adhoc

completed
2026-09-22T18:57:20.444725+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
304.4 s
total steps
451
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 sit in a row mid-table (white-left, blue-middle, pink-right). Moving the left arm over the left rim of the leftmost bowl to plan a rim grasp.
move_to
left_x0.3600left_y-0.1500left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.794, 0.6044, -0.3794, -0.0227, -0.0406, 0.9966, -0.0219, 0.7921, 0.601, -0.3763, -0.0166, -0.0334, 0.9972] state[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9966 right_x=0.2948 right_y=0.0001 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9972 state[joint_eff]: [-0.4034, -1.5248, 10.1128, 1.7949, -0.0464, 0.2613, -0.3687, -0.4581, -1.3333, 10.3179, 1.8877, -0.1099, 0.2076, -0.3004] 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": 0.36, "left_y": -0.15, "left_z": 0.15}, "note": "Three bowls sit in a row mid-table (white-left, blue-middle, pink-right). Moving the left arm over the left rim of the leftmost bowl to plan a rim grasp."})
tool
executing move_to over 14 steps (1.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteWhite bowl is below the gripper, slightly left and ahead of the jaws. Shifting over its left rim so the jaws can straddle the bowl wall.
move_to
left_x0.3800left_y-0.0550left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6243, 1.351, 0.7563, -0.1406, -0.495, -0.3916, 0.9963, -0.0216, 0.7967, 0.5999, -0.3889, -0.0166, -0.0311, 0.9971] state[eef_state]: left_x=0.3484 left_y=-0.1431 left_z=0.1309 left_yaw=-0.0242 left_pitch=-0.0632 left_roll=0.0321 left_gripper=0.9963 right_x=0.2932 right_y=0.0002 right_z=0.1755 right_yaw=-0.0008 right_pitch=-0.0183 right_roll=0.0023 right_gripper=0.9971 state[joint_eff]: [-0.4171, -5.3265, 9.1556, 1.7949, -0.2759, -0.0513, -0.0366, 0.0342, -1.5658, 7.4051, 1.8584, -0.0415, -0.0855, -0.0269] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.055, "left_z": 0.12}, "note": "White bowl is below the gripper, slightly left and ahead of the jaws. Shifting over its left rim so the jaws can straddle the bowl wall."})
tool
executing move_to over 8 steps (0.8s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe left rim of the leftmost bowl now sits on the jaw column in the wrist view. Descending so the open jaws straddle the bowl wall.
move_to
left_y-0.0600left_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2634, 1.3426, 0.6792, -0.0349, -0.252, -0.186, 0.9963, -0.0219, 0.7971, 0.5999, -0.3927, -0.0162, -0.0307, 0.9971] state[eef_state]: left_x=0.3745 left_y=-0.0517 left_z=0.1107 left_yaw=0.0284 left_pitch=-0.104 left_roll=0.0358 left_gripper=0.9963 right_x=0.2927 right_y=0.0 right_z=0.1746 right_yaw=-0.0018 right_pitch=-0.0225 right_roll=0.0025 right_gripper=0.9971 state[joint_eff]: [0.2393, -6.0103, 6.0923, 2.0, 0.1197, 0.1148, -0.0171, -0.0205, -1.265, 7.0085, 1.7656, -0.0317, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.06, "left_z": 0.03}, "note": "The left rim of the leftmost bowl now sits on the jaw column in the wrist view. Descending so the open jaws straddle the bowl wall."})
tool
executing move_to over 6 steps (0.6s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe bowl's left wall sits between the open jaws at rim height. Closing to pinch the wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2886, 1.5799, 0.5156, 0.2951, -0.263, -0.2028, 0.9963, -0.0219, 0.7986, 0.5999, -0.3931, -0.0162, -0.0303, 0.9971] state[eef_state]: left_x=0.3656 left_y=-0.0569 left_z=0.0236 left_yaw=0.0244 left_pitch=-0.169 left_roll=0.0513 left_gripper=0.9963 right_x=0.2928 right_y=0.0 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0244 right_roll=0.0029 right_gripper=0.9971 state[joint_eff]: [-0.7863, -6.0103, 4.6974, 1.7314, -0.2857, -0.0513, -0.0122, -0.0889, -1.388, 7.2137, 1.7216, -0.0415, -0.0464, -0.0171] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The bowl's left wall sits between the open jaws at rim height. Closing to pinch the wall."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteGripper closed to ~1 cm on the grey bowl's wall. Lifting to confirm the grasp and clear the other bowls.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.292, 1.5734, 0.5144, 0.3294, -0.2558, -0.2218, 0.1048, -0.0219, 0.7986, 0.5999, -0.3923, -0.0166, -0.0307, 0.9971] state[eef_state]: left_x=0.3708 left_y=-0.0611 left_z=0.0313 left_yaw=0.0235 left_pitch=-0.1323 left_roll=0.0197 left_gripper=0.1048 right_x=0.2929 right_y=0.0001 right_z=0.1743 right_yaw=-0.0014 right_pitch=-0.0236 right_roll=0.0027 right_gripper=0.9971 state[joint_eff]: [0.5128, -5.4632, 5.9009, 1.3211, -0.232, 0.188, 0.4908, -0.1573, -1.265, 7.0085, 1.7509, -0.0806, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17}, "note": "Gripper closed to ~1 cm on the grey bowl's wall. Lifting to confirm the grasp and clear the other bowls."})
tool
executing move_to over 9 steps (0.9s)
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 noteThe grey bowl is lifted by its rim. Carrying it over the middle (white) bowl.
move_to
left_y-0.2150left_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.292, 1.2991, 0.8471, -0.292, -0.2588, -0.2321, 0.1044, -0.0219, 0.7986, 0.5999, -0.3927, -0.0166, -0.0303, 0.9971] state[eef_state]: left_x=0.3713 left_y=-0.0607 left_z=0.1503 left_yaw=0.0322 left_pitch=-0.1453 left_roll=0.0183 left_gripper=0.1044 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=-0.0016 right_pitch=-0.024 right_roll=0.0031 right_gripper=0.9971 state[joint_eff]: [-0.0889, -6.3385, 9.3333, 1.5995, -0.0904, 0.0415, -0.0464, -0.0615, -1.2513, 7.1043, 1.7411, -0.0611, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_y": -0.215, "left_z": 0.17}, "note": "The grey bowl is lifted by its rim. Carrying it over the middle (white) bowl."})
tool
executing move_to over 14 steps (1.4s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe grey bowl slipped out and is back on the table left of the gripper. Returning over its left rim, opening to retry with a deeper grasp.
move_to
left_y-0.0650left_x0.3600left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7509, 1.607, 1.1927, -0.5064, -0.5507, -0.5896, 0.1044, -0.0219, 0.7986, 0.5999, -0.3927, -0.0166, -0.0307, 0.9971] state[eef_state]: left_x=0.3664 left_y=-0.2106 left_z=0.1567 left_yaw=0.0127 left_pitch=-0.1772 left_roll=0.028 left_gripper=0.1044 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=-0.0014 right_pitch=-0.024 right_roll=0.0027 right_gripper=0.9971 state[joint_eff]: [-0.3214, -7.5692, 9.2376, 1.2186, -0.486, 0.0562, -0.0122, -0.2393, -1.2786, 7.2, 1.7265, -0.0366, -0.0513, -0.0171] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.065, "left_x": 0.36, "left_z": 0.12, "left_gripper": 1.0}, "note": "The grey bowl slipped out and is back on the table left of the gripper. Returning over its left rim, opening to retry with a deeper grasp."})
tool
executing move_to over 13 steps (1.3s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe grey bowl is now centred under the gripper (it moved when dropped). Shifting over its right wall to grasp it there.
move_to
left_y-0.1150left_x0.3900left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3286, 1.3323, 0.7639, -0.26, -0.2932, -0.2802, 0.9955, -0.0219, 0.7986, 0.5999, -0.3927, -0.0162, -0.0307, 0.9971] state[eef_state]: left_x=0.3566 left_y=-0.0639 left_z=0.1111 left_yaw=0.0557 left_pitch=-0.2149 left_roll=0.0354 left_gripper=0.9955 right_x=0.2928 right_y=0.0 right_z=0.1742 right_yaw=-0.0018 right_pitch=-0.024 right_roll=0.0025 right_gripper=0.9971 state[joint_eff]: [0.2667, -6.6393, 6.4342, 1.7558, -0.0611, 0.1832, -0.2076, -0.0479, -1.2513, 7.0632, 1.7509, -0.0122, -0.0513, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.115, "left_x": 0.39, "left_z": 0.1}, "note": "The grey bowl is now centred under the gripper (it moved when dropped). Shifting over its right wall to grasp it there."})
tool
executing move_to over 5 steps (0.5s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe bowl's right wall lines up with the jaw column. Descending low so the jaws straddle more of the wall this time.
move_to
left_y-0.1200left_z0.0050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4484, 1.5429, 0.8711, -0.2451, -0.3492, -0.3634, 0.9956, -0.0219, 0.8032, 0.5961, -0.3939, -0.0166, -0.0303, 0.9971] state[eef_state]: left_x=0.375 left_y=-0.1094 left_z=0.0831 left_yaw=0.0372 left_pitch=-0.2746 left_roll=0.0551 left_gripper=0.9956 right_x=0.2925 right_y=0.0001 right_z=0.171 right_yaw=-0.0016 right_pitch=-0.0336 right_roll=0.0033 right_gripper=0.9971 state[joint_eff]: [-0.4581, -6.8308, 8.8, 1.4628, -0.3101, 0.0269, -0.0073, -0.0479, -1.6342, 7.3641, 1.6972, -0.0269, -0.0415, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.12, "left_z": 0.005}, "note": "The bowl's right wall lines up with the jaw column. Descending low so the jaws straddle more of the wall this time."})
tool
executing move_to over 6 steps (0.6s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe bowl's right wall sits between the jaws near the table. Closing for a deeper pinch.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4774, 1.7367, 0.7414, 0.02, -0.3672, -0.3862, 0.9956, -0.0216, 0.8051, 0.5953, -0.3935, -0.0166, -0.0303, 0.9971] state[eef_state]: left_x=0.3675 left_y=-0.1147 left_z=0.0051 left_yaw=0.0441 left_pitch=-0.3177 left_roll=0.0824 left_gripper=0.9956 right_x=0.2925 right_y=0.0002 right_z=0.1702 right_yaw=-0.0012 right_pitch=-0.0358 right_roll=0.0033 right_gripper=0.9971 state[joint_eff]: [-0.4171, -7.0496, 4.7111, 1.3846, -0.2369, -0.0855, -0.0073, -0.1299, -1.4154, 7.0906, 1.6923, -0.0562, -0.0366, -0.0171] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The bowl's right wall sits between the jaws near the table. Closing for a deeper pinch."})
tool
executing move_to over 10 steps (1.0s)
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 noteGripper closed to 0.023; the bowl wall is thin, so it's unclear whether it's held. Lifting to check.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4744, 1.7187, 0.749, 0.0586, -0.4381, -0.3611, 0.023, -0.0219, 0.8055, 0.5953, -0.3931, -0.0166, -0.0307, 0.9971] state[eef_state]: left_x=0.381 left_y=-0.1074 left_z=0.0233 left_yaw=0.0795 left_pitch=-0.2348 left_roll=0.1169 left_gripper=0.023 right_x=0.2926 right_y=0.0001 right_z=0.1701 right_yaw=-0.0014 right_pitch=-0.0358 right_roll=0.003 right_gripper=0.9971 state[joint_eff]: [-0.3214, -5.3538, 5.1487, 0.989, 0.9304, -0.3639, 1.4628, -0.253, -1.2239, 7.0496, 1.707, -0.0415, -0.0611, -0.0122] 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": 0.1}, "note": "Gripper closed to 0.023; the bowl wall is thin, so it's unclear whether it's held. Lifting to check."})
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 noteThe bowl stayed fixed in the wrist view as the arm lifted, so it's held. Raising it and heading toward the white bowl.
move_to
left_z0.1800left_y-0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4751, 1.5764, 0.8768, -0.2195, -0.4416, -0.3645, 0.034, -0.0219, 0.8055, 0.5953, -0.3931, -0.0166, -0.0307, 0.9971] state[eef_state]: left_x=0.3803 left_y=-0.1067 left_z=0.0816 left_yaw=0.0843 left_pitch=-0.2399 left_roll=0.1212 left_gripper=0.034 right_x=0.2926 right_y=0.0001 right_z=0.1701 right_yaw=-0.0014 right_pitch=-0.0358 right_roll=0.003 right_gripper=0.9971 state[joint_eff]: [0.0205, -8.3487, 8.6906, 1.3455, -0.1832, -0.022, 1.033, -0.0889, -1.1966, 7.0496, 1.7363, -0.0708, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). 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": 0.18, "left_y": -0.2}, "note": "The bowl stayed fixed in the wrist view as the arm lifted, so it's held. Raising it and heading toward the white bowl."})
tool
executing move_to over 9 steps (0.9s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteHolding the grey bowl by its right wall; the white bowl is to the right in the wrist view. Shifting right so the held bowl's centre lines up over the white bowl.
move_to
left_y-0.3350left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7094, 1.6901, 1.3762, -0.7055, -0.5442, -0.5774, 0.0381, -0.0219, 0.8097, 0.5945, -0.3935, -0.0166, -0.0303, 0.9971] state[eef_state]: left_x=0.3797 left_y=-0.2007 left_z=0.1672 left_yaw=0.058 left_pitch=-0.2527 left_roll=0.103 left_gripper=0.0381 right_x=0.2927 right_y=0.0001 right_z=0.1686 right_yaw=-0.0016 right_pitch=-0.0412 right_roll=0.0034 right_gripper=0.9971 state[joint_eff]: [-0.4171, -8.0615, 8.7453, 0.9988, -0.4762, 0.0659, 1.033, -0.2256, -1.6342, 7.0906, 1.7021, -0.0659, -0.022, -0.0122] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.335, "left_z": 0.18}, "note": "Holding the grey bowl by its right wall; the white bowl is to the right in the wrist view. Shifting right so the held bowl's centre lines up over the white bowl."})
tool
executing move_to over 12 steps (1.2s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe white bowl shows just right of the jaws, a little ahead. Shifting further right and forward, then lowering, so the held bowl is centred over it.
move_to
left_y-0.3750left_x0.4000left_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9344, 2.1189, 1.9896, -1.0344, -0.6224, -0.8204, 0.0382, -0.0219, 0.8101, 0.5945, -0.3939, -0.0166, -0.0303, 0.9971] state[eef_state]: left_x=0.3786 left_y=-0.333 left_z=0.1692 left_yaw=0.0465 left_pitch=-0.2777 left_roll=0.0945 left_gripper=0.0382 right_x=0.2927 right_y=0.0001 right_z=0.1684 right_yaw=-0.0016 right_pitch=-0.0419 right_roll=0.0034 right_gripper=0.9971 state[joint_eff]: [-0.4991, -11.5077, 8.5265, 0.6716, -0.6178, 0.0171, 1.033, -0.2667, -1.306, 7.0359, 1.707, -0.0562, -0.0464, -0.0122] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.375, "left_x": 0.4, "left_z": 0.13}, "note": "The white bowl shows just right of the jaws, a little ahead. Shifting further right and forward, then lowering, so the held bowl is centred over it."})
tool
executing move_to over 4 steps (0.4s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe white bowl sits mostly under the held grey bowl. Lowering so the grey bowl is just above the white bowl's rim before releasing.
move_to
left_z0.0850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9466, 2.3264, 2.1529, -1.0435, -0.6216, -0.8429, 0.0389, -0.0216, 0.8108, 0.5945, -0.3931, -0.0166, -0.0303, 0.9971] state[eef_state]: left_x=0.3942 left_y=-0.3651 left_z=0.1206 left_yaw=0.0599 left_pitch=-0.306 left_roll=0.1255 left_gripper=0.0389 right_x=0.2928 right_y=0.0002 right_z=0.1683 right_yaw=-0.0012 right_pitch=-0.0419 right_roll=0.0034 right_gripper=0.9971 state[joint_eff]: [-0.5949, -14.2291, 9.5521, 0.823, -0.4029, 0.0415, 0.9744, -0.1026, -1.388, 7.0085, 1.7363, -0.0317, -0.0122, -0.0171] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.085}, "note": "The white bowl sits mostly under the held grey bowl. Lowering so the grey bowl is just above the white bowl's rim before releasing."})
tool
executing move_to over 3 steps (0.3s)
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 noteThe descent stopped at z≈0.11, which looks like the grey bowl touching the white bowl. Releasing it to drop into the white bowl.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9466, 2.3661, 2.1769, -1.0428, -0.6186, -0.8467, 0.0396, -0.0219, 0.8116, 0.5945, -0.3931, -0.0166, -0.0307, 0.9971] state[eef_state]: left_x=0.3966 left_y=-0.3693 left_z=0.108 left_yaw=0.0646 left_pitch=-0.316 left_roll=0.1345 left_gripper=0.0396 right_x=0.2928 right_y=0.0001 right_z=0.1681 right_yaw=-0.0014 right_pitch=-0.0427 right_roll=0.0031 right_gripper=0.9971 state[joint_eff]: [-0.5128, -15.159, 8.5402, 0.9451, -0.4518, 0.0415, 0.9744, -0.1436, -1.4154, 7.0359, 1.7265, -0.0611, -0.0757, -0.0171] 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_gripper": 1.0}, "note": "The descent stopped at z\u22480.11, which looks like the grey bowl touching the white bowl. Releasing it to drop into the white bowl."})
tool
executing move_to over 10 steps (1.0s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe grey bowl now sits nested on the white bowl. Lifting the left arm clear and parking it near home so the right arm can bring the pink bowl.
move_to
left_z0.2000left_x0.3000left_y0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9466, 2.3661, 2.175, -1.0428, -0.6212, -0.857, 0.9944, -0.0219, 0.8139, 0.5945, -0.3927, -0.0166, -0.0307, 0.9971] state[eef_state]: left_x=0.3967 left_y=-0.3687 left_z=0.1076 left_yaw=0.0722 left_pitch=-0.3141 left_roll=0.1307 left_gripper=0.9944 right_x=0.293 right_y=0.0001 right_z=0.1676 right_yaw=-0.0014 right_pitch=-0.0446 right_roll=0.0032 right_gripper=0.9971 state[joint_eff]: [0.0205, -13.4769, 6.4068, 0.8767, -0.3199, 0.1001, -0.0171, -0.0752, -1.5111, 7.0222, 1.6972, -0.0757, -0.0708, -0.0122] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2, "left_x": 0.3, "left_y": 0.0}, "note": "The grey bowl now sits nested on the white bowl. Lifting the left arm clear and parking it near home so the right arm can bring the pink bowl."})
tool
executing move_to over 33 steps (3.3s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteGrey+white stack is in the middle and the pink bowl is to its right. Moving the right arm over the pink bowl's left wall for a rim grasp.
move_to
right_x0.3800right_y0.2200right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1535, 1.1114, 1.0283, -0.8303, -0.2443, -0.1429, 0.9955, -0.0216, 0.8173, 0.5945, -0.3931, -0.0162, -0.0303, 0.9971] state[eef_state]: left_x=0.3032 left_y=-0.0001 left_z=0.1971 left_yaw=0.1208 left_pitch=-0.3143 left_roll=0.1231 left_gripper=0.9955 right_x=0.2932 right_y=0.0001 right_z=0.1666 right_yaw=-0.0016 right_pitch=-0.0484 right_roll=0.0033 right_gripper=0.9971 state[joint_eff]: [0.2256, -4.1368, 6.5026, 1.3944, -0.149, 0.1392, 0.0904, -0.1162, -1.6068, 7.3778, 1.7363, -0.0562, -0.022, -0.0171] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.22, "right_z": 0.12}, "note": "Grey+white stack is in the middle and the pink bowl is to its right. Moving the right arm over the pink bowl's left wall for a rim grasp."})
tool
executing move_to over 19 steps (1.9s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteThe right gripper is between the stack and the pink bowl; the pink bowl's left wall is about 5 cm to the right. Shifting over that wall.
