, 1.6367, 1.0233, -0.194, -0.63, -0.522, 0.0458, -0.0219, 0.8158, 0.5945, -0.3931, -0.0166, -0.0345, 0.9978] state[eef_state]: left_x=0.3706 left_y=-0.2241 left_z=0.1298 left_yaw=-0.0136 left_pitch=-0.056 left_roll=0.0357 left_gripper=0.0458 right_x=0.2931 right_y=0.0001 right_z=0.167 right_yaw=0.0003 right_pitch=-0.0439 right_roll=-0.0002 right_gripper=0.9978 state[joint_eff]: [-0.1709, -7.9521, 9.4427, 1.6874, -0.5201, -0.0415, 1.033, -0.1846, -1.5248, 7.0632, 1.7314, -0.022, -0.0806, -0.0073] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.08, "left_x": 0.375, "left_y": -0.23}, "note": "Arm is barely tracking lateral/upward targets here; the white bowl is only ~2\u20133 cm off the lavender bowl's centre. Trying to lower it in\u2014nesting bowls tend to self-centre."})
tool
executing move_to over 4 steps (0.4s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteArm froze again; last time explicitly commanding neutral orientation got it moving. Lowering the white bowl into the lavender bowl with neutral orientation.
move_to
left_z0.0900left_x0.3750left_y-0.2300left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7952, 1.6367, 1.0233, -0.194, -0.63, -0.522, 0.0458, -0.0219, 0.8173, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978] state[eef_state]: left_x=0.3706 left_y=-0.2241 left_z=0.1298 left_yaw=-0.0136 left_pitch=-0.056 left_roll=0.0357 left_gripper=0.0458 right_x=0.2932 right_y=0.0001 right_z=0.1666 right_yaw=0.0001 right_pitch=-0.0454 right_roll=0.0002 right_gripper=0.9978 state[joint_eff]: [-0.2667, -7.9521, 9.5658, 1.707, -0.5006, -0.022, 1.0379, -0.0889, -1.4564, 7.1316, 1.7314, -0.0464, -0.0171, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.09, "left_x": 0.375, "left_y": -0.23, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "Arm froze again; last time explicitly commanding neutral orientation got it moving. Lowering the white bowl into the lavender bowl with neutral orientation."})
tool
executing move_to over 3 steps (0.3s)
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 noteLeft arm still stuck at the same pose. Backing off toward a less-extended pose (as worked before) to recover tracking, then I'll re-approach from above.
move_to
left_z0.1600left_x0.3300left_y-0.1700left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7952, 1.6367, 1.0233, -0.194, -0.6304, -0.522, 0.0478, -0.0216, 0.8173, 0.5945, -0.3931, -0.0166, -0.0345, 0.9979] state[eef_state]: left_x=0.3706 left_y=-0.2241 left_z=0.1299 left_yaw=-0.0133 left_pitch=-0.0558 left_roll=0.0359 left_gripper=0.0478 right_x=0.2932 right_y=0.0002 right_z=0.1666 right_yaw=0.0007 right_pitch=-0.0454 right_roll=-0.0002 right_gripper=0.9979 state[joint_eff]: [-0.1436, -7.9658, 9.5385, 1.6728, -0.525, -0.0611, 0.8474, -0.1162, -1.4017, 6.9949, 1.7167, -0.022, -0.0806, -0.0073] approver: 1 step(s) modified (delta_clamped). 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_z": 0.16, "left_x": 0.33, "left_y": -0.17, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "Left arm still stuck at the same pose. Backing off toward a less-extended pose (as worked before) to recover tracking, then I'll re-approach from above."})
tool
executing move_to over 5 steps (0.5s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteTracking restored. The held white bowl was likely catching the lavender rim, so lifting well higher before moving over it.
move_to
left_z0.2300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7757, 1.3525, 0.823, -0.2249, -0.6262, -0.519, 0.0508, -0.0219, 0.8204, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978] state[eef_state]: left_x=0.332 left_y=-0.1756 left_z=0.1519 left_yaw=0.0 left_pitch=-0.0202 left_roll=-0.001 left_gripper=0.0508 right_x=0.2933 right_y=0.0001 right_z=0.1657 right_yaw=0.0001 right_pitch=-0.0484 right_roll=0.0002 right_gripper=0.9978 state[joint_eff]: [0.4991, -5.4632, 7.0222, 1.6239, -0.359, 0.149, 0.9011, -0.1162, -1.2923, 7.2821, 1.7802, -0.0513, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.23}, "note": "Tracking restored. The held white bowl was likely catching the lavender rim, so lifting well higher before moving over it."})
tool
executing move_to over 6 steps (0.6s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteNow high (z≈0.21). The lavender bowl is ~5 cm right and ~6 cm forward of the held white bowl; moving over it at height.
move_to
left_z0.2200left_x0.3900left_y-0.2300left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7742, 1.3258, 1.0534, -0.5026, -0.625, -0.522, 0.0537, -0.0219, 0.8204, 0.5945, -0.3931, -0.0166, -0.0345, 0.9978] state[eef_state]: left_x=0.3326 left_y=-0.1756 left_z=0.2109 left_yaw=0.0028 left_pitch=-0.0354 left_roll=0.0104 left_gripper=0.0537 right_x=0.2933 right_y=0.0001 right_z=0.1657 right_yaw=0.0003 right_pitch=-0.0484 right_roll=-0.0001 right_gripper=0.9978 state[joint_eff]: [-0.294, -6.106, 9.5795, 1.4921, -0.2613, 0.0464, 0.569, -0.0479, -1.2513, 7.0222, 1.7216, -0.0464, -0.0708, -0.0073] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22, "left_x": 0.39, "left_y": -0.23, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "Now high (z\u22480.21). The lavender bowl is ~5 cm right and ~6 cm forward of the held white bowl; moving over it at height."})
tool
executing move_to over 5 steps (0.5s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteArm stops at x≈0.376, y≈-0.218 (apparent reach limit), but the white bowl now mostly covers the lavender one in the top view. Lowering it in.
move_to
left_z0.1000left_x0.3780left_y-0.2200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7742, 1.6001, 1.2503, -0.4843, -0.6254, -0.5213, 0.0561, -0.0219, 0.8246, 0.5945, -0.3935, -0.0166, -0.0341, 0.9978] state[eef_state]: left_x=0.3764 left_y=-0.2184 left_z=0.1904 left_yaw=0.005 left_pitch=-0.0774 left_roll=0.0528 left_gripper=0.0561 right_x=0.2935 right_y=0.0001 right_z=0.1645 right_yaw=0.0001 right_pitch=-0.053 right_roll=0.0003 right_gripper=0.9978 state[joint_eff]: [-0.0752, -8.3077, 9.8393, 1.5897, -0.3541, 0.1148, 0.525, -0.1436, -1.6205, 6.9949, 1.6777, -0.0757, -0.0317, -0.0073] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.1, "left_x": 0.378, "left_y": -0.22}, "note": "Arm stops at x\u22480.376, y\u2248-0.218 (apparent reach limit), but the white bowl now mostly covers the lavender one in the top view. Lowering it in."})
tool
executing move_to over 6 steps (0.6s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteWhite bowl is now over the lavender bowl but the arm rose instead of descending. Retrying the descent with neutral orientation to lower it into the lavender bowl.
move_to
left_z0.1200left_x0.3800left_y-0.2250left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7742, 1.6161, 1.2812, -0.4629, -0.6262, -0.5209, 0.0581, -0.0219, 0.8249, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978] state[eef_state]: left_x=0.3838 left_y=-0.2255 left_z=0.1994 left_yaw=0.0037 left_pitch=-0.0512 left_roll=0.028 left_gripper=0.0581 right_x=0.2936 right_y=0.0001 right_z=0.1645 right_yaw=0.0001 right_pitch=-0.053 right_roll=0.0003 right_gripper=0.9978 state[joint_eff]: [-0.3897, -8.5675, 9.4427, 1.7021, -0.4029, 0.1099, 0.5006, -0.0342, -1.4291, 7.1453, 1.6874, -0.0806, -0.0855, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12, "left_x": 0.38, "left_y": -0.225, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "White bowl is now over the lavender bowl but the arm rose instead of descending. Retrying the descent with neutral orientation to lower it into the lavender bowl."})
tool
executing move_to over 6 steps (0.6s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteArm is descending slowly now with the white bowl over the lavender one. Continuing down to set it inside.
move_to
left_z0.1000left_x0.3800left_y-0.2250left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7784, 1.6173, 1.1931, -0.3401, -0.6338, -0.5209, 0.0612, -0.0216, 0.8268, 0.5945, -0.3931, -0.0166, -0.0345, 0.9978] state[eef_state]: left_x=0.3848 left_y=-0.2275 left_z=0.1827 left_yaw=0.0042 left_pitch=-0.0235 left_roll=0.0082 left_gripper=0.0612 right_x=0.2937 right_y=0.0002 right_z=0.164 right_yaw=0.0007 right_pitch=-0.0549 right_roll=0.0001 right_gripper=0.9978 state[joint_eff]: [-0.759, -4.1368, 5.0667, 1.4335, -0.3785, 0.0464, 0.3101, -0.0479, -1.5521, 7.0222, 1.7265, -0.0513, -0.0659, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.1, "left_x": 0.38, "left_y": -0.225, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "Arm is descending slowly now with the white bowl over the lavender one. Continuing down to set it inside."})
tool
executing move_to over 6 steps (0.6s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteWhite bowl is lowered into the lavender bowl (lavender rim visible around it). Releasing.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7837, 1.6909, 0.9329, -0.0399, -0.6292, -0.5209, 0.0634, -0.0216, 0.8268, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978] state[eef_state]: left_x=0.3731 left_y=-0.22 left_z=0.097 left_yaw=-0.0037 left_pitch=-0.0496 left_roll=0.0295 left_gripper=0.0634 right_x=0.2937 right_y=0.0002 right_z=0.164 right_yaw=0.0005 right_pitch=-0.0549 right_roll=0.0004 right_gripper=0.9978 state[joint_eff]: [-0.3077, -7.2957, 6.3932, 1.7118, -0.398, 0.0611, 0.2173, -0.0752, -1.4291, 7.0359, 1.6874, -0.0611, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "White bowl is lowered into the lavender bowl (lavender rim visible around it). Releasing."})
tool
executing move_to over 10 steps (1.0s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteReleased, but the wrist view shows the white bowl landed beside (behind-left of) the lavender bowl, not in it. Parking the left arm out of the way to see bowl positions clearly.
move_to
left_x0.3000left_y-0.0500left_z0.2000left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7837, 1.7077, 0.9157, 0.0349, -0.6296, -0.5213, 0.9954, -0.0219, 0.8272, 0.5945, -0.3935, -0.0166, -0.0341, 0.9978] state[eef_state]: left_x=0.3774 left_y=-0.2243 left_z=0.0953 left_yaw=-0.0042 left_pitch=-0.0204 left_roll=0.0007 left_gripper=0.9954 right_x=0.2936 right_y=0.0001 right_z=0.1638 right_yaw=0.0001 right_pitch=-0.0557 right_roll=0.0004 right_gripper=0.9978 state[joint_eff]: [-0.1983, -8.0479, 6.5436, 1.6044, -0.4567, 0.0464, -0.149, -0.0752, -1.3744, 7.159, 1.7411, -0.0806, -0.0708, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.2, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "Released, but the wrist view shows the white bowl landed beside (behind-left of) the lavender bowl, not in it. Parking the left arm out of the way to see bowl positions clearly."})
tool
executing move_to over 16 steps (1.6s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteBowls now: white (left-front), lavender (centre-back), pink (right). Switching to the right arm: positioning over the pink bowl's right rim to grasp its wall.
move_to
right_x0.3300right_y0.0850right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3691, 0.8955, 0.6987, -0.3954, -0.342, -0.2569, 0.9958, -0.0219, 0.8307, 0.5945, -0.3927, -0.0166, -0.0341, 0.9978] state[eef_state]: left_x=0.3056 left_y=-0.0508 left_z=0.1971 left_yaw=0.0408 left_pitch=0.0143 left_roll=-0.0173 left_gripper=0.9958 right_x=0.2939 right_y=0.0001 right_z=0.163 right_yaw=0.0001 right_pitch=-0.0584 right_roll=0.0004 right_gripper=0.9978 state[joint_eff]: [0.2803, -2.2769, 8.2256, 1.7949, -0.0611, 0.1001, 0.0317, -0.0752, -1.5795, 6.9949, 1.7509, -0.0317, -0.0562, -0.0073] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.085, "right_z": 0.12}, "note": "Bowls now: white (left-front), lavender (centre-back), pink (right). Switching to the right arm: positioning over the pink bowl's right rim to grasp its wall."})
tool
executing move_to over 8 steps (0.8s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
assistant
agent notePink bowl is ahead of the right jaws with its right rim near the jaw column. Advancing a few cm and descending to straddle the rim wall.
move_to
right_x0.3600right_y0.0800right_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3676, 0.9012, 0.6983, -0.4221, -0.337, -0.2581, 0.9959, 0.3969, 1.1465, 0.5541, -0.1429, 0.2768, 0.1864, 0.9978] state[eef_state]: left_x=0.3026 left_y=-0.0501 left_z=0.19 left_yaw=0.0389 left_pitch=-0.0169 left_roll=-0.0078 left_gripper=0.9959 right_x=0.3181 right_y=0.0849 right_z=0.1047 right_yaw=0.0512 right_pitch=-0.1313 right_roll=-0.0255 right_gripper=0.9978 state[joint_eff]: [-0.1299, -2.4, 6.9675, 1.9219, -0.2271, -0.0171, -0.0073, 0.1573, -4.1641, 7.6513, 1.8437, 0.188, 0.1783, -0.0122] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.08, "right_z": 0.03}, "note": "Pink bowl is ahead of the right jaws with its right rim near the jaw column. Advancing a few cm and descending to straddle the rim wall."})
tool
executing move_to over 5 steps (0.5s)
step 157
assistant
agent noteJaws came down short of the pink bowl (bowl is ahead of the fingers). Lifting and advancing ~5 cm so the rim wall will be between the jaws.
move_to
right_x0.3900right_y0.0700right_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3676, 0.9062, 0.6983, -0.4309, -0.3363, -0.2584, 0.9959, 0.3183, 1.5265, 0.4763, 0.2134, 0.223, 0.1375, 0.9978] state[eef_state]: left_x=0.3018 left_y=-0.0499 left_z=0.1869 left_yaw=0.0386 left_pitch=-0.0297 left_roll=-0.0032 left_gripper=0.9959 right_x=0.3384 right_y=0.0742 right_z=0.0132 right_yaw=0.0384 right_pitch=-0.2407 right_roll=-0.0566 right_gripper=0.9978 state[joint_eff]: [-0.0752, -2.3453, 6.9538, 1.7021, -0.1392, -0.0366, -0.0171, -0.5949, -6.4615, 5.559, 1.8242, 0.0562, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.07, "right_z": 0.1}, "note": "Jaws came down short of the pink bowl (bowl is ahead of the fingers). Lifting and advancing ~5 cm so the rim wall will be between the jaws."})
tool
executing move_to over 6 steps (0.6s)
step 163
assistant
agent notePink bowl's right rim now sits on the jaw column just ahead of the fingers. Descending (with a small advance) to straddle the wall.
move_to
right_x0.4000right_y0.0720right_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3676, 0.907, 0.6983, -0.4328, -0.3367, -0.2584, 0.9959, 0.2527, 1.4891, 0.8024, -0.136, 0.1768, 0.0834, 0.9978] state[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.1863 left_yaw=0.0389 left_pitch=-0.0321 left_roll=-0.0019 left_gripper=0.9959 right_x=0.3864 right_y=0.0714 right_z=0.0875 right_yaw=0.0429 right_pitch=-0.237 right_roll=-0.0576 right_gripper=0.9978 state[joint_eff]: [-0.2256, -1.8393, 6.9402, 1.6777, -0.1734, -0.0806, -0.0171, -0.5538, -6.7077, 8.759, 1.4872, 0.1001, 0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.072, "right_z": 0.03}, "note": "Pink bowl's right rim now sits on the jaw column just ahead of the fingers. Descending (with a small advance) to straddle the wall."})
tool
executing move_to over 4 steps (0.4s)
step 167
assistant
agent notePink bowl's wall passes between the right jaws at z≈0.017. Closing to pinch it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3676, 0.91, 0.6983, -0.4339, -0.3367, -0.2584, 0.9959, 0.2466, 1.6718, 0.7258, 0.028, 0.1734, 0.0769, 0.9978] state[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.1853 left_yaw=0.039 left_pitch=-0.036 left_roll=-0.0002 left_gripper=0.9959 right_x=0.3817 right_y=0.0684 right_z=0.0173 right_yaw=0.0376 right_pitch=-0.3311 right_roll=-0.08 right_gripper=0.9978 state[joint_eff]: [-0.0068, -2.2085, 6.9265, 1.6288, -0.1538, -0.0269, -0.0171, -0.3761, -8.1162, 6.106, 1.7411, 0.0073, -0.0611, -0.0122] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pink bowl's wall passes between the right jaws at z\u22480.017. Closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 177
assistant
agent noteRight gripper settled at 0.099 on the pink bowl wall — a grasp. Lifting it high and heading toward the lavender bowl (back-centre).
move_to
right_z0.2000right_x0.4200right_y0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3676, 0.91, 0.6983, -0.4339, -0.3363, -0.2584, 0.9959, 0.2493, 1.6604, 0.725, 0.0574, 0.1474, 0.0814, 0.0991] state[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.1853 left_yaw=0.0387 left_pitch=-0.036 left_roll=-0.0004 left_gripper=0.9959 right_x=0.3871 right_y=0.0755 right_z=0.0251 right_yaw=0.0629 right_pitch=-0.2956 right_roll=-0.0477 right_gripper=0.0991 state[joint_eff]: [-0.0205, -1.812, 6.9265, 1.6093, -0.1538, -0.0562, -0.0171, -0.3624, -6.2017, 6.0239, 1.1453, 0.2711, -0.0757, 0.359] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.42, "right_y": 0.15}, "note": "Right gripper settled at 0.099 on the pink bowl wall \u2014 a grasp. Lifting it high and heading toward the lavender bowl (back-centre)."})
tool
executing move_to over 12 steps (1.2s)
step 189
assistant
agent notePink bowl is held; the lavender bowl appears to the left and a bit ahead in the wrist view. Shifting ~10 cm left and ~3 cm forward over it.
move_to
right_z0.2000right_x0.4500right_y0.2500right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3676, 0.9108, 0.6983, -0.4339, -0.3367, -0.2584, 0.9959, 0.4374, 1.6512, 1.425, -0.6834, 0.2371, 0.1951, 0.0987] state[eef_state]: left_x=0.3017 left_y=-0.0498 left_z=0.1851 left_yaw=0.039 left_pitch=-0.0367 left_roll=0.0001 left_gripper=0.9959 right_x=0.4164 right_y=0.1528 right_z=0.188 right_yaw=0.1071 right_pitch=-0.3052 right_roll=-0.0502 right_gripper=0.0987 state[joint_eff]: [-0.1162, -1.812, 6.9538, 1.6679, -0.1441, -0.0611, -0.0171, -0.1436, -7.3231, 8.9368, 1.37, 0.359, 0.3248, -0.0464] 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_z": 0.2, "right_x": 0.45, "right_y": 0.25, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Pink bowl is held; the lavender bowl appears to the left and a bit ahead in the wrist view. Shifting ~10 cm left and ~3 cm forward over it."})
tool
executing move_to over 11 steps (1.1s)
step 200
assistant
agent noteThe right jaws are over the lavender bowl, with the held pink bowl hanging beside the grip point. Lowering the pink bowl into the lavender one.
move_to
right_z0.1000right_x0.4400right_y0.2500right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3676, 0.9108, 0.6983, -0.4343, -0.3367, -0.2584, 0.9959, 0.6807, 1.8198, 1.4311, -0.4206, 0.5014, 0.3584, 0.0987] state[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.185 left_yaw=0.039 left_pitch=-0.037 left_roll=0.0002 left_gripper=0.9959 right_x=0.4318 right_y=0.2451 right_z=0.1678 right_yaw=0.058 right_pitch=-0.1189 right_roll=-0.0668 right_gripper=0.0987 state[joint_eff]: [-0.1983, -1.7709, 6.9538, 1.619, -0.1587, -0.0611, -0.0171, -0.1846, -9.6615, 10.6325, 1.9219, 0.5788, 0.2418, -0.0122] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1, "right_x": 0.44, "right_y": 0.25, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "The right jaws are over the lavender bowl, with the held pink bowl hanging beside the grip point. Lowering the pink bowl into the lavender one."})
tool
executing move_to over 5 steps (0.5s)
step 205
assistant
agent noteTop view shows the pink bowl never left the table (the grasp missed). The lavender bowl is right under the right jaws, so switching plan: open and descend onto the lavender bowl's right wall to carry it into the pink bowl.
move_to
right_gripper1.0000right_y0.2280right_x0.4300right_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3676, 0.9161, 0.6983, -0.4416, -0.3363, -0.2584, 0.9959, 0.6968, 1.9045, 1.182, -0.0925, 0.5434, 0.387, 0.0987] state[eef_state]: left_x=0.301 left_y=-0.0496 left_z=0.1821 left_yaw=0.0389 left_pitch=-0.0487 left_roll=0.005 left_gripper=0.9959 right_x=0.4258 right_y=0.2419 right_z=0.0835 right_yaw=0.0265 right_pitch=-0.104 right_roll=-0.0724 right_gripper=0.0987 state[joint_eff]: [-0.1983, -2.3316, 6.9402, 1.6777, -0.1294, -0.0513, -0.0122, 0.2803, -9.7436, 7.159, 1.8828, 0.5201, 0.149, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_y": 0.228, "right_x": 0.43, "right_z": 0.02}, "note": "Top view shows the pink bowl never left the table (the grasp missed). The lavender bowl is right under the right jaws, so switching plan: open and descend onto the lavender bowl's right wall to carry it into the pink bowl."})
tool
executing move_to over 10 steps (1.0s)
step 215
assistant
agent noteGripper opened but the arm did not descend. The lavender bowl's right wall sits just right of the jaw column; retrying the shift right and descent with neutral orientation.
move_to
right_y0.2250right_x0.4300right_z0.0200right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3676, 0.9165, 0.6983, -0.4416, -0.3367, -0.2584, 0.9959, 0.6968, 1.9167, 1.1683, 0.0055, 0.5465, 0.3927, 0.9965] state[eef_state]: left_x=0.301 left_y=-0.0495 left_z=0.182 left_yaw=0.0392 left_pitch=-0.0489 left_roll=0.0054 left_gripper=0.9959 right_x=0.4345 right_y=0.2485 right_z=0.0883 right_yaw=0.0245 right_pitch=-0.046 right_roll=-0.0245 right_gripper=0.9965 state[joint_eff]: [-0.2256, -1.8393, 6.9402, 1.5995, -0.188, -0.0757, -0.0122, 0.1983, -10.1812, 6.7897, 1.8681, 0.4664, 0.1343, -0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.225, "right_x": 0.43, "right_z": 0.02, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Gripper opened but the arm did not descend. The lavender bowl's right wall sits just right of the jaw column; retrying the shift right and descent with neutral orientation."})
tool
executing move_to over 5 steps (0.5s)
step 220
assistant
agent noteThe lavender bowl's right wall is between the right jaws at table level. Closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3676, 0.9165, 0.6983, -0.4416, -0.3363, -0.2584, 0.9959, 0.667, 2.0254, 0.9596, 0.289, 0.5423, 0.3847, 0.9967] state[eef_state]: left_x=0.301 left_y=-0.0496 left_z=0.182 left_yaw=0.0389 left_pitch=-0.049 left_roll=0.0051 left_gripper=0.9959 right_x=0.4195 right_y=0.2188 right_z=0.0087 right_yaw=0.001 right_pitch=-0.0746 right_roll=-0.0498 right_gripper=0.9967 state[joint_eff]: [-0.0205, -2.0034, 6.9402, 1.6386, -0.1392, -0.0366, -0.0171, -0.3487, -9.8393, 5.5863, 1.8339, 0.1734, -0.0464, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The lavender bowl's right wall is between the right jaws at table level. Closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 230
assistant
agent noteGripper settled at 0.108 on the lavender wall. Lifting the lavender bowl and moving it over the adjacent pink bowl.
move_to
right_z0.1500right_x0.3900right_y0.2000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3676, 0.9184, 0.6983, -0.4416, -0.3367, -0.2584, 0.9958, 0.6682, 1.9991, 0.9733, 0.3702, 0.5533, 0.3706, 0.1085] state[eef_state]: left_x=0.3012 left_y=-0.0496 left_z=0.1815 left_yaw=0.0392 left_pitch=-0.0507 left_roll=0.0061 left_gripper=0.9958 right_x=0.4343 right_y=0.229 right_z=0.0396 right_yaw=0.0031 right_pitch=0.0251 right_roll=0.0077 right_gripper=0.1085 state[joint_eff]: [-0.0479, -1.7162, 7.0085, 1.6239, -0.1832, -0.022, -0.0171, -0.4581, -7.8838, 4.2598, 0.7692, 0.0562, 0.1001, 0.6569] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15, "right_x": 0.39, "right_y": 0.2, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Gripper settled at 0.108 on the lavender wall. Lifting the lavender bowl and moving it over the adjacent pink bowl."})
tool
executing move_to over 8 steps (0.8s)
step 238
assistant
agent noteThe jaws pinched both the lavender and pink rims together, so both bowls lifted as a pair; I can't nest them in the calls I have left. Lowering and releasing them back onto the table.
move_to
right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3676, 0.9226, 0.6983, -0.4412, -0.3367, -0.2581, 0.9959, 0.6739, 1.6161, 0.952, -0.0475, 0.5419, 0.3752, 0.1102] state[eef_state]: left_x=0.3015 left_y=-0.0497 left_z=0.1804 left_yaw=0.0391 left_pitch=-0.0542 left_roll=0.0079 left_gripper=0.9959 right_x=0.3903 right_y=0.1997 right_z=0.1275 right_yaw=0.0152 right_pitch=-0.0235 right_roll=-0.0172 right_gripper=0.1102 state[joint_eff]: [-0.335, -1.9897, 6.9402, 1.7118, -0.149, -0.0269, -0.0073, 0.4171, -8.7043, 9.6889, 1.7558, 0.3394, 0.1245, 0.1587] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03, "right_gripper": 1.0}, "note": "The jaws pinched both the lavender and pink rims together, so both bowls lifted as a pair; I can't nest them in the calls I have left. Lowering and releasing them back onto the table."})
tool
executing move_to over 9 steps (0.9s)
step 247
assistant
agent noteI ran out of call budget before stacking any bowls. All three bowls (white, lavender, pink) are still standing separately on the table.