move_to
right_y0.1580right_x0.3850right_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1555, 1.1126, 1.0283, -0.8341, -0.2359, -0.1459, 0.9955, 0.7338, 1.6432, 0.9455, -0.1219, 0.5468, 0.4351, 0.997] state[eef_state]: left_x=0.3026 left_y=-0.002 left_z=0.1959 left_yaw=0.1138 left_pitch=-0.3206 left_roll=0.1157 left_gripper=0.9955 right_x=0.3683 right_y=0.2132 right_z=0.1025 right_yaw=0.0348 right_pitch=-0.1075 right_roll=-0.0392 right_gripper=0.997 state[joint_eff]: [0.1026, -3.1248, 6.5983, 1.3651, -0.2271, 0.0073, -0.0073, 0.3077, -7.9932, 8.6906, 1.5849, 0.5201, 0.149, -0.0171] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.158, "right_x": 0.385, "right_z": 0.1}, "note": "The right gripper is between the stack and the pink bowl; the pink bowl's left wall is about 5 cm to the right. Shifting over that wall."})
tool
executing move_to over 5 steps (0.5s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe pink bowl's left wall is on the jaw column. Descending low so the jaws straddle the wall.
move_to
right_y0.1500right_z0.0050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1555, 1.113, 1.0283, -0.8333, -0.2352, -0.1463, 0.9955, 0.569, 1.6035, 0.8425, -0.0696, 0.45, 0.3237, 0.997] state[eef_state]: left_x=0.3028 left_y=-0.0022 left_z=0.1959 left_yaw=0.1134 left_pitch=-0.3204 left_roll=0.1147 left_gripper=0.9955 right_x=0.3781 right_y=0.1549 right_z=0.0813 right_yaw=0.003 right_pitch=-0.1621 right_roll=-0.0737 right_gripper=0.997 state[joint_eff]: [-0.1709, -3.1932, 6.5846, 1.3748, -0.1099, -0.0366, -0.0122, -0.4855, -9.6752, 6.5436, 1.7607, 0.0757, -0.0317, -0.0122] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.15, "right_z": 0.005}, "note": "The pink bowl's left wall is on the jaw column. Descending low so the jaws straddle the wall."})
tool
executing move_to over 5 steps (0.5s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
Pink wall sits between the jaws. Closing.
agent noteThe pink bowl's wall is between the open jaws at table level. Closing to pinch it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1555, 1.113, 1.0283, -0.8337, -0.2352, -0.1463, 0.9955, 0.5575, 1.792, 0.701, 0.2028, 0.4324, 0.3042, 0.997] state[eef_state]: left_x=0.3027 left_y=-0.0021 left_z=0.1958 left_yaw=0.1134 left_pitch=-0.3208 left_roll=0.1148 left_gripper=0.9955 right_x=0.3679 right_y=0.1464 right_z=0.0012 right_yaw=0.0099 right_pitch=-0.219 right_roll=-0.1076 right_gripper=0.997 state[joint_eff]: [-0.1709, -3.1932, 6.7624, 1.3504, -0.1148, -0.022, -0.0122, -0.4444, -6.2701, 4.5197, 1.326, 0.2466, 0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). 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
Pink wall sits between the jaws. Closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "The pink bowl's wall is between the open jaws at table level. Closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteJaws closed on the pink bowl's wall (reading 0.03, thin wall). Lifting to confirm it's held.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1555, 1.113, 1.0283, -0.833, -0.2356, -0.1463, 0.9955, 0.556, 1.7718, 0.704, 0.2413, 0.49, 0.2668, 0.032] state[eef_state]: left_x=0.3028 left_y=-0.0021 left_z=0.1959 left_yaw=0.1137 left_pitch=-0.3199 left_roll=0.1149 left_gripper=0.9955 right_x=0.3788 right_y=0.1417 right_z=0.0189 right_yaw=-0.0098 right_pitch=-0.1461 right_roll=-0.1399 right_gripper=0.032 state[joint_eff]: [-0.1299, -3.1658, 6.6256, 1.4042, -0.1685, -0.0659, -0.0122, 0.1846, -5.4496, 4.9026, 1.0672, -0.7253, 0.3541, 0.4078] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1}, "note": "Jaws closed on the pink bowl's wall (reading 0.03, thin wall). Lifting to confirm it's held."})
tool
executing move_to over 6 steps (0.6s)
step 216
top_cam
camera top_cam step 216
left_cam
camera left_cam step 216
right_cam
camera right_cam step 216
assistant
agent noteThe pink bowl lifted with the gripper, so it's held. Raising it and moving toward the grey/white stack on the left.
move_to
right_z0.1900right_y0.2500right_x0.3850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1555, 1.113, 1.0283, -0.8333, -0.2356, -0.1463, 0.9955, 0.556, 1.5906, 0.823, -0.0803, 0.4812, 0.2604, 0.0424] state[eef_state]: left_x=0.3028 left_y=-0.0021 left_z=0.1959 left_yaw=0.1137 left_pitch=-0.3203 left_roll=0.115 left_gripper=0.9955 right_x=0.3752 right_y=0.1411 right_z=0.0792 right_yaw=-0.0014 right_pitch=-0.1682 right_roll=-0.1507 right_gripper=0.0424 state[joint_eff]: [-0.1709, -3.1932, 6.6393, 1.3797, -0.1587, -0.0415, -0.0122, -0.3624, -8.4718, 8.9915, 1.5263, 0.3346, 0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.19, "right_y": 0.25, "right_x": 0.385}, "note": "The pink bowl lifted with the gripper, so it's held. Raising it and moving toward the grey/white stack on the left."})
tool
executing move_to over 10 steps (1.0s)
step 226
top_cam
camera top_cam step 226
left_cam
camera left_cam step 226
right_cam
camera right_cam step 226
assistant
agent noteThe grey stack is visible left of the held pink bowl. Shifting left so the pink bowl's centre sits over the stack.
move_to
right_y0.3500right_x0.3950right_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1555, 1.113, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.7929, 1.7691, 1.4559, -0.6609, 0.5842, 0.4393, 0.0424] state[eef_state]: left_x=0.3027 left_y=-0.0021 left_z=0.1958 left_yaw=0.1137 left_pitch=-0.3207 left_roll=0.1152 left_gripper=0.9955 right_x=0.3797 right_y=0.2517 right_z=0.1727 right_yaw=0.0487 right_pitch=-0.204 right_roll=-0.1615 right_gripper=0.0424 state[joint_eff]: [-0.1026, -3.2342, 6.7487, 1.3553, -0.1245, -0.0317, -0.0122, -0.0889, -8.5538, 9.3744, 1.2869, 0.5055, 0.3297, 1.0379] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.35, "right_x": 0.395, "right_z": 0.15}, "note": "The grey stack is visible left of the held pink bowl. Shifting left so the pink bowl's centre sits over the stack."})
tool
executing move_to over 9 steps (0.9s)
step 235
top_cam
camera top_cam step 235
left_cam
camera left_cam step 235
assistant
agent noteThe grey stack is almost fully under the pink bowl, just its left rim peeking out. Lowering the pink bowl onto the stack.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1555, 1.113, 1.0283, -0.8341, -0.2356, -0.1463, 0.9955, 0.9218, 2.1216, 1.8324, -0.8104, 0.6155, 0.5358, 0.0424] state[eef_state]: left_x=0.3026 left_y=-0.0021 left_z=0.1958 left_yaw=0.1138 left_pitch=-0.3211 left_roll=0.1153 left_gripper=0.9955 right_x=0.385 right_y=0.3447 right_z=0.1338 right_yaw=0.0834 right_pitch=-0.2636 right_roll=-0.2035 right_gripper=0.0424 state[joint_eff]: [-0.335, -3.2205, 6.6256, 1.3553, -0.1245, -0.0611, -0.0122, -0.0889, -12.041, 9.2923, 1.1355, 0.6667, 0.315, 1.033] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08}, "note": "The grey stack is almost fully under the pink bowl, just its left rim peeking out. Lowering the pink bowl onto the stack."})
tool
executing move_to over 4 steps (0.4s)
step 239
assistant
agent noteThe pink bowl is lowered onto the grey/white stack, with the grey rim just visible at its left. Releasing it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1555, 1.1137, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9249, 2.1475, 1.6737, -0.6884, 0.6014, 0.5385, 0.043] state[eef_state]: left_x=0.3027 left_y=-0.0021 left_z=0.1956 left_yaw=0.1138 left_pitch=-0.3214 left_roll=0.1154 left_gripper=0.9955 right_x=0.3749 right_y=0.3373 right_z=0.0771 right_yaw=0.0797 right_pitch=-0.3145 right_roll=-0.2414 right_gripper=0.043 state[joint_eff]: [-0.1709, -3.2889, 6.8308, 1.3455, -0.1832, -0.0317, -0.0122, -0.5675, -11.3573, 7.1453, 1.3407, 0.4274, -0.0562, 0.989] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The pink bowl is lowered onto the grey/white stack, with the grey rim just visible at its left. Releasing it."})
tool
executing move_to over 10 steps (1.0s)
step 249
assistant
Released. Lifting away to check the stack.
agent noteThe pink bowl is released and sits nested on the grey bowl. Moving the right arm back to park so the overhead camera can see the stack.
move_to
right_z0.2000right_x0.3000right_y0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1555, 1.1145, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9249, 2.1555, 1.6638, -0.6456, 0.6018, 0.5243, 0.9956] state[eef_state]: left_x=0.3028 left_y=-0.0021 left_z=0.1954 left_yaw=0.1139 left_pitch=-0.3222 left_roll=0.1156 left_gripper=0.9955 right_x=0.3783 right_y=0.3417 right_z=0.0737 right_yaw=0.093 right_pitch=-0.2995 right_roll=-0.2319 right_gripper=0.9956 state[joint_eff]: [-0.1983, -3.2752, 6.612, 1.3504, -0.1538, -0.0415, -0.0122, -0.4034, -12.1641, 6.5573, 1.3114, 0.4127, 0.0366, -0.0464] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
Released. Lifting away to check the stack.
move_to({"targets": {"right_z": 0.2, "right_x": 0.3, "right_y": 0.0}, "note": "The pink bowl is released and sits nested on the grey bowl. Moving the right arm back to park so the overhead camera can see the stack."})
tool
executing move_to over 29 steps (2.9s)
step 278
assistant
agent noteOverhead view shows the grey/white stack, but the pink bowl slid off and is on the table just right of and in front of it. Moving the right arm over the pink bowl's left wall to try again.
move_to
right_x0.3300right_y0.2600right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1555, 1.1168, 1.0283, -0.8333, -0.2352, -0.1463, 0.9955, 0.0647, 1.0683, 0.9665, -0.7715, 0.1413, -0.2073, 0.9958] state[eef_state]: left_x=0.3031 left_y=-0.0022 left_z=0.1948 left_yaw=0.1137 left_pitch=-0.3241 left_roll=0.1158 left_gripper=0.9955 right_x=0.3008 right_y=-0.0019 right_z=0.1905 right_yaw=0.0447 right_pitch=-0.3171 right_roll=-0.2372 right_gripper=0.9958 state[joint_eff]: [-0.1846, -3.4256, 6.5983, 1.4042, -0.1392, -0.0513, -0.0122, -0.212, -3.6718, 8.1026, 1.4628, -0.0757, -0.0464, 0.0073] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.26, "right_z": 0.12}, "note": "Overhead view shows the grey/white stack, but the pink bowl slid off and is on the table just right of and in front of it. Moving the right arm over the pink bowl's left wall to try again."})
tool
executing move_to over 22 steps (2.2s)
step 300
assistant
agent noteThe pink bowl's left wall is on the jaw column, with the grey stack further ahead and to the left. Descending to straddle the pink wall.
move_to
right_y0.2500right_x0.3350right_z0.0050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1555, 1.1183, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.8913, 1.7763, 1.3067, -0.7254, 0.5694, 0.5102, 0.9958] state[eef_state]: left_x=0.3031 left_y=-0.0021 left_z=0.1943 left_yaw=0.1142 left_pitch=-0.3258 left_roll=0.1167 left_gripper=0.9955 right_x=0.3225 right_y=0.2534 right_z=0.1096 right_yaw=0.0724 right_pitch=-0.3623 right_roll=-0.2646 right_gripper=0.9958 state[joint_eff]: [0.0479, -3.2752, 6.7897, 1.3407, -0.1832, -0.0513, -0.0122, 0.3077, -8.6906, 8.4718, 0.9158, 0.6178, 0.188, -0.0171] camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.25, "right_x": 0.335, "right_z": 0.005}, "note": "The pink bowl's left wall is on the jaw column, with the grey stack further ahead and to the left. Descending to straddle the pink wall."})
tool
executing move_to over 7 steps (0.7s)
step 307
assistant
agent noteThe pink wall sits between the jaws, slightly right of centre. Closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1555, 1.1183, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.8639, 1.9377, 1.1015, -0.3859, 0.556, 0.4751, 0.9958] state[eef_state]: left_x=0.3031 left_y=-0.0021 left_z=0.1943 left_yaw=0.1142 left_pitch=-0.3258 left_roll=0.1167 left_gripper=0.9955 right_x=0.3271 right_y=0.2448 right_z=0.0101 right_yaw=0.0648 right_pitch=-0.3954 right_roll=-0.2989 right_gripper=0.9958 state[joint_eff]: [-0.1846, -3.2889, 6.5983, 1.3114, -0.1636, -0.0269, -0.0122, -0.6632, -8.9231, 5.135, 0.8816, 0.2759, -0.0415, -0.0122] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The pink wall sits between the jaws, slightly right of centre. Closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 317
assistant
agent noteThe pink bowl's wall is pinched. Lifting it clear before moving it over the stack.
move_to
right_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1555, 1.1183, 1.0283, -0.8333, -0.2356, -0.1463, 0.9955, 0.8619, 1.9434, 1.0897, -0.3878, 0.5419, 0.4717, 0.0332] state[eef_state]: left_x=0.3032 left_y=-0.0022 left_z=0.1944 left_yaw=0.1142 left_pitch=-0.3255 left_roll=0.1165 left_gripper=0.9955 right_x=0.3228 right_y=0.242 right_z=0.0033 right_yaw=0.0675 right_pitch=-0.419 right_roll=-0.306 right_gripper=0.0332 state[joint_eff]: [-0.0889, -3.2615, 6.5983, 1.37, -0.1538, -0.0708, -0.0122, -0.212, -9.853, 6.4752, 0.8034, 0.3346, -0.0513, 1.5702] camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17}, "note": "The pink bowl's wall is pinched. Lifting it clear before moving it over the stack."})
tool
executing move_to over 11 steps (1.1s)
step 328
assistant
agent notePink bowl is held; the stack is ahead-left in the wrist view. Moving so the pink bowl's centre sits over the stack, a bit further forward than last time.
move_to
right_y0.3500right_x0.4050right_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1555, 1.1183, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.8627, 1.7901, 1.5074, -0.9779, 0.5343, 0.4675, 0.0412] state[eef_state]: left_x=0.3031 left_y=-0.0021 left_z=0.1943 left_yaw=0.1142 left_pitch=-0.3258 left_roll=0.1167 left_gripper=0.9955 right_x=0.3239 right_y=0.2455 right_z=0.1476 right_yaw=0.0691 right_pitch=-0.4383 right_roll=-0.3179 right_gripper=0.0412 state[joint_eff]: [-0.1162, -2.947, 6.8855, 1.3455, -0.1148, -0.0513, -0.0122, -0.4308, -10.8513, 8.1573, 0.8767, 0.3639, -0.0269, 1.033] camera 'top_cam' (step 328): [image omitted: streamed camera frame] camera 'left_cam' (step 328): [image omitted: streamed camera frame] camera 'right_cam' (step 328): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.35, "right_x": 0.405, "right_z": 0.17}, "note": "Pink bowl is held; the stack is ahead-left in the wrist view. Moving so the pink bowl's centre sits over the stack, a bit further forward than last time."})
tool
executing move_to over 9 steps (0.9s)
step 337
assistant
agent noteThe stack peeks out just left of the pink bowl's edge. Shifting 2 cm left to centre over it and lowering.
move_to
right_y0.3700right_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1555, 1.1221, 1.0283, -0.8345, -0.2352, -0.1463, 0.9955, 0.8764, 2.4786, 2.5935, -1.4197, 0.5182, 0.4637, 0.0467] state[eef_state]: left_x=0.3033 left_y=-0.0022 left_z=0.1931 left_yaw=0.1143 left_pitch=-0.3303 left_roll=0.1176 left_gripper=0.9955 right_x=0.3993 right_y=0.3484 right_z=0.1466 right_yaw=0.0792 right_pitch=-0.4809 right_roll=-0.3435 right_gripper=0.0467 state[joint_eff]: [-0.1026, -3.535, 6.6256, 1.3309, -0.1587, -0.0464, -0.0122, -0.0068, -11.3983, 5.2991, 0.1245, 0.4225, 0.1392, 1.033] camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.37, "right_z": 0.1}, "note": "The stack peeks out just left of the pink bowl's edge. Shifting 2 cm left to centre over it and lowering."})
tool
executing move_to over 4 steps (0.4s)
step 341
assistant
agent noteThe pink bowl is lowered and roughly centred over the stack, with only a sliver of the grey rim showing. Releasing.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1555, 1.1221, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9016, 2.5484, 2.4908, -1.3701, 0.5117, 0.4717, 0.0467] state[eef_state]: left_x=0.3034 left_y=-0.0022 left_z=0.1933 left_yaw=0.1146 left_pitch=-0.3295 left_roll=0.1177 left_gripper=0.9955 right_x=0.3868 right_y=0.3554 right_z=0.0837 right_yaw=0.0515 right_pitch=-0.5675 right_roll=-0.4381 right_gripper=0.0467 state[joint_eff]: [-0.1026, -3.1111, 6.5983, 1.3065, -0.1441, -0.0659, -0.0122, 0.0068, -15.9111, 6.5846, 0.8962, 0.3834, 0.188, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The pink bowl is lowered and roughly centred over the stack, with only a sliver of the grey rim showing. Releasing."})
tool
executing move_to over 10 steps (1.0s)
step 351
assistant
agent noteReleased the pink bowl; the wrist view now shows the grey bowl's inside with the pink rim in front of it, so it may not have nested. Moving the arm away to check from overhead.
move_to
right_z0.2000right_x0.3000right_y0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1555, 1.124, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9081, 2.5374, 2.4096, -1.33, 0.5156, 0.4702, 0.9957] state[eef_state]: left_x=0.3036 left_y=-0.0022 left_z=0.1927 left_yaw=0.1147 left_pitch=-0.3313 left_roll=0.1183 left_gripper=0.9955 right_x=0.3814 right_y=0.353 right_z=0.0681 right_yaw=0.0419 right_pitch=-0.5847 right_roll=-0.469 right_gripper=0.9957 state[joint_eff]: [-0.1846, -3.2342, 6.612, 1.3504, -0.1392, -0.0269, -0.0122, -0.0479, -15.9932, 6.3248, 0.6081, 0.4615, -0.0171, -0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.3, "right_y": 0.05}, "note": "Released the pink bowl; the wrist view now shows the grey bowl's inside with the pink rim in front of it, so it may not have nested. Moving the arm away to check from overhead."})
tool
executing move_to over 26 steps (2.6s)
step 377
assistant
agent noteThe pink bowl slid off again and now sits just right of and in front of the grey/white stack; the right arm was at its reach limit. Switching to the left arm, which reaches the stack easily, and positioning over the pink bowl's left wall.
move_to
left_x0.3400left_y-0.3750left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1555, 1.1252, 1.0283, -0.8333, -0.2356, -0.1463, 0.9955, 0.3882, 1.3888, 1.3144, -1.1481, 0.3988, -0.0681, 0.9958] state[eef_state]: left_x=0.3037 left_y=-0.0022 left_z=0.1925 left_yaw=0.1148 left_pitch=-0.3321 left_roll=0.1185 left_gripper=0.9955 right_x=0.3027 right_y=0.0535 right_z=0.1945 right_yaw=0.0147 right_pitch=-0.5907 right_roll=-0.4736 right_gripper=0.9958 state[joint_eff]: [-0.1026, -3.2342, 6.5983, 1.3895, -0.1636, -0.0415, -0.0122, -0.2393, -6.3111, 6.2427, 1.0623, 0.105, -0.0073, 0.0024] camera 'top_cam' (step 377): [image omitted: streamed camera frame] camera 'left_cam' (step 377): [image omitted: streamed camera frame] camera 'right_cam' (step 377): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.375, "left_z": 0.12, "left_gripper": 1.0}, "note": "The pink bowl slid off again and now sits just right of and in front of the grey/white stack; the right arm was at its reach limit. Switching to the left arm, which reaches the stack easily, and positioning over the pink bowl's left wall."})
tool
executing move_to over 34 steps (3.4s)
step 411
assistant
agent noteIn the left wrist view the pink bowl's left wall is about 3–4 cm right of the jaws. Shifting right and lowering.
move_to
left_y-0.3950left_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0306, 2.2467, 2.0621, -1.1866, -0.6151, -1.0416, 0.9966, 0.3458, 1.3922, 1.3094, -1.1744, 0.4759, -0.0708, 0.9958] state[eef_state]: left_x=0.3371 left_y=-0.3568 left_z=0.122 left_yaw=0.1337 left_pitch=-0.3685 left_roll=0.1367 left_gripper=0.9966 right_x=0.3011 right_y=0.0263 right_z=0.1955 right_yaw=-0.1055 right_pitch=-0.594 right_roll=-0.5723 right_gripper=0.9958 state[joint_eff]: [-1.9897, -9.4291, 8.7726, 1.1941, -0.6374, -0.0366, -0.3687, 3.6855, -5.4769, 6.5026, 1.1111, -0.8278, 0.0122, -0.0122] camera 'top_cam' (step 411): [image omitted: streamed camera frame] camera 'left_cam' (step 411): [image omitted: streamed camera frame] camera 'right_cam' (step 411): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.395, "left_z": 0.06}, "note": "In the left wrist view the pink bowl's left wall is about 3\u20134 cm right of the jaws. Shifting right and lowering."})
tool
executing move_to over 5 steps (0.5s)
step 416
assistant
agent noteThe pink bowl's left wall is now near the jaw column. Descending to straddle it.
move_to
left_y-0.3920left_z0.0050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0508, 2.347, 2.1242, -1.1427, -0.6209, -1.0901, 0.9963, 0.3069, 1.4162, 1.2808, -1.2083, 0.5701, -0.0715, 0.9958] state[eef_state]: left_x=0.341 left_y=-0.3816 left_z=0.0957 left_yaw=0.1411 left_pitch=-0.3577 left_roll=0.1023 left_gripper=0.9963 right_x=0.294 right_y=-0.0031 right_z=0.1862 right_yaw=-0.2542 right_pitch=-0.626 right_roll=-0.7209 right_gripper=0.9958 state[joint_eff]: [-1.7299, -7.1179, 6.7214, 0.7692, -0.398, -0.0024, -0.0366, 3.3983, -6.8171, 8.6496, 1.033, -0.9255, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 416): [image omitted: streamed camera frame] camera 'left_cam' (step 416): [image omitted: streamed camera frame] camera 'right_cam' (step 416): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.392, "left_z": 0.005}, "note": "The pink bowl's left wall is now near the jaw column. Descending to straddle it."})
tool
executing move_to over 6 steps (0.6s)
step 422
assistant
agent noteThe left arm's descent stalled at 8 cm and the right arm's orientation is being pushed, so the two arms are probably touching. Pulling the right arm back and up out of the way.
move_to
right_x0.1500right_y-0.0500right_z0.3000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0622, 2.3817, 2.1323, -1.1164, -0.6212, -1.0977, 0.9963, 0.2962, 1.4197, 1.2366, -1.2091, 0.6281, -0.0715, 0.9958] state[eef_state]: left_x=0.3398 left_y=-0.391 left_z=0.0824 left_yaw=0.1343 left_pitch=-0.3571 left_roll=0.0979 left_gripper=0.9963 right_x=0.2873 right_y=-0.0171 right_z=0.1779 right_yaw=-0.3307 right_pitch=-0.6343 right_roll=-0.8127 right_gripper=0.9958 state[joint_eff]: [-1.0598, -9.4291, 6.3795, 0.7985, -0.3932, 0.0366, -0.0171, 1.1556, -6.9675, 7.5829, 0.8376, -0.1197, 0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 422): [image omitted: streamed camera frame] camera 'left_cam' (step 422): [image omitted: streamed camera frame] camera 'right_cam' (step 422): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.15, "right_y": -0.05, "right_z": 0.3, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "The left arm's descent stalled at 8 cm and the right arm's orientation is being pushed, so the two arms are probably touching. Pulling the right arm back and up out of the way."})
tool
executing move_to over 22 steps (2.2s)
step 444
assistant
agent noteThe right arm is clear now. Retrying the left arm's descent onto the pink bowl's left wall, which is on the jaw column.
move_to
left_z0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0584, 2.3867, 2.1345, -1.1137, -0.6216, -1.1007, 0.9963, -1.2148, 0.7395, 1.1854, -1.5154, -0.7681, -0.9398, 0.9958] state[eef_state]: left_x=0.3418 left_y=-0.3904 left_z=0.0808 left_yaw=0.14 left_pitch=-0.3565 left_roll=0.0961 left_gripper=0.9963 right_x=0.1584 right_y=-0.0636 right_z=0.277 right_yaw=-0.0958 right_pitch=-0.1152 right_roll=-0.0107 right_gripper=0.9958 state[joint_eff]: [-0.335, -13.7915, 5.8735, 0.5885, -0.3785, -0.0122, -0.0171, 1.0872, 1.3197, 7.8017, 1.0085, -0.7448, -0.0024, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 444): [image omitted: streamed camera frame] camera 'left_cam' (step 444): [image omitted: streamed camera frame] camera 'right_cam' (step 444): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.0}, "note": "The right arm is clear now. Retrying the left arm's descent onto the pink bowl's left wall, which is on the jaw column."})
tool
executing move_to over 6 steps (0.6s)
step 450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0584, 2.4214, 1.9327, -0.8822, -0.63, -1.1084, 0.9963, -1.3178, 0.7303, 1.1515, -1.5631, -0.852, -1.0447, 0.9958] state[eef_state]: left_x=0.3415 left_y=-0.3874 left_z=0.0157 left_yaw=0.1488 left_pitch=-0.3502 left_roll=0.0993 left_gripper=0.9963 right_x=0.1572 right_y=-0.0625 right_z=0.2737 right_yaw=-0.0953 right_pitch=-0.0747 right_roll=0.0026 right_gripper=0.9958 state[joint_eff]: [-0.1983, -11.1795, 5.3402, 0.4274, 0.0562, 0.1441, -0.0122, -0.0889, 1.3197, 5.3538, 1.0232, -0.4615, 0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 450): [image omitted: streamed camera frame] camera 'left_cam' (step 450): [image omitted: streamed camera frame] camera 'right_cam' (step 450): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 12.08 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]: [-0.0196, 0.794, 0.6044, -0.3794, -0.0227, -0.0406, 0.9966, -0.0219, 0.7921, 0.601, -0.3763, -0.0166, -0.0334, 0.9972]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9966 right_x=0.2948 right_y=0.0001 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9972\nstate[joint_eff]: [-0.4034, -1.5248, 10.1128, 1.7949, -0.0464, 0.2613, -0.3687, -0.4581, -1.3333, 10.3179, 1.8877, -0.1099, 0.2076, -0.3004]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11b3deba73ed704452fafac6deeb3208e92469bdeced91ea9900d021ab6cb24e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9f0ac385086cf9b5dc692eb99ccdd64ebb5bedd2bbe84194a3377b50124e249",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71f465dd912e251d3d0b83182e11ac99d151bfdcd9ced433fbce85388b030e21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 8.543 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]: [-0.0196, 0.794, 0.6044, -0.3794, -0.0227, -0.0406, 0.9966, -0.0219, 0.7921, 0.601, -0.3763, -0.0166, -0.0334, 0.9972]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9966 right_x=0.2948 right_y=0.0001 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9972\nstate[joint_eff]: [-0.4034, -1.5248, 10.1128, 1.7949, -0.0464, 0.2613, -0.3687, -0.4581, -1.3333, 10.3179, 1.8877, -0.1099, 0.2076, -0.3004]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11b3deba73ed704452fafac6deeb3208e92469bdeced91ea9900d021ab6cb24e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9f0ac385086cf9b5dc692eb99ccdd64ebb5bedd2bbe84194a3377b50124e249",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71f465dd912e251d3d0b83182e11ac99d151bfdcd9ced433fbce85388b030e21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016uCv7M4KsTVGQxeVuNJ3X7",
      "input": {
        "note": "Three bowls sit in a row mid-table (white-left, blue-middle, pink-right). Moving the left arm over the left rim of the leftmost bowl to plan a rim grasp.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.15,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_016uCv7M4KsTVGQxeVuNJ3X7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6243, 1.351, 0.7563, -0.1406, -0.495, -0.3916, 0.9963, -0.0216, 0.7967, 0.5999, -0.3889, -0.0166, -0.0311, 0.9971]\nstate[eef_state]: left_x=0.3484 left_y=-0.1431 left_z=0.1309 left_yaw=-0.0242 left_pitch=-0.0632 left_roll=0.0321 left_gripper=0.9963 right_x=0.2932 right_y=0.0002 right_z=0.1755 right_yaw=-0.0008 right_pitch=-0.0183 right_roll=0.0023 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -5.3265, 9.1556, 1.7949, -0.2759, -0.0513, -0.0366, 0.0342, -1.5658, 7.4051, 1.8584, -0.0415, -0.0855, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8696ad8f3e1baff7f9299d22c935c0c00e9546247980924cc95816f4cee14ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ffe5da1dc1fcc0f8be0e94d045ed8ff7a578ff96f099fef34712f81e94b2074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d68bd94e421520dedc17f347796c456ee394b56db9ff72dc18338a02a0e8614a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 9.732 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]: [-0.0196, 0.794, 0.6044, -0.3794, -0.0227, -0.0406, 0.9966, -0.0219, 0.7921, 0.601, -0.3763, -0.0166, -0.0334, 0.9972]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9966 right_x=0.2948 right_y=0.0001 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9972\nstate[joint_eff]: [-0.4034, -1.5248, 10.1128, 1.7949, -0.0464, 0.2613, -0.3687, -0.4581, -1.3333, 10.3179, 1.8877, -0.1099, 0.2076, -0.3004]",
      "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]: [-0.6243, 1.351, 0.7563, -0.1406, -0.495, -0.3916, 0.9963, -0.0216, 0.7967, 0.5999, -0.3889, -0.0166, -0.0311, 0.9971]\nstate[eef_state]: left_x=0.3484 left_y=-0.1431 left_z=0.1309 left_yaw=-0.0242 left_pitch=-0.0632 left_roll=0.0321 left_gripper=0.9963 right_x=0.2932 right_y=0.0002 right_z=0.1755 right_yaw=-0.0008 right_pitch=-0.0183 right_roll=0.0023 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -5.3265, 9.1556, 1.7949, -0.2759, -0.0513, -0.0366, 0.0342, -1.5658, 7.4051, 1.8584, -0.0415, -0.0855, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8696ad8f3e1baff7f9299d22c935c0c00e9546247980924cc95816f4cee14ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ffe5da1dc1fcc0f8be0e94d045ed8ff7a578ff96f099fef34712f81e94b2074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d68bd94e421520dedc17f347796c456ee394b56db9ff72dc18338a02a0e8614a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XRem7njHVr2UuZFAKBT3Am",
      "input": {
        "note": "White bowl is below the gripper, slightly left and ahead of the jaws. Shifting over its left rim so the jaws can straddle the bowl wall.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.055,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01XRem7njHVr2UuZFAKBT3Am",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2634, 1.3426, 0.6792, -0.0349, -0.252, -0.186, 0.9963, -0.0219, 0.7971, 0.5999, -0.3927, -0.0162, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3745 left_y=-0.0517 left_z=0.1107 left_yaw=0.0284 left_pitch=-0.104 left_roll=0.0358 left_gripper=0.9963 right_x=0.2927 right_y=0.0 right_z=0.1746 right_yaw=-0.0018 right_pitch=-0.0225 right_roll=0.0025 right_gripper=0.9971\nstate[joint_eff]: [0.2393, -6.0103, 6.0923, 2.0, 0.1197, 0.1148, -0.0171, -0.0205, -1.265, 7.0085, 1.7656, -0.0317, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef1f15102779d2b36234786f512cb7cc3d9615a1599576b1923ccbd6c7d4e176",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06fd7d919f1e1bb1115a2a7a4419364841aa507784d18e608fa51f6ed5cb6be7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2be0e9636eb1f0c71705165ca1bbb0044dbc9494700265c9d128dc883298c7e9",
        "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 · 3.974 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]: [-0.0196, 0.794, 0.6044, -0.3794, -0.0227, -0.0406, 0.9966, -0.0219, 0.7921, 0.601, -0.3763, -0.0166, -0.0334, 0.9972]\nstate[eef_state]: left_x=0.2949 left_y=0.0018 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9966 right_x=0.2948 right_y=0.0001 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9972\nstate[joint_eff]: [-0.4034, -1.5248, 10.1128, 1.7949, -0.0464, 0.2613, -0.3687, -0.4581, -1.3333, 10.3179, 1.8877, -0.1099, 0.2076, -0.3004]",
      "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]: [-0.6243, 1.351, 0.7563, -0.1406, -0.495, -0.3916, 0.9963, -0.0216, 0.7967, 0.5999, -0.3889, -0.0166, -0.0311, 0.9971]\nstate[eef_state]: left_x=0.3484 left_y=-0.1431 left_z=0.1309 left_yaw=-0.0242 left_pitch=-0.0632 left_roll=0.0321 left_gripper=0.9963 right_x=0.2932 right_y=0.0002 right_z=0.1755 right_yaw=-0.0008 right_pitch=-0.0183 right_roll=0.0023 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -5.3265, 9.1556, 1.7949, -0.2759, -0.0513, -0.0366, 0.0342, -1.5658, 7.4051, 1.8584, -0.0415, -0.0855, -0.0269]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2634, 1.3426, 0.6792, -0.0349, -0.252, -0.186, 0.9963, -0.0219, 0.7971, 0.5999, -0.3927, -0.0162, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3745 left_y=-0.0517 left_z=0.1107 left_yaw=0.0284 left_pitch=-0.104 left_roll=0.0358 left_gripper=0.9963 right_x=0.2927 right_y=0.0 right_z=0.1746 right_yaw=-0.0018 right_pitch=-0.0225 right_roll=0.0025 right_gripper=0.9971\nstate[joint_eff]: [0.2393, -6.0103, 6.0923, 2.0, 0.1197, 0.1148, -0.0171, -0.0205, -1.265, 7.0085, 1.7656, -0.0317, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef1f15102779d2b36234786f512cb7cc3d9615a1599576b1923ccbd6c7d4e176",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06fd7d919f1e1bb1115a2a7a4419364841aa507784d18e608fa51f6ed5cb6be7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2be0e9636eb1f0c71705165ca1bbb0044dbc9494700265c9d128dc883298c7e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wv3dEmJvxrNZ3k9tqZ43Y1",
      "input": {
        "note": "The left rim of the leftmost bowl now sits on the jaw column in the wrist view. Descending so the open jaws straddle the bowl wall.",