give_up
hindsight- Before the first grasp, measure each bowl's centre in the right arm's frame from the top camera. A lateral scale of about 2.4 px/cm at the bowl row worked (left gripper at y=-0.05 sits near px 45, right gripper at y=0 near px 190). The bowls were in a row with centres at roughly right-frame y ≈ 0.11 (pink), 0.25 (lavender), 0.35 (white), and about 12–14 cm apart. - The left arm stalls, or stops tracking entirely, near x≈0.37, y≈-0.22 at base yaw of about -0.78 rad. That is only just past the centre line. Targets there were ignored, and one downward target made it rise instead. Adding pitch/roll/yaw = 0 explicitly to the targets, or backing off toward a less extended pose, got it moving again. For bowls near or past the centre line, use the arm on that side. - Grasping a bowl by its rim wall (jaws straddling the wall, tool vertical, z≈0.02–0.03) works. The settled reading is about 0.04–0.10, so a reading near 0.04 does not mean empty for a thin wall. Before carrying, always check the top camera to confirm the bowl actually moved. One 'grasp' reading 0.099 turned out to be holding nothing. - Do not grasp a wall where two bowls touch: the jaws pinch both rims and lift both bowls. - When carrying a bowl held by its rim, its centre is about 5.5 cm from the grip point toward the bowl. Carry at z ≥ 0.2, because a bowl hanging at z 0.13 catches the other bowls' rims. - A more efficient plan: pick the most central bowl with the nearer arm and place it into a bowl near that arm's home position, then bring the third bowl the same way. Budget about 6 calls per transfer.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3676, 0.9234, 0.6983, -0.4416, -0.3367, -0.2584, 0.9959, 0.6739, 1.8446, 0.7753, 0.3073, 0.535, 0.3683, 0.9949] state[eef_state]: left_x=0.3015 left_y=-0.0497 left_z=0.1801 left_yaw=0.0393 left_pitch=-0.0552 left_roll=0.0081 left_gripper=0.9959 right_x=0.3841 right_y=0.1961 right_z=0.027 right_yaw=0.0228 right_pitch=-0.0664 right_roll=-0.0499 right_gripper=0.9949 state[joint_eff]: [-0.1162, -2.0034, 6.9675, 1.6239, -0.1783, -0.022, -0.0171, 0.0205, -7.7607, 5.2718, 1.7607, 0.2955, 0.149, 0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I ran out of call budget before stacking any bowls. All three bowls (white, lavender, pink) are still standing separately on the table.", "hindsight": "- Before the first grasp, measure each bowl's centre in the right arm's frame from the top camera. A lateral scale of about 2.4 px/cm at the bowl row worked (left gripper at y=-0.05 sits near px 45, right gripper at y=0 near px 190). The bowls were in a row with centres at roughly right-frame y \u2248 0.11 (pink), 0.25 (lavender), 0.35 (white), and about 12\u201314 cm apart.\n- The left arm stalls, or stops tracking entirely, near x\u22480.37, y\u2248-0.22 at base yaw of about -0.78 rad. That is only just past the centre line. Targets there were ignored, and one downward target made it rise instead. Adding pitch/roll/yaw = 0 explicitly to the targets, or backing off toward a less extended pose, got it moving again. For bowls near or past the centre line, use the arm on that side.\n- Grasping a bowl by its rim wall (jaws straddling the wall, tool vertical, z\u22480.02\u20130.03) works. The settled reading is about 0.04\u20130.10, so a reading near 0.04 does not mean empty for a thin wall. Before carrying, always check the top camera to confirm the bowl actually moved. One 'grasp' reading 0.099 turned out to be holding nothing.\n- Do not grasp a wall where two bowls touch: the jaws pinch both rims and lift both bowls.\n- When carrying a bowl held by its rim, its centre is about 5.5 cm from the grip point toward the bowl. Carry at z \u2265 0.2, because a bowl hanging at z 0.13 catches the other bowls' rims.\n- A more efficient plan: pick the most central bowl with the nearer arm and place it into a bowl near that arm's home position, then bring the third bowl the same way. Budget about 6 calls per transfer."})
tool
give_up: I ran out of call budget before stacking any bowls. All three bowls (white, lavender, pink) are still standing separately on the table.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 12.71 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3782, -0.0223, -0.0288, 0.9996, -0.0219, 0.7925, 0.6014, -0.3794, -0.017, -0.0334, 0.998]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1805 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0001 right_z=0.1793 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.998\nstate[joint_eff]: [-0.5402, -1.5385, 10.0855, 1.8242, -0.022, 0.1538, -0.0562, -0.5128, -1.3607, 10.3179, 1.917, -0.1197, 0.1636, -0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a937d3f47497ba5f60a58d0263f22fbba2d428b93bc479a25a07e8461b47aa93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8c10ec33370b5a580feef5cad11f3804763277bfe2da97a72a16f5a9afd16ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db8eef2d0b535a04404e19eccb6cecc19d210d1e783a137b3b12e365f9bac658",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 9.322 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3782, -0.0223, -0.0288, 0.9996, -0.0219, 0.7925, 0.6014, -0.3794, -0.017, -0.0334, 0.998]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1805 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0001 right_z=0.1793 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.998\nstate[joint_eff]: [-0.5402, -1.5385, 10.0855, 1.8242, -0.022, 0.1538, -0.0562, -0.5128, -1.3607, 10.3179, 1.917, -0.1197, 0.1636, -0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a937d3f47497ba5f60a58d0263f22fbba2d428b93bc479a25a07e8461b47aa93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8c10ec33370b5a580feef5cad11f3804763277bfe2da97a72a16f5a9afd16ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db8eef2d0b535a04404e19eccb6cecc19d210d1e783a137b3b12e365f9bac658",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WXep1VcAXWpQT68KSWniyd",
      "input": {
        "note": "Three bowls in a row between the arms (green-ish left, white/blue middle, pink right). Moving left arm above the left rim of the leftmost bowl to grasp its wall.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.11,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WXep1VcAXWpQT68KSWniyd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6334, 1.0676, 0.4961, -0.1467, -0.4854, -0.3691, 0.9996, -0.0219, 0.8001, 0.6003, -0.3897, -0.0166, -0.0303, 0.9979]\nstate[eef_state]: left_x=0.2941 left_y=-0.1093 left_z=0.1125 left_yaw=-0.0464 left_pitch=-0.0535 left_roll=0.0262 left_gripper=0.9996 right_x=0.2934 right_y=0.0001 right_z=0.1746 right_yaw=-0.002 right_pitch=-0.0191 right_roll=0.0027 right_gripper=0.9979\nstate[joint_eff]: [-0.335, -3.5077, 6.3658, 1.7998, -0.3199, -0.1783, -0.0122, -0.0752, -1.8393, 7.1453, 1.8144, -0.0513, -0.0659, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22054ca1281e31fcb32c0c76289af07cce2f65affdee7fe3a4e26efe37cc9fc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff5476621477ac5315c67e9610f644d5182adef09639d2a228a10df217b1bb76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8f4a0c978cb9e0da4cff974be4d42035056c09773d065d90cda5e30d4850b63",
        "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 · 6.418 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3782, -0.0223, -0.0288, 0.9996, -0.0219, 0.7925, 0.6014, -0.3794, -0.017, -0.0334, 0.998]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1805 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0001 right_z=0.1793 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.998\nstate[joint_eff]: [-0.5402, -1.5385, 10.0855, 1.8242, -0.022, 0.1538, -0.0562, -0.5128, -1.3607, 10.3179, 1.917, -0.1197, 0.1636, -0.2222]",
      "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]: [-0.6334, 1.0676, 0.4961, -0.1467, -0.4854, -0.3691, 0.9996, -0.0219, 0.8001, 0.6003, -0.3897, -0.0166, -0.0303, 0.9979]\nstate[eef_state]: left_x=0.2941 left_y=-0.1093 left_z=0.1125 left_yaw=-0.0464 left_pitch=-0.0535 left_roll=0.0262 left_gripper=0.9996 right_x=0.2934 right_y=0.0001 right_z=0.1746 right_yaw=-0.002 right_pitch=-0.0191 right_roll=0.0027 right_gripper=0.9979\nstate[joint_eff]: [-0.335, -3.5077, 6.3658, 1.7998, -0.3199, -0.1783, -0.0122, -0.0752, -1.8393, 7.1453, 1.8144, -0.0513, -0.0659, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22054ca1281e31fcb32c0c76289af07cce2f65affdee7fe3a4e26efe37cc9fc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff5476621477ac5315c67e9610f644d5182adef09639d2a228a10df217b1bb76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8f4a0c978cb9e0da4cff974be4d42035056c09773d065d90cda5e30d4850b63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LpBNTL5wRzE51oqCuHEN9q",
      "input": {
        "note": "White bowl sits ahead of the left gripper, centred on the jaw column. Moving forward and to the bowl's left side so the jaws can straddle its left rim wall.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.055,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01LpBNTL5wRzE51oqCuHEN9q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2615, 1.2713, 0.5873, -0.0307, -0.234, -0.1692, 0.9996, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3522 left_y=-0.0482 left_z=0.0975 left_yaw=0.0139 left_pitch=-0.1238 left_roll=0.0333 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0001 right_pitch=-0.0275 right_roll=-0.0002 right_gripper=0.9979\nstate[joint_eff]: [0.1709, -4.8342, 8.9504, 1.8828, -0.0757, 0.2027, -0.0171, -0.2393, -1.6205, 7.0359, 1.7607, -0.0806, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d87140b7d100ce9e6268232a3ff6bcb4660fa097bdbc64b73f64989a33a8368e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e32ba7a854bcfbfb8e1393bd6ad89221ad94696c365a9e801a85bd79c35a796",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b28831e9099ca34e9bd2d9ce32b33abcdfbd517008b4d45f46af5fb64a231c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 3.205 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3782, -0.0223, -0.0288, 0.9996, -0.0219, 0.7925, 0.6014, -0.3794, -0.017, -0.0334, 0.998]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.1805 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0001 right_z=0.1793 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.998\nstate[joint_eff]: [-0.5402, -1.5385, 10.0855, 1.8242, -0.022, 0.1538, -0.0562, -0.5128, -1.3607, 10.3179, 1.917, -0.1197, 0.1636, -0.2222]",
      "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]: [-0.6334, 1.0676, 0.4961, -0.1467, -0.4854, -0.3691, 0.9996, -0.0219, 0.8001, 0.6003, -0.3897, -0.0166, -0.0303, 0.9979]\nstate[eef_state]: left_x=0.2941 left_y=-0.1093 left_z=0.1125 left_yaw=-0.0464 left_pitch=-0.0535 left_roll=0.0262 left_gripper=0.9996 right_x=0.2934 right_y=0.0001 right_z=0.1746 right_yaw=-0.002 right_pitch=-0.0191 right_roll=0.0027 right_gripper=0.9979\nstate[joint_eff]: [-0.335, -3.5077, 6.3658, 1.7998, -0.3199, -0.1783, -0.0122, -0.0752, -1.8393, 7.1453, 1.8144, -0.0513, -0.0659, -0.022]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2615, 1.2713, 0.5873, -0.0307, -0.234, -0.1692, 0.9996, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3522 left_y=-0.0482 left_z=0.0975 left_yaw=0.0139 left_pitch=-0.1238 left_roll=0.0333 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0001 right_pitch=-0.0275 right_roll=-0.0002 right_gripper=0.9979\nstate[joint_eff]: [0.1709, -4.8342, 8.9504, 1.8828, -0.0757, 0.2027, -0.0171, -0.2393, -1.6205, 7.0359, 1.7607, -0.0806, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d87140b7d100ce9e6268232a3ff6bcb4660fa097bdbc64b73f64989a33a8368e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e32ba7a854bcfbfb8e1393bd6ad89221ad94696c365a9e801a85bd79c35a796",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b28831e9099ca34e9bd2d9ce32b33abcdfbd517008b4d45f46af5fb64a231c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpwoKEAgSGAI4AUIIdGhpbmtpbmcSDBy0EQfY7K/ZBEWN9xoMEDrPST44o5jqMQZeIjCYiMCKEowZzT51c55mu0hgHDVVLJHeO4ECFlmi7+35YltT8+q4aqAyhiewOT1d/cAqxAnZuTBHEtkJRvl0KTqsQ6kd0NjytKixRgkPy/awTqUbiBaXvuLOVegIXpvuoF6WXK65zsTYTodTIYVZfQLR/9k/81zuOhtKD+y4m8T9PVUZKRUxqLLWR6MwanRd/Jc6f/sE1GxZFv5VfqOMXJOYUL45P+SQiLBOF5DiOOdecUT6if6Z4dNBJ0y756V5Cl9MxgMV6nIxzg56Ld6yQzHGjdB8G0J8Fr2PVwlFOFPIm8caaCukme/NpHPTNI2RKzW49Hh/qKW0G7jFliNfNU0KhHFdqgiMloVveBhbPYjaWNpeeUv2Ao9RyKfwa9eLnVrbzBPhvMobVRXfI76eU8M64y3UIkESnuCebFqOZt44lvJYHpIsf+8AfZKsW4ujprqnp5O0VDAcATfBNRYSerdpOVujoTtArJVhg0erb46WZtXrvhPC4LXvd+/AqpRaLzgUdQIUCKpBcFrH35/jKCx30i30gwM9zGKxAg93z2xAtVzMiquC7hoIpYC8zB6wdtHLRs1iVYeVLZqRNQealWZrxYz7v8KDeiiPBpx6gI5VKJntYAGKEQom50fMqyNZu34yhitnow6I8ayPSbrWGbDDB6s3FZisf+LPgx3vSwvl1hlxpSnBWSu/Z91XnrOyJh+5YFEl0x2dNIsr5DJWPUpK5B8jpiRo/KYyhFWSWZxWLjFUp1xs3jbm2opB8garAGxJid7t/gCbtOp+ZnJUpT2ZkEqgmVoyRZQqaJKXND7RFQP7bHkIQpNA8vD/seq0RMvZk/SBYOl7MfEV+VRkXKJJx+NwHjz58NjjSa/vDN1IcGnnQj1XGu+ZesKRNiYo0kf6Jsi1iW/DVQMv+GY8jvznt3fD761igR3DcPELk5A2rQbLCHvSiw7VuF9cHBqD2jNPRxZk93duqPUkiR8i09mYmCmt6gf5tA9afqdPkO7RCyAdk1ghe+Ha3NJqb7Usk9jLaczt8pdPz4rJbNYFG0CbLqDmOk9UgiM/0Df/XubH0DZtHpD+srf+8w+e2cb788N6cBll0QxhYS+nuf8OZKgZ22yXU0HPooRV7Ru9DlvzV2g+gt8ElclImSKjKHS924kTcScJGZkV2piUG0Q+CJa2qRLbermN9QAlBJZ8np8LlyROmKC5ALqExHEyh7APNOghsvXlHx5ylxy+Bdt6CAW3iV1CvJH7NxJbxtQoMqKFX1WGleUfk96VrHq7ttb6+J5NNFv3O47gC9Etnmx82WS/y9lv5jppDPF2dah3Ncc6Ey2hgZ6xE5Q1mH7FxmM2IZ3B82wAGiXLyQoAlVLPsiHwPSnqLMVT4PoH9mEld62cD/5Dlaz9ueaQDSFmkbqVEv/2A4o3ZqLf5BTxla0KnAWvJjxxag6a7zYj4OrtKTbl+Vnd9Bg0Zlu25/a2LPePvkvXyMkdJa1gt6x4vSZsw//7/DmvK+E8woymqLJ9CzTACXyfAiSP5jeyVbQ0GTv3eJmCWzGpg8NHZj6aiwG56RhyLAqlQLEJfQNtwtsotNEFLYmfhOyhMb23JOMAN10l2TDRKR5qmDq57zROyFtkWsHlRqg+/4ApzP69xNY3QvG3QGrHMcUgYHM9ESfGr1OgJqyiVqLEwqWLm0DWf5+9Xmr2JPn4Dp7g+xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K1BG6qFqSjEc43oWHgTDks",
      "input": {
        "note": "Bowl's left rim now lines up with the jaw column. Descending so the open jaws straddle the rim wall.",
        "targets": {
          "left_x": 0.365,
          "left_y": -0.05,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01K1BG6qFqSjEc43oWHgTDks",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2581, 1.4937, 0.4942, 0.1947, -0.2176, -0.1577, 0.9996, -0.0219, 0.8059, 0.5999, -0.3931, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3499 left_y=-0.0492 left_z=0.0269 left_yaw=0.0014 left_pitch=-0.214 left_roll=0.055 left_gripper=0.9996 right_x=0.2932 right_y=0.0001 right_z=0.1721 right_yaw=0.0001 right_pitch=-0.0286 right_roll=-0.0002 right_gripper=0.9979\nstate[joint_eff]: [-0.1162, -6.5983, 5.8462, 2.0195, -0.2369, -0.105, -0.0171, -0.0752, -1.3333, 7.0085, 1.7118, -0.0317, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:317cc98474a603c15d6110b29382c7da1cf4965b7f1fa13853f606e258d7d6e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72e05ca6d0a04478197699a6064a597a0c1f61deb2fea990ba65f4969ee6803a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:abb6bf3b935f96539544ae81a2b026984f619877e8e265a6580a60b0bcf12666",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 4.5 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6334, 1.0676, 0.4961, -0.1467, -0.4854, -0.3691, 0.9996, -0.0219, 0.8001, 0.6003, -0.3897, -0.0166, -0.0303, 0.9979]\nstate[eef_state]: left_x=0.2941 left_y=-0.1093 left_z=0.1125 left_yaw=-0.0464 left_pitch=-0.0535 left_roll=0.0262 left_gripper=0.9996 right_x=0.2934 right_y=0.0001 right_z=0.1746 right_yaw=-0.002 right_pitch=-0.0191 right_roll=0.0027 right_gripper=0.9979\nstate[joint_eff]: [-0.335, -3.5077, 6.3658, 1.7998, -0.3199, -0.1783, -0.0122, -0.0752, -1.8393, 7.1453, 1.8144, -0.0513, -0.0659, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2615, 1.2713, 0.5873, -0.0307, -0.234, -0.1692, 0.9996, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3522 left_y=-0.0482 left_z=0.0975 left_yaw=0.0139 left_pitch=-0.1238 left_roll=0.0333 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0001 right_pitch=-0.0275 right_roll=-0.0002 right_gripper=0.9979\nstate[joint_eff]: [0.1709, -4.8342, 8.9504, 1.8828, -0.0757, 0.2027, -0.0171, -0.2393, -1.6205, 7.0359, 1.7607, -0.0806, -0.0366, -0.0171]",
      "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]: [-0.2581, 1.4937, 0.4942, 0.1947, -0.2176, -0.1577, 0.9996, -0.0219, 0.8059, 0.5999, -0.3931, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3499 left_y=-0.0492 left_z=0.0269 left_yaw=0.0014 left_pitch=-0.214 left_roll=0.055 left_gripper=0.9996 right_x=0.2932 right_y=0.0001 right_z=0.1721 right_yaw=0.0001 right_pitch=-0.0286 right_roll=-0.0002 right_gripper=0.9979\nstate[joint_eff]: [-0.1162, -6.5983, 5.8462, 2.0195, -0.2369, -0.105, -0.0171, -0.0752, -1.3333, 7.0085, 1.7118, -0.0317, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:317cc98474a603c15d6110b29382c7da1cf4965b7f1fa13853f606e258d7d6e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72e05ca6d0a04478197699a6064a597a0c1f61deb2fea990ba65f4969ee6803a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abb6bf3b935f96539544ae81a2b026984f619877e8e265a6580a60b0bcf12666",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSygYKEAgSGAI4AUIIdGhpbmtpbmcSDHySgMmin0qoFiky7xoMLLmPtYx4IqFqdgHxIjDKxNSOCXME9Yj4TZwMn/U1ykFo+H8CI0nVXC4I9W0VdtcLvRi5RlYJ9bgqk6lZfK4q5wUBt1ZYtrWeKjrQHg6NgtDu0rcT4zNdwZM2ecJbUDh48+I6gwQQa+gqkjxejF6bKnfAB2Jt2jRmRkCPRseiXk4z4cBnF+jggTrGZjv84bSF0Vh7oTW8Bbfi9iaLmNdSULafCYe8cUhamknH4rEZwt7H6gBxlAPJfjQOE6kEhWwZLAHKb9QRI5RlYFlEdDDKuFODzX04TDjRepbfa1HKWT3dwvqkW/fnT34vuUQueA+vTpI3TlKXmAAZ0Gbg6TJ9NhpGHRinpqMT6lOi6C87qwLLg1ovj9idFhS9RYB6w+mOi1epW7yzYzHIp4x0BmAF3m+NSNtP8Myq74PRlGQr7s9EMZUPhq113xM7D0E0ZVP4IcdCWp+EMbc10ImNZjsiFJdiTHfX775auIfls3p+7AUtdmz9oS+ayoWiTMFPuIrXtYEQhKrlb/LzUNfD4Hy8ZPHGZENpACcPJQLlzjCm+Pyv27UbPfb7lFNF1ueRwdXYoKvBF92ZSpIANwtul6qHK92wJD+AUDXezB71vfr27yZsQUEQYdSr7gnFpjPobBvclDGGbHJx89XVqI77s4EB7nrICbkjoMv8uWu7d2Y290iNmy2xF9vQVbV7aeey6Rjmcr+X/EFr9chuirumz5eTeXjWkT2D+Ko2Kne5NaQik+1r46raEwb3wtaHayavMOg/L913driQ7WYYi/4VZhdKY+7nmWWHs8Q0drHDUOXGMlL7XGtORuZ86Tqlp6oqijrpyR/OnYs9dVUBAYDYuVrNR2aE8Kh8h+I/jSSJBndVJxkjShU2LGdq9lH1dE75sYZbjtFg0BNOFpHH+AV/VJY8Pzf0q+ezFWh5VlIYXZU+7RcTbBzwaIH1vBtMw310pHNeNz4yF3k/UE8wuD9vIk+svoHCqwpaacYaYGTMW3I7g4CfMNV8ToNIT/uJpvZREqvCzli1o4TkoPyWo118HdrS+u6oe5DM/mrTFvgSz4JWMR3TpWL50KwWqhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DGdvPaUNJvto96muGuiUCi",
      "input": {
        "note": "The white bowl's left wall sits between the open jaws at z≈0.027. Closing to pinch the rim.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DGdvPaUNJvto96muGuiUCi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2581, 1.4899, 0.4862, 0.2268, -0.2043, -0.1822, 0.0368, -0.0219, 0.8082, 0.5999, -0.3927, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3526 left_y=-0.0523 left_z=0.0305 left_yaw=0.0021 left_pitch=-0.1889 left_roll=0.0204 left_gripper=0.0368 right_x=0.2934 right_y=0.0001 right_z=0.1716 right_yaw=0.0001 right_pitch=-0.0305 right_roll=-0.0002 right_gripper=0.9978\nstate[joint_eff]: [-0.253, -4.6564, 6.2017, 0.9548, -0.2271, 0.1832, 0.7643, -0.2256, -1.2923, 7.0359, 1.7656, -0.0806, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7fa6879269051fa0e49131009397e327fa2e2fe37d83d2f6cc69fa1b9187ee9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf1493bff205fb8b2be0009462a05d1ce48409f798e9a08808afab7199cde387",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dec3022afef93376dd739bd279daeb4b1e6de0e0b54b302b49ae30dd4ee90e28",
        "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 · 6.862 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2615, 1.2713, 0.5873, -0.0307, -0.234, -0.1692, 0.9996, -0.0219, 0.8043, 0.5999, -0.3935, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3522 left_y=-0.0482 left_z=0.0975 left_yaw=0.0139 left_pitch=-0.1238 left_roll=0.0333 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0001 right_pitch=-0.0275 right_roll=-0.0002 right_gripper=0.9979\nstate[joint_eff]: [0.1709, -4.8342, 8.9504, 1.8828, -0.0757, 0.2027, -0.0171, -0.2393, -1.6205, 7.0359, 1.7607, -0.0806, -0.0366, -0.0171]",
      "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]: [-0.2581, 1.4937, 0.4942, 0.1947, -0.2176, -0.1577, 0.9996, -0.0219, 0.8059, 0.5999, -0.3931, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3499 left_y=-0.0492 left_z=0.0269 left_yaw=0.0014 left_pitch=-0.214 left_roll=0.055 left_gripper=0.9996 right_x=0.2932 right_y=0.0001 right_z=0.1721 right_yaw=0.0001 right_pitch=-0.0286 right_roll=-0.0002 right_gripper=0.9979\nstate[joint_eff]: [-0.1162, -6.5983, 5.8462, 2.0195, -0.2369, -0.105, -0.0171, -0.0752, -1.3333, 7.0085, 1.7118, -0.0317, -0.0708, -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 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2581, 1.4899, 0.4862, 0.2268, -0.2043, -0.1822, 0.0368, -0.0219, 0.8082, 0.5999, -0.3927, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3526 left_y=-0.0523 left_z=0.0305 left_yaw=0.0021 left_pitch=-0.1889 left_roll=0.0204 left_gripper=0.0368 right_x=0.2934 right_y=0.0001 right_z=0.1716 right_yaw=0.0001 right_pitch=-0.0305 right_roll=-0.0002 right_gripper=0.9978\nstate[joint_eff]: [-0.253, -4.6564, 6.2017, 0.9548, -0.2271, 0.1832, 0.7643, -0.2256, -1.2923, 7.0359, 1.7656, -0.0806, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7fa6879269051fa0e49131009397e327fa2e2fe37d83d2f6cc69fa1b9187ee9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf1493bff205fb8b2be0009462a05d1ce48409f798e9a08808afab7199cde387",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dec3022afef93376dd739bd279daeb4b1e6de0e0b54b302b49ae30dd4ee90e28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1wYKEAgSGAI4AUIIdGhpbmtpbmcSDBsg1zm+4SCHlzPkUhoM0t13a22afLspLdPkIjBcgRptVSmufcinRc88fzvcm9sh8IvqpH1Udze7fJAWw6pZxG22GLsSCjazwpn7/qsq9AV/AGTf/1FpCl5zqLXVkgET1KMJOT982WbMrpz0qPqvM0EAGKYxzTJ95jreFKmJzIZceVOcURWGCx2Jybsm38fpL727MEBPYkqoIhT2cV2CF+kyaLihstSpmlG7Q/GbsInp6wK9B3UVSLq7SEJFrbfRh+ksQnawbzJPsd/UrY7pxceykNYA+I7bZEQEHMAuXMImKzP0zPv7TM9pWGQsJVcKdHQC0extvNvm53ubtXuiXfe2w3S7BVTlPvbFFgLmJYRoL3R76/17UZCAvtLHjDSFIvmKDfwxAmL5Oe9af9XpAyo2al6h9CMYVrFdUwqQa1/nSKMeVTk3sXyjqrE6EcUsOG2zDyzk9Q6P/Fk3AJojYjoWLG08MVcFXa0262SzfY3tnw/HKDIs/s2q4fU4hQM4BXi2Yy5GI1BItgaO3Da99riExjbN2s+mfA92xHdgslON0ob5BP7IrdMNEfiNTwx2K+1F67Kw3OcHtW8XJ4uKZ6eD4WjomhLxH9Goz0BXMmUfNWlcsMnIa7OVldLQ10iSUPdrrtJ8JatVuomLG2vCdYbWr2MhInIFuvXiv2lssAQf10EP5ITDGerYmOnH+5OxUs5O1jczJ/U+6RiIUaBxdnBcp20KCsI2nR80lW+mxPSsDO2xgwqUeWmV+9FDHWhiYBgYHD3gveVccv7HOyVppOCugEz+uaWLy+qY2jZDirC7wyMneW1bFtWviHBW/dsER8FoO527h+iZvfVDwmn29Gu4XAbpPcVxa5KSlQs5FX1I6qKZtC6GE7/FbkVUzGFxqygfmoZnjuICTkeqCo+py5IDrE4kEJYYc4wCHDJE6H9Mzvpa/XC7ON8oHRxIo+BA7W8jE7WJPWLj7Jk6+gsCKlwPncD+15kCChAswozI21yfrKXhCUeluItbCf3yr/KiTyraxOBuF9sI0lkUX5fRPeHkNctMZDxtEcGiHdGlZIhE7rLGkkmkoAjPegeNZy/plQCLLvpic38J0dc1XKcVkUvHJQ8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SHmBMLfmpWQhTgesExXXPQ",
      "input": {
        "note": "Gripper closed to 0.037 on the thin bowl wall (ambiguous). Lifting to check whether the white bowl comes up with the jaws.",
        "targets": {
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SHmBMLfmpWQhTgesExXXPQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2581, 1.3403, 0.5888, -0.0212, -0.2066, -0.1871, 0.0436, -0.0219, 0.8101, 0.5999, -0.3927, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3522 left_y=-0.0518 left_z=0.0761 left_yaw=0.0065 left_pitch=-0.1843 left_roll=0.0172 left_gripper=0.0436 right_x=0.2935 right_y=0.0001 right_z=0.1711 right_yaw=0.0001 right_pitch=-0.0324 right_roll=-0.0001 right_gripper=0.9979\nstate[joint_eff]: [-0.253, -5.7778, 8.6222, 1.5946, -0.1148, 0.0073, 1.0281, -0.1709, -1.4154, 7.0222, 1.7363, 0.0024, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c00a70870c54365e01c3ddd7757df8d0d96c4d985cdc137ea3776bb91d4138d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d03a69436be7871160e903a7424f06248082074f252df9f2c82831474addde6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a7a262bbe819ce7800c8254b8dbbb3aab51f64669717be3439d63462b6bbd81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 5.841 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2581, 1.4937, 0.4942, 0.1947, -0.2176, -0.1577, 0.9996, -0.0219, 0.8059, 0.5999, -0.3931, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3499 left_y=-0.0492 left_z=0.0269 left_yaw=0.0014 left_pitch=-0.214 left_roll=0.055 left_gripper=0.9996 right_x=0.2932 right_y=0.0001 right_z=0.1721 right_yaw=0.0001 right_pitch=-0.0286 right_roll=-0.0002 right_gripper=0.9979\nstate[joint_eff]: [-0.1162, -6.5983, 5.8462, 2.0195, -0.2369, -0.105, -0.0171, -0.0752, -1.3333, 7.0085, 1.7118, -0.0317, -0.0708, -0.0171]\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]: [-0.2581, 1.4899, 0.4862, 0.2268, -0.2043, -0.1822, 0.0368, -0.0219, 0.8082, 0.5999, -0.3927, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3526 left_y=-0.0523 left_z=0.0305 left_yaw=0.0021 left_pitch=-0.1889 left_roll=0.0204 left_gripper=0.0368 right_x=0.2934 right_y=0.0001 right_z=0.1716 right_yaw=0.0001 right_pitch=-0.0305 right_roll=-0.0002 right_gripper=0.9978\nstate[joint_eff]: [-0.253, -4.6564, 6.2017, 0.9548, -0.2271, 0.1832, 0.7643, -0.2256, -1.2923, 7.0359, 1.7656, -0.0806, -0.0415, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2581, 1.3403, 0.5888, -0.0212, -0.2066, -0.1871, 0.0436, -0.0219, 0.8101, 0.5999, -0.3927, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3522 left_y=-0.0518 left_z=0.0761 left_yaw=0.0065 left_pitch=-0.1843 left_roll=0.0172 left_gripper=0.0436 right_x=0.2935 right_y=0.0001 right_z=0.1711 right_yaw=0.0001 right_pitch=-0.0324 right_roll=-0.0001 right_gripper=0.9979\nstate[joint_eff]: [-0.253, -5.7778, 8.6222, 1.5946, -0.1148, 0.0073, 1.0281, -0.1709, -1.4154, 7.0222, 1.7363, 0.0024, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c00a70870c54365e01c3ddd7757df8d0d96c4d985cdc137ea3776bb91d4138d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d03a69436be7871160e903a7424f06248082074f252df9f2c82831474addde6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a7a262bbe819ce7800c8254b8dbbb3aab51f64669717be3439d63462b6bbd81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QoKEAgSGAI4AUIIdGhpbmtpbmcSDDij7kp65Kc9YXPuThoMhgVqnEZb3sBj5UTVIjBqw1b0x+4ccLF82/v5JvF23bKl7NqoXGTIItCxW8jAoFpH+xWr50eSyEmqjWXJH0cqjgqhSiTE+jNqfxX7PZzwi9EhD0H5KLBV0/3wR5qXvwinNvlbzH46ROKgh3SrNT1KgP7JfcxpL2qmWaKf/GCG2GXnxMvnwgoMVWMvOJ72EZrsT6l4QIoApuRlm8vJghGUiWIHflNTzhiiDKK8nglM8G29Yr37F+ikQS3xpTjec3KHanTLPwDjsTZxSbL3VPQoyoQTeXaS7n3CIBLMFvczansnc5qIG4hOCZCA79Vqy2iKnIUu9d577HarwH7gH/XgH21Xr1OnL080Am+MLtgiGJRIdu2WvdpmjiEYpkQ+NfOz5NrEtfi5lLiW+WiGsQB2MMWvKw5Edhcqi4vnaxaKUDd9t8Wd9iGJePcTYiBLJ3puDOlnIwl79tncEU74+kAWcOzsrQsDpqB+og0o8wvNa+U2+uOGv/+bGz/76AIcU77Wk/RBzPoPYbheCva9TMMNChzELkQsEV5yofTDYVT8ZuIcm0fBagY/TBMxgh/VEXsEn62iA7pPJA5anzAkq7DTgz6hzGp+i0QUDp7VkaSYPrN7rKCUB98hV51XBFqmagfK/WZDBB9yRI3/Fhhn6Y2KJPQ1BOGsPMjeBArueTWkpXbiYVVqQT+H+KcSSNra2/PqfLPU27D7df6s3lhm/4fJFCPezpJ0tUbBDIhV0flj8Zb95jxa0rbrghny5MmfM8527htA1R5Ta9AJXtOhtxFRh8LYXWP3Q0AzXSl4OYd+V1AEYp634H0LzZMAq2uJtS2h8oy99tU2rZPyzufKayY5Ne2ii9TKcq29Bo8X8Nwvc8QYHgilv9XnHLe9/3WFxgiDId2ORgZqJZM9Ee/Jr4mf5VwTJbHsBExoZwxSDHOw22i3v2qgixRgOdSKOCf/uyqHaT8V+TWOOOUf2Ey94kjBsk8yUwgYhYzcPQnXjM7rcAP+ZxPMqAUbr0TmgKmNJpAjjrpzBpnAfDaB3fsDBKl90hiofun0vq6TG39ZRYSgV+MCp1MpDhTE1CKNbNxoPNYGL4RuIMU/OJG6xm9hSuPfnrG15Eo5XV4acQMD5OmTjdtv5rfydvaVZ4oWGIuZFTI971IWvj6eFIQr1cwfCw7acVPMwt2RMcQo3PdAcyCzmdzZXfY7rMYGleTw9YMK4L4kTWOG/kbe7mb5RQ5yj0xVBiSILSSCHZvFpLK1uIlR8M5g81aaMb+1MXP9mshQd2EjFzUHQKrUHEy/edmiLWT5Pzd1pbfLzyOhKGeN2w2wbEcwAGjMz3j0EG6nd70+xSCGza6FQH2e4hGJrtK2q13/JpK+2Ug4CwIhrvavX/Dj0/4qO9OFAZfneaGUwlDSk4IYlTH2Q5sJwO3bslSzDNuOJj/loN4X/Lwat9OpDFf5Q8ccS4RBtmu0VDgFmjGhVGNjjd4Gtfhvjv8+ZR51MczXAWwmhHWIpJUiKJvinJiA6tDNmunUz/9gPQeloCb7SSqFt6NiCa6n3B03Ky7viMgq1r2jnKDHuRXhhNXgRY56ymD9qunBFJp7NlZQzOW5Ec07X2BWSbKWWoGD3at9yLpPj+4NW94SUoXCqCwapLpWW/gZw3Vgm0fWGjRq37R5w0UFRjhEo7DHlwxNdqQO/GUCWlh17z7tTMFtFkfSyURTTgtUAapAK4Sbr5BdTwIR8fhqkXdiIfGNLeeMLcKU/XWPG7ZAljcwU12yOnKC+kZXgc8guNbt0rhCdXooU4o2myWEGcnWoRYrbOFMGAJjZ31cGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NCf4Lpd2ZhzZZ4oijDfguW",
      "input": {
        "note": "The white bowl stays fixed relative to the jaws after lifting, so it is held. Carrying it over the lavender middle bowl (gripper offset ~5 cm left of bowl centre).",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.19,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01NCf4Lpd2ZhzZZ4oijDfguW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6949, 1.5143, 1.0737, -0.469, -0.4774, -0.5205, 0.0458, -0.0219, 0.8101, 0.5983, -0.3935, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3551 left_y=-0.1857 left_z=0.1463 left_yaw=-0.0165 left_pitch=-0.2091 left_roll=0.0187 left_gripper=0.0458 right_x=0.2932 right_y=0.0001 right_z=0.1702 right_yaw=0.0001 right_pitch=-0.0347 right_roll=-0.0001 right_gripper=0.9979\nstate[joint_eff]: [-0.5538, -6.2838, 9.3607, 1.2723, -0.4713, 0.0757, 1.0281, -0.3214, -1.3333, 7.5419, 1.707, -0.0611, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:706cdede88066c092b395e02590951dce7188673b88e49205b1db9cf185c2c85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fca16e013f021f0973281181667a36c1e6449ae4cebfd1abd53fee53582af20d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e352b15a52c2252bc040ba5c6ee1759c8dff0224fd8d143a8a88f300d1d14045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 4.911 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2581, 1.4899, 0.4862, 0.2268, -0.2043, -0.1822, 0.0368, -0.0219, 0.8082, 0.5999, -0.3927, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3526 left_y=-0.0523 left_z=0.0305 left_yaw=0.0021 left_pitch=-0.1889 left_roll=0.0204 left_gripper=0.0368 right_x=0.2934 right_y=0.0001 right_z=0.1716 right_yaw=0.0001 right_pitch=-0.0305 right_roll=-0.0002 right_gripper=0.9978\nstate[joint_eff]: [-0.253, -4.6564, 6.2017, 0.9548, -0.2271, 0.1832, 0.7643, -0.2256, -1.2923, 7.0359, 1.7656, -0.0806, -0.0415, -0.0171]\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]: [-0.2581, 1.3403, 0.5888, -0.0212, -0.2066, -0.1871, 0.0436, -0.0219, 0.8101, 0.5999, -0.3927, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3522 left_y=-0.0518 left_z=0.0761 left_yaw=0.0065 left_pitch=-0.1843 left_roll=0.0172 left_gripper=0.0436 right_x=0.2935 right_y=0.0001 right_z=0.1711 right_yaw=0.0001 right_pitch=-0.0324 right_roll=-0.0001 right_gripper=0.9979\nstate[joint_eff]: [-0.253, -5.7778, 8.6222, 1.5946, -0.1148, 0.0073, 1.0281, -0.1709, -1.4154, 7.0222, 1.7363, 0.0024, -0.0611, -0.0073]",
      "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]: [-0.6949, 1.5143, 1.0737, -0.469, -0.4774, -0.5205, 0.0458, -0.0219, 0.8101, 0.5983, -0.3935, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3551 left_y=-0.1857 left_z=0.1463 left_yaw=-0.0165 left_pitch=-0.2091 left_roll=0.0187 left_gripper=0.0458 right_x=0.2932 right_y=0.0001 right_z=0.1702 right_yaw=0.0001 right_pitch=-0.0347 right_roll=-0.0001 right_gripper=0.9979\nstate[joint_eff]: [-0.5538, -6.2838, 9.3607, 1.2723, -0.4713, 0.0757, 1.0281, -0.3214, -1.3333, 7.5419, 1.707, -0.0611, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:706cdede88066c092b395e02590951dce7188673b88e49205b1db9cf185c2c85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fca16e013f021f0973281181667a36c1e6449ae4cebfd1abd53fee53582af20d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e352b15a52c2252bc040ba5c6ee1759c8dff0224fd8d143a8a88f300d1d14045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiwoKEAgSGAI4AUIIdGhpbmtpbmcSDL8GyS8iSn7ut7AaihoMqYAZ3PcdB90SK9+FIjDUOutHZ9H7rcOV7jptJiCFl0e61IsMZmNYSQ8FGzkC5yhhIweSyae3Q1zOuB0rcDIqqAn3yX8VJtqVlCQhJMPWLxBDd+0r1QqommT43ZTm4HUBcuwzv63q0lNCAaztabNAS+JEFgM9+6RImeG+Prk4WOKuQvrugufPJ/JMq56pBZDEjGJnGeaxzasIbt480n/e1yeASNa+4WP57xSNhWu41gjiEZKYuYJHaKJtdt4VGRCum907Fl8YgP0osrR4/tPPjiVlLHqz10rt/zh4lfXHl6xjbELX1/U6e6LjwAhp9HhMIYLVgIy1oR4fx/8ncvB4lvC+580C8XC/XNT9er26ytVqOr4umFE3RYfj2thQm8XZK9it66gzh6D2RjwwGO1PWg/1CQtdvb4EdQ07UrH/oPxQFqiaVMTC3IyJ6nI15gbmabqzUBN2mM0hIATsIV7wrmb8tqLtvmzhbE8BSEbnTAy6K4pRh3n51iWZrpRAR+doW64D/7XvcSuIkF1B4GXhr3fQqe2NJgMUkTQ+7yD/L8C6b8k/mSPlIrF8xrYPe2x5r5Soj8pnToNGhdwTEvvTWq+DJoTV7Eieyf5aBrSoFq9h7YAOc019n9CN8NUZDtB5GlZBO/qUHZOrU482CSq9j7l+OQqseDgCZyqEQTD29vW+0cwALgq3Z6GO7No0q6X8orOm1VxTmbREp45L6sgdZAcZyUC1intQ3xcZsX/DFx+OJruEGRV7UAz1BQcby2C4KXjWkiqLL2CilNIWzEllRd/HytQNZLh09Tc8f/7XtLl7FyNWjW3QyirufwO+Zj4Ot6S8FCczqHCRaJRDP8Pj5qSKfxPx2FutTs/suE84UDDFg1JZ0dPjuKrgXKvzzzFdXmhZcaNGTHxWjT3g4JKa1gbrGHfAMkfElfzVkUxJ1O4ia2yDepfii8qiEz72U5UVghC4+eXE6QJBY7Nf8A9cj6a4tMUlX83+JEynIll5y03aMNqxrMFnFa76WdIx45SYnuSJMyDq2RLsgLNg16Os2B+L1LzDwa2U5X9ReZaJOrCised25S8vMYd7puvDETOTKDcKYNfQaLIVGJ26k2poR6/is/qMjCZ2A5fNYtVAEfCkg1VwPJxn3aARyX4aaKiTFppPslzu0hAfus2DQpE8gNFQrhYlseFw5iUNsccFrRBg/qdPVQ3Ve10hLO0wnjvX4zS8rkKbll/2w2MnaRAS8pkceEbPM0WJqdunzLafGi+Sk8AjebWig0zJONYmYw22DhX9Kvg1Zbo67ReJgbsq5Zj74mFKUEcYWRSDe6FoNBilZuSkIx/DTHwX/sL+SRT5ylyjt/4O6vMx/AWRyefteTRG8EeMMzVGogQ3EQ8+pDG3k+VUY+C912PVjsMOwBBJ/HuGytCE7yB8XE+96x0yXdhaWMFoicIA8fmh/KcV5fJRhRIWnKmSOkfasOau74PHPi1+67uGi95EJxr9LOXq979Qs5Fm8hgPLdTyWaHpHPL1Bt5+60Yy/hYpGdcVqP/T3A6sG8UH0C6fPrxmytOi15jZEQMNWt4o1f36UbCssQdcTPHVYLbdro8N06fiBDgPenk88FDNUANSlxJ0igVx+yoBVSCP6LwP65PqThSgptbhU+55BKOIQtKzIUCbO+YNhNPCGtUF2iOSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KrcCcn5iXsjmmQLKZr1F9q",
      "input": {
        "note": "Carried white bowl is almost over the lavender bowl; the lavender rim peeks out ahead-right, so nudging forward and right to centre it.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.205,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KrcCcn5iXsjmmQLKZr1F9q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.688, 1.6382, 1.1454, -0.4706, -0.4767, -0.5392, 0.0458, -0.0219, 0.8116, 0.598, -0.3935, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3717 left_y=-0.196 left_z=0.126 left_yaw=0.0082 left_pitch=-0.2506 left_roll=0.0399 left_gripper=0.0458 right_x=0.2933 right_y=0.0001 right_z=0.1696 right_yaw=0.0001 right_pitch=-0.0366 right_roll=-0.0 right_gripper=0.9979\nstate[joint_eff]: [0.3487, -8.6906, 9.5795, 1.3358, -0.3004, 0.2466, 1.0379, -0.1162, -0.8821, 7.0906, 1.707, -0.0806, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81c1161e4bc456ce250565c0fa4e695956f90d556758598e02a42a6b6eaa29f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b292ca6b9d3c73a4377c2c0fbb1a7d1a8c86a9d82799cea9cbb83503c3ce5ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2857cc1021f401f3733e9ccde1cef530d99c6229e7d2c870cb3cdfd143b6fa8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 4.216 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2581, 1.3403, 0.5888, -0.0212, -0.2066, -0.1871, 0.0436, -0.0219, 0.8101, 0.5999, -0.3927, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3522 left_y=-0.0518 left_z=0.0761 left_yaw=0.0065 left_pitch=-0.1843 left_roll=0.0172 left_gripper=0.0436 right_x=0.2935 right_y=0.0001 right_z=0.1711 right_yaw=0.0001 right_pitch=-0.0324 right_roll=-0.0001 right_gripper=0.9979\nstate[joint_eff]: [-0.253, -5.7778, 8.6222, 1.5946, -0.1148, 0.0073, 1.0281, -0.1709, -1.4154, 7.0222, 1.7363, 0.0024, -0.0611, -0.0073]",
      "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]: [-0.6949, 1.5143, 1.0737, -0.469, -0.4774, -0.5205, 0.0458, -0.0219, 0.8101, 0.5983, -0.3935, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3551 left_y=-0.1857 left_z=0.1463 left_yaw=-0.0165 left_pitch=-0.2091 left_roll=0.0187 left_gripper=0.0458 right_x=0.2932 right_y=0.0001 right_z=0.1702 right_yaw=0.0001 right_pitch=-0.0347 right_roll=-0.0001 right_gripper=0.9979\nstate[joint_eff]: [-0.5538, -6.2838, 9.3607, 1.2723, -0.4713, 0.0757, 1.0281, -0.3214, -1.3333, 7.5419, 1.707, -0.0611, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.688, 1.6382, 1.1454, -0.4706, -0.4767, -0.5392, 0.0458, -0.0219, 0.8116, 0.598, -0.3935, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3717 left_y=-0.196 left_z=0.126 left_yaw=0.0082 left_pitch=-0.2506 left_roll=0.0399 left_gripper=0.0458 right_x=0.2933 right_y=0.0001 right_z=0.1696 right_yaw=0.0001 right_pitch=-0.0366 right_roll=-0.0 right_gripper=0.9979\nstate[joint_eff]: [0.3487, -8.6906, 9.5795, 1.3358, -0.3004, 0.2466, 1.0379, -0.1162, -0.8821, 7.0906, 1.707, -0.0806, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81c1161e4bc456ce250565c0fa4e695956f90d556758598e02a42a6b6eaa29f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b292ca6b9d3c73a4377c2c0fbb1a7d1a8c86a9d82799cea9cbb83503c3ce5ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2857cc1021f401f3733e9ccde1cef530d99c6229e7d2c870cb3cdfd143b6fa8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6QgKEAgSGAI4AUIIdGhpbmtpbmcSDLpJniwvN1srzXxLtxoMeb7CsvO7oz00z/7OIjA5YjNEssWBGFx0vcFAJDMbkZMKoP4TzJXiERkXtt1Oz2L1D7VyMq1Yp4ny29vmEvYqhgjHTBWN3fURFUtR6stjgyBqIJYUmEtcXe/z4E+oIBp7iz5JDPQPAHKFh3TcmCgYVwnf++O5TQJPLaEPN7OmWh+MEv1hsU9GTsT66ftxxSIKuI91dgt0zyjS4YJrx7GIM7cAX9nu4OJ/MqEFeEY/1hH/dClT0WVWlroEAPvzUGOUibRpzpMh4JG2At3wmKpyOPdqUqrvTi9v+Ie67J2SDEFRcSkvLRp93uMLYRnlgsQal3gWwAe6alw+VvoJWAGXsWMsGohsphL8TFk2aiEdURFD0J+3MIhn08vZ4KvGhI2/ybkp+UCUd7mtUMWH+q8fy7HZKZLWYOpn33hSBYqQACwNB5aNJL/WFJxa3VJpbGJQ+XdSuUMmNd52Ojb9MOkCWTAnmF+LIIIXtsUszQ7yOuDyQFY7nHoFMzcREJgkbOLA3RuaAjTBFKy64F7oAkpd7Ka2kRB8kROgHgcNHXMA7rtItfdpO/cBrGHqUbOp1rsJ5jxNP1hEwJzi9A3L1+8s7ZQSVmD/Ry6/LNSkrMTR11E6z1+lR3eTSAC6G4BkMTnvh66gs9BUpiOx7auS5jIe9fitDKPhwTJWjI+LGAIaf3Ts2gy7htqs8PUIBZIUDrPr0GUfAOht5OsZEJF/IEQGvNAhV3rDzs6Berl7elxq6u5nsUGnN0IrgiFDQOpCosGa+Ln0MyB4jVws7Z/PxJeaSgmPTqD+5vEX1qtTw6XmT8EpIhBTyebxmm84n7vg9nEItljH0VFn1HNjL914/uvFHyth3oU5Ghnttqx7iiB6vh9vuNYIovaEYzeCaKEUs25TiwzFDDa6sXD2GxCREX+MBPlWtcNSACkHvCYhINIyisFL9V1cdfBscQX0Q8cuBTpi2P9we3HcZlbuScFHmVeST4EPWLiQ30U8/lMSmMUUMIrvJgswduJdEiiU9E7sK6difPhO8rRiWaSa6cT91xel7LaKNd3/60g5hzkuTyw3svkcihB2B0l4QhJi+xZs2HLka1tnOHmSgbNF8Oz8JcDhAbzMc2rmsCTfn3GXhapnQceX44LKEFEJIPwTffz5ZfTdAzeLn3QwQidEElsTIzeBhJz6TvdhVsjyq4lDhuNUNm1lbWM0/1pdb7dAUPmb5wqbkl2K4Kq3c5cxg6xI+fZaHYE1S3i9dNQ/i9fij28EuQKlMGMLubO7IdBQSmhZC5gov/v7FNmfA3p2E5YVSC/ehKRDXkYdxlHdrHabDBjcftuB30qndczBdrBfv+dwUFO4vJvotIAh0zX9JkGDfNYsm+g4y7xfrw5czK7H7DMQPQbs2tMyZjAStLR7mqSm1XxPO6/90SaAhvChwz08DHoBAbo5n38BMUAOjxYCq8cGr2ku0fQB9QRNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qs6vG8PbKT9PJjDsUy3C7t",
      "input": {
        "note": "White bowl is roughly centred over the lavender bowl. Lowering it into the lavender bowl before releasing.",
        "targets": {
          "left_z": 0.065
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Qs6vG8PbKT9PJjDsUy3C7t",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6815, 1.6672, 1.1484, -0.4641, -0.4686, -0.5213, 0.0458, -0.0219, 0.8116, 0.5957, -0.3935, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3742 left_y=-0.1962 left_z=0.1161 left_yaw=0.0021 left_pitch=-0.2704 left_roll=0.0599 left_gripper=0.0458 right_x=0.2929 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0389 right_roll=0.0 right_gripper=0.9978\nstate[joint_eff]: [-0.3761, -9.2513, 9.5111, 1.4823, -0.2271, 0.0904, 1.0281, -0.1026, -1.1419, 7.4188, 1.707, -0.0415, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd1c804130e6d704bbe953a24cf1b65388e8d8e5c924e9c3fe27df75b4e36d53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:096bedb034617ca34d792d88fb00e07d68f1216fe0b7905a6a53217a20cce626",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be9902436f11f43da8e9587c5c8e24f83c6b3d11a855f17c2b3b3b2f309ef31e",
        "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 · 3.95 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6949, 1.5143, 1.0737, -0.469, -0.4774, -0.5205, 0.0458, -0.0219, 0.8101, 0.5983, -0.3935, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3551 left_y=-0.1857 left_z=0.1463 left_yaw=-0.0165 left_pitch=-0.2091 left_roll=0.0187 left_gripper=0.0458 right_x=0.2932 right_y=0.0001 right_z=0.1702 right_yaw=0.0001 right_pitch=-0.0347 right_roll=-0.0001 right_gripper=0.9979\nstate[joint_eff]: [-0.5538, -6.2838, 9.3607, 1.2723, -0.4713, 0.0757, 1.0281, -0.3214, -1.3333, 7.5419, 1.707, -0.0611, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.688, 1.6382, 1.1454, -0.4706, -0.4767, -0.5392, 0.0458, -0.0219, 0.8116, 0.598, -0.3935, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3717 left_y=-0.196 left_z=0.126 left_yaw=0.0082 left_pitch=-0.2506 left_roll=0.0399 left_gripper=0.0458 right_x=0.2933 right_y=0.0001 right_z=0.1696 right_yaw=0.0001 right_pitch=-0.0366 right_roll=-0.0 right_gripper=0.9979\nstate[joint_eff]: [0.3487, -8.6906, 9.5795, 1.3358, -0.3004, 0.2466, 1.0379, -0.1162, -0.8821, 7.0906, 1.707, -0.0806, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6815, 1.6672, 1.1484, -0.4641, -0.4686, -0.5213, 0.0458, -0.0219, 0.8116, 0.5957, -0.3935, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3742 left_y=-0.1962 left_z=0.1161 left_yaw=0.0021 left_pitch=-0.2704 left_roll=0.0599 left_gripper=0.0458 right_x=0.2929 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0389 right_roll=0.0 right_gripper=0.9978\nstate[joint_eff]: [-0.3761, -9.2513, 9.5111, 1.4823, -0.2271, 0.0904, 1.0281, -0.1026, -1.1419, 7.4188, 1.707, -0.0415, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd1c804130e6d704bbe953a24cf1b65388e8d8e5c924e9c3fe27df75b4e36d53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:096bedb034617ca34d792d88fb00e07d68f1216fe0b7905a6a53217a20cce626",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be9902436f11f43da8e9587c5c8e24f83c6b3d11a855f17c2b3b3b2f309ef31e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6gcKEAgSGAI4AUIIdGhpbmtpbmcSDPv7aWLD5YgahB0QjhoMfAkcOt7hrFk5CWZEIjBq4xwb66y9tye+vZSJUwhfLCGX1Yl0SCjskTRF57tWr73uyoguPBemm6nf/fFjinMqhwfCXEOtLcoTaX++znWwCtPWknA4M7WsuoBb27jy8rMS3/gNT7khADIQZAXHns5i1gpfs+h8c2/wwZ441WDj4ePJ8vurU9phtKLW/h+5c7W7oiiPXjpRMt9j0MvxeMm+Mo9x4mmXI6PfKtCohl6ZFm94TVkp04R9s68uO6+E8T1MtvO06+iHEhtDM77iUpDMczQ8vGmK/naTOxcLI+u+4ZLyId+OgY8HO9hwlyrZqIMgE5Nnrw7/5Nb5c185mN0ONIcpJZxp495Fb9Bgu67ZqUnbQJQZZ3VzV0MZM1rhweEHTBp+mJdErz4O101kBcFGl6GBOBTZo0/4DJKszgsCI91wX5r/f/qTAx3UQjCWeJnpCZeRoILe0U34uLvj5eMiVlmNkb9Z2rX0HxXtc4wf7fDlcezN/0nAwp9d6Q1XI4GPoizhB0yFTgR0GTHofegxen8IlcScqCM1Fwi9bjxT3btddhXvbMzEmaEH6i7UXe7WjjN/g4wgVBEmaj7zPZgxktICz+8KTQ4xZ6RsG+IfeQ0Ehe7Tkm8thK6J/qABTwEO9GtwNgFlFx/l52A3WisONIwwSKP0Ks+x9ORDs8QihgXc7tCHAV3ytpF5AaJ9Kk8qeIUCdIXF81DLYqKijZKUVc9CG94hh9n2f/PhX1lP9SCNLtrW0KGTQ7W2Tb5cnZ76OkQMAZD3mgrNeKNX1dRE/n2LQDkQM1qeIsh0q1FPsmmySJzha+fWcrLH9usgzg8Abyp5TGeiB0IdVJuLm1y6Lqys9W8TNNn9ZfxgZ8GP5n031HoywnywpES3Cm34CCn8Oc7RpVethN/IgotvhpqkgnasdV4fqbLrkNZXL9AxaDWkbP9EXVLQoMT6aK4apHZE2gz2ZN3qoVHERc1HJgAxm+y10Fof20Uta/iI9TfJzFtg70gBixkR4RYvxtkfpDoykZb9ZW3JJdwv/mH2XXQElE58uvDEtngJs3G+zeCWodF6qB5bwzT0Ra9bcPerwZi7zVFBWcV1isHALbDUeGZIb4zaXLBY0sSae6T4fNVmhNfgr4l9lLM83LY/qd1FwS0PPO+H6D59cGw1j5+dzpso8FPSXz/lQmw6J4DDOiNd9PTlxaliWsUH5GkuxNEYWLb/tiTGNnndWk5Q+skmWAQdpXgIXScIWFFt2ujXfGc7vg74to9EUhWoyYa2pwHVUKl1ZvYLV5EOsuoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012ixDY1uv58QenVJrEu9Y69",
      "input": {
        "note": "Descent stopped at z≈0.116, so the white bowl is sitting on the lavender rim; the lavender bowl is still ahead-right. Lifting slightly and shifting forward/right to centre.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.225,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_012ixDY1uv58QenVJrEu9Y69",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6815, 1.6672, 1.1484, -0.4641, -0.4686, -0.5213, 0.0458, -0.0219, 0.8116, 0.5957, -0.3931, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3742 left_y=-0.1962 left_z=0.1161 left_yaw=0.0021 left_pitch=-0.2704 left_roll=0.0599 left_gripper=0.0458 right_x=0.293 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0385 right_roll=0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.3897, -9.2513, 9.5111, 1.4921, -0.2271, 0.1099, 1.0281, -0.0889, -1.3333, 7.0632, 1.746, -0.0806, -0.0708, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f35c3f96c7463285bad207ee93cd1816e40ae46203349e4acbd296968a54ef0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97366efc710727efb21346986daa26e02a81ca1784da03ab287f7676d11f870d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b440d0653e47922c701160541c09d6ef414d334caa74c085ad3af65d75908c4",
        "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 · 4.648 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.688, 1.6382, 1.1454, -0.4706, -0.4767, -0.5392, 0.0458, -0.0219, 0.8116, 0.598, -0.3935, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3717 left_y=-0.196 left_z=0.126 left_yaw=0.0082 left_pitch=-0.2506 left_roll=0.0399 left_gripper=0.0458 right_x=0.2933 right_y=0.0001 right_z=0.1696 right_yaw=0.0001 right_pitch=-0.0366 right_roll=-0.0 right_gripper=0.9979\nstate[joint_eff]: [0.3487, -8.6906, 9.5795, 1.3358, -0.3004, 0.2466, 1.0379, -0.1162, -0.8821, 7.0906, 1.707, -0.0806, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6815, 1.6672, 1.1484, -0.4641, -0.4686, -0.5213, 0.0458, -0.0219, 0.8116, 0.5957, -0.3935, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3742 left_y=-0.1962 left_z=0.1161 left_yaw=0.0021 left_pitch=-0.2704 left_roll=0.0599 left_gripper=0.0458 right_x=0.2929 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0389 right_roll=0.0 right_gripper=0.9978\nstate[joint_eff]: [-0.3761, -9.2513, 9.5111, 1.4823, -0.2271, 0.0904, 1.0281, -0.1026, -1.1419, 7.4188, 1.707, -0.0415, -0.0513, -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]: [-0.6815, 1.6672, 1.1484, -0.4641, -0.4686, -0.5213, 0.0458, -0.0219, 0.8116, 0.5957, -0.3931, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3742 left_y=-0.1962 left_z=0.1161 left_yaw=0.0021 left_pitch=-0.2704 left_roll=0.0599 left_gripper=0.0458 right_x=0.293 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0385 right_roll=0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.3897, -9.2513, 9.5111, 1.4921, -0.2271, 0.1099, 1.0281, -0.0889, -1.3333, 7.0632, 1.746, -0.0806, -0.0708, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f35c3f96c7463285bad207ee93cd1816e40ae46203349e4acbd296968a54ef0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97366efc710727efb21346986daa26e02a81ca1784da03ab287f7676d11f870d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b440d0653e47922c701160541c09d6ef414d334caa74c085ad3af65d75908c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsAcKEAgSGAI4AUIIdGhpbmtpbmcSDLYntPW0a6/zDU4eXBoMS14wiLHwvuN/iETHIjA4YDWSQ8dCt/ErWxhTR0kVP0uBoAx35L2LW1F6xs/IPr5/SKj8frab/Sp81eWYYW4qzQZH7gy9yQW2pH2kgVLAax517ljL/PGisqoa1WBMUx6d1ht3DF3jfaAjQs22pF/fb71U/OoVTrPu2HY/XIKu0/LPow9zj3dklOFWprzKfzDwac9S+c9Y5ChmsgxyS/0NCzsiHeGB9W9TiEmaPWM09iUPbLQ1mesIGKinysbcGLFBF+TNo056HZyHIP0pDin+vow7Mipri7j8bHPbjU2tFtVbdYhIcVOPoFWgnguoQYCUjcJfFXfGuk9JZeXCzY+Dcv7FK1bCxlQnorEE047NhR7vjI5quxja1R409zPs0VFmhVxDbvV6cQzpJ+pVD4xA6HUZDrZm0uGnFgeu/t0Eh3YPFWdHHZ9E7lxMFCv+ZyFawLqES7kcI7UA4QgWEeCNd0HAJVlqO4pHNjJTBwX8lEtJ90wpHb+y4LqvvPrzNnzIDj4vO7K3uRvfAAVn0r4YyolFJ+LqRI1l7rc0Ax8EuxrZOvGZWpGMvJJIJWaC/DvRKbj29+v0cXW+/F+z00QcHiR7nfsxCHBZtZrHm7LStYAdD/heEysrdBUva/cUsNqcIHtLLII4ikjSXvrTW+8TvyO76iklMOcffdLnP2udhBkO1Tv2g3UzpfStvarkBokQ34Z+uWxVHWEB8EGYJgbRShDo5dqXNb2ihgJ6yY0923qdGB4YRiZEX0mp5yo4OmrLzUuMnb0tus0vE/snzn3VjU3NxnfYTaQ4v1PVCmF4PdHFh6HctzBcESqpfOYBQdtWtjaK0YMyzBOrsY9tgq6EYdwV1wICcOPyHvY6XhfMrPfrcU7oYfMWL4uNJVkFi+rakDt2lEOLwhGwTUE3XH+59x6oCNjD/wyVJyVs60rYhlast/5KxtaEY+gJBnw/+Afup0ygFFV8Qx8lw1CYsW1ASlzjvJ1+AU4cFrZ9aie51BqAMGLVdZpBeb5ApSuXY+d7ec4JeXpC/2aw4qDO99pwCvKQRM6Dfqmqgl7wTtf3gVtRzIwNLIcqkHMV3gGZpmUykQNVVHx4nBDVPhStYoyMYWh7HlYp5ewIex1/u0mUqRJTWOX4SiLFjQ6nW0j4DUa18Oc5Vm7nwgdD/poSl5gtq0ERwJ7Zb5tK+OdVb+ykXa/SIuPvE2ihJvc1POOYGxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mdy7tqBYS1cMtRHkKKrGxz",
      "input": {
        "note": "The last move produced no motion at all; trying a pure lift first to get the arm unstuck.",
        "targets": {