        "targets": {
          "left_y": -0.06,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Wv3dEmJvxrNZ3k9tqZ43Y1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2886, 1.5799, 0.5156, 0.2951, -0.263, -0.2028, 0.9963, -0.0219, 0.7986, 0.5999, -0.3931, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3656 left_y=-0.0569 left_z=0.0236 left_yaw=0.0244 left_pitch=-0.169 left_roll=0.0513 left_gripper=0.9963 right_x=0.2928 right_y=0.0 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0244 right_roll=0.0029 right_gripper=0.9971\nstate[joint_eff]: [-0.7863, -6.0103, 4.6974, 1.7314, -0.2857, -0.0513, -0.0122, -0.0889, -1.388, 7.2137, 1.7216, -0.0415, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:680599871336863c32a1a73289db1993f313e9054b9413290cbed7d5c07fe0bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ca6c286e5800f8174cdf98522b8e01dd824a10a007a64299ca316bd1066a615",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1389cafa44cd33bcb475e854299997a84292d225f894d3c5eb45a3375051171",
        "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 · 6.273 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]: [-0.6243, 1.351, 0.7563, -0.1406, -0.495, -0.3916, 0.9963, -0.0216, 0.7967, 0.5999, -0.3889, -0.0166, -0.0311, 0.9971]\nstate[eef_state]: left_x=0.3484 left_y=-0.1431 left_z=0.1309 left_yaw=-0.0242 left_pitch=-0.0632 left_roll=0.0321 left_gripper=0.9963 right_x=0.2932 right_y=0.0002 right_z=0.1755 right_yaw=-0.0008 right_pitch=-0.0183 right_roll=0.0023 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -5.3265, 9.1556, 1.7949, -0.2759, -0.0513, -0.0366, 0.0342, -1.5658, 7.4051, 1.8584, -0.0415, -0.0855, -0.0269]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2634, 1.3426, 0.6792, -0.0349, -0.252, -0.186, 0.9963, -0.0219, 0.7971, 0.5999, -0.3927, -0.0162, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3745 left_y=-0.0517 left_z=0.1107 left_yaw=0.0284 left_pitch=-0.104 left_roll=0.0358 left_gripper=0.9963 right_x=0.2927 right_y=0.0 right_z=0.1746 right_yaw=-0.0018 right_pitch=-0.0225 right_roll=0.0025 right_gripper=0.9971\nstate[joint_eff]: [0.2393, -6.0103, 6.0923, 2.0, 0.1197, 0.1148, -0.0171, -0.0205, -1.265, 7.0085, 1.7656, -0.0317, -0.0513, -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 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2886, 1.5799, 0.5156, 0.2951, -0.263, -0.2028, 0.9963, -0.0219, 0.7986, 0.5999, -0.3931, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3656 left_y=-0.0569 left_z=0.0236 left_yaw=0.0244 left_pitch=-0.169 left_roll=0.0513 left_gripper=0.9963 right_x=0.2928 right_y=0.0 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0244 right_roll=0.0029 right_gripper=0.9971\nstate[joint_eff]: [-0.7863, -6.0103, 4.6974, 1.7314, -0.2857, -0.0513, -0.0122, -0.0889, -1.388, 7.2137, 1.7216, -0.0415, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:680599871336863c32a1a73289db1993f313e9054b9413290cbed7d5c07fe0bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ca6c286e5800f8174cdf98522b8e01dd824a10a007a64299ca316bd1066a615",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1389cafa44cd33bcb475e854299997a84292d225f894d3c5eb45a3375051171",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7QYKEAgSGAI4AUIIdGhpbmtpbmcSDLQyBpquuB0TwcdluhoMi0jOK44vZYUzxgAOIjBkqcIHxRaW11czG69ESZ0a42fijIRR9EG5bQNPfSs8R75wmJfz5EdP3QGUWKYIm74qigarT6OoYz327fK23Z79bBnAIydJoSbV0peVdBxHEJxx3Qt6zzkG8zd6AV0zw4DZMYwhwBrsLLjdq3sPP77AMUb+BZLEHiCxsJbyHrYsq0coZB7QapbOPehtTLv2hVsnv/9DCpC2ZiV9lt0EPuh1V5utOO1tzMAao7ymeay92emg1wLKEIvCWdm57wtBs8vuLtq+0WU85SdS2hA5oxh4PixOEs7O4JI1LwjMgVh/I0xJvocCKz9V+7PD8BZZBm+R0mEgNReJjfd5MJlRlpYb0CTidoCho69vEur8LrNMQXxG/+epDlj0cL0Z8ZGNShMZqlOPu3B/yAIbIcYxce6ieYftdO2thzaP8qtxVk05M7nyKy5D3/5dP3B0anvVkBad9eT2iuPNOfwCi/NUXYtIQLyrazcbKKLbWT/XV1TKN4AkJiuZt9w2NGIioSc5pVSrAfb+D1S5+zdrY+K6J39PJGUXJo6osyeP6owXkg9fy/0MO2q+B0xHVwTzDXLVqcuXxBwrCq1YCestUfSRmMgwO8BXIJd8ZzIwAGlqVvZhnhfH8z8MI4Z7ic6Y+ZV6xeI6fGP5OSE3tCauIMiL8euRNcis223izuP0KwfUozT8yaWX1SFhQNpCnftFtZoEGbSOHqIUsSh6KZicaEo5raN+FhpBh6tPju1gE4TEdB1Ir4SvvdO1v9/5wC/Q2+YTx7NpNGGSfLt227pbLra/1J1QSjDubNeHVnoqi9tVcHcUm/G7b6gRGUnygeV2Jzazk/GkabPbdlSHThuRhAKucBHek2SAkaLie2WQl6kGVjla7sdDP5L832Mx2uSKXkU55KF6DPl5veN8rvnQqhzTNnfnwbxP0saObeOACNKbLY8yf5em8YFM/khuxVzlzGhWTgwmIubqIZHyoNwEBb/IiUjrTgEdsa25mKHMNDL+Q0wXxvpfVKX6t+4Y0O9pjyLcL+AXHu78D79bGc+j/RUCu/Iw5cLgCZUPRheEgnw8g43Uc7TB1N4aeg70VkaEt1YBgZX1gZJsLL3JU2Z//qQEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011zwzm5J1rNbacyYcfMXKSn",
      "input": {
        "note": "The bowl's left wall sits between the open jaws at rim height. Closing to pinch the wall.",
        "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_011zwzm5J1rNbacyYcfMXKSn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.292, 1.5734, 0.5144, 0.3294, -0.2558, -0.2218, 0.1048, -0.0219, 0.7986, 0.5999, -0.3923, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3708 left_y=-0.0611 left_z=0.0313 left_yaw=0.0235 left_pitch=-0.1323 left_roll=0.0197 left_gripper=0.1048 right_x=0.2929 right_y=0.0001 right_z=0.1743 right_yaw=-0.0014 right_pitch=-0.0236 right_roll=0.0027 right_gripper=0.9971\nstate[joint_eff]: [0.5128, -5.4632, 5.9009, 1.3211, -0.232, 0.188, 0.4908, -0.1573, -1.265, 7.0085, 1.7509, -0.0806, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64d5d3da67b0ded86adfc6c1559a7a20a80cbdb822ae9d8dc86d5dfac548452b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fc5f988c859c5d68ce8ff0f0f3c273ca07cd5455b34000d283f3424b7f8887b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5ef673ab4cf7af91a17a51f7b65759e6af0140a4b069643dc113b49729b3243",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 3.653 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]: [-0.2634, 1.3426, 0.6792, -0.0349, -0.252, -0.186, 0.9963, -0.0219, 0.7971, 0.5999, -0.3927, -0.0162, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3745 left_y=-0.0517 left_z=0.1107 left_yaw=0.0284 left_pitch=-0.104 left_roll=0.0358 left_gripper=0.9963 right_x=0.2927 right_y=0.0 right_z=0.1746 right_yaw=-0.0018 right_pitch=-0.0225 right_roll=0.0025 right_gripper=0.9971\nstate[joint_eff]: [0.2393, -6.0103, 6.0923, 2.0, 0.1197, 0.1148, -0.0171, -0.0205, -1.265, 7.0085, 1.7656, -0.0317, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2886, 1.5799, 0.5156, 0.2951, -0.263, -0.2028, 0.9963, -0.0219, 0.7986, 0.5999, -0.3931, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3656 left_y=-0.0569 left_z=0.0236 left_yaw=0.0244 left_pitch=-0.169 left_roll=0.0513 left_gripper=0.9963 right_x=0.2928 right_y=0.0 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0244 right_roll=0.0029 right_gripper=0.9971\nstate[joint_eff]: [-0.7863, -6.0103, 4.6974, 1.7314, -0.2857, -0.0513, -0.0122, -0.0889, -1.388, 7.2137, 1.7216, -0.0415, -0.0464, -0.0171]",
      "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]: [-0.292, 1.5734, 0.5144, 0.3294, -0.2558, -0.2218, 0.1048, -0.0219, 0.7986, 0.5999, -0.3923, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3708 left_y=-0.0611 left_z=0.0313 left_yaw=0.0235 left_pitch=-0.1323 left_roll=0.0197 left_gripper=0.1048 right_x=0.2929 right_y=0.0001 right_z=0.1743 right_yaw=-0.0014 right_pitch=-0.0236 right_roll=0.0027 right_gripper=0.9971\nstate[joint_eff]: [0.5128, -5.4632, 5.9009, 1.3211, -0.232, 0.188, 0.4908, -0.1573, -1.265, 7.0085, 1.7509, -0.0806, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64d5d3da67b0ded86adfc6c1559a7a20a80cbdb822ae9d8dc86d5dfac548452b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fc5f988c859c5d68ce8ff0f0f3c273ca07cd5455b34000d283f3424b7f8887b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5ef673ab4cf7af91a17a51f7b65759e6af0140a4b069643dc113b49729b3243",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2woKEAgSGAI4AUIIdGhpbmtpbmcSDBgnMraWXvPpDcrHqBoMYcls+lGH4E8cIybsIjC54aGacde6qYX6ebsoreQh5EdApXpnHsknmxUo+Se1AQN6QitgJLdrdWcg07LqOO0q+AmOMOUUNz/++Qk/ZWI0p2ci3wtHu/euNUYUJTozSCpJK34cG7xeJhTyKAIeP+UUUMynQ8OhnZrixyn+ObG+CA4ZcoNegMm4LUyEg5ouNsdxlHu4A5jyr+4Qre4SYADkJQpXPc7CkN3a7uEClj/MQyYfWNEvIs5s/jfmBDhVszJVzvKUodHemTvAZwwDneFacy9E6J+HR4Q5A97C0w03MEv9lCreDqggHZbRbb+bncOJdyqNXFaYf4+Kz1nwsHsJicvei+3HYwowkCM2yUqxZwRWTZJIdOsz2QoFwKwEyAJYdaAWJtUZmaZkmPEwPu9CqYBx8JDJrrNdzWR/XmxaG6Z8eyRjB2MgMV8Iqw4Dyk2HCNtQtXuibCgJ5u6YZ+IyQsYphOVG/lJRsEiBHKu5zt9/Mm5lAH2sStyoIP85GVQB4zxU/SikkW5MjQHalYV6yDCEc/4Ft83zQ3DO0QWfDfy45OAGQwvjnofhmz1o6edvi3UG7DyDmgSy9lycAg6Fc7nIJ/lbqN3IbvSYbtDMkMdi2JRIUDFnB9Mykp1Qgs4ts6cj6NMGOz+LxX51ebsyzytDljVF7qvQm12lHrcCmlWb/deDlNnrUqw/LOZ3CYnMZ9FkV/4XxKOWYtK5rNFzXFiRyXIbQZe4TFbJczSb9y4F2JAO7A0WGtBH5c4COHLj0/Ij+fHRpFBjYDqGcPc8LXPsldU4qNVXignJ8iFKhav0y8TfBJLStk3Am7eS8Vc6hkAu7zW98w0LsIlm1CSaxp8GizhtewEHp3FP9mi7SP5Tke4IqCqgNCLWre/CE9suCF2pw38qW26MjDpRD/FRfEJhIAFILqlSh3PxGnxf/ga0Bu2+sIGO3QiWWDVuQgfPUPMVyamJWlg8JMB1+6M1YhPq4J3CTtBLd/GXVkcVX1fYzVAzZKc6jghOIP8HtG2Q2sFSEwxGaB15o5ViWQNH0xxhBErU0/5Tv72jnV3JK8T7gVlDe2VnjhCu2YTp+AyXRKAE//2EsuIjl/XLPkPGsjVy4724aFwlwOYyrKRnsfrLfcIWsEPEDkFVbuqres88qtkcFwSAhSV8OPw8/pm4i6nA5eAphQLm07NF0TtanWzjjiWt6Ejv7g3G5u6ePnys93nEnEAWkGqV6frvhxYRrFDOynajQrbJQQlDRGE+eS9MDN6Wv7U7aD605QvZULCS7wEk7tFCpUafVshWZAC9pJR0QnkCi+UwsNoh5eWnoFtDQ1tTn0p2XyjvP5COJqUDMyh80QecsBESULk9O3ZtX1QhyyGxth1pJVq0FYBdhei2WkLR5S5zuuZv6WuuHQd3Fo6ndOXgn947x5ko4ri7RTO8nm8j0RHEkCG22whxUNejQVTDyROmZ+Lm1V1xa4zQIlN+bXYGKCZ9EHSQOGacEOZjyT0+C0sZaH5BrQsgNPE5uo+V15QgCFWdcSXZRM/scVGSPaubEgkqEKmuWXb6K0w9p70Xvm7huoudeTnCzbcbETnJnLy03zjwPL9DEwYMqe5luFZE31iwW/8kvX8mG9oSEhP1TFSiT8z06WkVlmDCGJZGGUtM3qsOOMmIOLg+RIqt4RyGY6hCCfOC6BetyxBjQ76VJ3BCwqOPjDeeQuetwIA1HLMgzO5ES9DsyYA2PzRl1qnRyvA1hAOnVZVpQsfjhK7yK3DMpbT/7oBjHER3987Z3Sm+YvUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SoaVDMqrBh9jpdbAu7ttVc",
      "input": {
        "note": "Gripper closed to ~1 cm on the grey bowl's wall. Lifting to confirm the grasp and clear the other bowls.",
        "targets": {
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01SoaVDMqrBh9jpdbAu7ttVc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.292, 1.2991, 0.8471, -0.292, -0.2588, -0.2321, 0.1044, -0.0219, 0.7986, 0.5999, -0.3927, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3713 left_y=-0.0607 left_z=0.1503 left_yaw=0.0322 left_pitch=-0.1453 left_roll=0.0183 left_gripper=0.1044 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=-0.0016 right_pitch=-0.024 right_roll=0.0031 right_gripper=0.9971\nstate[joint_eff]: [-0.0889, -6.3385, 9.3333, 1.5995, -0.0904, 0.0415, -0.0464, -0.0615, -1.2513, 7.1043, 1.7411, -0.0611, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b1a558d5bfb488cc5b2aa5cd18cd60fdfa42795fff6b4c1c3d77f0c84b5185e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36d9289ee225e3fb1bba2fe5d6222e12ae8f1b8bd980350ba02b2ff0f8ace8bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83bacbf2f0d3b27c06e78a1242204faec93706d6bd881901d475dd26ff652a27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 11.18 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]: [-0.2886, 1.5799, 0.5156, 0.2951, -0.263, -0.2028, 0.9963, -0.0219, 0.7986, 0.5999, -0.3931, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3656 left_y=-0.0569 left_z=0.0236 left_yaw=0.0244 left_pitch=-0.169 left_roll=0.0513 left_gripper=0.9963 right_x=0.2928 right_y=0.0 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0244 right_roll=0.0029 right_gripper=0.9971\nstate[joint_eff]: [-0.7863, -6.0103, 4.6974, 1.7314, -0.2857, -0.0513, -0.0122, -0.0889, -1.388, 7.2137, 1.7216, -0.0415, -0.0464, -0.0171]",
      "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]: [-0.292, 1.5734, 0.5144, 0.3294, -0.2558, -0.2218, 0.1048, -0.0219, 0.7986, 0.5999, -0.3923, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3708 left_y=-0.0611 left_z=0.0313 left_yaw=0.0235 left_pitch=-0.1323 left_roll=0.0197 left_gripper=0.1048 right_x=0.2929 right_y=0.0001 right_z=0.1743 right_yaw=-0.0014 right_pitch=-0.0236 right_roll=0.0027 right_gripper=0.9971\nstate[joint_eff]: [0.5128, -5.4632, 5.9009, 1.3211, -0.232, 0.188, 0.4908, -0.1573, -1.265, 7.0085, 1.7509, -0.0806, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.292, 1.2991, 0.8471, -0.292, -0.2588, -0.2321, 0.1044, -0.0219, 0.7986, 0.5999, -0.3927, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3713 left_y=-0.0607 left_z=0.1503 left_yaw=0.0322 left_pitch=-0.1453 left_roll=0.0183 left_gripper=0.1044 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=-0.0016 right_pitch=-0.024 right_roll=0.0031 right_gripper=0.9971\nstate[joint_eff]: [-0.0889, -6.3385, 9.3333, 1.5995, -0.0904, 0.0415, -0.0464, -0.0615, -1.2513, 7.1043, 1.7411, -0.0611, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b1a558d5bfb488cc5b2aa5cd18cd60fdfa42795fff6b4c1c3d77f0c84b5185e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36d9289ee225e3fb1bba2fe5d6222e12ae8f1b8bd980350ba02b2ff0f8ace8bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83bacbf2f0d3b27c06e78a1242204faec93706d6bd881901d475dd26ff652a27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wYKEAgSGAI4AUIIdGhpbmtpbmcSDFrrdpRjafE6IU8jzxoMA8rO+Egm9erqe+UXIjC9PYKV5nbApUVUq2WpgvZUMVFjF6NGH7l0jdxK0wbzlHyFckINER9kxwAQhpCYDosqiAbmYUGrBKJRP2bJXK5DTrgu1TXoF6q/L8aMpPMDdeGS+ClrJ77dZucEI2hsY8uEAZzUa0WIhbrrscX6X5WpKul/7VbbpthRcdmp3hhbob8TqtYz3yOP/chbV1/etHNIHP3wvocp79i1+M/E5CryAVyxRCPGy3bxUakJ9Tx53jau/BeW+Tq/cigHUZHA747D0OEU2XQ9YekL8aQ1aGkR6WhGp099/1llojehEDI5VwuPoRQuXgrHsBrFIyzTZUjSbUBY4GsmxdZM9bWV8s24EnKynAgvWWF97zCq6yLLdyOgi2+CqK8ZIcFwkFoy9qSfBGmwrzwq+UrzrJt0A43wqhGksXbZE8QCfdzNbdwBqBTfM7AIAyqAkpoQ/LzvnE4Er/kvAgtDOuuthvBFedUUjh2vwbX+cA+gSqe/qZ+OqvTKjvyeNMcAX6kBmXjytT2EWoQs5GtP0VwO7wSGdp+Pobe3V7ItP0jOA4g7pP2ydQWzM4R8tWU6wFqKhv52amnOJJAhbS4bsynE3lV7CevSJ2WrS79iaCI3sdRxdHE4kocicftvyYWzCWrNbwp8WMRzATpppvR0lJJv41vsJF3G7SoFhtpsS7SxJSiyGnwgQm5fodkBd7iQaPxXS4GPXQIsIKbdVPXZkTmMXEqFuRc/zBLcE59b7wrydc6IJgNy5UKQ8KdqXjSzSRo4rfTHqQ1ZljxHJ636TLf30/Wik1MIY9QQpdc0IgmpvZtEmKote4gQc9eSNXTzR+Ymn8aJDjHGSJ7Azq3bu77kmEGxGYqKpswA9lBONG6oomqPYOdU2OAeCoQlB71+SAi8UwTO82ulD+I3GHemPpKeeavFFVNvJeVPO7zZ8I4O8ajedMqNmxUwz6ROqT1CkjGCbRFrpeLdwosOAo1CanpjLnUh2Eb0WCcz9hsgbNpdXQrETqHctfllZVWFIZBU7WblP0lQXD19JBhY2hxlQ5FJ1682mWjNE2c00Gf6t1bP78nYqwutVVNmuMLJDyh53sZOS77N1geQ73eAxBxWfpmzhxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018JEDMaZoW1QurEU45chL28",
      "input": {
        "note": "The grey bowl is lifted by its rim. Carrying it over the middle (white) bowl.",
        "targets": {
          "left_y": -0.215,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_018JEDMaZoW1QurEU45chL28",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7509, 1.607, 1.1927, -0.5064, -0.5507, -0.5896, 0.1044, -0.0219, 0.7986, 0.5999, -0.3927, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3664 left_y=-0.2106 left_z=0.1567 left_yaw=0.0127 left_pitch=-0.1772 left_roll=0.028 left_gripper=0.1044 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=-0.0014 right_pitch=-0.024 right_roll=0.0027 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -7.5692, 9.2376, 1.2186, -0.486, 0.0562, -0.0122, -0.2393, -1.2786, 7.2, 1.7265, -0.0366, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6b52ec6417250175dcda9932bf6b08793ac831a86fc6c1cb7fa56d0af204b71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d54fc59c9dcce61113808785ec85a4b764e146e9410ee029ecaa6bdadffd332",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83c758c5b7a2458ad13e316f309a62898c9960d1002b209ecb438997f5a2e243",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 8.161 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]: [-0.292, 1.5734, 0.5144, 0.3294, -0.2558, -0.2218, 0.1048, -0.0219, 0.7986, 0.5999, -0.3923, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3708 left_y=-0.0611 left_z=0.0313 left_yaw=0.0235 left_pitch=-0.1323 left_roll=0.0197 left_gripper=0.1048 right_x=0.2929 right_y=0.0001 right_z=0.1743 right_yaw=-0.0014 right_pitch=-0.0236 right_roll=0.0027 right_gripper=0.9971\nstate[joint_eff]: [0.5128, -5.4632, 5.9009, 1.3211, -0.232, 0.188, 0.4908, -0.1573, -1.265, 7.0085, 1.7509, -0.0806, -0.0366, -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]: [-0.292, 1.2991, 0.8471, -0.292, -0.2588, -0.2321, 0.1044, -0.0219, 0.7986, 0.5999, -0.3927, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3713 left_y=-0.0607 left_z=0.1503 left_yaw=0.0322 left_pitch=-0.1453 left_roll=0.0183 left_gripper=0.1044 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=-0.0016 right_pitch=-0.024 right_roll=0.0031 right_gripper=0.9971\nstate[joint_eff]: [-0.0889, -6.3385, 9.3333, 1.5995, -0.0904, 0.0415, -0.0464, -0.0615, -1.2513, 7.1043, 1.7411, -0.0611, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7509, 1.607, 1.1927, -0.5064, -0.5507, -0.5896, 0.1044, -0.0219, 0.7986, 0.5999, -0.3927, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3664 left_y=-0.2106 left_z=0.1567 left_yaw=0.0127 left_pitch=-0.1772 left_roll=0.028 left_gripper=0.1044 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=-0.0014 right_pitch=-0.024 right_roll=0.0027 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -7.5692, 9.2376, 1.2186, -0.486, 0.0562, -0.0122, -0.2393, -1.2786, 7.2, 1.7265, -0.0366, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6b52ec6417250175dcda9932bf6b08793ac831a86fc6c1cb7fa56d0af204b71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d54fc59c9dcce61113808785ec85a4b764e146e9410ee029ecaa6bdadffd332",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83c758c5b7a2458ad13e316f309a62898c9960d1002b209ecb438997f5a2e243",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L6eTrL4C64cFmidd8DiE6y",
      "input": {
        "note": "The grey bowl slipped out and is back on the table left of the gripper. Returning over its left rim, opening to retry with a deeper grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.36,
          "left_y": -0.065,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01L6eTrL4C64cFmidd8DiE6y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3286, 1.3323, 0.7639, -0.26, -0.2932, -0.2802, 0.9955, -0.0219, 0.7986, 0.5999, -0.3927, -0.0162, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3566 left_y=-0.0639 left_z=0.1111 left_yaw=0.0557 left_pitch=-0.2149 left_roll=0.0354 left_gripper=0.9955 right_x=0.2928 right_y=0.0 right_z=0.1742 right_yaw=-0.0018 right_pitch=-0.024 right_roll=0.0025 right_gripper=0.9971\nstate[joint_eff]: [0.2667, -6.6393, 6.4342, 1.7558, -0.0611, 0.1832, -0.2076, -0.0479, -1.2513, 7.0632, 1.7509, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d162ce1e9d837cb2ce80fd9c3d6e4b5eeeb19c173b16358ccb0561879e5ca40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:969c8dfb16809b21b9028eff665cbf23fd1baf5d5addad5f9f7095d7ca159c6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:570ce12dde8ee8ddb4fc3d3272c565c9b5d6d5da30161dfcd602834e9fcd9843",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 4.281 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]: [-0.292, 1.2991, 0.8471, -0.292, -0.2588, -0.2321, 0.1044, -0.0219, 0.7986, 0.5999, -0.3927, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3713 left_y=-0.0607 left_z=0.1503 left_yaw=0.0322 left_pitch=-0.1453 left_roll=0.0183 left_gripper=0.1044 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=-0.0016 right_pitch=-0.024 right_roll=0.0031 right_gripper=0.9971\nstate[joint_eff]: [-0.0889, -6.3385, 9.3333, 1.5995, -0.0904, 0.0415, -0.0464, -0.0615, -1.2513, 7.1043, 1.7411, -0.0611, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7509, 1.607, 1.1927, -0.5064, -0.5507, -0.5896, 0.1044, -0.0219, 0.7986, 0.5999, -0.3927, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3664 left_y=-0.2106 left_z=0.1567 left_yaw=0.0127 left_pitch=-0.1772 left_roll=0.028 left_gripper=0.1044 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=-0.0014 right_pitch=-0.024 right_roll=0.0027 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -7.5692, 9.2376, 1.2186, -0.486, 0.0562, -0.0122, -0.2393, -1.2786, 7.2, 1.7265, -0.0366, -0.0513, -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]: [-0.3286, 1.3323, 0.7639, -0.26, -0.2932, -0.2802, 0.9955, -0.0219, 0.7986, 0.5999, -0.3927, -0.0162, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3566 left_y=-0.0639 left_z=0.1111 left_yaw=0.0557 left_pitch=-0.2149 left_roll=0.0354 left_gripper=0.9955 right_x=0.2928 right_y=0.0 right_z=0.1742 right_yaw=-0.0018 right_pitch=-0.024 right_roll=0.0025 right_gripper=0.9971\nstate[joint_eff]: [0.2667, -6.6393, 6.4342, 1.7558, -0.0611, 0.1832, -0.2076, -0.0479, -1.2513, 7.0632, 1.7509, -0.0122, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d162ce1e9d837cb2ce80fd9c3d6e4b5eeeb19c173b16358ccb0561879e5ca40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:969c8dfb16809b21b9028eff665cbf23fd1baf5d5addad5f9f7095d7ca159c6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:570ce12dde8ee8ddb4fc3d3272c565c9b5d6d5da30161dfcd602834e9fcd9843",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LRqmvJnDLnJkcHuVw7WYUt",
      "input": {
        "note": "The grey bowl is now centred under the gripper (it moved when dropped). Shifting over its right wall to grasp it there.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.115,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LRqmvJnDLnJkcHuVw7WYUt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4484, 1.5429, 0.8711, -0.2451, -0.3492, -0.3634, 0.9956, -0.0219, 0.8032, 0.5961, -0.3939, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.375 left_y=-0.1094 left_z=0.0831 left_yaw=0.0372 left_pitch=-0.2746 left_roll=0.0551 left_gripper=0.9956 right_x=0.2925 right_y=0.0001 right_z=0.171 right_yaw=-0.0016 right_pitch=-0.0336 right_roll=0.0033 right_gripper=0.9971\nstate[joint_eff]: [-0.4581, -6.8308, 8.8, 1.4628, -0.3101, 0.0269, -0.0073, -0.0479, -1.6342, 7.3641, 1.6972, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:147714fee9f6e3403873750bcd86f5b4926e2c1ffb575738cdf6eee39bdfac4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88436b4e4791318f46a55d3f5a60edf5aadee2e5b6963fbc37d8458633c98d9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a4c94ab7d1f2a23662329932c0a02829f00d5d004245e3529a0f60a0c35cb43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 4.338 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]: [-0.7509, 1.607, 1.1927, -0.5064, -0.5507, -0.5896, 0.1044, -0.0219, 0.7986, 0.5999, -0.3927, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3664 left_y=-0.2106 left_z=0.1567 left_yaw=0.0127 left_pitch=-0.1772 left_roll=0.028 left_gripper=0.1044 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=-0.0014 right_pitch=-0.024 right_roll=0.0027 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -7.5692, 9.2376, 1.2186, -0.486, 0.0562, -0.0122, -0.2393, -1.2786, 7.2, 1.7265, -0.0366, -0.0513, -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]: [-0.3286, 1.3323, 0.7639, -0.26, -0.2932, -0.2802, 0.9955, -0.0219, 0.7986, 0.5999, -0.3927, -0.0162, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3566 left_y=-0.0639 left_z=0.1111 left_yaw=0.0557 left_pitch=-0.2149 left_roll=0.0354 left_gripper=0.9955 right_x=0.2928 right_y=0.0 right_z=0.1742 right_yaw=-0.0018 right_pitch=-0.024 right_roll=0.0025 right_gripper=0.9971\nstate[joint_eff]: [0.2667, -6.6393, 6.4342, 1.7558, -0.0611, 0.1832, -0.2076, -0.0479, -1.2513, 7.0632, 1.7509, -0.0122, -0.0513, -0.0122]",
      "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]: [-0.4484, 1.5429, 0.8711, -0.2451, -0.3492, -0.3634, 0.9956, -0.0219, 0.8032, 0.5961, -0.3939, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.375 left_y=-0.1094 left_z=0.0831 left_yaw=0.0372 left_pitch=-0.2746 left_roll=0.0551 left_gripper=0.9956 right_x=0.2925 right_y=0.0001 right_z=0.171 right_yaw=-0.0016 right_pitch=-0.0336 right_roll=0.0033 right_gripper=0.9971\nstate[joint_eff]: [-0.4581, -6.8308, 8.8, 1.4628, -0.3101, 0.0269, -0.0073, -0.0479, -1.6342, 7.3641, 1.6972, -0.0269, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:147714fee9f6e3403873750bcd86f5b4926e2c1ffb575738cdf6eee39bdfac4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88436b4e4791318f46a55d3f5a60edf5aadee2e5b6963fbc37d8458633c98d9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a4c94ab7d1f2a23662329932c0a02829f00d5d004245e3529a0f60a0c35cb43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSiQgKEAgSGAI4AUIIdGhpbmtpbmcSDBSH5QNoaJOowtTbCRoMy5LFDidQ1p2S3McRIjDN+kugKSupWDpzsiW8jEbjuBZ2fLtWMT8KXtP+K6EVL5hcuLrwhFRPYBALYaS01FEqpgc2L4VcSdmEtprU/prApULCahYRuk8LGXUcJpFoV42qUXyMtHvzb6N/kCwKy88KmUgwKKAAS+OU48d6sn6LL1UK1uOjUjmr1ieo/aaLsLVgw2iBG7CdO828joWdBvYjUbDfKDk1KGiLSPPLQOWhukI+t/yi6OCbRxk9lpm75hRBrmigoFTnsFgv2cneGxCAz0+9X7HuXLhdP/H0S4pAI+L2ZdIe7o6B/rv81EmW6dOD4siZ8to00ZhgR+jThTJZzczjKUEe/zOjgWu2JwSNy3FYrU+jOKTcoDIKQQK19Nd7ycV6JQqERP9V9O17kSfdlcEu25HRFw3IFgmaAhWRMReMbhzPRGayPlaocg1doA8joRuFPEw3fPO9fwIGZNCgKhkeUqSNJKxcVpSncPKaHchv4ytqWNoSRDOI75cn0vxl5AaPsrE464Y/TiwctD4B1PhJTI32i6dgGvlIWj/6U/hXjSx/IorHrPSAnoZItQc/vcVkO104FzTnUBHv8e0oOWzCumYdrSHCr1iQCNlaJb/5t/7yNcRkPOCWtjOGenklfR9pXp0Ba3iChfmpZcbxM3qc4o37CU7wvzQiK8PhpP0wHXS7UnvgRtvOY5ab3KGTgwMh7e7Hg+4SUiodBOcTSFB4SJrxyU087hB/cNAzc721oZXl2hUCgyn2bcF2iucDSt/CwBqUNMAzWS9cjqy73lUVeZ8sHZ5mfBzFAkhqOoHoZoNOMBhp6ap4guOytNv48ZIuMiF2BEtT0zNZ/+psNUXg42KCTDPC+/A0YiWpM7Yh9jtzZh1dmRQz0pGLzVwWSMx38VDrqjrnAnTe/MGx0SN5nY/wyeKepy5DAmKzWVqnRvTZPruT7ZhWlErGDJxsOMieLI/hjbp20omTDmdtSjQEwV0/HA+2nc/40ITEtV0tRe/n+D7sYdLmgtawP9/u8MpeqDFSA8WAuTrmO1hPGS5+OHR0gNghJa84boTUJ/18UDkhY6ayV+07kImZluh7isuSHmW7gunmCm7zusDIoWZR6O1ppZQ2UXIwiTZppdUfPdUxGdrnnDf/5ExjqU6jrtSwxKJwqnzzz+P3YFmyvFRfVvNEZQfEtMMwTtN82pVrpO38YEAFh8r+R0wJ3POIAfamHVWqVXYI+V9/ljCwwVI8XEy8yuFM+chcqary/v6wtAs6v4e/cumBGFyVTbEIqHb1DRDOVGGEcFGdFccqkglXQAI+WgXt+qu1hwFwfh8tim8+gdh3GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013A4k2J1QBVuLvnLn1sS6HL",
      "input": {
        "note": "The bowl's right wall lines up with the jaw column. Descending low so the jaws straddle more of the wall this time.",
        "targets": {
          "left_y": -0.12,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_013A4k2J1QBVuLvnLn1sS6HL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4774, 1.7367, 0.7414, 0.02, -0.3672, -0.3862, 0.9956, -0.0216, 0.8051, 0.5953, -0.3935, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3675 left_y=-0.1147 left_z=0.0051 left_yaw=0.0441 left_pitch=-0.3177 left_roll=0.0824 left_gripper=0.9956 right_x=0.2925 right_y=0.0002 right_z=0.1702 right_yaw=-0.0012 right_pitch=-0.0358 right_roll=0.0033 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -7.0496, 4.7111, 1.3846, -0.2369, -0.0855, -0.0073, -0.1299, -1.4154, 7.0906, 1.6923, -0.0562, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f41cc21f736f4db1c2862fac8f411487f2d5bc9f1f92dd8e6dc82137ca46ce3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33d99b389b12932ace01a6d792ac4e01d5e9d3188b671f4dac2c0226b97e46ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9812a7e582ebb330bd5a3c1ed17484227ab40f27847ec752fe32e908bd92c87c",
        "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 · 4.189 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]: [-0.3286, 1.3323, 0.7639, -0.26, -0.2932, -0.2802, 0.9955, -0.0219, 0.7986, 0.5999, -0.3927, -0.0162, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3566 left_y=-0.0639 left_z=0.1111 left_yaw=0.0557 left_pitch=-0.2149 left_roll=0.0354 left_gripper=0.9955 right_x=0.2928 right_y=0.0 right_z=0.1742 right_yaw=-0.0018 right_pitch=-0.024 right_roll=0.0025 right_gripper=0.9971\nstate[joint_eff]: [0.2667, -6.6393, 6.4342, 1.7558, -0.0611, 0.1832, -0.2076, -0.0479, -1.2513, 7.0632, 1.7509, -0.0122, -0.0513, -0.0122]",
      "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]: [-0.4484, 1.5429, 0.8711, -0.2451, -0.3492, -0.3634, 0.9956, -0.0219, 0.8032, 0.5961, -0.3939, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.375 left_y=-0.1094 left_z=0.0831 left_yaw=0.0372 left_pitch=-0.2746 left_roll=0.0551 left_gripper=0.9956 right_x=0.2925 right_y=0.0001 right_z=0.171 right_yaw=-0.0016 right_pitch=-0.0336 right_roll=0.0033 right_gripper=0.9971\nstate[joint_eff]: [-0.4581, -6.8308, 8.8, 1.4628, -0.3101, 0.0269, -0.0073, -0.0479, -1.6342, 7.3641, 1.6972, -0.0269, -0.0415, -0.0122]",
      "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]: [-0.4774, 1.7367, 0.7414, 0.02, -0.3672, -0.3862, 0.9956, -0.0216, 0.8051, 0.5953, -0.3935, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3675 left_y=-0.1147 left_z=0.0051 left_yaw=0.0441 left_pitch=-0.3177 left_roll=0.0824 left_gripper=0.9956 right_x=0.2925 right_y=0.0002 right_z=0.1702 right_yaw=-0.0012 right_pitch=-0.0358 right_roll=0.0033 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -7.0496, 4.7111, 1.3846, -0.2369, -0.0855, -0.0073, -0.1299, -1.4154, 7.0906, 1.6923, -0.0562, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f41cc21f736f4db1c2862fac8f411487f2d5bc9f1f92dd8e6dc82137ca46ce3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33d99b389b12932ace01a6d792ac4e01d5e9d3188b671f4dac2c0226b97e46ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9812a7e582ebb330bd5a3c1ed17484227ab40f27847ec752fe32e908bd92c87c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQYKEAgSGAI4AUIIdGhpbmtpbmcSDFSk9YzGPvauxCeUEhoMlZlrBRFDOUnK2H6hIjBx/13KSIM9INQxSNtP10kG0fWUrlgtiSqeIvM3FMTBBfQIyDVfkEf/alLlF0XwNl0q5gUQAWWSiIexdBwC4y9DmaI82ddBx87FvXVbZ6t29rid+MUzpsz0dPkye+/VvqIWm5FM7VfEeV4+4nybvxA6KR1vQ5GCKKd8+4AIkRVnDlT4fgpFehIJBbS9kXjaI1FM68U0jazVkipdq1dPDYqAWMhdGfwJI92f7u5GPUgc0xy8WuTl8pvN3ETOp5bMLTAmudVP8BdqUHIREJhkD3GIJvgS3nyAylkUHOHcsiNUvvz2748XqNPn+zCH4Q7Ix1M3wXplc0/4UCAmFehMHrFgq7swrCsOnWhQ0//54o4NkgZEBVHoXKV9/iJF7GqpawGD0hXGJrOp5PVsFZb/yGTg71UPIqu5iaMgK+2Fok/pEATbloZQvkkQKQMI/5yn+KnhY5tQsMPl8XwLDjapzpXI6MEiPipIJR+e+CGBNZzBc4gDLivdYFm1A/la2aMcfz+UoBfC91KAh4Nen1TWvuT2J06kzz9SLG6Os3a8pd0EYLEVLvelxVOS9/Ezy5kyeATuRnhTkyEHV4LCsuAoUSkA7koHIh3kN+xRHHAOGfGcO9W7RLk17bndV/GIgWcyCk3bzM9RTgEUQA/m+vSJ/QbuXg3V4wnOrtutR36+KTWd+gD/tC77+BWr1Q7RaSoa0l+a/TXcVh+7s00BvZlTD7UdyZWgu/8cEQsqgdjsxSF0hLAk3UkMYX7nHUw56qH2Z5xW6NelWVWE3oS9Iv7vQwPKSCmAopfgODo/kErfhDEOBQlCnZ8aJXP0efNoD7OClkN2vvaQFQU431we3/KSdA9SbPI3NQP3UkBq+8iFUrar/ld4bQudwWtmiHnLM0mBgekJpqrSA82QfiFIpYe+1LElIsujqKiTQxjOoOiIkH6lnQFf7WKzezq4Dj+e29gD7xI9UOQJqrh+Xu8yK17PTw1v/eNaSmcYXsZNUxAuFdFQ+6syPHRBY85tuoGQGEhs49Ed/CPMWsG2TDiBFA2MoFich5bNujfKoy/RGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VfapjqQPmpHZF8sn5spPVM",