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Mdy7tqBYS1cMtRHkKKrGxz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6815, 1.6672, 1.1484, -0.4641, -0.469, -0.5209, 0.0458, -0.0219, 0.8116, 0.5953, -0.3931, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3742 left_y=-0.1961 left_z=0.1161 left_yaw=0.0022 left_pitch=-0.2702 left_roll=0.0604 left_gripper=0.0458 right_x=0.2929 right_y=0.0001 right_z=0.1685 right_yaw=0.0001 right_pitch=-0.0389 right_roll=0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.3761, -9.0462, 9.7026, 1.4823, -0.2564, 0.0904, 1.0281, -0.1983, -1.1966, 7.0769, 1.7167, -0.0562, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dfa5730c98b107c148339a1b52ec9cc3f69dd3065abeeb37cf29ef7fec0d24d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e6cb9df976a23764ebea2b15a5afba8cd476cb3f7d757bebbf79baccbfdaa06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f149f256c88b8c3a05b5e639837ba589d8f886f7f185ced81ab881ed541c350e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 4.459 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6815, 1.6672, 1.1484, -0.4641, -0.4686, -0.5213, 0.0458, -0.0219, 0.8116, 0.5957, -0.3935, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3742 left_y=-0.1962 left_z=0.1161 left_yaw=0.0021 left_pitch=-0.2704 left_roll=0.0599 left_gripper=0.0458 right_x=0.2929 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0389 right_roll=0.0 right_gripper=0.9978\nstate[joint_eff]: [-0.3761, -9.2513, 9.5111, 1.4823, -0.2271, 0.0904, 1.0281, -0.1026, -1.1419, 7.4188, 1.707, -0.0415, -0.0513, -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]: [-0.6815, 1.6672, 1.1484, -0.4641, -0.4686, -0.5213, 0.0458, -0.0219, 0.8116, 0.5957, -0.3931, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3742 left_y=-0.1962 left_z=0.1161 left_yaw=0.0021 left_pitch=-0.2704 left_roll=0.0599 left_gripper=0.0458 right_x=0.293 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0385 right_roll=0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.3897, -9.2513, 9.5111, 1.4921, -0.2271, 0.1099, 1.0281, -0.0889, -1.3333, 7.0632, 1.746, -0.0806, -0.0708, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6815, 1.6672, 1.1484, -0.4641, -0.469, -0.5209, 0.0458, -0.0219, 0.8116, 0.5953, -0.3931, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3742 left_y=-0.1961 left_z=0.1161 left_yaw=0.0022 left_pitch=-0.2702 left_roll=0.0604 left_gripper=0.0458 right_x=0.2929 right_y=0.0001 right_z=0.1685 right_yaw=0.0001 right_pitch=-0.0389 right_roll=0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.3761, -9.0462, 9.7026, 1.4823, -0.2564, 0.0904, 1.0281, -0.1983, -1.1966, 7.0769, 1.7167, -0.0562, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dfa5730c98b107c148339a1b52ec9cc3f69dd3065abeeb37cf29ef7fec0d24d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e6cb9df976a23764ebea2b15a5afba8cd476cb3f7d757bebbf79baccbfdaa06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f149f256c88b8c3a05b5e639837ba589d8f886f7f185ced81ab881ed541c350e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+QcKEAgSGAI4AUIIdGhpbmtpbmcSDM+z36Nh8boDqTYDohoMXnDVLEs6o0xuHp4EIjCmPd6QpQbxhsWj7yRPL3fSXGId0KmZYLtruTlvIAT9UcHadWQ5+LYziOIuZVst3rwqlgcvWzpfoNO22IM+X3oAI/ZHn6d1TvesP5G3dJWsUcdnSOVoOBTTwUqtz8TPhYBB4vk5DmJnWwBvOhUEMS6V7NE8bbn3ImHyJtpMdeOEGHYoRLrDgdcKMHEl6t1OjJptCR22vp5da2XD2iSWbxJoL4mi/ErMN825thi16Vx7cqYyS0+INjk8sO+CqnwxT1Kvr6I3EeFscUWguNVKkaKbWzU0HelyUUkGLVhydTz9QBU19Fcc2PWrTfwIfK3JIpv0dmtZOxRMWOIz0eRtgSOF7Oam4j4Vsx2AS8wR98GKR2FBci4cipOpZBe/9w2OaatT5lWv6Z+bEQlAGZrfr5H9tVRm8oqpnqNLjvQpoGjuHI0LvLZ9tUXUI+pn9YcB6q9y9cUkzyFMy52jsLHiCE/NfKsxfhk1DjftKJBxTOUQrRDeU4DZvLuGIQ6m3KNJeMlgHejvU2H9sfrU/IZZgp3m3qFg1ZHbWrMpCGEtof58NUSMhLt/BbJL8jU9hSUImUx4FtdaRUN5Y+dVMPWeO84wG2Gm26ge3e/b0WdfNhhiKZw2cA27J0RspdPQYrJ7jhiNsO7izX2gMIm0M7rqOB3dbYbyyeUcZUeReAPlRzgv2eKnhOB7+dcB6YT3CS3jmw7H1cytLhW9i2z2M/OcbLTbfQbpuNNY4rfgpc2IUEO8SWIA6/dneiR9m/2MWkVxN4wvcatonVWydaGHXp4gjIjclCB7giZ2VjvKmeJvRiF0qw82s8KGNz9RCkVCs2o7uDIRxWZnM9mitkDZS83P2XHLWG3Bk1scla+5uMIlaTcZm1J3CsK1W2foJcjuOdqMccQFsUQ1Qekc0iQ4zamecEq+ZY20n6vWtcv0hjUmvMCxVxYlIV/cXxz3QxyhraXLV8xt6slhXbx9IRd8bfEQxk0yd74Ng5mnHlrpYDtHQQr3n3inBGGJsSxrZQ6ySjQGjceuQQPqn9mxf1dpCnT4WVozD25t61JqtUC7UdFFUnDEp3GyRN9brDczGLyw8LwLCIhXwWm+RYnxznGlq1ehwBJNfPMAXoDGQLd2MNCvQvTJdaqFVz8NSDkt9GXdHENPIq1oYkFT/ES4Zp8Sn913oL1H+rA0K6zUOH50jtb6EoKdLqa3P2KTWePcw7phLnv0pYgNFIrs2Ck+EaTsQPAuscXaKXP4HSYqXhHbFkkifzGg60ElMiBKhGeJnuTHAYR0zxROrK2r/8idOQMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A7T1Xn7YsvBH8kjAmVQ3Lj",
      "input": {
        "note": "Left arm is not responding to targets (joints unchanged). Commanding a nearby, less-extended pose with neutral orientation to recover IK tracking.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.36,
          "left_y": -0.2,
          "left_yaw": 0.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01A7T1Xn7YsvBH8kjAmVQ3Lj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.767, 1.5318, 0.9287, -0.2134, -0.601, -0.5175, 0.0458, -0.0219, 0.812, 0.5953, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.355 left_y=-0.1984 left_z=0.1291 left_yaw=-0.0083 left_pitch=-0.0773 left_roll=0.0307 left_gripper=0.0458 right_x=0.293 right_y=0.0001 right_z=0.1684 right_yaw=0.0001 right_pitch=-0.0393 right_roll=0.0 right_gripper=0.9978\nstate[joint_eff]: [-0.5675, -8.5538, 6.5299, 1.8388, -0.4713, 0.0464, 1.0379, -0.0479, -1.2103, 7.0359, 1.746, -0.022, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36ba0432a0aa0ad8585aee64567cef4f24339189f751ce87e06418b23b565830",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5ca506b5bc8eccfe99bbcc1c0633e4fffe397587e6e54c55b54286b0d25f9a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:51d4fb922ead29d920deffa29e2906076737d36a7defa533b4b434cedcd1380c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.379 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6815, 1.6672, 1.1484, -0.4641, -0.4686, -0.5213, 0.0458, -0.0219, 0.8116, 0.5957, -0.3931, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3742 left_y=-0.1962 left_z=0.1161 left_yaw=0.0021 left_pitch=-0.2704 left_roll=0.0599 left_gripper=0.0458 right_x=0.293 right_y=0.0001 right_z=0.1686 right_yaw=0.0001 right_pitch=-0.0385 right_roll=0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.3897, -9.2513, 9.5111, 1.4921, -0.2271, 0.1099, 1.0281, -0.0889, -1.3333, 7.0632, 1.746, -0.0806, -0.0708, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6815, 1.6672, 1.1484, -0.4641, -0.469, -0.5209, 0.0458, -0.0219, 0.8116, 0.5953, -0.3931, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3742 left_y=-0.1961 left_z=0.1161 left_yaw=0.0022 left_pitch=-0.2702 left_roll=0.0604 left_gripper=0.0458 right_x=0.2929 right_y=0.0001 right_z=0.1685 right_yaw=0.0001 right_pitch=-0.0389 right_roll=0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.3761, -9.0462, 9.7026, 1.4823, -0.2564, 0.0904, 1.0281, -0.1983, -1.1966, 7.0769, 1.7167, -0.0562, -0.0366, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.767, 1.5318, 0.9287, -0.2134, -0.601, -0.5175, 0.0458, -0.0219, 0.812, 0.5953, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.355 left_y=-0.1984 left_z=0.1291 left_yaw=-0.0083 left_pitch=-0.0773 left_roll=0.0307 left_gripper=0.0458 right_x=0.293 right_y=0.0001 right_z=0.1684 right_yaw=0.0001 right_pitch=-0.0393 right_roll=0.0 right_gripper=0.9978\nstate[joint_eff]: [-0.5675, -8.5538, 6.5299, 1.8388, -0.4713, 0.0464, 1.0379, -0.0479, -1.2103, 7.0359, 1.746, -0.022, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36ba0432a0aa0ad8585aee64567cef4f24339189f751ce87e06418b23b565830",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5ca506b5bc8eccfe99bbcc1c0633e4fffe397587e6e54c55b54286b0d25f9a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51d4fb922ead29d920deffa29e2906076737d36a7defa533b4b434cedcd1380c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3gcKEAgSGAI4AUIIdGhpbmtpbmcSDEy3gU7+l5a/tFX5QRoMdq2ORzK2AbF0uc5SIjDCK3AEXBgHZv9J3+in0fhyG+WhLdlDr6kd6DkEURoCW0hDTdeQL0s5MzBMStzQNq8q+wYRUI+UZpP24rQxmuhyQ3KjSyTZnaUYxpcamIDDjEqI0pzpaA1t7sPPZmiT02fo9AXyI2EFEw9hYVA4naA5218u0n8INK9GtyolIkRrk+Ed7RfUVmsc/aVxCAtaQFiiwglaQT/4pzOH+onoI4DF2f8ge/BYNxmjEhOAfGnt36AMG67LIssqIaqPC1+0NlM2Xs4NqMmEcYk01htwQ/pDgucPfJV5CRISPm3yCSQZq4+NUrzx2gCm9rVyFLnWAg8iVUb9OmSGREy4AAEbhX4GJmq1hHrfM24NLoHxOdk9MBJ1RB0k4rl+7Liji6rWWmwhc/IrVa/vHfLR5MKeYl0f578rQygiQ/c1ikLvL65CL98XSsr5sjAtZKL/GrZfBeP2fQ47YFq42iuL4aermkPpMHgsM9ESYrYoyqun884YgaP76QScqy4Uz9ii8dKayWmdMblO/oJSwQg9WJ3ZAPosHPtD4G8ZYpvPr2NmLMKCDGKXmxt1Oi2XdW7C5+3od+4fMST7sZf0XL1EcsxnrkKCsnPeyuuHlkBFFhg2t2jly6u5KexiYOW1E9iF66ByxCvAfQzB0lS9TGWYj2MBbs6R7DPyUNNbE9+Q/d9dfueDH3/K6XRxYNi9PYY22xvii7yM47FzHDOH1bCLfMN78Q8fT8Buxj/L2aEbZkGcOOyXRwAhQBuHSIc17IP4Wb37QA6fbhpEAZJRS5zfLUaxQLf0X8R4nCthE6dwOBRP2m131GK38ZIbOrvl5WZKJV7J+Qh8Z10kfhp094r3SRgoiAJFJNyA3DQDotcUcz9R8+7fIdUoROF6N8jDID/DZNl6tmGOW3QHOwTlbPx+8DRjl/RwKntGRY+hJQET8sQ+maT851qG+mldh3uTXy56VUB2dqFo6rh5fLKmVCs2p+D5O3Df4n3gyO8UF/6LxqdiU35bbp2kMjkcYalOmCISTxtdEA4PA1ypEExYEOTH6G8/vZeG8865Oq4WjnvrYnNld9FJ62j9WyLUYuYOuDvYmGPP6zAr8VKBN8agxvjd8b12jlPPMzNkTd2qXcaCclbFWeLnYAA/v5bDZXgTlGi+I7o2SRThHIhJzd9Ksh4EWrZ0AYGb5b7fVB0br8H7lW1npToUjVNSeK4EKybIpHHoY7QJv6bVn522xOGHAywDDjNP/mL9FsdDpS74C82iChmTWDkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V1QH3APQR8H5zkL2Bi45d2",
      "input": {
        "note": "Arm is tracking again. The lavender bowl is still slightly ahead and right of the held white bowl, so shifting ~3 cm forward and right.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.38,
          "left_y": -0.23,
          "left_yaw": 0.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01V1QH3APQR8H5zkL2Bi45d2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7887, 1.6253, 1.0092, -0.1955, -0.6292, -0.522, 0.0458, -0.0219, 0.8139, 0.5953, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3692 left_y=-0.2191 left_z=0.1287 left_yaw=-0.0075 left_pitch=-0.0594 left_roll=0.0383 left_gripper=0.0458 right_x=0.2931 right_y=0.0001 right_z=0.1679 right_yaw=0.0001 right_pitch=-0.0412 right_roll=0.0001 right_gripper=0.9978\nstate[joint_eff]: [-0.4171, -8.1709, 9.5521, 1.7021, -0.4322, -0.0269, 1.033, -0.1573, -0.9504, 7.0222, 1.707, -0.0513, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d4cc9e9914a5276d3b6ce2668441712d6069b43afe1484f00de2cf10cb26540",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfab7b27204748a10a7838d3a9d7153f4c087dca34926fbd2f72ab3e25ab9f7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5854c714f27b35bdacf9820d1f2d2ebb78c863c31a4697a2f2e2cd4fb082d624",
        "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 · 7.706 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6815, 1.6672, 1.1484, -0.4641, -0.469, -0.5209, 0.0458, -0.0219, 0.8116, 0.5953, -0.3931, -0.0166, -0.0341, 0.9979]\nstate[eef_state]: left_x=0.3742 left_y=-0.1961 left_z=0.1161 left_yaw=0.0022 left_pitch=-0.2702 left_roll=0.0604 left_gripper=0.0458 right_x=0.2929 right_y=0.0001 right_z=0.1685 right_yaw=0.0001 right_pitch=-0.0389 right_roll=0.0 right_gripper=0.9979\nstate[joint_eff]: [-0.3761, -9.0462, 9.7026, 1.4823, -0.2564, 0.0904, 1.0281, -0.1983, -1.1966, 7.0769, 1.7167, -0.0562, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.767, 1.5318, 0.9287, -0.2134, -0.601, -0.5175, 0.0458, -0.0219, 0.812, 0.5953, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.355 left_y=-0.1984 left_z=0.1291 left_yaw=-0.0083 left_pitch=-0.0773 left_roll=0.0307 left_gripper=0.0458 right_x=0.293 right_y=0.0001 right_z=0.1684 right_yaw=0.0001 right_pitch=-0.0393 right_roll=0.0 right_gripper=0.9978\nstate[joint_eff]: [-0.5675, -8.5538, 6.5299, 1.8388, -0.4713, 0.0464, 1.0379, -0.0479, -1.2103, 7.0359, 1.746, -0.022, -0.0708, -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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7887, 1.6253, 1.0092, -0.1955, -0.6292, -0.522, 0.0458, -0.0219, 0.8139, 0.5953, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3692 left_y=-0.2191 left_z=0.1287 left_yaw=-0.0075 left_pitch=-0.0594 left_roll=0.0383 left_gripper=0.0458 right_x=0.2931 right_y=0.0001 right_z=0.1679 right_yaw=0.0001 right_pitch=-0.0412 right_roll=0.0001 right_gripper=0.9978\nstate[joint_eff]: [-0.4171, -8.1709, 9.5521, 1.7021, -0.4322, -0.0269, 1.033, -0.1573, -0.9504, 7.0222, 1.707, -0.0513, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d4cc9e9914a5276d3b6ce2668441712d6069b43afe1484f00de2cf10cb26540",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfab7b27204748a10a7838d3a9d7153f4c087dca34926fbd2f72ab3e25ab9f7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5854c714f27b35bdacf9820d1f2d2ebb78c863c31a4697a2f2e2cd4fb082d624",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwgKEAgSGAI4AUIIdGhpbmtpbmcSDE3mTSO+r7f/7pE2bxoMk/jaY3oLW/Tu5zYNIjArAdPOQ0osh5vAGmai6PCiRHRbBBl0EjdUWFiWmQEK0Of9zGQ1y7C7mhVCfBpRw6wqyAdXeoVM30q1NVdUceP0QSO4fG5qq6bpBB6miFvyNwjpjJiC/cHd2Q6/7QWsU4QgHtYsf+8EprYVjiNQ9+Mb7752LJPHgDXKQEoLygeMLNFqD2lK9u2syuIMmxLCPXTxJ7NdzAPEDw1ygIj3leGm8M6E/J4k7+rUddVnMjlOYlcorDXa6MsjYmT7SBBpUSiwDyj10xmomBZYfoRw1gY5Rv4qIU/zqCDE9DBQKpMGoxWGBEiTAzyNGjBZcg5Yz0NgezgEY7Ggdja/voylxhesMqRc7mhcbZavr7uzPGHWCt19ZY8ekyizCk5F9FJz5TXVwjj8lHEpADahZ259ZGb0Q7J/xBFImxP0+rQj9vRbcozGNe93DQKtZkJ3cAbr5AMZBTj5LMsvaOlCEketN+Zp+v9Zj4bTUJTs77uyOujYpBB2BiZwY62gx3GFxZJWD3W9vn5XNMOHw95kZ143okBggU+bqtGedQdgYAez4RKwvlTSX+5TI0F3aNPNZKxRoThbl44B0Bptj1vU/rHcayr0h0d7LMYCaFqGEIO0vb3ynffvC5MnHyeq5gluIV1xmMxQLO7RcVIwrOI7/3M5ymLhrWEZThJaxnTekTGIXXhNYzfo0Xbh4MTcG4LU1LnHANMKOcAs9CcDWmiaSKiEmXGk4NdUX6kaYTrbs7NUAzZzOoEGhBmtFij5IE0MbargATCePkvYJZanrCE2XqgX7oHEPPju5LI92aE+AC7iUpLvgMhDC6IxlKCX58u/EbGx8sYTDXsjWYjIOd8XH7hMjDqh1Hv0fqXngBMUFtS6R22rDWTtFdCrmM1nOPvm/8oJKIuf2wAoUK/3sX9bGanqxdTWDuSKaNRypBtBrM7pZk2gp35qKm1cdovKIRyPz92zCS4F6RVTEVTVgNAfL53OYIDUTnKvd5rKJgeURQgU3lKRJwiqEMQQj7+nwsDOmEDazduroQP1AEQYFb5GVpdfgTCyK60LEiv550ls6FNGa2q/HuBeEcvgoaWa3wI4n2WGu6VsuCbxF7S+MqvQsFvtPWhma4g9KPxKzDdISLAQ1fmGYPCYyf4uDygQtDmdmrgh+ByhvWo4BMJBGrUpy0Pxc/CdQKHV1yiAF+lJVqxSVvOjgavqOpX6MDl4s8/ZRJavLVpzjQoIqf4KzN/cVWY8cVlF5QfGuVxnNqY6G0Ywa7M11LpXEgbS1Ulo1tXMfKX8oS45CtNGVStLX5KzEs40O9rIiajsc1SbV4mJmgts/r5dpOhV3tDg4eafHEAd7ZjM0bqDPhxUrMo8bKEduRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0174EXR2jHiCaqU5NuD7SzDX",
      "input": {
        "note": "Height stays at 0.129, likely the white bowl dragging on the lavender rim. Lifting higher and shifting a bit more right/forward over the lavender bowl.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.24,
          "left_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0174EXR2jHiCaqU5NuD7SzDX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7952, 1.6367, 1.0233, -0.194, -0.63, -0.522, 0.0458, -0.0219, 0.8158, 0.5945, -0.3931, -0.0166, -0.0345, 0.9978]\nstate[eef_state]: left_x=0.3706 left_y=-0.2241 left_z=0.1298 left_yaw=-0.0136 left_pitch=-0.056 left_roll=0.0357 left_gripper=0.0458 right_x=0.2931 right_y=0.0001 right_z=0.167 right_yaw=0.0003 right_pitch=-0.0439 right_roll=-0.0002 right_gripper=0.9978\nstate[joint_eff]: [-0.1709, -7.9521, 9.4427, 1.6874, -0.5201, -0.0415, 1.033, -0.1846, -1.5248, 7.0632, 1.7314, -0.022, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de8a4285728779020ffb32ece0adecafee8ee8305d998c9df84da73b2cc2bb69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8361c5d820c31575d356ba1fb64b492a60a64c696c50b0a6109bb89c4d3da0b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91db88ce642110a4c62da65f72af85dd2fa832f16a761e976d483d6169b6f671",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 5.328 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.767, 1.5318, 0.9287, -0.2134, -0.601, -0.5175, 0.0458, -0.0219, 0.812, 0.5953, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.355 left_y=-0.1984 left_z=0.1291 left_yaw=-0.0083 left_pitch=-0.0773 left_roll=0.0307 left_gripper=0.0458 right_x=0.293 right_y=0.0001 right_z=0.1684 right_yaw=0.0001 right_pitch=-0.0393 right_roll=0.0 right_gripper=0.9978\nstate[joint_eff]: [-0.5675, -8.5538, 6.5299, 1.8388, -0.4713, 0.0464, 1.0379, -0.0479, -1.2103, 7.0359, 1.746, -0.022, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7887, 1.6253, 1.0092, -0.1955, -0.6292, -0.522, 0.0458, -0.0219, 0.8139, 0.5953, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3692 left_y=-0.2191 left_z=0.1287 left_yaw=-0.0075 left_pitch=-0.0594 left_roll=0.0383 left_gripper=0.0458 right_x=0.2931 right_y=0.0001 right_z=0.1679 right_yaw=0.0001 right_pitch=-0.0412 right_roll=0.0001 right_gripper=0.9978\nstate[joint_eff]: [-0.4171, -8.1709, 9.5521, 1.7021, -0.4322, -0.0269, 1.033, -0.1573, -0.9504, 7.0222, 1.707, -0.0513, -0.0366, -0.0073]",
      "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]: [-0.7952, 1.6367, 1.0233, -0.194, -0.63, -0.522, 0.0458, -0.0219, 0.8158, 0.5945, -0.3931, -0.0166, -0.0345, 0.9978]\nstate[eef_state]: left_x=0.3706 left_y=-0.2241 left_z=0.1298 left_yaw=-0.0136 left_pitch=-0.056 left_roll=0.0357 left_gripper=0.0458 right_x=0.2931 right_y=0.0001 right_z=0.167 right_yaw=0.0003 right_pitch=-0.0439 right_roll=-0.0002 right_gripper=0.9978\nstate[joint_eff]: [-0.1709, -7.9521, 9.4427, 1.6874, -0.5201, -0.0415, 1.033, -0.1846, -1.5248, 7.0632, 1.7314, -0.022, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de8a4285728779020ffb32ece0adecafee8ee8305d998c9df84da73b2cc2bb69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8361c5d820c31575d356ba1fb64b492a60a64c696c50b0a6109bb89c4d3da0b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91db88ce642110a4c62da65f72af85dd2fa832f16a761e976d483d6169b6f671",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MrQSkrHJnKuRVcSuvp6DnX",
      "input": {
        "note": "Arm is barely tracking lateral/upward targets here; the white bowl is only ~2–3 cm off the lavender bowl's centre. Trying to lower it in—nesting bowls tend to self-centre.",
        "targets": {
          "left_x": 0.375,
          "left_y": -0.23,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01MrQSkrHJnKuRVcSuvp6DnX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7952, 1.6367, 1.0233, -0.194, -0.63, -0.522, 0.0458, -0.0219, 0.8173, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3706 left_y=-0.2241 left_z=0.1298 left_yaw=-0.0136 left_pitch=-0.056 left_roll=0.0357 left_gripper=0.0458 right_x=0.2932 right_y=0.0001 right_z=0.1666 right_yaw=0.0001 right_pitch=-0.0454 right_roll=0.0002 right_gripper=0.9978\nstate[joint_eff]: [-0.2667, -7.9521, 9.5658, 1.707, -0.5006, -0.022, 1.0379, -0.0889, -1.4564, 7.1316, 1.7314, -0.0464, -0.0171, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ed761edf50c02e0b4daa782d0c83bcd776e13a4f27d2bd6d04944b817a085ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dccc1e0a769fa473a745c08c2ce3ab0a196738edbbfc012968e76af9ebfb24a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff8b80ad35c90f8041c51cdcd16596306da4ed3673b35f41fa34343cd8d96892",
        "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 · 4.503 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7887, 1.6253, 1.0092, -0.1955, -0.6292, -0.522, 0.0458, -0.0219, 0.8139, 0.5953, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3692 left_y=-0.2191 left_z=0.1287 left_yaw=-0.0075 left_pitch=-0.0594 left_roll=0.0383 left_gripper=0.0458 right_x=0.2931 right_y=0.0001 right_z=0.1679 right_yaw=0.0001 right_pitch=-0.0412 right_roll=0.0001 right_gripper=0.9978\nstate[joint_eff]: [-0.4171, -8.1709, 9.5521, 1.7021, -0.4322, -0.0269, 1.033, -0.1573, -0.9504, 7.0222, 1.707, -0.0513, -0.0366, -0.0073]",
      "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]: [-0.7952, 1.6367, 1.0233, -0.194, -0.63, -0.522, 0.0458, -0.0219, 0.8158, 0.5945, -0.3931, -0.0166, -0.0345, 0.9978]\nstate[eef_state]: left_x=0.3706 left_y=-0.2241 left_z=0.1298 left_yaw=-0.0136 left_pitch=-0.056 left_roll=0.0357 left_gripper=0.0458 right_x=0.2931 right_y=0.0001 right_z=0.167 right_yaw=0.0003 right_pitch=-0.0439 right_roll=-0.0002 right_gripper=0.9978\nstate[joint_eff]: [-0.1709, -7.9521, 9.4427, 1.6874, -0.5201, -0.0415, 1.033, -0.1846, -1.5248, 7.0632, 1.7314, -0.022, -0.0806, -0.0073]",
      "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]: [-0.7952, 1.6367, 1.0233, -0.194, -0.63, -0.522, 0.0458, -0.0219, 0.8173, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3706 left_y=-0.2241 left_z=0.1298 left_yaw=-0.0136 left_pitch=-0.056 left_roll=0.0357 left_gripper=0.0458 right_x=0.2932 right_y=0.0001 right_z=0.1666 right_yaw=0.0001 right_pitch=-0.0454 right_roll=0.0002 right_gripper=0.9978\nstate[joint_eff]: [-0.2667, -7.9521, 9.5658, 1.707, -0.5006, -0.022, 1.0379, -0.0889, -1.4564, 7.1316, 1.7314, -0.0464, -0.0171, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ed761edf50c02e0b4daa782d0c83bcd776e13a4f27d2bd6d04944b817a085ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dccc1e0a769fa473a745c08c2ce3ab0a196738edbbfc012968e76af9ebfb24a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff8b80ad35c90f8041c51cdcd16596306da4ed3673b35f41fa34343cd8d96892",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwkKEAgSGAI4AUIIdGhpbmtpbmcSDMQ1AGiOs7pDL3mnERoMxz0nHw5eY+HEikjWIjD1D0Ka7dABivTgGQbjWfJcZbiAeyQfJrgMhxaLw3rfgvyosbbDzBoYvy99FsaPzZwq1AjV/PMakkL1B4Atd6e83wS+3oTGMtGI3tRvxJvuVcyw6Ic6ImPLoLFEepuweJ5dG7ccN8FtKSQ4N3B/Cy5zC1zygt9YnQWey7jRDpa+GW7dvNpd+8xnKujJ+us/U2x/TFx5BJKQjzznQXEjAmk24m5qZmfDEGtnA53jrD/VBkZSRu6NK7e6N8m1JlRJBlUQFmv/fpDqkphTEN+I68QSGLTsgncDsnXOa04HNFtGVJY8ynB1ggDd6EXMR66/0bje/QpsHoBXfyKkm58QW+Zmpy7vAnZY1qEmp4JIVCKu11jQFhIupgnk+KwTjkdDGEqh2b7JnK1CNk/7XfxWdJE9pu8dPEiTR0BIzPIajthGLsqjCi2X7sGBx5IE6948XwXNiSFAB/oaTjfr6l0M9fbKp9GDx+51fRHqPAtkrrJSAMQUtlC7cOE9jfMUa/adXML1aaemgdc8ofKwucxoejqqj4IiD7yjRIdAn3juQo5+v5jixaFb83CgsQT0zaMBTOk4455iDpoJ8+QTJW+VustAxNyxgD80lJf5+ph4QBV5GgHcO4DucyhGIaHXIIn0CUAdoWNI6ir1VLUa7yVjJpmWkRIVTaa1O8SO/vy/Y3DDVNmXvHVdNQoqPb90Me56A36PIhi5GFZpLcxqPrGvoekXgTRUdceGF320i9wAwDu53ZfjX3D4ZB8b4fBPVC4HJAdQoPilqFgnB1U8O2QDUyUiIc8jZvARQpvoVO/fKCUOOKRiPI1relSMqsYnQybxQBEI53Jtmf11WfYownVNhI47jQXs2FUS5h9votBloHPo8dmhOtdIGpJ/DFkfjLWh1kym7oY2JGhOBex+heveShyV8URP/SWBQkCv7oXrVH8suyKQKsc5AdoeljjBMkvyzg0kt8h9eAhOAK8/66ad/+EtIs3Bqi1N6ppc/tJGkExORPmrc8mFltZsVd38Tf8Shs57vbZ9vgDDf+6OFfXcegrHtbKCkz4ov62ne+C9aSaa201Jx2wMFPUyJgifWVCfQeVo30sUwK8jA5L1PgJ80Utf+EUG5xtiYwitS4zVDs2VCbo2827vHLqoQqw123kaAh7GGfpb6q4B4v4KhzVgZ31dVgIOY9w8Fq3nAlpiBNC4Vptv0HytfmhDnqdTRUE33CkJ4y/M339E/rUbMqhHAJtXUgrPUYomYF//+0udEHECgde2ol5H+WCicYq3jFeH+bw+PRpB+EJvX1OoCyjbdVldtftDQdAA5x+lV9xf9rk7AIm5YmPd2IItVEA9rnGqLDfo89pxQQHcuCHL3kptMsJoQDUA0+x69BJPOXmyJjFjYpzAyayihdF2G57UzIH7pB/NUregM217Go+mvg3vKs80wKemdEPZrnPjRQvJiGuhvx/lKLTBi/7PFB7pGpV8oS85+cER36gt9FqW/k+5BBo374p2KOOHoWvGx3vlYVrD0buKy7TUw6Bd+9T5cyBR71Y6PbtBk4GmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014i5batJRfPAtxoL4HMGFGq",
      "input": {
        "note": "Arm froze again; last time explicitly commanding neutral orientation got it moving. Lowering the white bowl into the lavender bowl with neutral orientation.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.375,
          "left_y": -0.23,
          "left_yaw": 0.0,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_014i5batJRfPAtxoL4HMGFGq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7952, 1.6367, 1.0233, -0.194, -0.6304, -0.522, 0.0478, -0.0216, 0.8173, 0.5945, -0.3931, -0.0166, -0.0345, 0.9979]\nstate[eef_state]: left_x=0.3706 left_y=-0.2241 left_z=0.1299 left_yaw=-0.0133 left_pitch=-0.0558 left_roll=0.0359 left_gripper=0.0478 right_x=0.2932 right_y=0.0002 right_z=0.1666 right_yaw=0.0007 right_pitch=-0.0454 right_roll=-0.0002 right_gripper=0.9979\nstate[joint_eff]: [-0.1436, -7.9658, 9.5385, 1.6728, -0.525, -0.0611, 0.8474, -0.1162, -1.4017, 6.9949, 1.7167, -0.022, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d61ed4bf7c5dbaf3da9a509afaed9e10d3978c4b6b2bd2bd5f2f0ae75de7fa8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d212baaf32f9d191f5742e71c325f9bfd4e3f7b59d930eb22ee58d7655b9f51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:79c7f06d7b7db659a128fa33c48f0f857ea7e30c98a61ca53ef47908ce6b9b92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 6.81 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7952, 1.6367, 1.0233, -0.194, -0.63, -0.522, 0.0458, -0.0219, 0.8158, 0.5945, -0.3931, -0.0166, -0.0345, 0.9978]\nstate[eef_state]: left_x=0.3706 left_y=-0.2241 left_z=0.1298 left_yaw=-0.0136 left_pitch=-0.056 left_roll=0.0357 left_gripper=0.0458 right_x=0.2931 right_y=0.0001 right_z=0.167 right_yaw=0.0003 right_pitch=-0.0439 right_roll=-0.0002 right_gripper=0.9978\nstate[joint_eff]: [-0.1709, -7.9521, 9.4427, 1.6874, -0.5201, -0.0415, 1.033, -0.1846, -1.5248, 7.0632, 1.7314, -0.022, -0.0806, -0.0073]",
      "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]: [-0.7952, 1.6367, 1.0233, -0.194, -0.63, -0.522, 0.0458, -0.0219, 0.8173, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3706 left_y=-0.2241 left_z=0.1298 left_yaw=-0.0136 left_pitch=-0.056 left_roll=0.0357 left_gripper=0.0458 right_x=0.2932 right_y=0.0001 right_z=0.1666 right_yaw=0.0001 right_pitch=-0.0454 right_roll=0.0002 right_gripper=0.9978\nstate[joint_eff]: [-0.2667, -7.9521, 9.5658, 1.707, -0.5006, -0.022, 1.0379, -0.0889, -1.4564, 7.1316, 1.7314, -0.0464, -0.0171, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7952, 1.6367, 1.0233, -0.194, -0.6304, -0.522, 0.0478, -0.0216, 0.8173, 0.5945, -0.3931, -0.0166, -0.0345, 0.9979]\nstate[eef_state]: left_x=0.3706 left_y=-0.2241 left_z=0.1299 left_yaw=-0.0133 left_pitch=-0.0558 left_roll=0.0359 left_gripper=0.0478 right_x=0.2932 right_y=0.0002 right_z=0.1666 right_yaw=0.0007 right_pitch=-0.0454 right_roll=-0.0002 right_gripper=0.9979\nstate[joint_eff]: [-0.1436, -7.9658, 9.5385, 1.6728, -0.525, -0.0611, 0.8474, -0.1162, -1.4017, 6.9949, 1.7167, -0.022, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d61ed4bf7c5dbaf3da9a509afaed9e10d3978c4b6b2bd2bd5f2f0ae75de7fa8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d212baaf32f9d191f5742e71c325f9bfd4e3f7b59d930eb22ee58d7655b9f51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79c7f06d7b7db659a128fa33c48f0f857ea7e30c98a61ca53ef47908ce6b9b92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuAcKEAgSGAI4AUIIdGhpbmtpbmcSDDH/cPKeAKmHqVHQ0xoMavwp6TZVWRxrm5IDIjAi3d87+AoKgSqkC+2mYsnd3kISby/pBNtjxnR+qVWfhR7WTRVquDPZK1YR1mb7208q1QYW/ec/E8GmQluyshCzmHnpHiE/SFeBh1x/AklPKpZEh9AJZsdTTaSGGkv76D+j0UrrNnKooB0sdWrOwpq/Mqaa9RNjHqFOPBBcVD8gGsDKMa6B7OEB7dCif0TT9U2VU2CvnsH0ZLlzlnau9r56vSjyt481tBncOhnUu7CX+JJrM1/qzbPE9jnhyIMxM2cppQMTkzrepUT8reufM2//tjzmbswKqT7p1Hy4EQBRNlOyTxygjIbhlROBl7LtkWdN3VkZeW3A0oW7oyjrhDrc23UDEKEfhbSlYdBIDGS+YlN7jgx778Zqk/GTpVG53AT6vih77l2RrkDYrsuJq5UiVcSZ32Oja/6HXatJvVvHE/LMb2c97SxnIX1VOZPZzTfi3AhRhsjvr7W4Kj32qa42iKTKgZC0PBefyy7B6IQBhHp1+cbHe1ceHRAnBaShVAAOfsk4TQBivYtRz9xLS72Z5vpMQ5lwxz5y4vjzVe8sZqU2Q5llQfYvdK5amz4QXWXkpw3jl2iE9TWLT8I4LQwQqUU7B4gkC9FAitSugNUETPh9uCfvmmB4MsCtV9er4Uy6IrsntJHFqWoLDGwk8e3lfUTmLRqCdzpRCUk7ciOQtJpZJ9S+tIbS0n35w+1DcCo23doG1RlpLQf3x60O2GWqEhXy89C42ws91ILkiknd7Qy57I/y559namqbfbVxt9yKSXsmO3rf+0ZB+Iz2HqWCAe72n/cGYV6U9L/skidX/docBtW+yNr6ccc+hDTaM8XdrTqWShCY5RoGMsN9IOdx3fsNPZo57uXNhC+47mvFIy3NOSQ0ZDlgnemlCncR1yr57MXhDLKx4ZhIxWMHINCtEaW+6X5CklDTSv/L+3m+ZElaG4DqhBj+jIak7vcpI6r6AgQS1Jd+6ZYkwbVEd5YlnHqBsERExXvcYD8ZpkdN9LtP73TOlxLNrF4qR4QZ+v/A2KnO765LAFQOTq+LjGGrEASpck6sni6zbhy7VcBIgBu5694XOqhxypDlMWBCwE1/RqZQpIxOqI2z4V6rppcQ+24FVok1efvwpv7RjzG8WFnIjFXd0qCybqdzq/BRd9ViFgAwU78MYfGPo0FMMUFjrc0iStJla7yM4+1PsGnmV7gaqoWSeq9FGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YJ11Mb4ADubCVwwQ9T6aKK",
      "input": {
        "note": "Left arm still stuck at the same pose. Backing off toward a less-extended pose (as worked before) to recover tracking, then I'll re-approach from above.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.33,
          "left_y": -0.17,
          "left_yaw": 0.0,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01YJ11Mb4ADubCVwwQ9T6aKK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7757, 1.3525, 0.823, -0.2249, -0.6262, -0.519, 0.0508, -0.0219, 0.8204, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.332 left_y=-0.1756 left_z=0.1519 left_yaw=0.0 left_pitch=-0.0202 left_roll=-0.001 left_gripper=0.0508 right_x=0.2933 right_y=0.0001 right_z=0.1657 right_yaw=0.0001 right_pitch=-0.0484 right_roll=0.0002 right_gripper=0.9978\nstate[joint_eff]: [0.4991, -5.4632, 7.0222, 1.6239, -0.359, 0.149, 0.9011, -0.1162, -1.2923, 7.2821, 1.7802, -0.0513, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b654e34510502270e94ce79944b88cff64d94855b2505fbe328ad462e3081f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c4c172614ca4637ad05e80bcd7b24edfa89501155c6baaa722154b237d069c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f871735ba753a3ff6b8cc69a31fc787cb3f04c266fc246caaff59c45123fa750",
        "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 · 3.755 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7952, 1.6367, 1.0233, -0.194, -0.63, -0.522, 0.0458, -0.0219, 0.8173, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3706 left_y=-0.2241 left_z=0.1298 left_yaw=-0.0136 left_pitch=-0.056 left_roll=0.0357 left_gripper=0.0458 right_x=0.2932 right_y=0.0001 right_z=0.1666 right_yaw=0.0001 right_pitch=-0.0454 right_roll=0.0002 right_gripper=0.9978\nstate[joint_eff]: [-0.2667, -7.9521, 9.5658, 1.707, -0.5006, -0.022, 1.0379, -0.0889, -1.4564, 7.1316, 1.7314, -0.0464, -0.0171, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.7952, 1.6367, 1.0233, -0.194, -0.6304, -0.522, 0.0478, -0.0216, 0.8173, 0.5945, -0.3931, -0.0166, -0.0345, 0.9979]\nstate[eef_state]: left_x=0.3706 left_y=-0.2241 left_z=0.1299 left_yaw=-0.0133 left_pitch=-0.0558 left_roll=0.0359 left_gripper=0.0478 right_x=0.2932 right_y=0.0002 right_z=0.1666 right_yaw=0.0007 right_pitch=-0.0454 right_roll=-0.0002 right_gripper=0.9979\nstate[joint_eff]: [-0.1436, -7.9658, 9.5385, 1.6728, -0.525, -0.0611, 0.8474, -0.1162, -1.4017, 6.9949, 1.7167, -0.022, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7757, 1.3525, 0.823, -0.2249, -0.6262, -0.519, 0.0508, -0.0219, 0.8204, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.332 left_y=-0.1756 left_z=0.1519 left_yaw=0.0 left_pitch=-0.0202 left_roll=-0.001 left_gripper=0.0508 right_x=0.2933 right_y=0.0001 right_z=0.1657 right_yaw=0.0001 right_pitch=-0.0484 right_roll=0.0002 right_gripper=0.9978\nstate[joint_eff]: [0.4991, -5.4632, 7.0222, 1.6239, -0.359, 0.149, 0.9011, -0.1162, -1.2923, 7.2821, 1.7802, -0.0513, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b654e34510502270e94ce79944b88cff64d94855b2505fbe328ad462e3081f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c4c172614ca4637ad05e80bcd7b24edfa89501155c6baaa722154b237d069c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f871735ba753a3ff6b8cc69a31fc787cb3f04c266fc246caaff59c45123fa750",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqgsKEAgSGAI4AUIIdGhpbmtpbmcSDC8Ow7aG87ALInC6XxoMPHLG1Y0skwa5CIMJIjAAC/Lxya3GiglICOZUO4v2LgLcNkJW3h1ugTSTaSN7n7CLdw2GsKSkArYgrgcFgDoqxwoFjv4H+sDgPPUMZI8kBlwN2pwzaz5DJa6Rea6TsJODzoEppbWcKyA/s1Ql8A8u5Sjctsj7fnnvqPosPA+rgjgvxyYPLdZxwY/G/Udh+bpYWKXHnuqufZfNIMZm6nChnlnunTfwSbq3kyJp2lDaO/SqrYaF+hzsNn0TNDje561Dhk4w4rr6yVd8dvZaZfYwiGXUYM6IbzsxlOg/WAug7gDDrCDWFl0ZWrGA2SDphMwuIJyCcb53Tt+DkHXGhuW2no/azaMeCMElvx3OhScW+J1AoEfqozSK6ETs5ETdFjIIaOiJPymOmkczkYJwFmGhiMBlTr8HxT8JLo4HPGi3KSmeR/glseJIEwBok5+AJvcLTObVP3xRgKrViznu8KlrXcLSfe/3AVEa391TEbVs1r+Afn2c5I42MAiLC87pmdHx/UgQD9pJZ/vs102SrqYLqUsir527LFKwM1L2AMTf79vUTPmbt30lkedShxJin5usxAyIA67l/lMG604fhMs0aAJjNn37A8beZSKaSV5WBo4Q4XIJsxdr2JZQG9gAdqoiX84lpYu5h0LVkr+SpccO47xmzuLrFk3xDAymZ61taVdJ9c9oPP8BVDLAd2AtxNT27VauO+Q8Qxltlvod/gX1gaqQL70ytvUY5jFBI7gruE634qohMU+Ej/FLk6zjpWSIoSq5bHw0f8AkugwxnRWRvaj1DtV276sx+XJuYYKVweuIWZzlujF4EsBCyYNNit3SdES2VNqEfPkh5y79CNIW+Bgf2xUZTaqQACIgFdFQmNhJt4rDqT4tHxSw6ol8BdqW8CL2j1oc/VVJmjcrHrvsgbkYM5jL9H7wlhespxWIwR/xtU7VTrp9/+5JyiILafQ/7Z1iX9i3FIVkXReM48ORPRHi86LWp8CSNXi3z8rAyRyHBnn8FMXNS+n6sST55YBX6AdQEPJoHnsiKSKW/KIN5WrL7vw3U0/4HnGALyFi09E2CSqv060Y1u7tcLQwx6qjK6BbNepj8EH8bwivFB63+z0S14Nw9RR+O51p3o3t1dShk0pgU0ibXf+IcuACTGkHyDNrQ8MppB+ZEE5gaW+tR6R13yTF3jZbkRoN6L8HrYVjjrS7ZVKsYm9jYEeFBfSaEDmzTpI3aWxl3jPZ9WF0hCWMY/ON8F21GZ95qIupWzcJrE6LobtEZc7mbDv2OhPJbHRzkgpKEnb4C0EpJQgMi01cNn1cWJfmQ2JwI8rrPAnBqMxJA4V6qKi9zjS/oa1io35b2zXhHz7ELaAyvV65zPhODyV+PAA0tPn+x7BJe6T2isBPOzs1E7JDAr45NO24IVlDYwLo3a4oG6i1PhV8ZmjNCfWQoAh07JhK9Cw345xVGmbp6hJMPoMMyRMFcPkbjiEo+riOAT0ql8K6MD6yMOOkfvwV7c7r+PWsl5nl1aVuspIsnzPYfY8iXFdZUMWTR8Gtu/yJ8emRflrWhQoEeWkhFikusEdKDoYr0fAYpVwInmgWl+Fo77WbG6bcgcl22NSAyUPIZsSlptOtUj8JNENp5BAh2I73EUQlp2l5TaA/d1KIJjn0GnbcYUTr8Nl4hN6ZtohpXDiReUFmTwKyRfqSm1ulC48epQrd6FH3qtUOmc7ppzOLcj0SZzxbCwb7o3WLhVz/3OUpPZFw2dQnV1pMAd1wBt6I9hxDfQu/NuDjUqXC3sCxr5D5S7YSlSkVOQbtJ3cllwUjdkZKgi18AizY+30qAVKbXjNk2zQut86ydlZXHAsW7mngTkLPq8Jpy0lWU/MFSS7bcXmfs+4mPeGh8Xfm8MlSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TWUzFrxgJtXHfk3pE6kJNJ",
      "input": {
        "note": "Tracking restored. The held white bowl was likely catching the lavender rim, so lifting well higher before moving over it.",
        "targets": {
          "left_z": 0.23
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TWUzFrxgJtXHfk3pE6kJNJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7742, 1.3258, 1.0534, -0.5026, -0.625, -0.522, 0.0537, -0.0219, 0.8204, 0.5945, -0.3931, -0.0166, -0.0345, 0.9978]\nstate[eef_state]: left_x=0.3326 left_y=-0.1756 left_z=0.2109 left_yaw=0.0028 left_pitch=-0.0354 left_roll=0.0104 left_gripper=0.0537 right_x=0.2933 right_y=0.0001 right_z=0.1657 right_yaw=0.0003 right_pitch=-0.0484 right_roll=-0.0001 right_gripper=0.9978\nstate[joint_eff]: [-0.294, -6.106, 9.5795, 1.4921, -0.2613, 0.0464, 0.569, -0.0479, -1.2513, 7.0222, 1.7216, -0.0464, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f7e64482660f2033e0873172030ae37d982adc90f302f315502fdaf1bde956a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:761326c01c8da34fe03bfb05ed168ad3cfe3a9b94e1c9e17d2737c2deab0f37f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:62c63932d1d8ac0fe8bd6316786956bc5c6ff8a2dd7459d09cb4f5c2f77a7236",
        "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 · 5.493 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7952, 1.6367, 1.0233, -0.194, -0.6304, -0.522, 0.0478, -0.0216, 0.8173, 0.5945, -0.3931, -0.0166, -0.0345, 0.9979]\nstate[eef_state]: left_x=0.3706 left_y=-0.2241 left_z=0.1299 left_yaw=-0.0133 left_pitch=-0.0558 left_roll=0.0359 left_gripper=0.0478 right_x=0.2932 right_y=0.0002 right_z=0.1666 right_yaw=0.0007 right_pitch=-0.0454 right_roll=-0.0002 right_gripper=0.9979\nstate[joint_eff]: [-0.1436, -7.9658, 9.5385, 1.6728, -0.525, -0.0611, 0.8474, -0.1162, -1.4017, 6.9949, 1.7167, -0.022, -0.0806, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7757, 1.3525, 0.823, -0.2249, -0.6262, -0.519, 0.0508, -0.0219, 0.8204, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.332 left_y=-0.1756 left_z=0.1519 left_yaw=0.0 left_pitch=-0.0202 left_roll=-0.001 left_gripper=0.0508 right_x=0.2933 right_y=0.0001 right_z=0.1657 right_yaw=0.0001 right_pitch=-0.0484 right_roll=0.0002 right_gripper=0.9978\nstate[joint_eff]: [0.4991, -5.4632, 7.0222, 1.6239, -0.359, 0.149, 0.9011, -0.1162, -1.2923, 7.2821, 1.7802, -0.0513, -0.0708, -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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7742, 1.3258, 1.0534, -0.5026, -0.625, -0.522, 0.0537, -0.0219, 0.8204, 0.5945, -0.3931, -0.0166, -0.0345, 0.9978]\nstate[eef_state]: left_x=0.3326 left_y=-0.1756 left_z=0.2109 left_yaw=0.0028 left_pitch=-0.0354 left_roll=0.0104 left_gripper=0.0537 right_x=0.2933 right_y=0.0001 right_z=0.1657 right_yaw=0.0003 right_pitch=-0.0484 right_roll=-0.0001 right_gripper=0.9978\nstate[joint_eff]: [-0.294, -6.106, 9.5795, 1.4921, -0.2613, 0.0464, 0.569, -0.0479, -1.2513, 7.0222, 1.7216, -0.0464, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f7e64482660f2033e0873172030ae37d982adc90f302f315502fdaf1bde956a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:761326c01c8da34fe03bfb05ed168ad3cfe3a9b94e1c9e17d2737c2deab0f37f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62c63932d1d8ac0fe8bd6316786956bc5c6ff8a2dd7459d09cb4f5c2f77a7236",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YauwGRGA37Ksqv2kETzSWE",
      "input": {
        "note": "Now high (z≈0.21). The lavender bowl is ~5 cm right and ~6 cm forward of the held white bowl; moving over it at height.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.39,
          "left_y": -0.23,
          "left_yaw": 0.0,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01YauwGRGA37Ksqv2kETzSWE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7742, 1.6001, 1.2503, -0.4843, -0.6254, -0.5213, 0.0561, -0.0219, 0.8246, 0.5945, -0.3935, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3764 left_y=-0.2184 left_z=0.1904 left_yaw=0.005 left_pitch=-0.0774 left_roll=0.0528 left_gripper=0.0561 right_x=0.2935 right_y=0.0001 right_z=0.1645 right_yaw=0.0001 right_pitch=-0.053 right_roll=0.0003 right_gripper=0.9978\nstate[joint_eff]: [-0.0752, -8.3077, 9.8393, 1.5897, -0.3541, 0.1148, 0.525, -0.1436, -1.6205, 6.9949, 1.6777, -0.0757, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7c5621ce54e6057bfe2b04469da99bd5e43c98150105546a0441048a1837cb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:328de88ca43ee14d4eb1893d1935b2df596186de000201ffc671365839ba3f25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:299e02081571f12ec4242977b36749eb77a6492f9e353efbfadf894355915586",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 5.805 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7757, 1.3525, 0.823, -0.2249, -0.6262, -0.519, 0.0508, -0.0219, 0.8204, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.332 left_y=-0.1756 left_z=0.1519 left_yaw=0.0 left_pitch=-0.0202 left_roll=-0.001 left_gripper=0.0508 right_x=0.2933 right_y=0.0001 right_z=0.1657 right_yaw=0.0001 right_pitch=-0.0484 right_roll=0.0002 right_gripper=0.9978\nstate[joint_eff]: [0.4991, -5.4632, 7.0222, 1.6239, -0.359, 0.149, 0.9011, -0.1162, -1.2923, 7.2821, 1.7802, -0.0513, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7742, 1.3258, 1.0534, -0.5026, -0.625, -0.522, 0.0537, -0.0219, 0.8204, 0.5945, -0.3931, -0.0166, -0.0345, 0.9978]\nstate[eef_state]: left_x=0.3326 left_y=-0.1756 left_z=0.2109 left_yaw=0.0028 left_pitch=-0.0354 left_roll=0.0104 left_gripper=0.0537 right_x=0.2933 right_y=0.0001 right_z=0.1657 right_yaw=0.0003 right_pitch=-0.0484 right_roll=-0.0001 right_gripper=0.9978\nstate[joint_eff]: [-0.294, -6.106, 9.5795, 1.4921, -0.2613, 0.0464, 0.569, -0.0479, -1.2513, 7.0222, 1.7216, -0.0464, -0.0708, -0.0073]",
      "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]: [-0.7742, 1.6001, 1.2503, -0.4843, -0.6254, -0.5213, 0.0561, -0.0219, 0.8246, 0.5945, -0.3935, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3764 left_y=-0.2184 left_z=0.1904 left_yaw=0.005 left_pitch=-0.0774 left_roll=0.0528 left_gripper=0.0561 right_x=0.2935 right_y=0.0001 right_z=0.1645 right_yaw=0.0001 right_pitch=-0.053 right_roll=0.0003 right_gripper=0.9978\nstate[joint_eff]: [-0.0752, -8.3077, 9.8393, 1.5897, -0.3541, 0.1148, 0.525, -0.1436, -1.6205, 6.9949, 1.6777, -0.0757, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7c5621ce54e6057bfe2b04469da99bd5e43c98150105546a0441048a1837cb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:328de88ca43ee14d4eb1893d1935b2df596186de000201ffc671365839ba3f25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:299e02081571f12ec4242977b36749eb77a6492f9e353efbfadf894355915586",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6gkKEAgSGAI4AUIIdGhpbmtpbmcSDOM1n8FoY6Vb/P5IVxoMdrtdC9fSJSD1d8cTIjDbUCibnSEsxCo0BXlGVHlnmKoy87agGeWS1qYO/K05rF/eW012ms+BC1NWPTaHT98qhwma3LFRJlcGv7c00z3DOVXbdvHEx/cBgFG4XD9AFr86nq1YxQHw+aIK19D4DAkilfzdfH1Xhv4/miwxZOU8412LScwJ+DAzhfFCdZpny9Jwc+f9wZIrVhRwFGPwKmzRKWoMcf+n/RxdYgWM/TSGTjuaRwQZlvI12mZPizqkH+Ab7tEz8yWsJyXyYLUKtsTWFW20rmN9/U5Go0yj9AigNbSrzwiSC2wfDRZCWWkDT7EcBxcJzhbIxOyh2jCAOjXD04laK5pkdqKLZwh+L1h4p/ZdGqdaUeFD1Lv3rj4uYkshCA0dGvPeljRxUgt7RBdlU2Q6rS/pweOgBuDD/f6VsH6brKoemCfEgPlfdtbVYC8X1NVW2lQt2wOeSL1xRuhU9AGSSfaIT/WxAElMAcRL8Dn6nAuIhMnqjpgTcMmcfAu0uO1+5KefFo6nEPs3vNtMko0SjxL8ts0+X1gtLmnP3xju4GvxDVevmHRiYYbDMB8ma+Bv8MuZhA0rZoEfwM8T6KwC1jiffwhHmCELLdwbwkKRmzsgLbcgWWK4BHM1yM5U/ZdwHylp9lQGghI3n8E+OHxuONakry1OxdWVn8TrPq4onFL+dizCIqGxsTIGCXypX1V3XsMdPQiACUT+jgOjRHwEKROz6Rx3KI6mQGSdSygWx9sUC2289dsHZpVZdAPY3LJ9Qj8xrSgzKBbH43P/DugzLgW0dZeqe/k+vRyUgpsj8fwtsuM9Tlxe29oLGh2QmI8M+ycSWYJ06IyBka4bdiyB3en6mZzLTUUciicXcFbS191PdRqid4YHAAlvRG9/H9F5LVuEj3oKstTlVeI9rdrqGX5L3hETR/N81RQu5Swx4tWTMU7VctfZo5WYZCoiDLbvWRtdgnY27ItPpXUWhRK1T0Kjl/UjmeT37dsKtxgPITtJx0PKOotMmgYjr5wq/X13dL2d7zY8563G6o+LV5N09HvJpxTTmtcMMlyIucxNsOUl+T5kpiIzKbicElaMloaTtumeONSQ2YWhSO2GF+lS4rNp4+K+3TdRcUiKsTgZoTuaUoi3kBq5oPD4hCMEjjXGMvr+Du2QbUNcP8e3RvbYvkhXflFTro89EnWwfcoqNoip47bxPuC55q2YdDQfRsnKZurI3rW+gyJMzhW5iI8npMiWlEnT9WBaeP/8nrMMSN9LiMnHCPj4kvPd8w4HQX/RjuwdFs0zn1qanwWHEh8mKZ9B9I0kQIncECFOjzMNXY7RFxziu57/kW4QNjeLdE0Dz1iDAi3IjhTILrSp4GoCNp0FaxYmjxj5UKk/wnwsn4Jg5DZHGRmktqO/dUZPxOIopq9C2WTql/cZEVO0swsBHu/jlBzhzabE51Lz2y88VhoMncHg4UMBBVrheTddsUyb7zHTAIHzXioWjgM0Vtex+Fm3tnXJw+80x3UwmL12JH2VzBUAyTHpKb+HvOrxr34JYHHhkjolHPXv/qRzeYwi8fhdBektxPqa1suhdWydSFN/B9aHplQvPUdUpwgkKh0Tow1jwoor8XnrjtlXJvqQ4eSTSTv6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016LYE8hZAD1k2XSsRH3P9jh",
      "input": {
        "note": "Arm stops at x≈0.376, y≈-0.218 (apparent reach limit), but the white bowl now mostly covers the lavender one in the top view. Lowering it in.",
        "targets": {
          "left_x": 0.378,
          "left_y": -0.22,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_016LYE8hZAD1k2XSsRH3P9jh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7742, 1.6161, 1.2812, -0.4629, -0.6262, -0.5209, 0.0581, -0.0219, 0.8249, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3838 left_y=-0.2255 left_z=0.1994 left_yaw=0.0037 left_pitch=-0.0512 left_roll=0.028 left_gripper=0.0581 right_x=0.2936 right_y=0.0001 right_z=0.1645 right_yaw=0.0001 right_pitch=-0.053 right_roll=0.0003 right_gripper=0.9978\nstate[joint_eff]: [-0.3897, -8.5675, 9.4427, 1.7021, -0.4029, 0.1099, 0.5006, -0.0342, -1.4291, 7.1453, 1.6874, -0.0806, -0.0855, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bb0f8ddd5544d52640c79396a87edf995b9ca97fe985f2a509ea9da6192acc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a2bab00375afb1f7efdeda437d79cc315160aff094a2502ef141969442446b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5cb061321419920f1a6b6639001f78d11ebcacafdc8e5411dfd15eeaa6d76cee",
        "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 · 4.157 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7742, 1.3258, 1.0534, -0.5026, -0.625, -0.522, 0.0537, -0.0219, 0.8204, 0.5945, -0.3931, -0.0166, -0.0345, 0.9978]\nstate[eef_state]: left_x=0.3326 left_y=-0.1756 left_z=0.2109 left_yaw=0.0028 left_pitch=-0.0354 left_roll=0.0104 left_gripper=0.0537 right_x=0.2933 right_y=0.0001 right_z=0.1657 right_yaw=0.0003 right_pitch=-0.0484 right_roll=-0.0001 right_gripper=0.9978\nstate[joint_eff]: [-0.294, -6.106, 9.5795, 1.4921, -0.2613, 0.0464, 0.569, -0.0479, -1.2513, 7.0222, 1.7216, -0.0464, -0.0708, -0.0073]",
      "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]: [-0.7742, 1.6001, 1.2503, -0.4843, -0.6254, -0.5213, 0.0561, -0.0219, 0.8246, 0.5945, -0.3935, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3764 left_y=-0.2184 left_z=0.1904 left_yaw=0.005 left_pitch=-0.0774 left_roll=0.0528 left_gripper=0.0561 right_x=0.2935 right_y=0.0001 right_z=0.1645 right_yaw=0.0001 right_pitch=-0.053 right_roll=0.0003 right_gripper=0.9978\nstate[joint_eff]: [-0.0752, -8.3077, 9.8393, 1.5897, -0.3541, 0.1148, 0.525, -0.1436, -1.6205, 6.9949, 1.6777, -0.0757, -0.0317, -0.0073]",
      "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]: [-0.7742, 1.6161, 1.2812, -0.4629, -0.6262, -0.5209, 0.0581, -0.0219, 0.8249, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3838 left_y=-0.2255 left_z=0.1994 left_yaw=0.0037 left_pitch=-0.0512 left_roll=0.028 left_gripper=0.0581 right_x=0.2936 right_y=0.0001 right_z=0.1645 right_yaw=0.0001 right_pitch=-0.053 right_roll=0.0003 right_gripper=0.9978\nstate[joint_eff]: [-0.3897, -8.5675, 9.4427, 1.7021, -0.4029, 0.1099, 0.5006, -0.0342, -1.4291, 7.1453, 1.6874, -0.0806, -0.0855, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bb0f8ddd5544d52640c79396a87edf995b9ca97fe985f2a509ea9da6192acc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a2bab00375afb1f7efdeda437d79cc315160aff094a2502ef141969442446b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cb061321419920f1a6b6639001f78d11ebcacafdc8e5411dfd15eeaa6d76cee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShgoKEAgSGAI4AUIIdGhpbmtpbmcSDN72vdvrdim6U93xkhoMuMxWCCp7aH/IoopDIjByHXYGTjPaRzGh6g3joOwm7uED59UDeb0ypsMjmNdOpgcH5TyD9kWimI/iIseiKc0qowm4nEDxqbVoVbmNfxMfZJVlCp+1ozYyVvB4/hCrVvPjvu3ROG7nkfEFATVSLZqEpuq3Xn/ZF87NVqeIwc9hOfEGQUAj0hDJvlO5JCaY2vvANTiJkEx8kdfNFgnJBfzNDieB9KwPZfMHlAmZDiZUk9IoF0K8aLlaUwIBfz5Nlut2eaqIOxsIt1EKSetW21+wXohELTRGpl9msrEt6eNXoQB82CKI2p3Bcnt9rqurcIOYj86GS+qLhtZLmjdo+5zXoS848FzIkAsXEZ2wjyn80m3ySg1XUb/LoGjNaobc3Q9aZPkKIJjg7lm5oQtckQ1KfNimn2WWEMcfDt7oQaZdEBI08NZhjyHW7rju4LD46jTq4BnpE3dxZrjCcie92OOK5ZmEZ8PzTRQ8ppx3+WnIu3NlkUONEaaAbb+36b43lBG/S426X1EV3YYk8VLUtebuYn1xhyiNglKpRRwnbzOGJE2hkyEaKHrkkdrNI01YiZduR1nU5s4xclLfOU9wGYG8e41wq84SR/5xSA7xPs9cM2nrYOGap+pVIdPy/LrpKoXmCfGlOvSC1EfqbYyuqWnPZTVvWYPBqQmlTTaUNNjsWOoF54clupwDrYabeHiW2THbmOO6xGPOwSgE0FdvmgZIpn+ujPQWKS6CdMbGbddbU3xfQ2MH9m/ACJPpA18N+6UXSFSMxKNa4/yCgjJGt6tb2b1FK+yOVfn+RsqGxyxNNekcoe0uZTZIdWy20pkAd2H5pnw0OzC6rIMAc3glwwxXEBQlpyxBo3M6oRnk7ewdJsBsljrRjkwublo7Qqty0DqEuqgyBLt8cli6iD8h1IdAAFnvS7G1EbrR4IVU8dWJFh4McsQK7RCpQ6lZT3ygej/D7eraB+RGeCvz7VGXkchTiIC2wK3T6MGXvc5gjYEhidUjORsyFQjDyMWTYeW4j6kSbHRHMQZYDpD46lh+ktcuLXDl70/5wKeZNdpxqkFRta6uLVNhgERpgIjWUMfymAb2SvxdSX+176lpdQLFoqnRXPVIKRV8jpn617wfCryeUYeyZWbCLtJQeJldZDHAi5FTTJ8dwGR/ACnlz3p4+gi9O5W79lF29eenq/UiK35mQ8yhzFJ33OA2uDQFZ1feQXntxBmBAf6zdZP2gHZDO0pV+6vTjoBRBZDayZgPOv0aicTr9E+D7L0n+ORsJREv258oqKZoh/lx/CAyNDljjUQ3yeEDD9PokD6ff88MHED8zc3psxiu95mSPQtmMCRoaP4e8ufJA1s6fNDEmFv0Ge2+Yw4O6Jw7KN6IUO9PPPoVOLc/FqQ0zzN4hXGmUb/8+OQUNKpu6WqeO07LZH2kHdXETH4ibpMXIiHS/h5AIv91AN+sQBoCKJiNcBzbZS4K47sme16Cjzktj2LeEJo/eQINJ50qxfOM0pzwZUEHSRIBla7bGstH31TtCCkyMYHSTLtZm82P3qydQ6xrXFmkRPUMGeFUWkIh6QOScKBVygeotfMRcMOso4dJIrIVo2j1G33Uyzd07LBB84wszD/BbRLAht8EDcPdCa9id2eGPDwot0Ny0bJ341FUf9fDFjWudr7lEgfILhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cohci6t2Fahys4Dz35FdvN",
      "input": {
        "note": "White bowl is now over the lavender bowl but the arm rose instead of descending. Retrying the descent with neutral orientation to lower it into the lavender bowl.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.38,
          "left_y": -0.225,
          "left_yaw": 0.0,
          "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_01Cohci6t2Fahys4Dz35FdvN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7784, 1.6173, 1.1931, -0.3401, -0.6338, -0.5209, 0.0612, -0.0216, 0.8268, 0.5945, -0.3931, -0.0166, -0.0345, 0.9978]\nstate[eef_state]: left_x=0.3848 left_y=-0.2275 left_z=0.1827 left_yaw=0.0042 left_pitch=-0.0235 left_roll=0.0082 left_gripper=0.0612 right_x=0.2937 right_y=0.0002 right_z=0.164 right_yaw=0.0007 right_pitch=-0.0549 right_roll=0.0001 right_gripper=0.9978\nstate[joint_eff]: [-0.759, -4.1368, 5.0667, 1.4335, -0.3785, 0.0464, 0.3101, -0.0479, -1.5521, 7.0222, 1.7265, -0.0513, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fa4ea0bd2eeac0ac16d16107eecbbef347fe4eab85e40dade918df0803c2e0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95ef30050cca839da4818dd189602f8d548a1c4212f4cf647acae9762aa73f96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a371f0490e36b8f59b9bff80caa09e9c487c227279364ef03926a7303a4505f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 3.259 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7742, 1.6001, 1.2503, -0.4843, -0.6254, -0.5213, 0.0561, -0.0219, 0.8246, 0.5945, -0.3935, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3764 left_y=-0.2184 left_z=0.1904 left_yaw=0.005 left_pitch=-0.0774 left_roll=0.0528 left_gripper=0.0561 right_x=0.2935 right_y=0.0001 right_z=0.1645 right_yaw=0.0001 right_pitch=-0.053 right_roll=0.0003 right_gripper=0.9978\nstate[joint_eff]: [-0.0752, -8.3077, 9.8393, 1.5897, -0.3541, 0.1148, 0.525, -0.1436, -1.6205, 6.9949, 1.6777, -0.0757, -0.0317, -0.0073]",