      "input": {
        "note": "The bowl's right wall sits between the jaws near the table. Closing for a deeper pinch.",
        "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_01VfapjqQPmpHZF8sn5spPVM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4744, 1.7187, 0.749, 0.0586, -0.4381, -0.3611, 0.023, -0.0219, 0.8055, 0.5953, -0.3931, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.381 left_y=-0.1074 left_z=0.0233 left_yaw=0.0795 left_pitch=-0.2348 left_roll=0.1169 left_gripper=0.023 right_x=0.2926 right_y=0.0001 right_z=0.1701 right_yaw=-0.0014 right_pitch=-0.0358 right_roll=0.003 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -5.3538, 5.1487, 0.989, 0.9304, -0.3639, 1.4628, -0.253, -1.2239, 7.0496, 1.707, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfb3993d9787e102d1b9675d42b07555669503944950fca7a966515023074384",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b0d31c6eb5a54ffec2084159ab6869ad6cc00e85df95f6b1200b3deaa6bd061",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad9f72d1541940f4d776c2c704587f950634a2e486ca8a27f581155a57b8edfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 6.839 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]: [-0.4484, 1.5429, 0.8711, -0.2451, -0.3492, -0.3634, 0.9956, -0.0219, 0.8032, 0.5961, -0.3939, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.375 left_y=-0.1094 left_z=0.0831 left_yaw=0.0372 left_pitch=-0.2746 left_roll=0.0551 left_gripper=0.9956 right_x=0.2925 right_y=0.0001 right_z=0.171 right_yaw=-0.0016 right_pitch=-0.0336 right_roll=0.0033 right_gripper=0.9971\nstate[joint_eff]: [-0.4581, -6.8308, 8.8, 1.4628, -0.3101, 0.0269, -0.0073, -0.0479, -1.6342, 7.3641, 1.6972, -0.0269, -0.0415, -0.0122]",
      "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]: [-0.4774, 1.7367, 0.7414, 0.02, -0.3672, -0.3862, 0.9956, -0.0216, 0.8051, 0.5953, -0.3935, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3675 left_y=-0.1147 left_z=0.0051 left_yaw=0.0441 left_pitch=-0.3177 left_roll=0.0824 left_gripper=0.9956 right_x=0.2925 right_y=0.0002 right_z=0.1702 right_yaw=-0.0012 right_pitch=-0.0358 right_roll=0.0033 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -7.0496, 4.7111, 1.3846, -0.2369, -0.0855, -0.0073, -0.1299, -1.4154, 7.0906, 1.6923, -0.0562, -0.0366, -0.0171]",
      "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]: [-0.4744, 1.7187, 0.749, 0.0586, -0.4381, -0.3611, 0.023, -0.0219, 0.8055, 0.5953, -0.3931, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.381 left_y=-0.1074 left_z=0.0233 left_yaw=0.0795 left_pitch=-0.2348 left_roll=0.1169 left_gripper=0.023 right_x=0.2926 right_y=0.0001 right_z=0.1701 right_yaw=-0.0014 right_pitch=-0.0358 right_roll=0.003 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -5.3538, 5.1487, 0.989, 0.9304, -0.3639, 1.4628, -0.253, -1.2239, 7.0496, 1.707, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfb3993d9787e102d1b9675d42b07555669503944950fca7a966515023074384",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b0d31c6eb5a54ffec2084159ab6869ad6cc00e85df95f6b1200b3deaa6bd061",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad9f72d1541940f4d776c2c704587f950634a2e486ca8a27f581155a57b8edfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AcKEAgSGAI4AUIIdGhpbmtpbmcSDNCQfFJ2GSfIZsLxOxoME3ZWxTDoVYW6WZYVIjAI+Ttnj3MJZ6gV7K8YeXvKHA+46oxBUYetjZrX/6wXhcau1TqdfaD3BQo2EJUxwLIq8QafqJqVGTa2639mYqw7pPNRevmU9UF0eVEGgJ6ORnRHKdMY6rkKke0/Xiba/A9zJFUbyYyWpotp+WyQrs0DDkdnx+z5Lwwyktm2MRjayCqWDJkTRB9U/sQK1xGvGXGcOA61H1KPXy4fXF0fuSZN4MonnJdclgxFLN3O3zF9WSc2ctVMlKOg/i9fD/ecTyMJ9WFp9sJ6IlfiXL4bpYs58JayJlrZSeUG0OUMtjVpKn/UUZ4Ss7XScRmWx+eqZeBvpMkU4JIlngtxTl/CVovKrtu9wU+kGDrNYZhZ1gimUrNrXFY1auq4pL5Xz++cICrNh0ANZbNxwePgyrK5jLPwmQRnf7demS7K3UMGfUca4VlEG+WBpUpUsJ5/5JzkCUFEVlctgMjZhRcKESLSPv6GdcfPm/EnYc2leI4c+VR8TXLFgd1l6Wy3BdlWAcE+NfsGWvuextRRsZSivj3CHsVnGz3kYQ8QfxC04U9N3R32mJx9bi1fRIH79obSuoepaY9IKGMXQ/Ira6HbAbJsTplnE3tZIT4EmSBcdlO/OiZrO3zYgHK8wXYOxTezWQvei0DAMvdgmXw+Frh1Mry7AafRIiezILPkpxFhXoGBNpopcpmC9wyxm4tSjeKhwgPuNLMNsxK8Qfmkgivfbq03LD8AEVrI8OWRwVrEEAsyzHG6UtVZdPqoe6KXOjapGn4RMg6aEl1Y7igwpJFsnvVFjEpUgK53sSzMG/LhQ6BjJI2egq10ofR6bSMXgemI4X6BqqQdewJfO8JNqCzTBR5QgLcmk1AZDsV73Grj6ISmBzqlf4r7dwaDSy6OmHz4lykIc0X0jAiXoPRnnYAK8abRIAoC6rD/AmYfNPVNsSuAzUnXaNa+EpcjhTJnhcR9oK/oDRuhashyHSYoiAr5dxIpYTDq9ettBLbVaSBfumofXxb6VPvIGH4BXFOzc7J05xpfUEW4lXuKsBDssFGNTMw8htI9IhsOSL83cE+OM460X0qYI/6qhC+/jZ27LiqVTiygxlpaYep8xqsiQIkMgLV3Qn6w+2d10xAZCC8MLSCam+XQBL1HQeSmng/ihy5HcNT8EX1FlmgZ0Ub/dpL4EOsVLpmqy/8T/kdRbZvZUIdgEI2dA69DIs5zf736XgMtI9Rik3von1mTIkILNHoy3BoaTOPJ7NsL4hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XBycr6Hucv8ANzrSQrfDdQ",
      "input": {
        "note": "Gripper closed to 0.023; the bowl wall is thin, so it's unclear whether it's held. Lifting to check.",
        "targets": {
          "left_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_01XBycr6Hucv8ANzrSQrfDdQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4751, 1.5764, 0.8768, -0.2195, -0.4416, -0.3645, 0.034, -0.0219, 0.8055, 0.5953, -0.3931, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3803 left_y=-0.1067 left_z=0.0816 left_yaw=0.0843 left_pitch=-0.2399 left_roll=0.1212 left_gripper=0.034 right_x=0.2926 right_y=0.0001 right_z=0.1701 right_yaw=-0.0014 right_pitch=-0.0358 right_roll=0.003 right_gripper=0.9971\nstate[joint_eff]: [0.0205, -8.3487, 8.6906, 1.3455, -0.1832, -0.022, 1.033, -0.0889, -1.1966, 7.0496, 1.7363, -0.0708, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30973bb15312920a4c469f1fbab20ed82e7c38b2c50b1dead0a0b5ce9d1f85ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e16264fb61a45d1bccab776ee7587045842afa57885127da7af1f107e4042d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70b16e0121efbe0d099f6199fd4cb028c3161e15c786cffa8aa4fcf224c8cca2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 7.736 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]: [-0.4774, 1.7367, 0.7414, 0.02, -0.3672, -0.3862, 0.9956, -0.0216, 0.8051, 0.5953, -0.3935, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3675 left_y=-0.1147 left_z=0.0051 left_yaw=0.0441 left_pitch=-0.3177 left_roll=0.0824 left_gripper=0.9956 right_x=0.2925 right_y=0.0002 right_z=0.1702 right_yaw=-0.0012 right_pitch=-0.0358 right_roll=0.0033 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -7.0496, 4.7111, 1.3846, -0.2369, -0.0855, -0.0073, -0.1299, -1.4154, 7.0906, 1.6923, -0.0562, -0.0366, -0.0171]",
      "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]: [-0.4744, 1.7187, 0.749, 0.0586, -0.4381, -0.3611, 0.023, -0.0219, 0.8055, 0.5953, -0.3931, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.381 left_y=-0.1074 left_z=0.0233 left_yaw=0.0795 left_pitch=-0.2348 left_roll=0.1169 left_gripper=0.023 right_x=0.2926 right_y=0.0001 right_z=0.1701 right_yaw=-0.0014 right_pitch=-0.0358 right_roll=0.003 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -5.3538, 5.1487, 0.989, 0.9304, -0.3639, 1.4628, -0.253, -1.2239, 7.0496, 1.707, -0.0415, -0.0611, -0.0122]",
      "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]: [-0.4751, 1.5764, 0.8768, -0.2195, -0.4416, -0.3645, 0.034, -0.0219, 0.8055, 0.5953, -0.3931, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3803 left_y=-0.1067 left_z=0.0816 left_yaw=0.0843 left_pitch=-0.2399 left_roll=0.1212 left_gripper=0.034 right_x=0.2926 right_y=0.0001 right_z=0.1701 right_yaw=-0.0014 right_pitch=-0.0358 right_roll=0.003 right_gripper=0.9971\nstate[joint_eff]: [0.0205, -8.3487, 8.6906, 1.3455, -0.1832, -0.022, 1.033, -0.0889, -1.1966, 7.0496, 1.7363, -0.0708, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30973bb15312920a4c469f1fbab20ed82e7c38b2c50b1dead0a0b5ce9d1f85ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e16264fb61a45d1bccab776ee7587045842afa57885127da7af1f107e4042d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70b16e0121efbe0d099f6199fd4cb028c3161e15c786cffa8aa4fcf224c8cca2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwoKEAgSGAI4AUIIdGhpbmtpbmcSDCK9+H+xt7++/jLLdRoM0jB/MNfO+tLty0ueIjC8hdg5Y8CUdKYsYZv2zAF5t9f3NNbiAfK9DN6P+sJv9eef7IRiP7WaXIzRWqVuNBUq3Akt/1yJa+vJWiQcj4nJc3khKzr2x7/ZXCnADzuLlT5/A+/A1jKIxMVwmo7sBivkYi5Lv/y9Bg+RjxIEANUOdWIQqUMWbCCQ+MoS09qM/jQNFfJp6UzY9fEvjDKW8pV/9b44Lnmq9dJCQjeroE9xyRgPf4oI2602TCup9rmAQjHRpwDtgwYxZw4CURGXS3rEqcA5IcdwnoMW9xjjonUV3GrbWu/Ma/4YJZuNY7tYtIhrBD1OICHZFAqek+6weaKiXfPm4Hwr4h6+drT8pvDqzBsCx8qSLMtJ86eLRJmwiViCHWL/KDLVDYRzErx05Pvumo+QUpwdFAbBpTVE3K8Z/QU4dfq+xMcHYypJt/RNbIPtD+bcUVb9fkcos6mGCyXg1AR9yw3cITetPCl1Z6f2RBM0EvC1ku+6VQebVuHJoGcsi05crD+kYS90ipLbCmCkox7jdu1znifNLkq/hVcoYkIXm4pNTI64iPxs7ys7g24eUV2Tx7D7ExWodPi7qfZ2hY4KVlkCb4eBiBkSaBP4+26Ta7AEKsSSs+96rQpO7TTJ7o0I+UvQmzQXURVGvBHpZcuo2F8JFpE1CT/IgCEEqy1Bw4yJFZwwgHL2CeMKZxxAz4QZtgqcTwvM6PZFjb71pyzECzenBVR/6BRh5aNfGD83aT01AHPClQap6ZZtau60UZ3sk2Z5qEaItTag01jR+iBlFJDo8+QvbkX7u04NLX1gTVpSjwqwmpNFWhLhIzqBHiWYtzqFecqpC59logW2GbCza3s7qnG/CfLAN2/JBJtXdKaSXbb0AEJdZKG+beNk0VSSlqJSSBPJAsxqG//RTDmEiVSraJnCGtK8vWWxIDoBcVzskmrv7elITm82soMAA1j02dO2pQMF4UBxDhNs+yZ0UnoPS4RR2TQoAbkOOrLQUE4cllNdSrVrl/vq3j3Dx6ibRqFT8QTW5iuKaGVVJZQzKJLUvgCpcf7VAY7dA1H8vRWlF208QoP0C3BgtZj0hHMrLYHNs+xzIvuLZo5DsoeJTJFWsXFAALZYtp/7DCTzYscQHi1B2l7MyA5AX1oaPbNaX9v7pAMLB5EJRIcWZ8TR6xFsYnHyq+oaq+FzsFxQLB0+SLJLGWIgVEtdhrDMv8bsLClhD0Z3yM6TG29qNP2Srp5retTuGjehPuTtjHlSxiK5DnJ9cWowuLaZFLQBawbuSMbKFIvfaZUgSuVh5YiPyGdjy1kaFTrB9kvaKVpmZkPuv38meNsCbJRoUOCetjS0v6pXUlAidwyuSSY2tfmGEoWCdSR1Q7zZEb813vnc3MCJwO61o6G9FlRKh85xsM6wDoExlWelU16uh/gIAF4eP7ytl/zZH1xXeRY+stypV9bzhMpaPpDSYiVuNs/pIokJFa+rw42s6h3OT8kUAnp1MBUsZNz9NROkj8DDPhLZBVEMLMxT77jlIjyVcYWnJ1reDmCK8cmTxWlnHRsPKSOI0+zB7+94rCJWeJYkMrx9H5IRfzEaSG768/EWnquCKN7WtGAZ5PlrklZA560hCCi66tB91LlDFXMUEUvBOQZx0cLEeB8gd1WV8EuMcBPGzQB55anAqQPLSugGys3mR33Px0slWw6YQPs9s9EK42aOdqVhDnMPoKH26zo9CTQSul2svNVXOO7Ut7jVRhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PPa6cR7AkTJgYqFDQJRuWZ",
      "input": {
        "note": "The bowl stayed fixed in the wrist view as the arm lifted, so it's held. Raising it and heading toward the white bowl.",
        "targets": {
          "left_y": -0.2,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01PPa6cR7AkTJgYqFDQJRuWZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7094, 1.6901, 1.3762, -0.7055, -0.5442, -0.5774, 0.0381, -0.0219, 0.8097, 0.5945, -0.3935, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3797 left_y=-0.2007 left_z=0.1672 left_yaw=0.058 left_pitch=-0.2527 left_roll=0.103 left_gripper=0.0381 right_x=0.2927 right_y=0.0001 right_z=0.1686 right_yaw=-0.0016 right_pitch=-0.0412 right_roll=0.0034 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -8.0615, 8.7453, 0.9988, -0.4762, 0.0659, 1.033, -0.2256, -1.6342, 7.0906, 1.7021, -0.0659, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec57fc2f7d57bbfeb54836003b4e134be61f3ca1f6be5c5d1d7a508936dab44b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac61ed497bd723b65c6d617bc324710cac9b191a106005b3fdad93aa266afbda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d978d9cb60c56640c6ba1bdda0857371f68dab4e93e88a2cb6cb08cb5b464e6",
        "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 · 7.869 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]: [-0.4744, 1.7187, 0.749, 0.0586, -0.4381, -0.3611, 0.023, -0.0219, 0.8055, 0.5953, -0.3931, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.381 left_y=-0.1074 left_z=0.0233 left_yaw=0.0795 left_pitch=-0.2348 left_roll=0.1169 left_gripper=0.023 right_x=0.2926 right_y=0.0001 right_z=0.1701 right_yaw=-0.0014 right_pitch=-0.0358 right_roll=0.003 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -5.3538, 5.1487, 0.989, 0.9304, -0.3639, 1.4628, -0.253, -1.2239, 7.0496, 1.707, -0.0415, -0.0611, -0.0122]",
      "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]: [-0.4751, 1.5764, 0.8768, -0.2195, -0.4416, -0.3645, 0.034, -0.0219, 0.8055, 0.5953, -0.3931, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3803 left_y=-0.1067 left_z=0.0816 left_yaw=0.0843 left_pitch=-0.2399 left_roll=0.1212 left_gripper=0.034 right_x=0.2926 right_y=0.0001 right_z=0.1701 right_yaw=-0.0014 right_pitch=-0.0358 right_roll=0.003 right_gripper=0.9971\nstate[joint_eff]: [0.0205, -8.3487, 8.6906, 1.3455, -0.1832, -0.022, 1.033, -0.0889, -1.1966, 7.0496, 1.7363, -0.0708, -0.0659, -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]: [-0.7094, 1.6901, 1.3762, -0.7055, -0.5442, -0.5774, 0.0381, -0.0219, 0.8097, 0.5945, -0.3935, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3797 left_y=-0.2007 left_z=0.1672 left_yaw=0.058 left_pitch=-0.2527 left_roll=0.103 left_gripper=0.0381 right_x=0.2927 right_y=0.0001 right_z=0.1686 right_yaw=-0.0016 right_pitch=-0.0412 right_roll=0.0034 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -8.0615, 8.7453, 0.9988, -0.4762, 0.0659, 1.033, -0.2256, -1.6342, 7.0906, 1.7021, -0.0659, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec57fc2f7d57bbfeb54836003b4e134be61f3ca1f6be5c5d1d7a508936dab44b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac61ed497bd723b65c6d617bc324710cac9b191a106005b3fdad93aa266afbda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d978d9cb60c56640c6ba1bdda0857371f68dab4e93e88a2cb6cb08cb5b464e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EaexRP6pv65f98rq1KJPxX",
      "input": {
        "note": "Holding the grey bowl by its right wall; the white bowl is to the right in the wrist view. Shifting right so the held bowl's centre lines up over the white bowl.",
        "targets": {
          "left_y": -0.335,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01EaexRP6pv65f98rq1KJPxX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9344, 2.1189, 1.9896, -1.0344, -0.6224, -0.8204, 0.0382, -0.0219, 0.8101, 0.5945, -0.3939, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3786 left_y=-0.333 left_z=0.1692 left_yaw=0.0465 left_pitch=-0.2777 left_roll=0.0945 left_gripper=0.0382 right_x=0.2927 right_y=0.0001 right_z=0.1684 right_yaw=-0.0016 right_pitch=-0.0419 right_roll=0.0034 right_gripper=0.9971\nstate[joint_eff]: [-0.4991, -11.5077, 8.5265, 0.6716, -0.6178, 0.0171, 1.033, -0.2667, -1.306, 7.0359, 1.707, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e3485f62374f58387171fa055313ee46baad14c51923fb8a66f36098bdb42b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68b965d043ffe8b53ba7e83c9b544fa1aa1f267e7b7d6ca0f75bd7d829edff17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bcb4e757634b91e300cf2fc92fb3caad15e5adf96970c05439b08a34963c43c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 6.395 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]: [-0.4751, 1.5764, 0.8768, -0.2195, -0.4416, -0.3645, 0.034, -0.0219, 0.8055, 0.5953, -0.3931, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3803 left_y=-0.1067 left_z=0.0816 left_yaw=0.0843 left_pitch=-0.2399 left_roll=0.1212 left_gripper=0.034 right_x=0.2926 right_y=0.0001 right_z=0.1701 right_yaw=-0.0014 right_pitch=-0.0358 right_roll=0.003 right_gripper=0.9971\nstate[joint_eff]: [0.0205, -8.3487, 8.6906, 1.3455, -0.1832, -0.022, 1.033, -0.0889, -1.1966, 7.0496, 1.7363, -0.0708, -0.0659, -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]: [-0.7094, 1.6901, 1.3762, -0.7055, -0.5442, -0.5774, 0.0381, -0.0219, 0.8097, 0.5945, -0.3935, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3797 left_y=-0.2007 left_z=0.1672 left_yaw=0.058 left_pitch=-0.2527 left_roll=0.103 left_gripper=0.0381 right_x=0.2927 right_y=0.0001 right_z=0.1686 right_yaw=-0.0016 right_pitch=-0.0412 right_roll=0.0034 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -8.0615, 8.7453, 0.9988, -0.4762, 0.0659, 1.033, -0.2256, -1.6342, 7.0906, 1.7021, -0.0659, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9344, 2.1189, 1.9896, -1.0344, -0.6224, -0.8204, 0.0382, -0.0219, 0.8101, 0.5945, -0.3939, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3786 left_y=-0.333 left_z=0.1692 left_yaw=0.0465 left_pitch=-0.2777 left_roll=0.0945 left_gripper=0.0382 right_x=0.2927 right_y=0.0001 right_z=0.1684 right_yaw=-0.0016 right_pitch=-0.0419 right_roll=0.0034 right_gripper=0.9971\nstate[joint_eff]: [-0.4991, -11.5077, 8.5265, 0.6716, -0.6178, 0.0171, 1.033, -0.2667, -1.306, 7.0359, 1.707, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e3485f62374f58387171fa055313ee46baad14c51923fb8a66f36098bdb42b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68b965d043ffe8b53ba7e83c9b544fa1aa1f267e7b7d6ca0f75bd7d829edff17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcb4e757634b91e300cf2fc92fb3caad15e5adf96970c05439b08a34963c43c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HkKSQLLxA2YW7gvep1SgYD",
      "input": {
        "note": "The white bowl shows just right of the jaws, a little ahead. Shifting further right and forward, then lowering, so the held bowl is centred over it.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.375,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HkKSQLLxA2YW7gvep1SgYD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9466, 2.3264, 2.1529, -1.0435, -0.6216, -0.8429, 0.0389, -0.0216, 0.8108, 0.5945, -0.3931, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3942 left_y=-0.3651 left_z=0.1206 left_yaw=0.0599 left_pitch=-0.306 left_roll=0.1255 left_gripper=0.0389 right_x=0.2928 right_y=0.0002 right_z=0.1683 right_yaw=-0.0012 right_pitch=-0.0419 right_roll=0.0034 right_gripper=0.9971\nstate[joint_eff]: [-0.5949, -14.2291, 9.5521, 0.823, -0.4029, 0.0415, 0.9744, -0.1026, -1.388, 7.0085, 1.7363, -0.0317, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d47624ba7ac8f191501e7deeb6984b612a1620e1d4d35fb1693ec1b90d5dc40c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e55b1b4747643dabbca08f1075d77d6469f2026e62852bb4e43e9505c52dcb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6db1827b64e0be4f697304a6bc1845ec5968ad464ce030b58abeb13c6fd2fccf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 5.548 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]: [-0.7094, 1.6901, 1.3762, -0.7055, -0.5442, -0.5774, 0.0381, -0.0219, 0.8097, 0.5945, -0.3935, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3797 left_y=-0.2007 left_z=0.1672 left_yaw=0.058 left_pitch=-0.2527 left_roll=0.103 left_gripper=0.0381 right_x=0.2927 right_y=0.0001 right_z=0.1686 right_yaw=-0.0016 right_pitch=-0.0412 right_roll=0.0034 right_gripper=0.9971\nstate[joint_eff]: [-0.4171, -8.0615, 8.7453, 0.9988, -0.4762, 0.0659, 1.033, -0.2256, -1.6342, 7.0906, 1.7021, -0.0659, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9344, 2.1189, 1.9896, -1.0344, -0.6224, -0.8204, 0.0382, -0.0219, 0.8101, 0.5945, -0.3939, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3786 left_y=-0.333 left_z=0.1692 left_yaw=0.0465 left_pitch=-0.2777 left_roll=0.0945 left_gripper=0.0382 right_x=0.2927 right_y=0.0001 right_z=0.1684 right_yaw=-0.0016 right_pitch=-0.0419 right_roll=0.0034 right_gripper=0.9971\nstate[joint_eff]: [-0.4991, -11.5077, 8.5265, 0.6716, -0.6178, 0.0171, 1.033, -0.2667, -1.306, 7.0359, 1.707, -0.0562, -0.0464, -0.0122]",
      "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]: [-0.9466, 2.3264, 2.1529, -1.0435, -0.6216, -0.8429, 0.0389, -0.0216, 0.8108, 0.5945, -0.3931, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3942 left_y=-0.3651 left_z=0.1206 left_yaw=0.0599 left_pitch=-0.306 left_roll=0.1255 left_gripper=0.0389 right_x=0.2928 right_y=0.0002 right_z=0.1683 right_yaw=-0.0012 right_pitch=-0.0419 right_roll=0.0034 right_gripper=0.9971\nstate[joint_eff]: [-0.5949, -14.2291, 9.5521, 0.823, -0.4029, 0.0415, 0.9744, -0.1026, -1.388, 7.0085, 1.7363, -0.0317, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d47624ba7ac8f191501e7deeb6984b612a1620e1d4d35fb1693ec1b90d5dc40c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e55b1b4747643dabbca08f1075d77d6469f2026e62852bb4e43e9505c52dcb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6db1827b64e0be4f697304a6bc1845ec5968ad464ce030b58abeb13c6fd2fccf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS/wsKEAgSGAI4AUIIdGhpbmtpbmcSDCmIwhHJI+bjEsoneRoM7IEnfhklBU87TV4jIjBdumWBUWf/OSB4KoUOGC2qs9K/Ffx1aNnb8uzsabBrbRKlBXi2L+J4dijwcpki0LIqnAu8Uwfjy5nvxP9GepkT6TKYcrxMPz7UUnVgsdOynDR2VtxCRU/o6p3vYJn/cWGdQu485DkMm5/KbI/t+TXhcPkH3NYaR9VBsq6C1gs81521oK5/855OAimYPFyVh0g2cAeFFYjx7cPYgJL1iFB+JGEz8N/ZyiTv47OMVG/hHWcs0CKbjOWmcwmEEJWXMxkGn1tz92uGTnjuE5yDaCTObMDHTE/oFXkLU9j7grIGuQWRwkzFrOYkixqSqRvDOVnFhoiCXfDf9vsGrh9yZo6tNPmB7jkt9Av7d2xieFV/TSqRsUiYgJlvZkNMTjYOyDh5Auym/oorBPzHfocmyy1BffT1NYPFaHtvzLjCCMHPZPk9dZ+Rdbi2glNg03bk19DYxwGBw0klqaYEjzYnhXghfeeD24jscdXTUxsSv6lNDoOjowBtMIVzlLJoBJvTgK43FRDZ/G2DaZHvvuGBg3aJ+nVvwEqyKEaz2LxMpLhqRLG4hOrwznqhMn2y6Y3Ap6NupZekgkZ4kvxVmP1HEoGVPpygEYnaEQZSmiA0qpIIkRq12z2hl7hb5cefA0RjvBaw+8RBmYX1abKn4NNkAykctXDRgz7reOVnVGueaKftb3KsjnzwNrecinZKO23hlphPNyc9gxmymwQat0H8asCr2KR872L1fMqa+Snv/ulxklK6yq4UNvG21fIBE4ilQcUDIT9PjQqv/irnVpSqvkZGek+LoOG8uEGxlYthQoOg0QcOHMu6g6+6ELZuwRuoNrRST7HnPe3AGjOddqWgn5lQv3MR0U2xdrhj3VOPjqucXH5VzEX2Om07afzYBFCE8zzJN/ss4faYYyk/cOEojw3XLwEYO9Rr+x76o3Ncws3Z0wyCicAMV0qi99U88fPp6+ENetMUlla1Gdclo/mIfarRR48L4cLPpiRMc6Tl8jAK31FO9SmnHZebSV2zqi+MbO9YIzP3UYMp2hT680lBPMdCyebViq7XHC3Vns+53RD4Ot/S/cV0AHFRwe2gn7R2oTojHwZ4gCLtlQ6oTZcFqQ+o12C3BmMhvGNDBrNtZhJcxpNXre2Hq914hgslFzcFqqsWXFSfTBU1JXGIAwXtchCJmTWm1Dy2bUSy86Eyaq4Tkp5WLNEmwYjU7+hi50bS8li6qcNs4ObdM1KAqGuImAOBblM9f+T5Okpotm62E8ZDbxCHdfIKWooe7sNDrFRolVbY8qmAO5KHPigP3ctknWajPAqgkjb8GxZDNn2TrD+Tkkl7WfxU9fIVUCVnpZs1Tm9sxPcQQ/IcZXSum4jHKVPGifGE97Ew0NXotdmpHRb0TYvUpZ67OefiS8ZuAlgqUkHgwaJ+mHkmXLFSvOqQQeEzZOqSqHw8/X7O97mrKueS+2J9Bhrm0ls7xQpp8adR3SRlxHPwDmy5DyByzgPDZxodNm6aKrlK/ZibinQ1NlORPwfJ4y8qHBYG53w2GCaFLVXtBvmI8RIXmaLTT1aEwEB1tZf4WcO8ccU8eMvtu3Uhj6KarrEhtki/eeMHc9Q/Userm2aMvOsR4/4oIhfbwoimkgkq+fmiFBG56JKdpCKB2ynQiuVAcr883bMiNTZHp4y+y+odhBS3VmVis2MqPAfdG6Daagw6sFB6H9JVV51T5X8H6S0iXZA3C0h6zWDJXGywQkIFcj9cVkQ0HK4SVD+akymrB0BnlAC5flG8WjqfDrIypfn+JKRIJC1zG16+Tah2kvZ+Ts5Cm7tPVfTVK8SHyhxSnGOcUTQeFtppLKtYk8nhtg93xHIu1ol3bTks8WNkS2XeB5d0R7RjHgmZ5zLM8V40GhZ98GzjEubkiKhZ+0XocVxrklzKzjGtRV2x7jr3LDtYH8Sn+ugY+N9yYAzXF0HAqig+t5MB7c2PeQMfxFCROd2RxjeXa4lFQCeUIhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WEcXfSGGZqS6wtXz9vwGpX",
      "input": {
        "note": "The white bowl sits mostly under the held grey bowl. Lowering so the grey bowl is just above the white bowl's rim before releasing.",
        "targets": {
          "left_z": 0.085
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WEcXfSGGZqS6wtXz9vwGpX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9466, 2.3661, 2.1769, -1.0428, -0.6186, -0.8467, 0.0396, -0.0219, 0.8116, 0.5945, -0.3931, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3966 left_y=-0.3693 left_z=0.108 left_yaw=0.0646 left_pitch=-0.316 left_roll=0.1345 left_gripper=0.0396 right_x=0.2928 right_y=0.0001 right_z=0.1681 right_yaw=-0.0014 right_pitch=-0.0427 right_roll=0.0031 right_gripper=0.9971\nstate[joint_eff]: [-0.5128, -15.159, 8.5402, 0.9451, -0.4518, 0.0415, 0.9744, -0.1436, -1.4154, 7.0359, 1.7265, -0.0611, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1298de186fd66fc5796fe7eb9e949d10e96ceca650408aa3a2afd6674de020a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:709e590bd1b2a4f7a983fd520c8fa79541545adc0b5e817ab6a2260c8bebc612",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ccce1cc36c9df091604dd9097c03881ebd64ea6e74c44f889f2852a93dfa3628",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 6.832 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]: [-0.9344, 2.1189, 1.9896, -1.0344, -0.6224, -0.8204, 0.0382, -0.0219, 0.8101, 0.5945, -0.3939, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3786 left_y=-0.333 left_z=0.1692 left_yaw=0.0465 left_pitch=-0.2777 left_roll=0.0945 left_gripper=0.0382 right_x=0.2927 right_y=0.0001 right_z=0.1684 right_yaw=-0.0016 right_pitch=-0.0419 right_roll=0.0034 right_gripper=0.9971\nstate[joint_eff]: [-0.4991, -11.5077, 8.5265, 0.6716, -0.6178, 0.0171, 1.033, -0.2667, -1.306, 7.0359, 1.707, -0.0562, -0.0464, -0.0122]",
      "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]: [-0.9466, 2.3264, 2.1529, -1.0435, -0.6216, -0.8429, 0.0389, -0.0216, 0.8108, 0.5945, -0.3931, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3942 left_y=-0.3651 left_z=0.1206 left_yaw=0.0599 left_pitch=-0.306 left_roll=0.1255 left_gripper=0.0389 right_x=0.2928 right_y=0.0002 right_z=0.1683 right_yaw=-0.0012 right_pitch=-0.0419 right_roll=0.0034 right_gripper=0.9971\nstate[joint_eff]: [-0.5949, -14.2291, 9.5521, 0.823, -0.4029, 0.0415, 0.9744, -0.1026, -1.388, 7.0085, 1.7363, -0.0317, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9466, 2.3661, 2.1769, -1.0428, -0.6186, -0.8467, 0.0396, -0.0219, 0.8116, 0.5945, -0.3931, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3966 left_y=-0.3693 left_z=0.108 left_yaw=0.0646 left_pitch=-0.316 left_roll=0.1345 left_gripper=0.0396 right_x=0.2928 right_y=0.0001 right_z=0.1681 right_yaw=-0.0014 right_pitch=-0.0427 right_roll=0.0031 right_gripper=0.9971\nstate[joint_eff]: [-0.5128, -15.159, 8.5402, 0.9451, -0.4518, 0.0415, 0.9744, -0.1436, -1.4154, 7.0359, 1.7265, -0.0611, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1298de186fd66fc5796fe7eb9e949d10e96ceca650408aa3a2afd6674de020a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:709e590bd1b2a4f7a983fd520c8fa79541545adc0b5e817ab6a2260c8bebc612",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccce1cc36c9df091604dd9097c03881ebd64ea6e74c44f889f2852a93dfa3628",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgQgKEAgSGAI4AUIIdGhpbmtpbmcSDOtF8mlcEM/aeQwCdBoMe/eNCFVdLmO6t3wmIjDDuZdctv/XePpO7S+bD5QVpZpQewLD+DFky2bIKhjgdH6STyiOObRaUmH2HEzjk1oqngf1rldJG1+MmJYOs4Dv/TItR6xiM04DGOSz76bOzL4nq6MgQuonH7+Kb22tRWe25tuZjop1WwPVW0j8ulv6T2hshqZuLUD1ggsHZda86RufAIVCgIr4yhIUmPPaQfxFEpx5ANxp+salbLGduyqhIZeshpSol3FMJQbn1JKTcbInVnZ/63SayzVTT5mYz+JsnEXKu/NIpKNC1XamhJQ/BIxFjT9dGHENJzuwbWjayAhqWG68WsUnfb/X5FP38CXB7OZFJuzka3oz/Zbhlp22w0SjH0ILBdsqnHOZ7PoHoaNSNiz1oa9DKXtUU2A2YQlvmORboppNqSM0j4+3kb13kYwC+AZc2m+NVVUM41BksvicPYC1wVAKE/TBjPKcSypSXhN2cZN7CLueAg1LPYxV1ITpTtDcbKDTsOe2fs1V/1JEWxlRAtzg2wUu6WYR1vIZwYj792qMpWAk2/3M/ccC55uTJkUUI1imqghPlPsEs+kNsMDveEnxpjaXcnhxZoTgGAACmboza4hnIc+AM/vHxqA/F3gu2eKNkkYn1xFdSjSREQ0M6Tw5TikSkpiYA8lyotwdfzlR933DDqK+j5VCU6/X03jciIlRLm4vXWIZt5unzuuuLiSQ5cVwInURDfgLL8LDx5cZp/J+6+tROC0t1NQIlhrDW1HIVlP8lC8lsx3nNnOyHTwKj8IZwhoVHE/vMRbxcUvEfeCqR0BhqZYaQzztiGur1WFNtRQuAVR78kBzHbUqPQXT1+oeexakNq15SqnV9AawBWNL8LpD0rjhxnNkQlAw5ihUeXdp4RNpCRAguEnt1ZmL0RYM5LZ0o56jvA3TfjaMMjCG/82dpgDM7NA2shm+IlMe0t8YxA4ksLfSBSH61ECJNrYkS1anR1i6ZaR43QdB6DnG6HKTKO4PBHmUIjja1bUQL/wAKVU5xtRodOjIAALvJn6A0vPfE9j6K8k4UVLuw0J3QMvDLCy7nDsZEZLLH6oM971oSpCM0whkYSppgTc8teLcdpMoPtYdzpdEYGrq7isQrGobKKgmwr/1nIMbJDgLlHjaGg7+6Jr4if3RSvaMEi26waSeZ8qw2MSpA7uMtdleNCZPxFUmijsG4vXIKix6ECO7WdMsLV5hU2Kb9lapHqH/7Yyl5orvyI8VST5n/AQMWZTOKKfrjrcaUd3PP+RCqgfQXYl8VZ3yIBlCYv310lx/OtvYm6jRqlp3pegjOCN9m3qx+MTTJRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HwrjsiA3rfJHZpszDs3Bpg",
      "input": {
        "note": "The descent stopped at z≈0.11, which looks like the grey bowl touching the white bowl. Releasing it to drop into the white bowl.",