      "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]: [-0.7742, 1.6161, 1.2812, -0.4629, -0.6262, -0.5209, 0.0581, -0.0219, 0.8249, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3838 left_y=-0.2255 left_z=0.1994 left_yaw=0.0037 left_pitch=-0.0512 left_roll=0.028 left_gripper=0.0581 right_x=0.2936 right_y=0.0001 right_z=0.1645 right_yaw=0.0001 right_pitch=-0.053 right_roll=0.0003 right_gripper=0.9978\nstate[joint_eff]: [-0.3897, -8.5675, 9.4427, 1.7021, -0.4029, 0.1099, 0.5006, -0.0342, -1.4291, 7.1453, 1.6874, -0.0806, -0.0855, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7784, 1.6173, 1.1931, -0.3401, -0.6338, -0.5209, 0.0612, -0.0216, 0.8268, 0.5945, -0.3931, -0.0166, -0.0345, 0.9978]\nstate[eef_state]: left_x=0.3848 left_y=-0.2275 left_z=0.1827 left_yaw=0.0042 left_pitch=-0.0235 left_roll=0.0082 left_gripper=0.0612 right_x=0.2937 right_y=0.0002 right_z=0.164 right_yaw=0.0007 right_pitch=-0.0549 right_roll=0.0001 right_gripper=0.9978\nstate[joint_eff]: [-0.759, -4.1368, 5.0667, 1.4335, -0.3785, 0.0464, 0.3101, -0.0479, -1.5521, 7.0222, 1.7265, -0.0513, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fa4ea0bd2eeac0ac16d16107eecbbef347fe4eab85e40dade918df0803c2e0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95ef30050cca839da4818dd189602f8d548a1c4212f4cf647acae9762aa73f96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a371f0490e36b8f59b9bff80caa09e9c487c227279364ef03926a7303a4505f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxgcKEAgSGAI4AUIIdGhpbmtpbmcSDJb/CVdnDwhdUVekyRoM3lbeMTL+VOtMCLsAIjDIbfRK8D93ZLcdvwdZHv/tczxW/ZmzJolkEtT+215BBBmbMa9FZ9DbPmwWVfaWvVIq4wYLw8mNcKCUQOBmG4w3YFYSeg07CwkXTMkIRPADKEzQv/Ar+NMWmMZzD9qzQwfYPx2gOhmknUnUpwkGQAeNKZrPeT4+ZRtijZYdivlBPmLT5jptYmmtGlzaI4HrxZErJO2yEpzHPkxIRQKw1hyavKscsrvZa9+GKovKlm0s2NTmbu3XVpC4biXBch2sMVfGeKBArM77QKd58kyPXYOgmn/OzBlD9KhWa6DxkCkYoksIHBamNctRFHMlhhfMWPILCuufSrafLNNStxz1dWZzEkTRlASGciASs/zr+mylt60E4WoJG8gEOYGBXrM/esnBvPU6wpuZ68pV27uIfn3X0MUv1GPejnVyqoIHAHahY07NtCTLyqJlgexP8nz2t/kWmyLtSK2bcB3TAKA3jM/p0/yz2XE/pfFIQeyfGIjdlYgfl/iCNGcoHxKGhwTM8YhVyx6OArlPd7k0MQ5rcYxKbx54/wlaP8S6T7ALleCIK+uItHQ5zQKwtSeJf004ZBfmAUlmBBbhtAVItr9coeobfK98z0y9m3evGF6rvKPOSl5yaTLnjV/FRA+limxyjcczRgV/YEnFOTc2az2JmnRoIPT3O0UgU+2mGfDy1WLfUu/MF02utjaPpbsw2we56RjamELTC8ZDXglO0cakwDwIPG2qaeG0M3m4mZbJDa4rMaKAb1kFuZsQP5QVru4IbKonrDM4Ex0sOarpn0hyTQQtGclwRRwz7nEoqwyNSm3av30ZrO8/R5gYX6tvJr95zCjakUbeP9YQ+l6eHJxi2Js8GbbAQzImlK1W3SBkHGGC7aTFy1Lnd30xUSzk1DpLx8IGyzYJVACJdGV8YQ6/r33gPuOK9W7uWNQYRNUr93MX7MSTwylri7+oR4RH0AHtvZuAoK/9ii6AVB8E6xVKCeaLhMXswnVdc1Li3Dyjdsa8hWk1CYvUyqHOG8WcD4pT2bHu0aMwUPr82A643A+7mgwOMqTknwNBas90v4P1Ze4RB7Sfoo915CEKvYqsfiPSA3ATnXNLLi8U6FwRjaHi+HyRuQCCIAcMHfSKjafoNJL57DRHkKZrkp8TjhrkYYsD+x5ptS5yGn2HPOd/CLfja4NLf32iapRhMuqJ7ORm5eE0LO09UD9JeIIshKc2c20lqlOTasb8FSQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T3nzzUiDv7J4V62iTDPFDP",
      "input": {
        "note": "Arm is descending slowly now with the white bowl over the lavender one. Continuing down to set it inside.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.38,
          "left_y": -0.225,
          "left_yaw": 0.0,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01T3nzzUiDv7J4V62iTDPFDP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.6909, 0.9329, -0.0399, -0.6292, -0.5209, 0.0634, -0.0216, 0.8268, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3731 left_y=-0.22 left_z=0.097 left_yaw=-0.0037 left_pitch=-0.0496 left_roll=0.0295 left_gripper=0.0634 right_x=0.2937 right_y=0.0002 right_z=0.164 right_yaw=0.0005 right_pitch=-0.0549 right_roll=0.0004 right_gripper=0.9978\nstate[joint_eff]: [-0.3077, -7.2957, 6.3932, 1.7118, -0.398, 0.0611, 0.2173, -0.0752, -1.4291, 7.0359, 1.6874, -0.0611, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:412b4a18e7a9ea8b148923b70616bb95b0a4ed5c410e1773245787c54b1f7146",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab9df1736486f9317d17e49c6cd16a4b1c3d9dc4eb39d54b1969fcd654f93d79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ded0930eac21a068c5fb447e0c28502da317f14401ec5aedec30757b81589a58",
        "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 · 19.43 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7742, 1.6161, 1.2812, -0.4629, -0.6262, -0.5209, 0.0581, -0.0219, 0.8249, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3838 left_y=-0.2255 left_z=0.1994 left_yaw=0.0037 left_pitch=-0.0512 left_roll=0.028 left_gripper=0.0581 right_x=0.2936 right_y=0.0001 right_z=0.1645 right_yaw=0.0001 right_pitch=-0.053 right_roll=0.0003 right_gripper=0.9978\nstate[joint_eff]: [-0.3897, -8.5675, 9.4427, 1.7021, -0.4029, 0.1099, 0.5006, -0.0342, -1.4291, 7.1453, 1.6874, -0.0806, -0.0855, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7784, 1.6173, 1.1931, -0.3401, -0.6338, -0.5209, 0.0612, -0.0216, 0.8268, 0.5945, -0.3931, -0.0166, -0.0345, 0.9978]\nstate[eef_state]: left_x=0.3848 left_y=-0.2275 left_z=0.1827 left_yaw=0.0042 left_pitch=-0.0235 left_roll=0.0082 left_gripper=0.0612 right_x=0.2937 right_y=0.0002 right_z=0.164 right_yaw=0.0007 right_pitch=-0.0549 right_roll=0.0001 right_gripper=0.9978\nstate[joint_eff]: [-0.759, -4.1368, 5.0667, 1.4335, -0.3785, 0.0464, 0.3101, -0.0479, -1.5521, 7.0222, 1.7265, -0.0513, -0.0659, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.6909, 0.9329, -0.0399, -0.6292, -0.5209, 0.0634, -0.0216, 0.8268, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3731 left_y=-0.22 left_z=0.097 left_yaw=-0.0037 left_pitch=-0.0496 left_roll=0.0295 left_gripper=0.0634 right_x=0.2937 right_y=0.0002 right_z=0.164 right_yaw=0.0005 right_pitch=-0.0549 right_roll=0.0004 right_gripper=0.9978\nstate[joint_eff]: [-0.3077, -7.2957, 6.3932, 1.7118, -0.398, 0.0611, 0.2173, -0.0752, -1.4291, 7.0359, 1.6874, -0.0611, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:412b4a18e7a9ea8b148923b70616bb95b0a4ed5c410e1773245787c54b1f7146",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab9df1736486f9317d17e49c6cd16a4b1c3d9dc4eb39d54b1969fcd654f93d79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ded0930eac21a068c5fb447e0c28502da317f14401ec5aedec30757b81589a58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/AYKEAgSGAI4AUIIdGhpbmtpbmcSDMs01Kxb8+2GNZGgABoMBoFAGY+BeptDpFRuIjC5Z/aC2z0Yp6d9zsZ/XRd8xIWrT3VBGXXH6UexVtRGY9PscaxXsG1Xxaz9/GvpyksqmQZg6Bh04pu5x1ZdxLK8YXYCeaj3g7GQH4/PKYVZV7cg0AOBQTwMtgUeVGUnabTz5L5uA6goUiJ6dqwgBjHZRXI+M1pwbahbR8l7+EIEZN13mFESTAs8dCB1kUt80i+6mAPG+G0krD0/oajOWScLnANbdDM/t1gDmpGdqld6etCUesg+f5I9uQiGAf01rJJCfw0oMtjtC/AJ4TTyYi6BXEmSAK8pIKW62IppjzsFISpGLoHwrGdEOtQfSxlVBGRwvPe2fUfmQ7rEo0SpZZ5vhnuvPb6hx7vMPY3D4Uec1YHRxdHdWe7tMMlXPD90A7B/NN8ywgsQJXUd4ZCTih/tNwTvcq8I2zdPF5sR7BFOqc7vKeq1na5L8Vw86KO42JgXx64gr/GBHdm9Qe33mfUgTYj1ZywFLgj+TfjFAoi+Kah89WTqVDouaY1Cmuky1GzfPe72EvoD4qhVe/foXCWE+Wk0J4z1ZjUPGI4FutrBzDKfaKMisKUexUDkCKwhW3fuGNxjTVi/FB3qvXmgKlKFaJymU8tR1OlSW7eU9wYtCY3FZuh9YtAYUtd6Py722irBKEuzmiaCVonQQ9tcDIOPZh8/zxq8PyIm9/qIKYEMfau84ZGTK81WjcoG1d/2DOWnx+YM+NEXz8svDG5/MZJip74qixXBwrPDK5tiQLdUMlxOaJD4R7tUJ3FXFiSdhtQa7Ny3OYF5ICH607N3E8ZkP0xm4XNnErGzwGHo/MiWeIdltfya3RT3Qq57C8p16uFS//0WwtsB5ocB1AaOUdKJvHbRPQbKTSDox4TdOpXBwiTACfjXbzU/23keqbUdfCERPtuyLK5diSmBGwf0nTta1Q8HOVM7qRcTF+6QdRuz3nSYBtHwC3+VcKHvPoiVmG7yar1fRgl/VXKVmAY1X4VsiinpF5Dir5pNUXr6fg8eIyZtysjjGjotPHlwjSk6VWsfO1rh3LVMf7pSBKLumUgBFm/XslUyfVVXxdTnC0QVUfmF3GtuA/pPn+fX+sm0trqh9WK7ZWP8zKsGCdU5LhoVDk8FK8DFqqVsfW4IGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FuwxeBbvpoBgHmimDLmsjo",
      "input": {
        "note": "White bowl is lowered into the lavender bowl (lavender rim visible around it). Releasing.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FuwxeBbvpoBgHmimDLmsjo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.7077, 0.9157, 0.0349, -0.6296, -0.5213, 0.9954, -0.0219, 0.8272, 0.5945, -0.3935, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3774 left_y=-0.2243 left_z=0.0953 left_yaw=-0.0042 left_pitch=-0.0204 left_roll=0.0007 left_gripper=0.9954 right_x=0.2936 right_y=0.0001 right_z=0.1638 right_yaw=0.0001 right_pitch=-0.0557 right_roll=0.0004 right_gripper=0.9978\nstate[joint_eff]: [-0.1983, -8.0479, 6.5436, 1.6044, -0.4567, 0.0464, -0.149, -0.0752, -1.3744, 7.159, 1.7411, -0.0806, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df3bc2167f60edad6e95e7f29a3dccfb29ece685c939e17f832fdc9d8ed4c06c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:878e0832b7ba8e0b0dd4ab72d123681de92ea39d1f16bc14d66f9b3907aa3ae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3e045fdbbf57db08d20450a5e4fa0f9fbf7630bb801a16e74dca806e82f93f9",
        "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 · 9.37 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7784, 1.6173, 1.1931, -0.3401, -0.6338, -0.5209, 0.0612, -0.0216, 0.8268, 0.5945, -0.3931, -0.0166, -0.0345, 0.9978]\nstate[eef_state]: left_x=0.3848 left_y=-0.2275 left_z=0.1827 left_yaw=0.0042 left_pitch=-0.0235 left_roll=0.0082 left_gripper=0.0612 right_x=0.2937 right_y=0.0002 right_z=0.164 right_yaw=0.0007 right_pitch=-0.0549 right_roll=0.0001 right_gripper=0.9978\nstate[joint_eff]: [-0.759, -4.1368, 5.0667, 1.4335, -0.3785, 0.0464, 0.3101, -0.0479, -1.5521, 7.0222, 1.7265, -0.0513, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.6909, 0.9329, -0.0399, -0.6292, -0.5209, 0.0634, -0.0216, 0.8268, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3731 left_y=-0.22 left_z=0.097 left_yaw=-0.0037 left_pitch=-0.0496 left_roll=0.0295 left_gripper=0.0634 right_x=0.2937 right_y=0.0002 right_z=0.164 right_yaw=0.0005 right_pitch=-0.0549 right_roll=0.0004 right_gripper=0.9978\nstate[joint_eff]: [-0.3077, -7.2957, 6.3932, 1.7118, -0.398, 0.0611, 0.2173, -0.0752, -1.4291, 7.0359, 1.6874, -0.0611, -0.022, -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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.7077, 0.9157, 0.0349, -0.6296, -0.5213, 0.9954, -0.0219, 0.8272, 0.5945, -0.3935, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3774 left_y=-0.2243 left_z=0.0953 left_yaw=-0.0042 left_pitch=-0.0204 left_roll=0.0007 left_gripper=0.9954 right_x=0.2936 right_y=0.0001 right_z=0.1638 right_yaw=0.0001 right_pitch=-0.0557 right_roll=0.0004 right_gripper=0.9978\nstate[joint_eff]: [-0.1983, -8.0479, 6.5436, 1.6044, -0.4567, 0.0464, -0.149, -0.0752, -1.3744, 7.159, 1.7411, -0.0806, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df3bc2167f60edad6e95e7f29a3dccfb29ece685c939e17f832fdc9d8ed4c06c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:878e0832b7ba8e0b0dd4ab72d123681de92ea39d1f16bc14d66f9b3907aa3ae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3e045fdbbf57db08d20450a5e4fa0f9fbf7630bb801a16e74dca806e82f93f9",
        "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_017gZS18EDjkuutpuN3oTSuJ",
      "input": {
        "note": "Released, but the wrist view shows the white bowl landed beside (behind-left of) the lavender bowl, not in it. Parking the left arm out of the way to see bowl positions clearly.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.3,
          "left_y": -0.05,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_017gZS18EDjkuutpuN3oTSuJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3691, 0.8955, 0.6987, -0.3954, -0.342, -0.2569, 0.9958, -0.0219, 0.8307, 0.5945, -0.3927, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3056 left_y=-0.0508 left_z=0.1971 left_yaw=0.0408 left_pitch=0.0143 left_roll=-0.0173 left_gripper=0.9958 right_x=0.2939 right_y=0.0001 right_z=0.163 right_yaw=0.0001 right_pitch=-0.0584 right_roll=0.0004 right_gripper=0.9978\nstate[joint_eff]: [0.2803, -2.2769, 8.2256, 1.7949, -0.0611, 0.1001, 0.0317, -0.0752, -1.5795, 6.9949, 1.7509, -0.0317, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85436775b858ec28c69d4d892ae9f6f434c6d3bb8f6575ffb3cb1e3bbb5b2c0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74096799661037b9c157cf24e0ebde84cbcb8deae9f55aa434f80a7b5e7fd252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83d92c9aac0111684e172301ff6d536dc26f01425e4d4b34c4e16d5b7171e906",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 5.21 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.6909, 0.9329, -0.0399, -0.6292, -0.5209, 0.0634, -0.0216, 0.8268, 0.5945, -0.3931, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3731 left_y=-0.22 left_z=0.097 left_yaw=-0.0037 left_pitch=-0.0496 left_roll=0.0295 left_gripper=0.0634 right_x=0.2937 right_y=0.0002 right_z=0.164 right_yaw=0.0005 right_pitch=-0.0549 right_roll=0.0004 right_gripper=0.9978\nstate[joint_eff]: [-0.3077, -7.2957, 6.3932, 1.7118, -0.398, 0.0611, 0.2173, -0.0752, -1.4291, 7.0359, 1.6874, -0.0611, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.7077, 0.9157, 0.0349, -0.6296, -0.5213, 0.9954, -0.0219, 0.8272, 0.5945, -0.3935, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3774 left_y=-0.2243 left_z=0.0953 left_yaw=-0.0042 left_pitch=-0.0204 left_roll=0.0007 left_gripper=0.9954 right_x=0.2936 right_y=0.0001 right_z=0.1638 right_yaw=0.0001 right_pitch=-0.0557 right_roll=0.0004 right_gripper=0.9978\nstate[joint_eff]: [-0.1983, -8.0479, 6.5436, 1.6044, -0.4567, 0.0464, -0.149, -0.0752, -1.3744, 7.159, 1.7411, -0.0806, -0.0708, -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]: [-0.3691, 0.8955, 0.6987, -0.3954, -0.342, -0.2569, 0.9958, -0.0219, 0.8307, 0.5945, -0.3927, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3056 left_y=-0.0508 left_z=0.1971 left_yaw=0.0408 left_pitch=0.0143 left_roll=-0.0173 left_gripper=0.9958 right_x=0.2939 right_y=0.0001 right_z=0.163 right_yaw=0.0001 right_pitch=-0.0584 right_roll=0.0004 right_gripper=0.9978\nstate[joint_eff]: [0.2803, -2.2769, 8.2256, 1.7949, -0.0611, 0.1001, 0.0317, -0.0752, -1.5795, 6.9949, 1.7509, -0.0317, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85436775b858ec28c69d4d892ae9f6f434c6d3bb8f6575ffb3cb1e3bbb5b2c0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74096799661037b9c157cf24e0ebde84cbcb8deae9f55aa434f80a7b5e7fd252",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83d92c9aac0111684e172301ff6d536dc26f01425e4d4b34c4e16d5b7171e906",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LxY19TVWhUC9eC4jHWv7LW",
      "input": {
        "note": "Bowls now: white (left-front), lavender (centre-back), pink (right). Switching to the right arm: positioning over the pink bowl's right rim to grasp its wall.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.085,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01LxY19TVWhUC9eC4jHWv7LW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9012, 0.6983, -0.4221, -0.337, -0.2581, 0.9959, 0.3969, 1.1465, 0.5541, -0.1429, 0.2768, 0.1864, 0.9978]\nstate[eef_state]: left_x=0.3026 left_y=-0.0501 left_z=0.19 left_yaw=0.0389 left_pitch=-0.0169 left_roll=-0.0078 left_gripper=0.9959 right_x=0.3181 right_y=0.0849 right_z=0.1047 right_yaw=0.0512 right_pitch=-0.1313 right_roll=-0.0255 right_gripper=0.9978\nstate[joint_eff]: [-0.1299, -2.4, 6.9675, 1.9219, -0.2271, -0.0171, -0.0073, 0.1573, -4.1641, 7.6513, 1.8437, 0.188, 0.1783, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:143cbfd80274cb5892a8d72d1090f8f62a92575140d24cbc2579e0f812a5ac9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aedaf1fb21d912c87cc1fd4e88a63f3ae090fead1e0ace7e0442664a18217c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1666306e3bd775db5f74fa609032735a4a9625b526a9d377ee04f4270a0bbee4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 6.347 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7837, 1.7077, 0.9157, 0.0349, -0.6296, -0.5213, 0.9954, -0.0219, 0.8272, 0.5945, -0.3935, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3774 left_y=-0.2243 left_z=0.0953 left_yaw=-0.0042 left_pitch=-0.0204 left_roll=0.0007 left_gripper=0.9954 right_x=0.2936 right_y=0.0001 right_z=0.1638 right_yaw=0.0001 right_pitch=-0.0557 right_roll=0.0004 right_gripper=0.9978\nstate[joint_eff]: [-0.1983, -8.0479, 6.5436, 1.6044, -0.4567, 0.0464, -0.149, -0.0752, -1.3744, 7.159, 1.7411, -0.0806, -0.0708, -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]: [-0.3691, 0.8955, 0.6987, -0.3954, -0.342, -0.2569, 0.9958, -0.0219, 0.8307, 0.5945, -0.3927, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3056 left_y=-0.0508 left_z=0.1971 left_yaw=0.0408 left_pitch=0.0143 left_roll=-0.0173 left_gripper=0.9958 right_x=0.2939 right_y=0.0001 right_z=0.163 right_yaw=0.0001 right_pitch=-0.0584 right_roll=0.0004 right_gripper=0.9978\nstate[joint_eff]: [0.2803, -2.2769, 8.2256, 1.7949, -0.0611, 0.1001, 0.0317, -0.0752, -1.5795, 6.9949, 1.7509, -0.0317, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9012, 0.6983, -0.4221, -0.337, -0.2581, 0.9959, 0.3969, 1.1465, 0.5541, -0.1429, 0.2768, 0.1864, 0.9978]\nstate[eef_state]: left_x=0.3026 left_y=-0.0501 left_z=0.19 left_yaw=0.0389 left_pitch=-0.0169 left_roll=-0.0078 left_gripper=0.9959 right_x=0.3181 right_y=0.0849 right_z=0.1047 right_yaw=0.0512 right_pitch=-0.1313 right_roll=-0.0255 right_gripper=0.9978\nstate[joint_eff]: [-0.1299, -2.4, 6.9675, 1.9219, -0.2271, -0.0171, -0.0073, 0.1573, -4.1641, 7.6513, 1.8437, 0.188, 0.1783, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:143cbfd80274cb5892a8d72d1090f8f62a92575140d24cbc2579e0f812a5ac9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aedaf1fb21d912c87cc1fd4e88a63f3ae090fead1e0ace7e0442664a18217c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1666306e3bd775db5f74fa609032735a4a9625b526a9d377ee04f4270a0bbee4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSggkKEAgSGAI4AUIIdGhpbmtpbmcSDGFFuB3gtgnh/LpgDBoMPchfdnwzvWwFoExHIjCZUzwu6KB6asL4Jzj0UepnVqh6jkDTZrKPjezolGpqeRK7DOTd6pFv3Nw0IQZlq8EqnwjezJ2UZYz875J9Cb/DerC/PuIO7/GstAQuS8ppRHoASodInRt2Nhqt2Jku/6rRc1KPK32wsWWoLYxpFtwhDzPvOR3bptImoeqgCWvRfbl9cnKianMQKszsq5kSgRoCamx1L2kGB8Bu2Ik09jmssh+DT864/ijbvbgUZOGu2iXVd8ieyJXE5AdUdMWz3AhXqQWcT9Mp6pmZSS5PMMshhvVa+64PSOXcVr0v+RLaFrj5CI/oNpiI7nNPzlH5GVKWmra7l+JSlTJCoEuyiPAjLGSa7xKz2LlNULSCc4g59lWWEH/J07FBcCEl+3tR16rpWHLc/mNM/8v5O1DIhWkj4Xh60S5yT7axUkcX3qf2bY8TZE+xkzJoNkfTsrUQcYwMq8f7xj8TEQPrpAFsXgOI5e0AlEAbDc7lwy/Uo/C+0fAA/Uis7SSzXKlwjGoWpKlfvVVFycpNyBlzNBpVKFdU9B6M+OjpKwdS0Yl6jiH+fVWqMViNcvd6s6Er4orgEUxD5E6ki1DC6KHE+1ej/epuD2eCpzKC7OzD1SR1WOb3fTCG92dc7hI17ZoFPOMxzPQIfJyHvzHVHmU04E9LDvgyZcpFfRc6xRhIrPyiq19+w0pJvUulO3OO2K8SKHKiIPMKIETjibzSLFNIdCd8AZR0hoNvlz5e/JmJ+OGin93jmdNHY7GqiG3nz8wWUvgDRKkdfSFeQlpc+KUTU0BORQfC1EbvI7of55zwgA4Tc8KYyv7cg11/aRs5igd88tQCtAW+JLQx7NyKgcdIPtdR/LK16dKHGnrLVQ1rCWize8zyrOMv4jvNmAAzKRlqhBUPYZ+kR9E31+YLjgf8lKWqcgVUCor6y+eGWxo0Z4BQ/VYtP/e3X4TgG+/YN/lnrftQIjukouCSsVDqi1UvIzvUXz18LzoeQOpzQnDLm7N9zK5FHEDUpvMzfb0yPRcUnkHropeyJoyKuO0VIwJOn3WOnBzKRXxUreAcoi660Of408LiKYZjXKObOQLoHfZWLVqZ6FYhubNkmdBENMK5fn2seZCxvu4TI6i27IAs+TRyMwQ7Rgbj8kAQ44jh+me9uyWmJ/SLx4LSCD7IdS1DB7V8vA9x16V25i5hMrp43TfH+1G4/xRvcNE94sRDf+zURpJ1pfZ1oHQKel6ESrMYJ04syDgBs5GZf523PqA/xe2JYIuXRsOHduvrsi+7MKNoZXeffvcT/4mVIBaX9QhhoQogEsx0hOUE8h7Ba1gtA014lDD16nYUUvf2nwE3NniuyiZZOjCi0ArfQ3zi34gHwZsVXTR2ynApGedToqYo2iIsZHgr+R1FI2+U1nC0OUtEoMjBl6oyGINlwcC7tw98Op60KL5LuxuS9pfq0eTkkTcxnBxy9Me3DJVbTIeQEZUnFIvw6nVOjRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017HtzbtHRQ7XVs2F2zmzeEH",
      "input": {
        "note": "Pink bowl is ahead of the right jaws with its right rim near the jaw column. Advancing a few cm and descending to straddle the rim wall.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.08,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017HtzbtHRQ7XVs2F2zmzeEH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9062, 0.6983, -0.4309, -0.3363, -0.2584, 0.9959, 0.3183, 1.5265, 0.4763, 0.2134, 0.223, 0.1375, 0.9978]\nstate[eef_state]: left_x=0.3018 left_y=-0.0499 left_z=0.1869 left_yaw=0.0386 left_pitch=-0.0297 left_roll=-0.0032 left_gripper=0.9959 right_x=0.3384 right_y=0.0742 right_z=0.0132 right_yaw=0.0384 right_pitch=-0.2407 right_roll=-0.0566 right_gripper=0.9978\nstate[joint_eff]: [-0.0752, -2.3453, 6.9538, 1.7021, -0.1392, -0.0366, -0.0171, -0.5949, -6.4615, 5.559, 1.8242, 0.0562, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05656739b0acea791a6310cdaf50963c5ee6ea166d2d41e3c448dbd2de785efa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b6fce5c8c67f49aa2e0b577938fdbb8fd66188e54e6093a5eb8e0b1005a86ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4577603b27937ebe3794dc5e0a1f72f0fdb48c803132de193df81bd304a196c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 4.432 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3691, 0.8955, 0.6987, -0.3954, -0.342, -0.2569, 0.9958, -0.0219, 0.8307, 0.5945, -0.3927, -0.0166, -0.0341, 0.9978]\nstate[eef_state]: left_x=0.3056 left_y=-0.0508 left_z=0.1971 left_yaw=0.0408 left_pitch=0.0143 left_roll=-0.0173 left_gripper=0.9958 right_x=0.2939 right_y=0.0001 right_z=0.163 right_yaw=0.0001 right_pitch=-0.0584 right_roll=0.0004 right_gripper=0.9978\nstate[joint_eff]: [0.2803, -2.2769, 8.2256, 1.7949, -0.0611, 0.1001, 0.0317, -0.0752, -1.5795, 6.9949, 1.7509, -0.0317, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9012, 0.6983, -0.4221, -0.337, -0.2581, 0.9959, 0.3969, 1.1465, 0.5541, -0.1429, 0.2768, 0.1864, 0.9978]\nstate[eef_state]: left_x=0.3026 left_y=-0.0501 left_z=0.19 left_yaw=0.0389 left_pitch=-0.0169 left_roll=-0.0078 left_gripper=0.9959 right_x=0.3181 right_y=0.0849 right_z=0.1047 right_yaw=0.0512 right_pitch=-0.1313 right_roll=-0.0255 right_gripper=0.9978\nstate[joint_eff]: [-0.1299, -2.4, 6.9675, 1.9219, -0.2271, -0.0171, -0.0073, 0.1573, -4.1641, 7.6513, 1.8437, 0.188, 0.1783, -0.0122]",
      "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]: [-0.3676, 0.9062, 0.6983, -0.4309, -0.3363, -0.2584, 0.9959, 0.3183, 1.5265, 0.4763, 0.2134, 0.223, 0.1375, 0.9978]\nstate[eef_state]: left_x=0.3018 left_y=-0.0499 left_z=0.1869 left_yaw=0.0386 left_pitch=-0.0297 left_roll=-0.0032 left_gripper=0.9959 right_x=0.3384 right_y=0.0742 right_z=0.0132 right_yaw=0.0384 right_pitch=-0.2407 right_roll=-0.0566 right_gripper=0.9978\nstate[joint_eff]: [-0.0752, -2.3453, 6.9538, 1.7021, -0.1392, -0.0366, -0.0171, -0.5949, -6.4615, 5.559, 1.8242, 0.0562, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05656739b0acea791a6310cdaf50963c5ee6ea166d2d41e3c448dbd2de785efa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b6fce5c8c67f49aa2e0b577938fdbb8fd66188e54e6093a5eb8e0b1005a86ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4577603b27937ebe3794dc5e0a1f72f0fdb48c803132de193df81bd304a196c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4goKEAgSGAI4AUIIdGhpbmtpbmcSDL3eVt9XCvzgdG6RgRoM5uIo8Wy0B5/eD/RjIjCc4MHxStLve7wJTuGBDcVU0dhNIt2W+Q1MFh+bZRYo2LlmYk+relhle6K043FrvnAq/wleBEc0j4Vxui63c6ZJniUCuzD+XGR0l3+gaych1M6wOR6SnwKBHjbFh7dZ2SnKiqU3zqomII7WeQXnNl4tyj2QucWLe5d6/epTzbl2jlq8r2JH4M3J+9zjWmkCinZxQF6irU3ldPaML7I9Jfn6aUebkzNria3x3CbjYrGMbT7u0ctrNyQ410/yBFAq7h7so9xy2Vxf9ssXHh9mKt1gBeqmmXSnffgTZxc21Fc+WXk0S3KsqK8cBzlkA8LAsd0DSNY2PtYMX09KI22jvYr+8AxvNZUrxSydWtZf15wtk+Au7ii33Cd0L4qeaEHhWztblJ7GR1LDXkeZkCmTCwPi8y8kGfm2q0onJR3QRKl4xvy0IXnaprPKGz54aAuMuCdAgcngrzfAai0CaetfddOysyxHFsj3Si+19hOsfhRTjSRnTM+NgxLFbEGpExkwke+UX2jLxO3Xd4WkfCqXuuzefhS7HA4YLE+fxn+37QGbx4iHgFUityAAsIVXPRA/EqCGshX5OA2biJZb6MUGotHvP6VdkMiBHGh8ojn54juZGx60BQ0V3fpqBVVHAVqD9hHKG+areFDUyaqJVh7L/KmA1CCpBtzqcsJAO/w4TXieQNmhCvL+/lJWXItl6dlQdF+fQJvUcUq3p3JgBhW00OX+0nKySTmPDDxImthxhNexdEtYPUxsZ2TWREGSoNchEAHp/KrvTG+i0KReU8aZBri0fEWI6NuWQRqa1wIhnyYzcq31wa3ncZFwd4dCiXg7s32qU3+g3RNGA8bCZ5pCglrMj6RflQS7ByVYtsM+kum4aAr/QPem7iSRB5tcLLnnw8XkvHlK92Nhu1B2VXbol6pe/tV31uq16aaR5bQvxDiBv/shH+oqrhSgbXTwC6keshpjsmjNe1wCwW9ZLHf4eQPrHcmGl2+b331nKllI1wdTcRmeWv0STYlzn8P5znW/kIIFgcyvy362Nvhw5Je8VpJ3Udlf1nHPvc6ntOw6wKhTgLoMvv1wMOsgXGZKyjPn2PmUNCAzULMoqpGl2qquLF/4w+sfH5nbZGQihwPrXcqMnt6yju/jksA5hGHzaRmVfPcNigqtQS0xqX/fPz7BmXGfzT/3W0lvdVskr8g3K6BFj4ty718C1nIEs1f7KHFyVkE5ftYTGLIVSZO1oU1fvFutwm81KYTPvufZ5bILEnXK1FMZSLWg9MK7+KZDX1/qSID5luvYDKUqH6kIYsv1PLH6sWPbTE7hRpQ8YOA6OKJeNVZkrKnb5y3lIzBQrUrZdGXNjp5qe6bnYWp5ZERdjllK2OKZg9AuEmuJcLv7icGMptcMY7bEQvUAx26IMZ+WXBVt+HcYhZh2X5O0MN4rlrJZ4b2b33/vKkKhqacbsL+qJSrDxn8xoeQ792X2go3X/YUqVlOxk9dAUkiepXMv0S2EnD+aYFjerJNeZ92tAqZ4v6bwhauvQ/uX521EIYIo5MtwnBwJ2Z99r2C55URoz95CGtO4qY9jc401GKoJhNApVgPfgQYNgF1Aqkk1c5iJUM5Q6ZaxnwI1erKdgyo+SX76Ixo35yTnxfn9jswgdnM/VRcMGDEINw8YDvd8W6BEbKTZZU584FTiSpHqDjPkZ59oKGeByBCMnJqJaP0DbWHH2xR72OEuzD3gn6Fm/QD/uS/r1bcVOEBmoA/qvOFpa3/1sYh/+qeHW2WJMxS8S2vtkWYOGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014Nv4SbmeGdW5wApzaYsaie",
      "input": {
        "note": "Jaws came down short of the pink bowl (bowl is ahead of the fingers). Lifting and advancing ~5 cm so the rim wall will be between the jaws.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.07,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_014Nv4SbmeGdW5wApzaYsaie",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.907, 0.6983, -0.4328, -0.3367, -0.2584, 0.9959, 0.2527, 1.4891, 0.8024, -0.136, 0.1768, 0.0834, 0.9978]\nstate[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.1863 left_yaw=0.0389 left_pitch=-0.0321 left_roll=-0.0019 left_gripper=0.9959 right_x=0.3864 right_y=0.0714 right_z=0.0875 right_yaw=0.0429 right_pitch=-0.237 right_roll=-0.0576 right_gripper=0.9978\nstate[joint_eff]: [-0.2256, -1.8393, 6.9402, 1.6777, -0.1734, -0.0806, -0.0171, -0.5538, -6.7077, 8.759, 1.4872, 0.1001, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:651a6f40dee9abf3ff497af8ffa72fd024a7cd84c4465477a457b97552015e4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cfb0ca0ca512348d5b9423f209498ca9308a2d38ff3edb506f3937a50508617",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:632d5afe4ae828f365d51cb0cb310ededf34a2345e0ae2a796cfd48938c676b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 3.643 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9012, 0.6983, -0.4221, -0.337, -0.2581, 0.9959, 0.3969, 1.1465, 0.5541, -0.1429, 0.2768, 0.1864, 0.9978]\nstate[eef_state]: left_x=0.3026 left_y=-0.0501 left_z=0.19 left_yaw=0.0389 left_pitch=-0.0169 left_roll=-0.0078 left_gripper=0.9959 right_x=0.3181 right_y=0.0849 right_z=0.1047 right_yaw=0.0512 right_pitch=-0.1313 right_roll=-0.0255 right_gripper=0.9978\nstate[joint_eff]: [-0.1299, -2.4, 6.9675, 1.9219, -0.2271, -0.0171, -0.0073, 0.1573, -4.1641, 7.6513, 1.8437, 0.188, 0.1783, -0.0122]",
      "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]: [-0.3676, 0.9062, 0.6983, -0.4309, -0.3363, -0.2584, 0.9959, 0.3183, 1.5265, 0.4763, 0.2134, 0.223, 0.1375, 0.9978]\nstate[eef_state]: left_x=0.3018 left_y=-0.0499 left_z=0.1869 left_yaw=0.0386 left_pitch=-0.0297 left_roll=-0.0032 left_gripper=0.9959 right_x=0.3384 right_y=0.0742 right_z=0.0132 right_yaw=0.0384 right_pitch=-0.2407 right_roll=-0.0566 right_gripper=0.9978\nstate[joint_eff]: [-0.0752, -2.3453, 6.9538, 1.7021, -0.1392, -0.0366, -0.0171, -0.5949, -6.4615, 5.559, 1.8242, 0.0562, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.907, 0.6983, -0.4328, -0.3367, -0.2584, 0.9959, 0.2527, 1.4891, 0.8024, -0.136, 0.1768, 0.0834, 0.9978]\nstate[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.1863 left_yaw=0.0389 left_pitch=-0.0321 left_roll=-0.0019 left_gripper=0.9959 right_x=0.3864 right_y=0.0714 right_z=0.0875 right_yaw=0.0429 right_pitch=-0.237 right_roll=-0.0576 right_gripper=0.9978\nstate[joint_eff]: [-0.2256, -1.8393, 6.9402, 1.6777, -0.1734, -0.0806, -0.0171, -0.5538, -6.7077, 8.759, 1.4872, 0.1001, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:651a6f40dee9abf3ff497af8ffa72fd024a7cd84c4465477a457b97552015e4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cfb0ca0ca512348d5b9423f209498ca9308a2d38ff3edb506f3937a50508617",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:632d5afe4ae828f365d51cb0cb310ededf34a2345e0ae2a796cfd48938c676b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQgKEAgSGAI4AUIIdGhpbmtpbmcSDBwzfjJsL9QcCOcEkxoMRNcXrZedY3LGR8rpIjCKwIxwQEXpQ1YM17c7OHOq+dzx1hOtIP3Pwk+myESWp6LdIZLatekSIgGeaGXcI6Iqsgf5KaR4TliE1EXTqbTEVfiB/3peFa9BA4xTjENAhKnwiG3mvff5m9Zob/AogXWaYxDjjJ7J/HAOWOBux12rC8gSs8uikYVCNvoZBRcl+JhVpafT7bWd5nae/Kt0qJx3C39IaLSd/qu+2nr4na84uqFAP+XwJkIhJicpsj/I9djK7GICtxwwD6Z4vmAAk0FGJWOy0GwQ9K75JA0dRJavRMGR2gQmXGjLrs1TdyN3s2bklgGJ5KNrTc6plrzZUr2yLzXkD/zoWriVqWJIsnFtx5ysxJaFh8CHMGCCeFbVJNvX6+0863mjEkf2FpEk8aZumDpIuOBLuBRJ7tby3ATeqygyMYizVoIgnZa+FW1uUrsdYmYyzJfL+AoYOrtHMMJXxpWXDXRiHuptkkZ4bCbP0zohE8mTvoiE9JLZyvleolIBZAcOulOmYN0H4apJd3PyMLhhGsmjcF1sFO0se/5eK2P9MhmiB45tLHsFMDbjWluJYsVJRIeW4hNRJqlCthkH0e2h9HwjZ+cLKikytgCw3M0jEE8AIjvUavMQLiO9xFIB3v0lJ3ZWZnTT4zKeT9xYTlTbo9vkWqLlyDEEEvrhFCQSWt6ODVAdQsmT9mMhtwzjP0a/poWSXpyLtW5EFyE/jUcqBs3zrd9FGp8VTUuyTL39cdSKTZfgbQ2pFGB5BOO3AGmYVQsai3HSj5Jd5tRsVjPu2ft8SazbiNl+cg5/xb2VtZ4vuVuDV665UsNy8/V0jycN/qHr8lcIr8vV2AUe+GU2hU8e61IQKewgn9wg1YYKpssTgyVxPVnnyPAeRKsQz0AXGPuWiTYWIksPBbvTmZVbYwVHH/Yz2+LhH96vu2U+E1xOEMM5+iEHJ4d+VM2GkDljAJvsAVw3ZdUAq5OIGU4aGblR5Ap4+bHKyG+wL2gd/+f38VehzzlNlCRKinMHKwu3+5fG40wFv93DgIdf3kLR2ulizmcNEGCk2Cm5dFeGFV6RJWnRXk1AOuBrAAJpQ83S7kfElzW6HN7Pijf5hZ3RwvEQOXA8DJoqagJEl2kBII/r2UtUrsU9Xsyw83UR555Uz7e0pQ9OFRI412hkEdFc8h648F++eMGFOPaIa86j/fCWeVAtnMaEH4dvcokqIiPEo0FUPzPxHOhswRTzbWd00Utui9h3vON/vzk1eJzlWUOu+iwuNMYgrSi8DuvefXRKcj3V+kS53Glo4Y/n3Heqf5VKIqHu/IDGJPnF+pBijJqN1rXMeuVQXyyewCWql+ILGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SGMxSbMW6aiUGmYWWYKjZR",
      "input": {
        "note": "Pink bowl's right rim now sits on the jaw column just ahead of the fingers. Descending (with a small advance) to straddle the wall.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.072,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SGMxSbMW6aiUGmYWWYKjZR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.91, 0.6983, -0.4339, -0.3367, -0.2584, 0.9959, 0.2466, 1.6718, 0.7258, 0.028, 0.1734, 0.0769, 0.9978]\nstate[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.1853 left_yaw=0.039 left_pitch=-0.036 left_roll=-0.0002 left_gripper=0.9959 right_x=0.3817 right_y=0.0684 right_z=0.0173 right_yaw=0.0376 right_pitch=-0.3311 right_roll=-0.08 right_gripper=0.9978\nstate[joint_eff]: [-0.0068, -2.2085, 6.9265, 1.6288, -0.1538, -0.0269, -0.0171, -0.3761, -8.1162, 6.106, 1.7411, 0.0073, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbab4f50dfba87c60db8a37375cf17f8b68c41969c3298daddeb47a984e7e7db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18a84444843e2253ee32470391f51240a924a6dbf3cd45e0f84f52253cf40414",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f61a9a32f80342c7a357d10fedb436e26ea8c72e2d97862c15c32dce2752a77",
        "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 · 14.56 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9062, 0.6983, -0.4309, -0.3363, -0.2584, 0.9959, 0.3183, 1.5265, 0.4763, 0.2134, 0.223, 0.1375, 0.9978]\nstate[eef_state]: left_x=0.3018 left_y=-0.0499 left_z=0.1869 left_yaw=0.0386 left_pitch=-0.0297 left_roll=-0.0032 left_gripper=0.9959 right_x=0.3384 right_y=0.0742 right_z=0.0132 right_yaw=0.0384 right_pitch=-0.2407 right_roll=-0.0566 right_gripper=0.9978\nstate[joint_eff]: [-0.0752, -2.3453, 6.9538, 1.7021, -0.1392, -0.0366, -0.0171, -0.5949, -6.4615, 5.559, 1.8242, 0.0562, 0.0073, -0.0122]\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]: [-0.3676, 0.907, 0.6983, -0.4328, -0.3367, -0.2584, 0.9959, 0.2527, 1.4891, 0.8024, -0.136, 0.1768, 0.0834, 0.9978]\nstate[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.1863 left_yaw=0.0389 left_pitch=-0.0321 left_roll=-0.0019 left_gripper=0.9959 right_x=0.3864 right_y=0.0714 right_z=0.0875 right_yaw=0.0429 right_pitch=-0.237 right_roll=-0.0576 right_gripper=0.9978\nstate[joint_eff]: [-0.2256, -1.8393, 6.9402, 1.6777, -0.1734, -0.0806, -0.0171, -0.5538, -6.7077, 8.759, 1.4872, 0.1001, 0.0122, -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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.91, 0.6983, -0.4339, -0.3367, -0.2584, 0.9959, 0.2466, 1.6718, 0.7258, 0.028, 0.1734, 0.0769, 0.9978]\nstate[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.1853 left_yaw=0.039 left_pitch=-0.036 left_roll=-0.0002 left_gripper=0.9959 right_x=0.3817 right_y=0.0684 right_z=0.0173 right_yaw=0.0376 right_pitch=-0.3311 right_roll=-0.08 right_gripper=0.9978\nstate[joint_eff]: [-0.0068, -2.2085, 6.9265, 1.6288, -0.1538, -0.0269, -0.0171, -0.3761, -8.1162, 6.106, 1.7411, 0.0073, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbab4f50dfba87c60db8a37375cf17f8b68c41969c3298daddeb47a984e7e7db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18a84444843e2253ee32470391f51240a924a6dbf3cd45e0f84f52253cf40414",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f61a9a32f80342c7a357d10fedb436e26ea8c72e2d97862c15c32dce2752a77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+wYKEAgSGAI4AUIIdGhpbmtpbmcSDERuV5QHvfN54ZhjgxoMXyfUmZDLZyoRyVb6IjAY5Nvb1igKqzrttWb+CtlywxzLkGTpT1X3Z98CG4TUmJG1qXIg8VFla3cTfZeHwnkqmAYV29kUsgsAIV3u4ZKXknvitIKxebX/5zAWIL02W9UA9FjpOcJCUjBNOwnrNjf7SiJQOLkAy/vHTTrYWB/VPnrpMIJeQl4JMuCFVb2eRQT1v5TnJpQ934uNTZcyF8K++C/cueGggOtsONVWt7g/VbGVeRaVfjShywc82ghxRJzL7TYVQiRkk3PchGfQkDcs+1VkDwOpBqhub1DzJUJb45V01tiWiKX4eKuRF13J6Hazk1Nk+PR2tKSyk1owbEqPmPht6Cq0WKc/2hSTRx+YXcQR+LcpgjTxzaGRT81M/A6CFKBKS6L5Uy3kFUcmh1flPqrXM5o678kyuKEB/ynvdFgVtwUojtTIMTK6Oid1Eop/NTPI50wZfjGSusfCdseDLkSt7/H1+goDfppQyg6qtICafdN8pZo0Zso7cwEZiY6B7bWujqjXl5izwNQ+h7IzrlaAv2ZXEQJU1yaKvPR1SNt6taRXkfT8VVwCaAAxmJrM3ccq2QrpsaQEuHcOBOY8lg+nD9U1lrPT4+pmOvvG3jN0tifo0kSzc1Mbtjm6vu+p2yAML5JPhER811z3ENLTyLTaDU3ZqU2Dc7Ei9d6Q2FjOxH8CfXO/SmUinC+NDZSGpjyVOTqpn0otxGLPE1kPiSqpQZc4yJ76aOu+WydhCSR04iVyAaE6S0AoHBDUuVQj/Cjjyprun58RMOZbn/kWW6eMpUsAxWBwLVHlHE1KV9FWakH8cDvMfjhikXUj10qqdDxIOqiDuv1etDz/NPRTHwt2LCg1nc7iSH97NRkqgUQnz/FDDKR5GhyTJ3XQYHcHKa1X+2gjEkbnqfL/LtCtIBIkNZrlXF66zTM9z243bNIKNOET8IFrU21VWZ6k+5zDIrXwYmNLC4JLGmmYu7MKkUX0NUS/+Ps22RK+io9HqCa6lkNJAZYQMRocqdaY2u+VU/DBXX0v+j5NPxF/l2Cuo/t30cLYiIIBwSx62e+NMYaK8QwlCcUrqBGZvymhBy7AKLsqPaovbxtit1eGnSeqc+WHMP5yFXrV7kMD3Dj5w5B4LCsfrZ3wUWEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QfdQEp2ENBde4ropqyKTVF",
      "input": {
        "note": "Pink bowl's wall passes between the right jaws at z≈0.017. Closing to pinch it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QfdQEp2ENBde4ropqyKTVF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.91, 0.6983, -0.4339, -0.3363, -0.2584, 0.9959, 0.2493, 1.6604, 0.725, 0.0574, 0.1474, 0.0814, 0.0991]\nstate[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.1853 left_yaw=0.0387 left_pitch=-0.036 left_roll=-0.0004 left_gripper=0.9959 right_x=0.3871 right_y=0.0755 right_z=0.0251 right_yaw=0.0629 right_pitch=-0.2956 right_roll=-0.0477 right_gripper=0.0991\nstate[joint_eff]: [-0.0205, -1.812, 6.9265, 1.6093, -0.1538, -0.0562, -0.0171, -0.3624, -6.2017, 6.0239, 1.1453, 0.2711, -0.0757, 0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2969d2aa64bb222ac2782cb6e3cb1ad7b6bd712f68a8ca9d1b6627e0587d2828",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd47393bc7fda3a48cec256b3fb1d80bd4714ac38816013213e8aef8da59a68e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:632694424ddc19329d884efe2bea1968a158c1fe6bdd731ae08f090d607bee2d",
        "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 · 4.904 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.907, 0.6983, -0.4328, -0.3367, -0.2584, 0.9959, 0.2527, 1.4891, 0.8024, -0.136, 0.1768, 0.0834, 0.9978]\nstate[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.1863 left_yaw=0.0389 left_pitch=-0.0321 left_roll=-0.0019 left_gripper=0.9959 right_x=0.3864 right_y=0.0714 right_z=0.0875 right_yaw=0.0429 right_pitch=-0.237 right_roll=-0.0576 right_gripper=0.9978\nstate[joint_eff]: [-0.2256, -1.8393, 6.9402, 1.6777, -0.1734, -0.0806, -0.0171, -0.5538, -6.7077, 8.759, 1.4872, 0.1001, 0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.91, 0.6983, -0.4339, -0.3367, -0.2584, 0.9959, 0.2466, 1.6718, 0.7258, 0.028, 0.1734, 0.0769, 0.9978]\nstate[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.1853 left_yaw=0.039 left_pitch=-0.036 left_roll=-0.0002 left_gripper=0.9959 right_x=0.3817 right_y=0.0684 right_z=0.0173 right_yaw=0.0376 right_pitch=-0.3311 right_roll=-0.08 right_gripper=0.9978\nstate[joint_eff]: [-0.0068, -2.2085, 6.9265, 1.6288, -0.1538, -0.0269, -0.0171, -0.3761, -8.1162, 6.106, 1.7411, 0.0073, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.91, 0.6983, -0.4339, -0.3363, -0.2584, 0.9959, 0.2493, 1.6604, 0.725, 0.0574, 0.1474, 0.0814, 0.0991]\nstate[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.1853 left_yaw=0.0387 left_pitch=-0.036 left_roll=-0.0004 left_gripper=0.9959 right_x=0.3871 right_y=0.0755 right_z=0.0251 right_yaw=0.0629 right_pitch=-0.2956 right_roll=-0.0477 right_gripper=0.0991\nstate[joint_eff]: [-0.0205, -1.812, 6.9265, 1.6093, -0.1538, -0.0562, -0.0171, -0.3624, -6.2017, 6.0239, 1.1453, 0.2711, -0.0757, 0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2969d2aa64bb222ac2782cb6e3cb1ad7b6bd712f68a8ca9d1b6627e0587d2828",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd47393bc7fda3a48cec256b3fb1d80bd4714ac38816013213e8aef8da59a68e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:632694424ddc19329d884efe2bea1968a158c1fe6bdd731ae08f090d607bee2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5RMKEAgSGAI4AUIIdGhpbmtpbmcSDIC6VBUssC65k7OnhBoMAY0u3hCX88NDLDd+IjCedS0fPr5cjqiAwLT67FU4hM7GioxE5KphlLh4DnyD1S6g67ZPHT1xFi5ecCFAMV8qghOlLy3N03wjOs2JzWJeojsKEaUSvkaGWwbijCQygoq4TQu3KmK5DOQVzdAlO7C9NNPqsVpsg0O2czw3/PxxyYWa0xcDd3Du4AJiG/+GUUnQRsJkvFdkOLSS6BuXG1rvWMa8NVg4dsVNiQlz24oTcK/6rd9itRVHxybUuOMFtkLF5t4VDQ+vY9PdbD8wSX8615VMrF7kn9471eUz+92caZlx2k5fCZwKafXlxLkNDCBA6xh6zivbcyKgSubEdp8YeVIZTQpxRHSpThtjwPQxhadbFu2FPgWwaUZnmI98+W2cX7YMa++55xCfgrj3Dft1er5xhicAcZxO9AnOyOHEueY1t1VBvKwblR26n8+XaaJSMtCf4AW44ZhPBhXp5FIX4jyKmNwj8Uf4jq1z8TyuNTDCTe8BTQXcBWgGdYSZycYw8ntZ3AGFEy9/8pRcNeJ+BeVfWGSMbyAccEY7hd3j4uWzk+IPD7SueJgTWgQQBEaFCBtJ9EcZmt1V0evcNgI8g+bOkCb0DF6Z7ovDGchRy+NcOPSpEL7/lDl1YpqEFnKwT22LOSvbUrAGMDqJSLHG0u8MxoERGzoJcz4znANDEdrUot6W4YeBdzEoruSE+qzNXJGTFX9rhcIKV/tuuQFGxNBydYo3kOdX5BmSiqCeMTHYaDwSF/NpiDxMGQb/zTSuJZtcBd7DZ7+nTXU+4d8Eo+0FmAAeRZ3E54UEVkKfI1D7KCyOMejou0auPdTG3nSO1LRpRkeszUoxI3XvdC+9nJLKogLYpyKFgX0ff8VRHJYC7s6Et5MMfe0ikjg/lJSiqBAbZEZhHttTrTUbHu4wSiOOxAGWUbKqbgWZOdEXXSRm3lGJh8lNqiqzmO+qDobT692oBZstIq1OreELYmWKQXretBe1uRryAAgV+n7IPcFF7vnmTs36nb2qcEujwywMPFwK2+xHSoVXl3Ecg1Yvy4dTVWPczYun7jsRWeOU+HFdAA592TvKtvdTw5NufhUc1SVC//JyVzVGy9LJHJs8kJdDciXVSR+OfVhI3OONzSylPEgT+PmU/vBWZYqPo7lOjszS/1RffYnEV9f6Hf0Zn4NzmTisWbQ6AyUi9J4xMwAQgduL1Apoo1IWQDHJEZonh92NC2ocHeYpb4MTTpK+hjAhDvWpOCYUoQq4Mwjp6ocxTHBK8LOr449oidJe7mBeye/XsZ90/8EX/VI6MiEPUhO0fjRIzWzfUwN1gHc9xRHSpmZShPpI3LCd241k85sLy+HZoavxd9B5OVPb04e9dYR3FB1dWM4F1+dH4NI7yrUA2ILDcuy7R/FfAsbVlS7m/FvBQCGcNN19lP3SMEnPFJNg4r9In2l/4ttkGp3XRm84GWd1u4nM3/KgxWfWnzZe2io/O1M1NrrW0UXAF3ULaPbnuAFGvaSy3MoSaMyEissBHkPWKrzx2kiWu/akxekInLm6/cZ05qArsKm4NnsQXjAEFqsJHDNyNA5dc9sxcxCbi2u5ZOnWw8dQ7oR1PTsrpq2rgu3jZkCA48GwGVI6p335C1Ta7fn3clsNDh7mJFVfHNbN/275Kb28rS3g4XQ7WKGxTFBfMp/dFM8c/CT3Sepc91JYGCXahxAWHiyKC2iEq99Gb3iY0QSu134sm1pFj1yoIF1tV0rdQFq8HyCl2mkxIFgJhit+LkhvSM6/WbftpUuZBkHUV8gU2wKyNN0TqlMZBwUqK05/0NsPPS8/jW8NUPh4NANcHQ9KzemM6E9CO/At/Vxp6jTedzpAg48HmHXSbANOR6QhEQik2CWdvwUmVry8MH1ANlZCgt3kjDffn//3UGMT5XIHmZg8sbnJT0z4VvGSMdZpZVS03hoMyIjuTJldTRjoBWHji2HtzDxhruRcoDa1zNDYCftA4vPYMV9VmqSip3KSlZJhCLnA+52T7+5/L8Zj5Wz1pwGz6cxSq2K563SmzdH+yvDcN7oU70LShq8hTCxSRa/AKNT4Aegj7ZREnPLKi6k5vvJ0VMW7O8nFDR/FTheP/9DIPM04FxLrxpp+QF5Bouzx0YwlMDWzSh1wlRmj+pKkHab7QB316fC+mDoP+SPCPLKIXWXrA3tDqhrh2+OgAzUxPNx6XhkkI8BYTmZVDxY6ZFpfx7qXdwTJvQbrDuP1MSOTN90/WljG4gzgS9Hm7nZ17WeHnk+zlUIKJddfLinrMrhrC0BEXPqtrqele/w/jksPNzmyfRMKwG8g96DVsp/LHin6cJk2lWep/cdy456lgiZeEubjB+cY4PjvUHENvtJaO8h9ooRg7L/1DXGBFtvCJGXf5BoQcL+TlnqEhxN4DJdEIXzCxkpclmRF38+lMRRiQ4iFJLVvtZwmLQSYUbpoxidpWQCfB0anuHd08IbQ8YAF7DdDm1M9bi/cS4CQvIsFdnQIOx/YG/PaQG+XfvhzAixbsZgIUl2sjcdBoThuj83qJXLSYLoxK3vzRg4D9O65td8xWZSvPw3As1rord+qZ6n+pykYDrKkDAh4CAZCbP58pMalv4hkdCKYYu9AX3T4xT9QlE4n/PkIlKY9PhjdZ0aFftpDa563myn9fX3QZpVe6Ds8JA7wOSjBvOj8wdFYxA2/Q+W8fguowvk/FxYWe5dUailaOKm6WhBz3k/ljMGkrqhS50AlFm77eKHJRCCU+rUeq7H/ofzRGlW6HCKN0icZ4oosdI8JbLX0UZESuJl0EjPGuC+agQQg8f0z+vv5isizDs5d5oPoBBBfvHPWJfgCZ6z8onOFusluEvlNn49wjvWi1KbrRonXcn12uCGy7SGmswFNs6ayM2+VLUL1u185cEHQCLUXNAAfRtcSc3GcZqx1AtjByEd5PZAphINTMdMmrxFzOmTFiWFrsfQxB5C6itHDvVYAmhTDUlVU4kPo22sphFFS3MwJjv70z7qAgIjHPm4rhJEwmLZWaI5U02965Auw3obpFt1b4vdhsxk6TMtp0toOXLDEhg+TxYwkEvKVI4qhSLguDoVTTSOaWEGwz9YNANv0cCqpfCd85g9xGrjcs9boSIo7hKPLW4w8BJu5m0vzATg+Bd8+dPor77dKmYoqQeylns6eZZq1/kE35xWjqWi6fwI/GbWdXE+nQ9iW9XnGlxsQfQCvEBU9rGywaJksJiiWKoTwS7im6eQBnfLf6lB/z3rvCflGa70p47XrIE1SsF9ULlquCiUcXdBHTXCTVlnU0KBVFR8opehxfbIj53BW6N/h90pqHN/fEI6R1upzGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NEe8rXZJRTgafyFfPTGtWL",
      "input": {
        "note": "Right gripper settled at 0.099 on the pink bowl wall — a grasp. Lifting it high and heading toward the lavender bowl (back-centre).",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.15,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01NEe8rXZJRTgafyFfPTGtWL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9108, 0.6983, -0.4339, -0.3367, -0.2584, 0.9959, 0.4374, 1.6512, 1.425, -0.6834, 0.2371, 0.1951, 0.0987]\nstate[eef_state]: left_x=0.3017 left_y=-0.0498 left_z=0.1851 left_yaw=0.039 left_pitch=-0.0367 left_roll=0.0001 left_gripper=0.9959 right_x=0.4164 right_y=0.1528 right_z=0.188 right_yaw=0.1071 right_pitch=-0.3052 right_roll=-0.0502 right_gripper=0.0987\nstate[joint_eff]: [-0.1162, -1.812, 6.9538, 1.6679, -0.1441, -0.0611, -0.0171, -0.1436, -7.3231, 8.9368, 1.37, 0.359, 0.3248, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa87912a08eb335a97c730d4ba21a01d243a15017e0b963d25d9f65204967611",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06c59177a89beb394a41e1737197e37f1801b6d2bb16963f6db48fd55c689a3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fac98eec30551dae1fb2d64d7b33ff1d5734985b9500b080e265b858400eca80",
        "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 · 9.972 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.91, 0.6983, -0.4339, -0.3367, -0.2584, 0.9959, 0.2466, 1.6718, 0.7258, 0.028, 0.1734, 0.0769, 0.9978]\nstate[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.1853 left_yaw=0.039 left_pitch=-0.036 left_roll=-0.0002 left_gripper=0.9959 right_x=0.3817 right_y=0.0684 right_z=0.0173 right_yaw=0.0376 right_pitch=-0.3311 right_roll=-0.08 right_gripper=0.9978\nstate[joint_eff]: [-0.0068, -2.2085, 6.9265, 1.6288, -0.1538, -0.0269, -0.0171, -0.3761, -8.1162, 6.106, 1.7411, 0.0073, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.91, 0.6983, -0.4339, -0.3363, -0.2584, 0.9959, 0.2493, 1.6604, 0.725, 0.0574, 0.1474, 0.0814, 0.0991]\nstate[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.1853 left_yaw=0.0387 left_pitch=-0.036 left_roll=-0.0004 left_gripper=0.9959 right_x=0.3871 right_y=0.0755 right_z=0.0251 right_yaw=0.0629 right_pitch=-0.2956 right_roll=-0.0477 right_gripper=0.0991\nstate[joint_eff]: [-0.0205, -1.812, 6.9265, 1.6093, -0.1538, -0.0562, -0.0171, -0.3624, -6.2017, 6.0239, 1.1453, 0.2711, -0.0757, 0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9108, 0.6983, -0.4339, -0.3367, -0.2584, 0.9959, 0.4374, 1.6512, 1.425, -0.6834, 0.2371, 0.1951, 0.0987]\nstate[eef_state]: left_x=0.3017 left_y=-0.0498 left_z=0.1851 left_yaw=0.039 left_pitch=-0.0367 left_roll=0.0001 left_gripper=0.9959 right_x=0.4164 right_y=0.1528 right_z=0.188 right_yaw=0.1071 right_pitch=-0.3052 right_roll=-0.0502 right_gripper=0.0987\nstate[joint_eff]: [-0.1162, -1.812, 6.9538, 1.6679, -0.1441, -0.0611, -0.0171, -0.1436, -7.3231, 8.9368, 1.37, 0.359, 0.3248, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa87912a08eb335a97c730d4ba21a01d243a15017e0b963d25d9f65204967611",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06c59177a89beb394a41e1737197e37f1801b6d2bb16963f6db48fd55c689a3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fac98eec30551dae1fb2d64d7b33ff1d5734985b9500b080e265b858400eca80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgwgKEAgSGAI4AUIIdGhpbmtpbmcSDPK590pJRFBASx5LNBoMDaS9w3RedT67OXfRIjBT7DSa4m/xhib2zM8exy632WNuHz/9zcCeKHWsKWjm/uH11rC2kTjufuBTDeEl7hQqoActwnBO3tr58QJBRPpWGhnbp/KFwpSY2QrIbWW0YfYn5KkXl54WYNloKil2K1WKKi9QN41kpT9KcfW+XCsjZp5WRxo4Ii5BDLfLqM6t7ZRPT8XJkEUQxF9W+csKjleSmU5vXrAgizvTO90VYwfg8sP8YIWGGym38ui5jL9no4hPSaiX40SXZd6DsMZ0g7B3BncID+mp8D0o3Mr0Z0GUCaqfykZp2APXDRX7m0uXUs+u6ooPrd6EnZM7/WqU5AAzj0cjigUWysLYtVgqxeX5k0tLPHO3MzRCIMx0s/Yjyo1xyMWPd+I/sZvmVjnGR7OL9pXOxZbPe33kAaVw/hLHfOrz2tgXgBfUhNOyGk1/e1oREoHcX8gFQcdKRU8+/6dImgXIvBo0SyMaI0M+TpoVBIL/Q3vBu+EgQsV2MoC1++K93nOKq6XlZ3gAABu0IIyCTikh5NxJTBHMtvwVKTSVwk9Q3YbPhQK6D4Z/6O3l8SIZ05V5BEDoK7wbJmrfHewsjPiUsC0NNDYZyf2xbXVJlYbjWaOEDk+2ZVFwFW1qHezn5fjGrncvXrZeAgpCYass6vLcFki8zVfwGoQH5hp2OGR5VqLzotdcuW/WSGKGem56pZEiSfSKDDjRpXDj52BU8hCF2aPDNzYesMLYf5PyL2pjmDlPgz3THvPs2gJ79n0TvKBErgKlxPdM/vPXUNLdDEL2rLRryD0VylHWfpzneBbnSVPb0KYVAUuWriurmk2nDkkI/5Ax650g79KcSTmWQkt3IQs/+cBnlzYMT63U9j5Wd3imAFtVvfEKp8VbsbSgNzVPyWEtTdJX22snYSptcYfq9gGo9TMjtz+90MnVGEtNLVLli5qN/Jf9GnxAr/euHZmMk3O05rKoquukaaACVg07xaMuFlA6Us5YJbauY2fVgoEcqrZ66v3xZtpHkUtRTuI2OyXTgGqr27bEjCM0txV27yYd+j599mDwou0jvrPQRjZuxf/KRiJAiAA9c9hwzIMJgl6HTencXrCvECH8blRKYhfdoHApYcWTHplD21aon0DycAjQMdpORzX9/dJhw+Cd9oToRY3BpGaSqXo+ZbGh3x3AxzERcdhMvHJVttV3XyJ0iSr9kCowhjLnttgPa+ZzMMP3IeQ82X+KgLDAPbNdGq0Xnyx038ILR3/9ZL3lyPV8C504/LygrU7TUyqolT4nfwWzc7thYb2Lj1V39RBLtpxejo3UsD/apNjSjjNUGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014cSAYwZqQo697Yt3JXaQCg",
      "input": {
        "note": "Pink bowl is held; the lavender bowl appears to the left and a bit ahead in the wrist view. Shifting ~10 cm left and ~3 cm forward over it.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.45,
          "right_y": 0.25,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_014cSAYwZqQo697Yt3JXaQCg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9108, 0.6983, -0.4343, -0.3367, -0.2584, 0.9959, 0.6807, 1.8198, 1.4311, -0.4206, 0.5014, 0.3584, 0.0987]\nstate[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.185 left_yaw=0.039 left_pitch=-0.037 left_roll=0.0002 left_gripper=0.9959 right_x=0.4318 right_y=0.2451 right_z=0.1678 right_yaw=0.058 right_pitch=-0.1189 right_roll=-0.0668 right_gripper=0.0987\nstate[joint_eff]: [-0.1983, -1.7709, 6.9538, 1.619, -0.1587, -0.0611, -0.0171, -0.1846, -9.6615, 10.6325, 1.9219, 0.5788, 0.2418, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4f29b8469d91ee8c2c40544298d7dd79dd459b5ee0839b425d45ae5f616bd7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f1d566b282616e1af6499c20ff55d0457b972644a8e3d03c2e7ddcdef608434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ed179ce247fc713c33a7168e4737fbc8073494135f472abdcfc53dc60fdff98",
        "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 · 11.47 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.91, 0.6983, -0.4339, -0.3363, -0.2584, 0.9959, 0.2493, 1.6604, 0.725, 0.0574, 0.1474, 0.0814, 0.0991]\nstate[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.1853 left_yaw=0.0387 left_pitch=-0.036 left_roll=-0.0004 left_gripper=0.9959 right_x=0.3871 right_y=0.0755 right_z=0.0251 right_yaw=0.0629 right_pitch=-0.2956 right_roll=-0.0477 right_gripper=0.0991\nstate[joint_eff]: [-0.0205, -1.812, 6.9265, 1.6093, -0.1538, -0.0562, -0.0171, -0.3624, -6.2017, 6.0239, 1.1453, 0.2711, -0.0757, 0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9108, 0.6983, -0.4339, -0.3367, -0.2584, 0.9959, 0.4374, 1.6512, 1.425, -0.6834, 0.2371, 0.1951, 0.0987]\nstate[eef_state]: left_x=0.3017 left_y=-0.0498 left_z=0.1851 left_yaw=0.039 left_pitch=-0.0367 left_roll=0.0001 left_gripper=0.9959 right_x=0.4164 right_y=0.1528 right_z=0.188 right_yaw=0.1071 right_pitch=-0.3052 right_roll=-0.0502 right_gripper=0.0987\nstate[joint_eff]: [-0.1162, -1.812, 6.9538, 1.6679, -0.1441, -0.0611, -0.0171, -0.1436, -7.3231, 8.9368, 1.37, 0.359, 0.3248, -0.0464]",
      "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]: [-0.3676, 0.9108, 0.6983, -0.4343, -0.3367, -0.2584, 0.9959, 0.6807, 1.8198, 1.4311, -0.4206, 0.5014, 0.3584, 0.0987]\nstate[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.185 left_yaw=0.039 left_pitch=-0.037 left_roll=0.0002 left_gripper=0.9959 right_x=0.4318 right_y=0.2451 right_z=0.1678 right_yaw=0.058 right_pitch=-0.1189 right_roll=-0.0668 right_gripper=0.0987\nstate[joint_eff]: [-0.1983, -1.7709, 6.9538, 1.619, -0.1587, -0.0611, -0.0171, -0.1846, -9.6615, 10.6325, 1.9219, 0.5788, 0.2418, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4f29b8469d91ee8c2c40544298d7dd79dd459b5ee0839b425d45ae5f616bd7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f1d566b282616e1af6499c20ff55d0457b972644a8e3d03c2e7ddcdef608434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ed179ce247fc713c33a7168e4737fbc8073494135f472abdcfc53dc60fdff98",
        "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_019k2wtxqhKY29eWp4Q5bSri",
      "input": {
        "note": "The right jaws are over the lavender bowl, with the held pink bowl hanging beside the grip point. Lowering the pink bowl into the lavender one.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.44,
          "right_y": 0.25,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_019k2wtxqhKY29eWp4Q5bSri",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9161, 0.6983, -0.4416, -0.3363, -0.2584, 0.9959, 0.6968, 1.9045, 1.182, -0.0925, 0.5434, 0.387, 0.0987]\nstate[eef_state]: left_x=0.301 left_y=-0.0496 left_z=0.1821 left_yaw=0.0389 left_pitch=-0.0487 left_roll=0.005 left_gripper=0.9959 right_x=0.4258 right_y=0.2419 right_z=0.0835 right_yaw=0.0265 right_pitch=-0.104 right_roll=-0.0724 right_gripper=0.0987\nstate[joint_eff]: [-0.1983, -2.3316, 6.9402, 1.6777, -0.1294, -0.0513, -0.0122, 0.2803, -9.7436, 7.159, 1.8828, 0.5201, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12211072d724785b8df359f509d5af680950c94e17509eca5dbdf21efac94bdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e23ba383b5658bddbd3925ad3392a2d7bce90a7d2c1a4a088c06c749e21327f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:897687761dfeecc9ae09847132997429fb28869aa0b7b96d86ca3c2aacadded1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 4.789 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9108, 0.6983, -0.4339, -0.3367, -0.2584, 0.9959, 0.4374, 1.6512, 1.425, -0.6834, 0.2371, 0.1951, 0.0987]\nstate[eef_state]: left_x=0.3017 left_y=-0.0498 left_z=0.1851 left_yaw=0.039 left_pitch=-0.0367 left_roll=0.0001 left_gripper=0.9959 right_x=0.4164 right_y=0.1528 right_z=0.188 right_yaw=0.1071 right_pitch=-0.3052 right_roll=-0.0502 right_gripper=0.0987\nstate[joint_eff]: [-0.1162, -1.812, 6.9538, 1.6679, -0.1441, -0.0611, -0.0171, -0.1436, -7.3231, 8.9368, 1.37, 0.359, 0.3248, -0.0464]",
      "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]: [-0.3676, 0.9108, 0.6983, -0.4343, -0.3367, -0.2584, 0.9959, 0.6807, 1.8198, 1.4311, -0.4206, 0.5014, 0.3584, 0.0987]\nstate[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.185 left_yaw=0.039 left_pitch=-0.037 left_roll=0.0002 left_gripper=0.9959 right_x=0.4318 right_y=0.2451 right_z=0.1678 right_yaw=0.058 right_pitch=-0.1189 right_roll=-0.0668 right_gripper=0.0987\nstate[joint_eff]: [-0.1983, -1.7709, 6.9538, 1.619, -0.1587, -0.0611, -0.0171, -0.1846, -9.6615, 10.6325, 1.9219, 0.5788, 0.2418, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9161, 0.6983, -0.4416, -0.3363, -0.2584, 0.9959, 0.6968, 1.9045, 1.182, -0.0925, 0.5434, 0.387, 0.0987]\nstate[eef_state]: left_x=0.301 left_y=-0.0496 left_z=0.1821 left_yaw=0.0389 left_pitch=-0.0487 left_roll=0.005 left_gripper=0.9959 right_x=0.4258 right_y=0.2419 right_z=0.0835 right_yaw=0.0265 right_pitch=-0.104 right_roll=-0.0724 right_gripper=0.0987\nstate[joint_eff]: [-0.1983, -2.3316, 6.9402, 1.6777, -0.1294, -0.0513, -0.0122, 0.2803, -9.7436, 7.159, 1.8828, 0.5201, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12211072d724785b8df359f509d5af680950c94e17509eca5dbdf21efac94bdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e23ba383b5658bddbd3925ad3392a2d7bce90a7d2c1a4a088c06c749e21327f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:897687761dfeecc9ae09847132997429fb28869aa0b7b96d86ca3c2aacadded1",
        "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_015hrMZzjdPS4gaXdxc9Npx7",
      "input": {
        "note": "Top view shows the pink bowl never left the table (the grasp missed). The lavender bowl is right under the right jaws, so switching plan: open and descend onto the lavender bowl's right wall to carry it into the pink bowl.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.43,
          "right_y": 0.228,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015hrMZzjdPS4gaXdxc9Npx7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9165, 0.6983, -0.4416, -0.3367, -0.2584, 0.9959, 0.6968, 1.9167, 1.1683, 0.0055, 0.5465, 0.3927, 0.9965]\nstate[eef_state]: left_x=0.301 left_y=-0.0495 left_z=0.182 left_yaw=0.0392 left_pitch=-0.0489 left_roll=0.0054 left_gripper=0.9959 right_x=0.4345 right_y=0.2485 right_z=0.0883 right_yaw=0.0245 right_pitch=-0.046 right_roll=-0.0245 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.8393, 6.9402, 1.5995, -0.188, -0.0757, -0.0122, 0.1983, -10.1812, 6.7897, 1.8681, 0.4664, 0.1343, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3426c5f1afc5e942bcf5dd02051b52617fc91ef13608ff907c64f1f93da09e86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:109ce1009e836eaa4bd5fa5aa423912e07c8ca6e59c95f20f12a09632b638f95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa40f999b75d2fd418f4b3d7e727df3ff9abc0b0f56e5c16d3ebad84df7933b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 7.076 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9108, 0.6983, -0.4343, -0.3367, -0.2584, 0.9959, 0.6807, 1.8198, 1.4311, -0.4206, 0.5014, 0.3584, 0.0987]\nstate[eef_state]: left_x=0.3016 left_y=-0.0498 left_z=0.185 left_yaw=0.039 left_pitch=-0.037 left_roll=0.0002 left_gripper=0.9959 right_x=0.4318 right_y=0.2451 right_z=0.1678 right_yaw=0.058 right_pitch=-0.1189 right_roll=-0.0668 right_gripper=0.0987\nstate[joint_eff]: [-0.1983, -1.7709, 6.9538, 1.619, -0.1587, -0.0611, -0.0171, -0.1846, -9.6615, 10.6325, 1.9219, 0.5788, 0.2418, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9161, 0.6983, -0.4416, -0.3363, -0.2584, 0.9959, 0.6968, 1.9045, 1.182, -0.0925, 0.5434, 0.387, 0.0987]\nstate[eef_state]: left_x=0.301 left_y=-0.0496 left_z=0.1821 left_yaw=0.0389 left_pitch=-0.0487 left_roll=0.005 left_gripper=0.9959 right_x=0.4258 right_y=0.2419 right_z=0.0835 right_yaw=0.0265 right_pitch=-0.104 right_roll=-0.0724 right_gripper=0.0987\nstate[joint_eff]: [-0.1983, -2.3316, 6.9402, 1.6777, -0.1294, -0.0513, -0.0122, 0.2803, -9.7436, 7.159, 1.8828, 0.5201, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9165, 0.6983, -0.4416, -0.3367, -0.2584, 0.9959, 0.6968, 1.9167, 1.1683, 0.0055, 0.5465, 0.3927, 0.9965]\nstate[eef_state]: left_x=0.301 left_y=-0.0495 left_z=0.182 left_yaw=0.0392 left_pitch=-0.0489 left_roll=0.0054 left_gripper=0.9959 right_x=0.4345 right_y=0.2485 right_z=0.0883 right_yaw=0.0245 right_pitch=-0.046 right_roll=-0.0245 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.8393, 6.9402, 1.5995, -0.188, -0.0757, -0.0122, 0.1983, -10.1812, 6.7897, 1.8681, 0.4664, 0.1343, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3426c5f1afc5e942bcf5dd02051b52617fc91ef13608ff907c64f1f93da09e86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:109ce1009e836eaa4bd5fa5aa423912e07c8ca6e59c95f20f12a09632b638f95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa40f999b75d2fd418f4b3d7e727df3ff9abc0b0f56e5c16d3ebad84df7933b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6QcKEAgSGAI4AUIIdGhpbmtpbmcSDCsaJ7qytVs+kP/P6BoMCZmeMBF/1CHfokomIjCnJHhzTH8UKx+VCGVyCODkr57tY8tBY0hrnRbhpGpA6aU4OcmqFluKoTUskEqe72Iqhge9ijDiVlgGR6MRHW/z9SMfE32+BML2Kf9EqnggcHT/vFBjTbuFIYf51NHZUqm16mxDpsSu/sco9vvBXWP2wm0zbj73a0opzXUaBvTxsu9YxTvH5kTQ//iFFkHRzAT83cVV8tUjuUjeJ3V1Z/9qOne94GpAKdh+r/MRfc5Io8eLbRcL63UMe7ga8iiBfrvvcBhB+ktzpbFhqyTey5L1h/MgrhuOEKm9mBwd/BOVsLZIDSRphz81FZC8M1lFL9a83N+Bkor9RqhghT8CJpAN/db8XGT+ikoc8Su7NAET63fv0B2JMGd5es0kyncltUpGr8hQ6jwPDWtgVdgRlp7B2KuMGwXxIodRxiW78lJf8KXt3cTCAQzri3HiZ+FSTei6g+4WMloxe6e1YdteYPO5gUMNHQdPEjNHOLxf72VFM6UbMNpeHEOV8gKTN/vh0DJZm8aX0XiNqVfPfc2pvsDfVyFa1TNgly7NKmPmofBc23MFTlxBqcc68Tlx1LIjbA8nZnM9VWhERh0znSIkMdrRXCjivbIDSYrpNrSS5MjkT7UojSgyyTf3rg50YHd+OvwRl4nvWFifuYt9g/CElLjdkaBG4qXRxYuzZr218YjYR/l0I91KxWtZ8NxuI8jAqHfoOU4IwXif7sJhTZmHZjRzHdxRj4c2QTvCxmcqV0QFnuUJG5krCPNs8xh9lMQ7rjXbQJqcAnO+hpRkAnNF+FJ4gj07aseR0TgFFlIpX42WTYh5hqo+Ksdb+BaLIJpyR/3GurtGY44LFwDyRqoZ9bfyCW1qYObuPSsQLKpRYOaWwUh0Odt3SGpYHAHQuWJgoJlDcdaFodcWQl9apZEUfbb0kQO8oGi2nkD3oqRVNaLCtr4Gis2rAZAtZbKKpGib+WWdcE1zql1DuTd1cNKB2KadUeQ9pO8UDXBFllgSIW/ZRbbzkZqJKDX8bxKwW3TVtXfyVinHTYckzdeGtOBFjBaTR+eC0ltZrXU+aC+uLPPA6QRmo5U+kYNpJ2b6dXrR0CU33ND0N6rC0JwiEpYHggsILshn6yvnGVPZE1asforvf19I52Bs7E095VpPIjEjM2uKRpV8EyiBhd9kCLbx6UlwsfowgNxqZ++BMwYzjqJlEQcdyNAiSFYMgKm9NolskCJ9s7NXW5k/NNkh4c6rVQtK0HQO8Y17Y4Tw/VruiuCmzO23Hw8sTk2yIxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SYK96u3g3ovFd3Xq2L1JBn",
      "input": {
        "note": "Gripper opened but the arm did not descend. The lavender bowl's right wall sits just right of the jaw column; retrying the shift right and descent with neutral orientation.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.43,
          "right_y": 0.225,
          "right_yaw": 0.0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01SYK96u3g3ovFd3Xq2L1JBn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9165, 0.6983, -0.4416, -0.3363, -0.2584, 0.9959, 0.667, 2.0254, 0.9596, 0.289, 0.5423, 0.3847, 0.9967]\nstate[eef_state]: left_x=0.301 left_y=-0.0496 left_z=0.182 left_yaw=0.0389 left_pitch=-0.049 left_roll=0.0051 left_gripper=0.9959 right_x=0.4195 right_y=0.2188 right_z=0.0087 right_yaw=0.001 right_pitch=-0.0746 right_roll=-0.0498 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -2.0034, 6.9402, 1.6386, -0.1392, -0.0366, -0.0171, -0.3487, -9.8393, 5.5863, 1.8339, 0.1734, -0.0464, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f6cefeca8d2c5179a3f02d6db1f9afefc722efa929a37cae368b249c94b8cb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62c048c2f36804a05b3ade63c3108d5e48a6cdb580abf1194710d9c59aa9b46f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:995b5c2514c4154341d60c32a81fe770a4011f41d67f0382fa6fade3e970fdee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 6.397 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9161, 0.6983, -0.4416, -0.3363, -0.2584, 0.9959, 0.6968, 1.9045, 1.182, -0.0925, 0.5434, 0.387, 0.0987]\nstate[eef_state]: left_x=0.301 left_y=-0.0496 left_z=0.1821 left_yaw=0.0389 left_pitch=-0.0487 left_roll=0.005 left_gripper=0.9959 right_x=0.4258 right_y=0.2419 right_z=0.0835 right_yaw=0.0265 right_pitch=-0.104 right_roll=-0.0724 right_gripper=0.0987\nstate[joint_eff]: [-0.1983, -2.3316, 6.9402, 1.6777, -0.1294, -0.0513, -0.0122, 0.2803, -9.7436, 7.159, 1.8828, 0.5201, 0.149, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9165, 0.6983, -0.4416, -0.3367, -0.2584, 0.9959, 0.6968, 1.9167, 1.1683, 0.0055, 0.5465, 0.3927, 0.9965]\nstate[eef_state]: left_x=0.301 left_y=-0.0495 left_z=0.182 left_yaw=0.0392 left_pitch=-0.0489 left_roll=0.0054 left_gripper=0.9959 right_x=0.4345 right_y=0.2485 right_z=0.0883 right_yaw=0.0245 right_pitch=-0.046 right_roll=-0.0245 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.8393, 6.9402, 1.5995, -0.188, -0.0757, -0.0122, 0.1983, -10.1812, 6.7897, 1.8681, 0.4664, 0.1343, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9165, 0.6983, -0.4416, -0.3363, -0.2584, 0.9959, 0.667, 2.0254, 0.9596, 0.289, 0.5423, 0.3847, 0.9967]\nstate[eef_state]: left_x=0.301 left_y=-0.0496 left_z=0.182 left_yaw=0.0389 left_pitch=-0.049 left_roll=0.0051 left_gripper=0.9959 right_x=0.4195 right_y=0.2188 right_z=0.0087 right_yaw=0.001 right_pitch=-0.0746 right_roll=-0.0498 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -2.0034, 6.9402, 1.6386, -0.1392, -0.0366, -0.0171, -0.3487, -9.8393, 5.5863, 1.8339, 0.1734, -0.0464, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f6cefeca8d2c5179a3f02d6db1f9afefc722efa929a37cae368b249c94b8cb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62c048c2f36804a05b3ade63c3108d5e48a6cdb580abf1194710d9c59aa9b46f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:995b5c2514c4154341d60c32a81fe770a4011f41d67f0382fa6fade3e970fdee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P8ZzLKC9skHTXcbBGxMnQi",
      "input": {
        "note": "The lavender bowl's right wall is between the right jaws at table level. Closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01P8ZzLKC9skHTXcbBGxMnQi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9184, 0.6983, -0.4416, -0.3367, -0.2584, 0.9958, 0.6682, 1.9991, 0.9733, 0.3702, 0.5533, 0.3706, 0.1085]\nstate[eef_state]: left_x=0.3012 left_y=-0.0496 left_z=0.1815 left_yaw=0.0392 left_pitch=-0.0507 left_roll=0.0061 left_gripper=0.9958 right_x=0.4343 right_y=0.229 right_z=0.0396 right_yaw=0.0031 right_pitch=0.0251 right_roll=0.0077 right_gripper=0.1085\nstate[joint_eff]: [-0.0479, -1.7162, 7.0085, 1.6239, -0.1832, -0.022, -0.0171, -0.4581, -7.8838, 4.2598, 0.7692, 0.0562, 0.1001, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e562eb1176063a6b8bbb9a4310582c9fe037bbf7308b26befc7d2bea84162c77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52964e7589e8202cfeded58858d3e33a8f77aaeeb0ef0821dd50fbd12297eb02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1bd97b1e99edce0f1592519d0da3120964017276068e6ac0cb03a83eb52f8981",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 6.252 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9165, 0.6983, -0.4416, -0.3367, -0.2584, 0.9959, 0.6968, 1.9167, 1.1683, 0.0055, 0.5465, 0.3927, 0.9965]\nstate[eef_state]: left_x=0.301 left_y=-0.0495 left_z=0.182 left_yaw=0.0392 left_pitch=-0.0489 left_roll=0.0054 left_gripper=0.9959 right_x=0.4345 right_y=0.2485 right_z=0.0883 right_yaw=0.0245 right_pitch=-0.046 right_roll=-0.0245 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.8393, 6.9402, 1.5995, -0.188, -0.0757, -0.0122, 0.1983, -10.1812, 6.7897, 1.8681, 0.4664, 0.1343, -0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9165, 0.6983, -0.4416, -0.3363, -0.2584, 0.9959, 0.667, 2.0254, 0.9596, 0.289, 0.5423, 0.3847, 0.9967]\nstate[eef_state]: left_x=0.301 left_y=-0.0496 left_z=0.182 left_yaw=0.0389 left_pitch=-0.049 left_roll=0.0051 left_gripper=0.9959 right_x=0.4195 right_y=0.2188 right_z=0.0087 right_yaw=0.001 right_pitch=-0.0746 right_roll=-0.0498 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -2.0034, 6.9402, 1.6386, -0.1392, -0.0366, -0.0171, -0.3487, -9.8393, 5.5863, 1.8339, 0.1734, -0.0464, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9184, 0.6983, -0.4416, -0.3367, -0.2584, 0.9958, 0.6682, 1.9991, 0.9733, 0.3702, 0.5533, 0.3706, 0.1085]\nstate[eef_state]: left_x=0.3012 left_y=-0.0496 left_z=0.1815 left_yaw=0.0392 left_pitch=-0.0507 left_roll=0.0061 left_gripper=0.9958 right_x=0.4343 right_y=0.229 right_z=0.0396 right_yaw=0.0031 right_pitch=0.0251 right_roll=0.0077 right_gripper=0.1085\nstate[joint_eff]: [-0.0479, -1.7162, 7.0085, 1.6239, -0.1832, -0.022, -0.0171, -0.4581, -7.8838, 4.2598, 0.7692, 0.0562, 0.1001, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e562eb1176063a6b8bbb9a4310582c9fe037bbf7308b26befc7d2bea84162c77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52964e7589e8202cfeded58858d3e33a8f77aaeeb0ef0821dd50fbd12297eb02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bd97b1e99edce0f1592519d0da3120964017276068e6ac0cb03a83eb52f8981",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9woKEAgSGAI4AUIIdGhpbmtpbmcSDIMAv8l+t+oH3/SKhxoM9PVmkBBMVLCDMCRdIjBdODAUeUo5krZSk4aI2LYCLAjmm+CPfUDt4X1Pv9kLvaroiZCjVdiIq4+/pZc6NlcqlAqcZK5ZTiYqQj/zuYustFVSsEdgvXEiuax3VSufpwwSo+Ho9ZPpX/DfpQme6EoGJv+NF9Ov2eh1HFMLsKogQRGbwVBskDdgaqOWznOmYvJVJO1DtrOGP3wW/K/lDiQHcEoV700WXBo92aWhJUpOpmu1har4WCOo9Mu36dDWVsLUSH9o0n7wZBqv8vAmIaSB+UdRUFpiv+COXO6J6KLbfACSI/TmFTvQGLCHJCzFA56FQOwmHTeZwge4c2Am9VQUDNtJTVVyLQ9jPK3khKr6IK/HJSN6ccC0Z7cjq3Gv5BnlfNo5VVy4MHvv4vbFJDTcwOlYr4oMljf0ncm8+OOklNuSOotdE9zzqyLp2n5JHak8KzP9s4KWBABA0fyDjcjGCvk54UFswB3UIhaxhpPBbmmfDBT7+Lqy8r4HC/YdVyikSsHgc+gkweflA4TWRqKA9W2Q2Xr3mUc8F5xqnucSq/q2X35dx3SuI/ZvQZlwSYz9BPMGKVha8y4RmHIc7pAzFDKMR1pre2RJqZbJ1tG5Pul1W+PCnz4HfKAiKHDijEZYnf/lcdYhgNJNxKJhegMuaNc5tv3Wckqi2aO9zBKdGOexzsqArGhMxRyXlUNWQq9a68wfwipW4CJamMoHRByEwSax4P/cjmMdAi+bwX9ahP9UP/nySVerQ/LSPW8qOEZpR+ySxClQT7hdXToO4VDlR4aarx69w2Q8/sfOFDvEjQMlHXelxRuGGGuH5pGv7wPPATSwFZ+cv0PQUb05yCDF+WuP0PGs2gBLBOC+0HugPYINuVt1IrbvRX5fvnmbDWu3Zz5DTptL4NVT0d07hR4UwsOR/RVxOhzTmIc9Z/B2NF82kAY8oi4UgfZmya9kO2VYjaKuXbhRAm2QrsNTE7cIZTBY+uQOdLaDYga/jvcxmL6oAk/pUIa+rac+KF6xv5pczeRVfN0CtmX56geCuX3uZcA5WOSJRtPV7NTqBgkymCaH7NpSE50XHJWFkPHT95Byvm9di+MD4LUOfelq+2YemtF6+ndE7BtLixwMUnojz7A73nYydVodm7XH/TXKGsKrUOZLYAlehm33E0IS3Ts+hGJQUsbRnJfK8qlh6ruVbPiMGbzsyasboxF1OIRfJKdph8QjtMVHTKuxhi8Qvbqf5ciX/+vnI2reQjMzcV6ECS5MW+jpIIpdsW2pAmvouhhHF75kEckMZ4maB4FklyXhELHwDkt5X/COQMIajfYtoRcSNL0+zOKmIeHeEaO8Gb0Iu7g/TGOGTXsVUkOO3wRqpofnP88UWT/yKF8QgGpIJtGBDa9CE7Sh+KWlKf+dvJ3DKpW4jmGnt26hmyzxh1bRlYHiei0ao9eVcyAUFDjkjwFV9vV+fBVdqY2bl+U006DW0qUlG33tvc78+s3F4kuUch3LUyZA3Nbd9SELwnH0qLBtHXSrDsXfVC7chSfKPPav5M9voOW/qiJU2i9fx2+eXY3agjwPjApi0gPlHsLePl98PoByRmmwIg0+3M9z/CGjqn1LJB1yHDqYGGcFdt0TshVlouCXDDxRFwN9iLG/cRIKZzQXZ/ij+bTYdxF2qLg9VpJcoPIita03SOy8BGn3OiRyQ0XumYnIAABHC0sbzFrPEwOWx0Kvak5w95eK7SsVR4bNgKKp+ur/cUcYV9ZdSzTf/uYku/lP3eMxM15pH6xbYCpo3MkOPIOyO595Mj+bJOaGx99hGFQoUBvHv8Tf7eIWmQ6lGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BXLYTg7RDxaMfNwGMLuuXg",
      "input": {
        "note": "Gripper settled at 0.108 on the lavender wall. Lifting the lavender bowl and moving it over the adjacent pink bowl.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.39,
          "right_y": 0.2,
          "right_yaw": 0.0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01BXLYTg7RDxaMfNwGMLuuXg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9226, 0.6983, -0.4412, -0.3367, -0.2581, 0.9959, 0.6739, 1.6161, 0.952, -0.0475, 0.5419, 0.3752, 0.1102]\nstate[eef_state]: left_x=0.3015 left_y=-0.0497 left_z=0.1804 left_yaw=0.0391 left_pitch=-0.0542 left_roll=0.0079 left_gripper=0.9959 right_x=0.3903 right_y=0.1997 right_z=0.1275 right_yaw=0.0152 right_pitch=-0.0235 right_roll=-0.0172 right_gripper=0.1102\nstate[joint_eff]: [-0.335, -1.9897, 6.9402, 1.7118, -0.149, -0.0269, -0.0073, 0.4171, -8.7043, 9.6889, 1.7558, 0.3394, 0.1245, 0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:923f692626711ec92d415c4563ac34767b004f240caf285955f6c5e10bd99342",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cf3bf5f9514f96aa3f4a0771f53cfd01be4fddd86c2a8b80c2fc2196acf034c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d39fea1fec2fd881df66ad906a440d28c31c07825f32003ab42056bbe2c4ee55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 11.18 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9165, 0.6983, -0.4416, -0.3363, -0.2584, 0.9959, 0.667, 2.0254, 0.9596, 0.289, 0.5423, 0.3847, 0.9967]\nstate[eef_state]: left_x=0.301 left_y=-0.0496 left_z=0.182 left_yaw=0.0389 left_pitch=-0.049 left_roll=0.0051 left_gripper=0.9959 right_x=0.4195 right_y=0.2188 right_z=0.0087 right_yaw=0.001 right_pitch=-0.0746 right_roll=-0.0498 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -2.0034, 6.9402, 1.6386, -0.1392, -0.0366, -0.0171, -0.3487, -9.8393, 5.5863, 1.8339, 0.1734, -0.0464, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9184, 0.6983, -0.4416, -0.3367, -0.2584, 0.9958, 0.6682, 1.9991, 0.9733, 0.3702, 0.5533, 0.3706, 0.1085]\nstate[eef_state]: left_x=0.3012 left_y=-0.0496 left_z=0.1815 left_yaw=0.0392 left_pitch=-0.0507 left_roll=0.0061 left_gripper=0.9958 right_x=0.4343 right_y=0.229 right_z=0.0396 right_yaw=0.0031 right_pitch=0.0251 right_roll=0.0077 right_gripper=0.1085\nstate[joint_eff]: [-0.0479, -1.7162, 7.0085, 1.6239, -0.1832, -0.022, -0.0171, -0.4581, -7.8838, 4.2598, 0.7692, 0.0562, 0.1001, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9226, 0.6983, -0.4412, -0.3367, -0.2581, 0.9959, 0.6739, 1.6161, 0.952, -0.0475, 0.5419, 0.3752, 0.1102]\nstate[eef_state]: left_x=0.3015 left_y=-0.0497 left_z=0.1804 left_yaw=0.0391 left_pitch=-0.0542 left_roll=0.0079 left_gripper=0.9959 right_x=0.3903 right_y=0.1997 right_z=0.1275 right_yaw=0.0152 right_pitch=-0.0235 right_roll=-0.0172 right_gripper=0.1102\nstate[joint_eff]: [-0.335, -1.9897, 6.9402, 1.7118, -0.149, -0.0269, -0.0073, 0.4171, -8.7043, 9.6889, 1.7558, 0.3394, 0.1245, 0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:923f692626711ec92d415c4563ac34767b004f240caf285955f6c5e10bd99342",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cf3bf5f9514f96aa3f4a0771f53cfd01be4fddd86c2a8b80c2fc2196acf034c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d39fea1fec2fd881df66ad906a440d28c31c07825f32003ab42056bbe2c4ee55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShAsKEAgSGAI4AUIIdGhpbmtpbmcSDGf6fVxeHAGaUxiKWxoMN2Kz/IDrRC07zRZHIjAOySVDE2AKp0u2fTDyv6aRQUv2xHU3wuNGKopNzBoUJuIIzWH7WLw6cImvej7BISMqoQqPJPwL8l85/sB7mdMW1o4FLcOSx3JS1rYa0yR0lUVqRPAwfXG+dotUhc5P/+uczBcyQJJ7T9JtqeUTMA0F3cBoX4EvOYvsYxjIUjxXixNt6IUEpDXOt0f4k5KzPn44sDLPbhjBD8RGLiXEZIR8XSH/uXktGV7hP1g3v9pQBSEIsYrDduR0FRn+WFrw9LZawyHKeoPJAFTs13smTLnLcEI4yq1P2DGYN+B9YRTkceJKKFA2q7K0cgqXVicEshiEDGh7jtRoV0eDO17+ltFk4MRneU20EM6rJeyCRPBOWDvUqU/oEneoNTIBuqI8oozggk1wTgXpKJcyKpJKQdJmLi0fEC9fnYV30jvaDRLZfHrjRdgLAdyvsJM8+/TriHxt4qDxbWV2eRWba0/pWlQ6P0+2npapwKvl0dEYyFo8ifEatWlDUH+LfyLZp4z2G7WwCawaVJH2xVFX/4ZEeR1b2xuBmeUWYTLMt5jPka+2pNVKLm4MyWJ/0dY+RUA/dYHjH7w8Ni03bn6bTeXxg8b2pntGVL/C3ggkkOfh3AjZ7xmsWI9p2JGwc+V5WmRtl+T+/HOaFJFFLZANgvjUpHhQQT0s+HHxHc8WFEK1R89/0nNgqrmHTiKvkfvo1/x6e181TbyzYCZJzNc1X/euV0zvzZRTCQM2Hg7Jl04OcZqwDu3YPlWbuoempdcxIiQfltR32uigRCPqURcSrg2ZEt7p3BLreq5Qvw4ARPsJZKf6vItoE8tLMe8kdAn7HG/Pvf8xqeG7Ob/aPYONpAn4qmTtAVyBj7nMIZl6P77iDLXzz01WFD19NpM1dBkGbcL+cgJWSBpHDuw58q6o9/DVpftS/70ytPkPPJRIdB1AIsrBTyySMiN8AGsLMwDIMpWUmVMv2b6bAUkEiwbkRuXtWw+LGHfCQbU4SidE/0UL2wo5EYda6EOdFeFfCa3YhjX4wYB5AuNtxJULBMo6H5HaN6u9z4ytgEqLX+9/3sE0W7IFp+E4OYBSkXBYVCkmrGAIAxvMxgI5YdMjf2wWis1e/K0maprjCXlnr5xJFPg5P8PlqTFkF4Kdl+2KcFZHoqslVaoPEclRyEm/gNYFHCOO0t5TweLHAomHP9/Z2zJhAKlc6cemrtvYuht8CFoBcZfu/MXAi5zbondWCojTojj2+0jtdKoWD+3jsuavRDE4jvHCMFhwMyvyg6xSywULjdDXSSiuG4CUBJ/74LBhTGHNyIi1n8KidaxaSJ7bY+Isi0UT68Elkr0ga+jwzlkK3NvbGNLLXeq1Umq08iJbbT8zYpq3VGNJh7XTSJOrgZFiJ9AMkPzT5aFhb+bWFpS6cujWiK1TQvNMz6EkIVVndlJdRpiEgzbDXcVYcmAdGNoIROKRR9iDrtY1R3Y/Kj15zAwiWd93fP70KgVeoMGevvDLp8OiR9u1HkYCCvWqNRRRvibERILlZn6IQrK0+Y6RQadUxR0I76+1b4RLYc0dm5K1UyeMj99QFsgLAmsOHCeTdAsMXFfVVbNY9tIAsGyRbFPXktXtfNrHW2zAuxoQYkc0x5rppIQ+4oYmHvyu5BFwqKjzHLRDwsuTliJ7AyZglywhvT0qT6B25BzxZSlf9aECMWfW1aAr1VGT0+tN81BtaxEckIWheo8pHgcm5u5piG0GUivCRJDAr/Hwmzb+7jD+OjAUr2ZkM7vVbkx8//uHcLoVeZzR6PtiN+yCXq7Uof9BOdAlhd4L/MoEDL6UiHQklDsm3u7MaxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014qhkxZgrP9ubmkezGmPgQC",
      "input": {
        "note": "The jaws pinched both the lavender and pink rims together, so both bowls lifted as a pair; I can't nest them in the calls I have left. Lowering and releasing them back onto the table.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_014qhkxZgrP9ubmkezGmPgQC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3676, 0.9234, 0.6983, -0.4416, -0.3367, -0.2584, 0.9959, 0.6739, 1.8446, 0.7753, 0.3073, 0.535, 0.3683, 0.9949]\nstate[eef_state]: left_x=0.3015 left_y=-0.0497 left_z=0.1801 left_yaw=0.0393 left_pitch=-0.0552 left_roll=0.0081 left_gripper=0.9959 right_x=0.3841 right_y=0.1961 right_z=0.027 right_yaw=0.0228 right_pitch=-0.0664 right_roll=-0.0499 right_gripper=0.9949\nstate[joint_eff]: [-0.1162, -2.0034, 6.9675, 1.6239, -0.1783, -0.022, -0.0171, 0.0205, -7.7607, 5.2718, 1.7607, 0.2955, 0.149, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8666df62e53f97a85e752fd46f1e9f310bc6c47d0d0683a58aafbb0c9b00732f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cf6673f0438278ed7700a2d9280ada7802d8cbc57ba96f36fd5999a14f1ff35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4646424f8523646db03f26354d65f4d2cfc127a52a0c77402872144cc126b057",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]