        "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_01HwrjsiA3rfJHZpszDs3Bpg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9466, 2.3661, 2.175, -1.0428, -0.6212, -0.857, 0.9944, -0.0219, 0.8139, 0.5945, -0.3927, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3967 left_y=-0.3687 left_z=0.1076 left_yaw=0.0722 left_pitch=-0.3141 left_roll=0.1307 left_gripper=0.9944 right_x=0.293 right_y=0.0001 right_z=0.1676 right_yaw=-0.0014 right_pitch=-0.0446 right_roll=0.0032 right_gripper=0.9971\nstate[joint_eff]: [0.0205, -13.4769, 6.4068, 0.8767, -0.3199, 0.1001, -0.0171, -0.0752, -1.5111, 7.0222, 1.6972, -0.0757, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2505e97c75c3ddb9ac6b308736e92d7f031bf25f67c7761f04356e9a4bcd436e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e66268780419d951234f6b7cb75d714c46340a6c578009b900bf97b2e3379668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77184298dce67bf5af556a4bf2ee758956ecaf347c5100c49965a32458302512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 5.904 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]: [-0.9466, 2.3264, 2.1529, -1.0435, -0.6216, -0.8429, 0.0389, -0.0216, 0.8108, 0.5945, -0.3931, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3942 left_y=-0.3651 left_z=0.1206 left_yaw=0.0599 left_pitch=-0.306 left_roll=0.1255 left_gripper=0.0389 right_x=0.2928 right_y=0.0002 right_z=0.1683 right_yaw=-0.0012 right_pitch=-0.0419 right_roll=0.0034 right_gripper=0.9971\nstate[joint_eff]: [-0.5949, -14.2291, 9.5521, 0.823, -0.4029, 0.0415, 0.9744, -0.1026, -1.388, 7.0085, 1.7363, -0.0317, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9466, 2.3661, 2.1769, -1.0428, -0.6186, -0.8467, 0.0396, -0.0219, 0.8116, 0.5945, -0.3931, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3966 left_y=-0.3693 left_z=0.108 left_yaw=0.0646 left_pitch=-0.316 left_roll=0.1345 left_gripper=0.0396 right_x=0.2928 right_y=0.0001 right_z=0.1681 right_yaw=-0.0014 right_pitch=-0.0427 right_roll=0.0031 right_gripper=0.9971\nstate[joint_eff]: [-0.5128, -15.159, 8.5402, 0.9451, -0.4518, 0.0415, 0.9744, -0.1436, -1.4154, 7.0359, 1.7265, -0.0611, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9466, 2.3661, 2.175, -1.0428, -0.6212, -0.857, 0.9944, -0.0219, 0.8139, 0.5945, -0.3927, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3967 left_y=-0.3687 left_z=0.1076 left_yaw=0.0722 left_pitch=-0.3141 left_roll=0.1307 left_gripper=0.9944 right_x=0.293 right_y=0.0001 right_z=0.1676 right_yaw=-0.0014 right_pitch=-0.0446 right_roll=0.0032 right_gripper=0.9971\nstate[joint_eff]: [0.0205, -13.4769, 6.4068, 0.8767, -0.3199, 0.1001, -0.0171, -0.0752, -1.5111, 7.0222, 1.6972, -0.0757, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2505e97c75c3ddb9ac6b308736e92d7f031bf25f67c7761f04356e9a4bcd436e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e66268780419d951234f6b7cb75d714c46340a6c578009b900bf97b2e3379668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77184298dce67bf5af556a4bf2ee758956ecaf347c5100c49965a32458302512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS5woKEAgSGAI4AUIIdGhpbmtpbmcSDBwkNw3k2GoWJY7dkRoMuUp34jGx9YZkwKUkIjC53wolXBJtiyzlXJmPFEx2v20cFsi2CKWtEabeaydgMOuvCQaEnZmNtoudpGLaKW8qhAqpizHjPLerrpl47VDgzhwgxERdVsn+TnNR+peDxJgTgfmn0urNQQw1bgbIaVKHMnEuRlNstUcBfD8LNxRl0Qt6MilPk+984mOSMt92uFN9S5eGRaC8P9cUi/2HTBMILnndmTIRpLTLgjMXFlmUkpZt0NqIAae3W/qgHs+KscUcKCkIx2L/Vq1bA/izZZsReoC1ZfE50zGBd09nrjDFKqLgy8nYdJo7hnbkOf7XN597Z2tXV47ARAW3/938nHDYe2TiwUnzAaCM1kXOuZCOvVxdG98BDzhThXJSmwMb7dtQeRbZnPkemHcr4Qp4YqirNOONlXkn28xmg9DdhpmecSMySwIqE55OLZn3nIzsJaMgGHoDNkMgGbaIQZckdvDg7/jpFl2qZw4eK+hkRMLDfVdb0xlQSFfBKZAummNjKxY6NvRtvMJYCXt9KX5UNVLCXfQ2DQD5UQUywWKxvP1AqXPKiPYyiwJtwTZLnL6kG4zjCBZcxA2xUwu3WvzPEuWhgXlFbvVXnE49Ta2oN9oiYmOPX2C0tsWXiA5IQYvkaKavwwpA0ByoHN/DzKjCrHBKbNxJ/GYhHkhUS8tiu7/FUzW5bt0Agw/eIB6ro477nd+R8mWHaD4p2+OdUThxy6awSCwfrCmXtQWJmb8nBxF6MVT1Lqd5oZCPWz6ep1lbrwm3Z9QIHHW5T3kTWs4vizvFAjpYhpy6SF5wQ3DOFbT9WtJEGgrWM5abOhY0oXGEuIIQkhcFLAvQy3C9mAf/xMiO563lkcYtzqiA5jKU7528zFSdj/hZsMiAubYoVb9nWcZptInVE5ak4rYQWqT2A2c3rLPpvCqnVXg3Htsyk7SY4jrGq7vDZd4DscHTPv72KY4A7jcRq0MN4BB4wnLu3HEMQSJ8N4ucKxzsMkddUz0s4BJqU4u0B0vgh0gHHDVVV580TNMmG4psCgwTFKgShU/MuNQx5qfjgT5R2XKHHR43UkVnHDrcfgW81ol5VhCWN+4q+IPlMlej/CaZXORxfMNTmGFtxpE6BSPX6x0ql2Ac9OtlmDLpcaWuLJkdyevXLvK1fbuN6mXjPop89ug22tys4orWn8T3sBefXRkBjedfM9LFkmPmaX67NYu3ZkzDjLeUHAJdC0HIsoqI3yqP+1DPLWHp1pTYGp6N4vkMWUC1cqQOdYOe2emVj/l2I7Zma51tXaKS0nzDTFXjEfylACB4Juy5lUQuP37mU0zVP8WRv13oA5qNwPEBYNeBWD+7JwP550JEF9qBujZEUMKkkQkoDzJAAij0muqEVxMAknC92GwXh83YUaQBGqAUQxGPySev4/XBVhmqQsj8zFb3DnFK4uYBSs3cLa/EV6LxO0OthkqWAAovpe8SgKvLj3D9WWfikohE2Hw3fGtAV+ojuzko/asuGC0vo753ctARNL1GmNz8lOLBnxnIzWyPd6fNtbXsU2oVnDzDxP8r5xGhCM7vqdux4ULf/+Maz4fWZaT7rmVf8xR1MUv1Th/U2UyifjrUlhBKpd2+fEi+3Dtkdo69I3WDJbcLMWlyMnqsY8AUkthMsQ2/zGJZ9WYW/kVFDKgANeNXt/cdnp7UbiRX870U9gkrNiFhg56435wk+z1pfn30nuH+es+5ZNsew5ZPJUWuDStKQuawWAn4DJa4SPmjDkM35dBn60oh+XKMwaB32vJ4JR51VlYNIi9K16mtrK0ahe7im/4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NVYWecZM6XY95u935jAqut",
      "input": {
        "note": "The grey bowl now sits nested on the white bowl. Lifting the left arm clear and parking it near home so the right arm can bring the pink bowl.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 33 steps (3.3s)",
      "tool_use_id": "toolu_01NVYWecZM6XY95u935jAqut",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1535, 1.1114, 1.0283, -0.8303, -0.2443, -0.1429, 0.9955, -0.0216, 0.8173, 0.5945, -0.3931, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3032 left_y=-0.0001 left_z=0.1971 left_yaw=0.1208 left_pitch=-0.3143 left_roll=0.1231 left_gripper=0.9955 right_x=0.2932 right_y=0.0001 right_z=0.1666 right_yaw=-0.0016 right_pitch=-0.0484 right_roll=0.0033 right_gripper=0.9971\nstate[joint_eff]: [0.2256, -4.1368, 6.5026, 1.3944, -0.149, 0.1392, 0.0904, -0.1162, -1.6068, 7.3778, 1.7363, -0.0562, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93a5bc57b01b9a08693a80ee28d9e5928efc29165a4defe8921839ad8e7f71f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31d0438a9c146d9b5c76e5036e0edca6276c478d1edb701500dd9a058b953645",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e1cb830e79764b4f32dba48a1da8e65f6fca910260c0ca9f423f27148d289a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 6.968 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]: [-0.9466, 2.3661, 2.1769, -1.0428, -0.6186, -0.8467, 0.0396, -0.0219, 0.8116, 0.5945, -0.3931, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3966 left_y=-0.3693 left_z=0.108 left_yaw=0.0646 left_pitch=-0.316 left_roll=0.1345 left_gripper=0.0396 right_x=0.2928 right_y=0.0001 right_z=0.1681 right_yaw=-0.0014 right_pitch=-0.0427 right_roll=0.0031 right_gripper=0.9971\nstate[joint_eff]: [-0.5128, -15.159, 8.5402, 0.9451, -0.4518, 0.0415, 0.9744, -0.1436, -1.4154, 7.0359, 1.7265, -0.0611, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9466, 2.3661, 2.175, -1.0428, -0.6212, -0.857, 0.9944, -0.0219, 0.8139, 0.5945, -0.3927, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3967 left_y=-0.3687 left_z=0.1076 left_yaw=0.0722 left_pitch=-0.3141 left_roll=0.1307 left_gripper=0.9944 right_x=0.293 right_y=0.0001 right_z=0.1676 right_yaw=-0.0014 right_pitch=-0.0446 right_roll=0.0032 right_gripper=0.9971\nstate[joint_eff]: [0.0205, -13.4769, 6.4068, 0.8767, -0.3199, 0.1001, -0.0171, -0.0752, -1.5111, 7.0222, 1.6972, -0.0757, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1535, 1.1114, 1.0283, -0.8303, -0.2443, -0.1429, 0.9955, -0.0216, 0.8173, 0.5945, -0.3931, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3032 left_y=-0.0001 left_z=0.1971 left_yaw=0.1208 left_pitch=-0.3143 left_roll=0.1231 left_gripper=0.9955 right_x=0.2932 right_y=0.0001 right_z=0.1666 right_yaw=-0.0016 right_pitch=-0.0484 right_roll=0.0033 right_gripper=0.9971\nstate[joint_eff]: [0.2256, -4.1368, 6.5026, 1.3944, -0.149, 0.1392, 0.0904, -0.1162, -1.6068, 7.3778, 1.7363, -0.0562, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93a5bc57b01b9a08693a80ee28d9e5928efc29165a4defe8921839ad8e7f71f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31d0438a9c146d9b5c76e5036e0edca6276c478d1edb701500dd9a058b953645",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e1cb830e79764b4f32dba48a1da8e65f6fca910260c0ca9f423f27148d289a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wkKEAgSGAI4AUIIdGhpbmtpbmcSDBXA3p8ikILTPBBCZBoMK34GXo0iNvPxemVTIjDNHJhZaq5OwU/vdrcOc/3K/doztyF63n6WoAS5YIXt+Qc/eKchUmfu0veMx3VQOwUqiAnx8xXnc8oSKtuisXOb/SlYddsACrMA25hKdlnq07vdpGIiZuWGpP+Fj80decBdotmxJ8YDHdV8AmfJBpbkGNKMT5qFaGhPZ7gVWFx4MwJmFXrO6f0eQDN2bYxUUTtjfb5n3M5fpntWlfsD/rgJZ9/YjbHaDXDyilcbH9sEFiKYsHHfxXAVcRQCdAfPd4HlpWt3Z8BWrR9dorVT0oXuj/NIucyBgVI169H6HZCF2UMVkOoOLOf66uT4CZAY7Vin8DPVvPJhJZAl3hNxHjgfgtcryuWOpjLMJ4+eksB7wIbmKqhMKpbVIKPD6Neuu2/40NiZnEB4cK4jRzZEg3gqWMePeaYVaExZaSx//3BNLZLQiCJUaDAwFLTj8qjfNbCKTH33Dg8PPvMdyx39PNPzjqHI5aiZZctIG32qVfihgQLBIddL9gpJ3+g6aN7Ro/VUeD9074msJrSQHQFjMWcFQTszm5LaDvKkF8FS0RZy7k4rO04SzU8PkY3zaxbgdfN9KkjOwM48JFy5nvh/gKJDRiAvaLUTWcyGhLQARsbwU/umETtlssHddZX3mE6kkOC1ndnDcIbk9nNBFCju62nyKaJhB0FpNnur7rAT9oQneAaXYtxI24hjg2MutKJLl8n8/mjvQvj+qJMpPlDqhVRb2nLOeSzv5VRat2dw+SXsS53oWLPYSkWJ1tu2X5dr0ynzErt4ibY7OEtInFJPfSam+Pb3NqlHgaMfshLR1Dw65aoP2GjeEAIX9WaAUQBUFB1DswcJmzQaRuqyhC1PKotVd/YQBV5/+Zx/d/QUGBg0dQyqwyIC40ioQeuTk6bUTu6l9qPHUQBBn9fG27IIzzPSFRs8H5iCDt02OFQ5cZUh9960HcGHvIA9pqrep5ww8QaCINljDAL044h0mfAizJuzncRgOHXQKocrCQhFadWe55I79yOPOWx/0ZXwLYF3gT4wm/kjPz5Fyh3a7FNKmm98JRYHel5434PuEJkUREZzu34u7ZkxtCPHLN0skKfFe0xZVkyV5mof9w8794C5QA1aO6ef/TKB+N4IYjMwt2H5nljnKAOWQSo19OroiYAIwtfIsLH7QTCOaEaO3Xx6edUszGIOJ5Oc0pcHA/kaD4XBJTnbpgHfis3U7QdCbupMi9Waj98ZHjlcKDgAUj/lxKoQJL6kVWeTKKMf1sFllJfs+x8Xyl0NXv8jhKa21pAMXm7zjbaUeOkDmP9RAwhH3QQEgQSmAs7QRN/lLES/OwtaHtkjjmxqSDJ13hcxdo2UqWKQIRm2LnH8NRYsace2i2zEFz/XaM2YCl21V6EZDmB7OtpToApdPGDPzziqC04lwya/oQ5D8BuI/E0nAldH6sY3OjEaVJZcNbRKUuSJ7120gcj8MYYJG+klbe+Kk78hVz+yOuBo9srqHNXUtr2VbwH6STBCcjdIWBpqDmlAbjtQo2JKiCZWCDES2WTZwa8wjlDsk5ibw7BOJJVERf48MSwoydKIryaOcSCiaD7yvJ+JRT5imM91RWqyImMNZ6NEBwsqmmv/VmLxNVlPXRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hq9oF9mkW5CyS6vLSUvAB6",
      "input": {
        "note": "Grey+white stack is in the middle and the pink bowl is to its right. Moving the right arm over the pink bowl's left wall for a rim grasp.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.22,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01Hq9oF9mkW5CyS6vLSUvAB6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.1126, 1.0283, -0.8341, -0.2359, -0.1459, 0.9955, 0.7338, 1.6432, 0.9455, -0.1219, 0.5468, 0.4351, 0.997]\nstate[eef_state]: left_x=0.3026 left_y=-0.002 left_z=0.1959 left_yaw=0.1138 left_pitch=-0.3206 left_roll=0.1157 left_gripper=0.9955 right_x=0.3683 right_y=0.2132 right_z=0.1025 right_yaw=0.0348 right_pitch=-0.1075 right_roll=-0.0392 right_gripper=0.997\nstate[joint_eff]: [0.1026, -3.1248, 6.5983, 1.3651, -0.2271, 0.0073, -0.0073, 0.3077, -7.9932, 8.6906, 1.5849, 0.5201, 0.149, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eb70cc48f4f42fcf341b19f578a730ad4680ff90e6c192fbfbe084bd5277544",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81492189bab3ef58e3eb4e077f1585012421632e580819b3e5ffb3eb6a311e7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:efd21ba3244e30578683072ef66bc3c9569ca18c69276f60f0d451486702be52",
        "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 · 5.021 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]: [-0.9466, 2.3661, 2.175, -1.0428, -0.6212, -0.857, 0.9944, -0.0219, 0.8139, 0.5945, -0.3927, -0.0166, -0.0307, 0.9971]\nstate[eef_state]: left_x=0.3967 left_y=-0.3687 left_z=0.1076 left_yaw=0.0722 left_pitch=-0.3141 left_roll=0.1307 left_gripper=0.9944 right_x=0.293 right_y=0.0001 right_z=0.1676 right_yaw=-0.0014 right_pitch=-0.0446 right_roll=0.0032 right_gripper=0.9971\nstate[joint_eff]: [0.0205, -13.4769, 6.4068, 0.8767, -0.3199, 0.1001, -0.0171, -0.0752, -1.5111, 7.0222, 1.6972, -0.0757, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1535, 1.1114, 1.0283, -0.8303, -0.2443, -0.1429, 0.9955, -0.0216, 0.8173, 0.5945, -0.3931, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3032 left_y=-0.0001 left_z=0.1971 left_yaw=0.1208 left_pitch=-0.3143 left_roll=0.1231 left_gripper=0.9955 right_x=0.2932 right_y=0.0001 right_z=0.1666 right_yaw=-0.0016 right_pitch=-0.0484 right_roll=0.0033 right_gripper=0.9971\nstate[joint_eff]: [0.2256, -4.1368, 6.5026, 1.3944, -0.149, 0.1392, 0.0904, -0.1162, -1.6068, 7.3778, 1.7363, -0.0562, -0.022, -0.0171]",
      "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]: [-0.1555, 1.1126, 1.0283, -0.8341, -0.2359, -0.1459, 0.9955, 0.7338, 1.6432, 0.9455, -0.1219, 0.5468, 0.4351, 0.997]\nstate[eef_state]: left_x=0.3026 left_y=-0.002 left_z=0.1959 left_yaw=0.1138 left_pitch=-0.3206 left_roll=0.1157 left_gripper=0.9955 right_x=0.3683 right_y=0.2132 right_z=0.1025 right_yaw=0.0348 right_pitch=-0.1075 right_roll=-0.0392 right_gripper=0.997\nstate[joint_eff]: [0.1026, -3.1248, 6.5983, 1.3651, -0.2271, 0.0073, -0.0073, 0.3077, -7.9932, 8.6906, 1.5849, 0.5201, 0.149, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7eb70cc48f4f42fcf341b19f578a730ad4680ff90e6c192fbfbe084bd5277544",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81492189bab3ef58e3eb4e077f1585012421632e580819b3e5ffb3eb6a311e7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efd21ba3244e30578683072ef66bc3c9569ca18c69276f60f0d451486702be52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgkKEAgSGAI4AUIIdGhpbmtpbmcSDEwWCZBYXqLe5Ew2BRoM2r8vmDEu9L2DVZ8mIjCDbOmFM9lxLfkh2dMWZOERmCNiaW4G/VngYe/B8r4piG7UhB7X+w46/kQkX3Fib8wqswhgFL0oY4LhVbM3Mi386wmzNpHv8l7MwFmYZ+R5HQfbVguAmweUuWpNj0FTO88OEk3QrKeZRHkrrw6/dKeH1MQqvOhEhbStrS9UijsjwSYzQFJcSjN1SO+Wl+QRPAA2fLH6nW9ktlichL3ZqTL4cJEd4xw7fA2loOaQDPyW0g1OExS3cVbgE0bKjQeziFp5Zv9iLXlGsDqNR1NuRLHgY1nxEWo5HpgVwaQSgJwTIFa4tdzff+k7XWtE6MnGNrmu8FbJKCVbQBQsnoDI2LJsbwl1lFbVdgAjI1Gb5w+F+kEC2GJMwaZBmhXMlBH2p9NsNLOp0J8t7/82bAxYCFXkUV9xivUH0drKy0mJ7ptUYcqIWUXwxCnWknqKOe9bADjvk9NQRJBipta8CZVqNo+/WDrcHE7kY5e2OdyBeIourewi5fUdpX5A4qeqK2hl8nHOAQ0RzEnuPh0mq8PFAuIi31bXyS3m232XOVqoGznfNOx9EQcGk6SrSDhH+YXruD93hCn8QxeePCtFCDmSCIAH8eDcfsvgfxSLsS7uKGzOv4TSUWlk/wwY7zjLlD/Jp7VEt4/k3YBXWaPrnIhDUSJz3l0Cuq81JEpScgA60VHsavUKUdSvJBl7nGVYTx8qDHRR8xqDZbx4J4FW7TreP+30cnOWPbfCSiASslhMuf2FgVPCG33iIgEv7bKF5nFxNsyKdiOQFv+awmsIwc23/0en5HCN1IegWnk1sUkLSioh0FOjEeonMdJuW9DgYcvJaWJWDohAX8q4sOaqJCZmUQavrsrAMW+zRyHwaFhMlBMGZCdT5E9ClUiTvdM6gNkKJ3i2fwYZIrrP5Jlm00RSobk8MseTEK7ABgne2S32a8xX568id4Jk1T3pt8fdJGbh+owZAv9j6QZycKKM7K+hZWsMeqV/JHEWVZkyiGmB685mdWnB8bkyOPpueYXAE0kb8wcdVfVpdqAEK7ksobQOb+IJEGocMf4jAn2Gis6EMKFLYF3CQzRn2ojxJG4GpE7jkDXjN0FNX7fqUzi/EoDqqrTj8Aaan6Rovb21ILKrDXQ/ipe3sCPk/tOrusIcJKXht5bX6NAyV+cQZ17lggCsudhpONyU5Ew2weCdkWZ/2pB4nenF4TV804VJTWXp6+LvdyFlxrG27GNIUwAVxDBn0kE6fnUOozer5kjcyWnk+fmOjo318BDE7RrGgUofWdydKZq+PpJsNViDDQ9fVX3Ox3vwa0yQpZkmYUjFXmEKKmMkMeniKqG1ipyYwUvW3vl6MRcjUl0UMrwk+Gr0b/2RgJef1OM4vxb+0zJQ6Wt9bmuKk32rKdEWFCFPaUHo0vQxofJZtsIct4Iy0FxkE3pj6fAuwELMheQRD5D8TiE1U7te53wbsYHygI73PxGjtd5NHeouX/IxWqruITEQu9IyVBCZja28aPZaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JLjjBT3VKcZS2GFtfPhytu",
      "input": {
        "note": "The right gripper is between the stack and the pink bowl; the pink bowl's left wall is about 5 cm to the right. Shifting over that wall.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.158,
          "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_01JLjjBT3VKcZS2GFtfPhytu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.113, 1.0283, -0.8333, -0.2352, -0.1463, 0.9955, 0.569, 1.6035, 0.8425, -0.0696, 0.45, 0.3237, 0.997]\nstate[eef_state]: left_x=0.3028 left_y=-0.0022 left_z=0.1959 left_yaw=0.1134 left_pitch=-0.3204 left_roll=0.1147 left_gripper=0.9955 right_x=0.3781 right_y=0.1549 right_z=0.0813 right_yaw=0.003 right_pitch=-0.1621 right_roll=-0.0737 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -3.1932, 6.5846, 1.3748, -0.1099, -0.0366, -0.0122, -0.4855, -9.6752, 6.5436, 1.7607, 0.0757, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3341216cb08a9f27454f15a7bbfdc8e0e19417919769b879a9da3ee65427018c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adbb7bc9d7375759f6d629e2df94fe87d19792bb22510215ffe241284dfd91b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d8d4fdac0d47b191d3f5a95442784cf0d993403ec9dcbbe531f7b1ec1dc97c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 4.62 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]: [-0.1535, 1.1114, 1.0283, -0.8303, -0.2443, -0.1429, 0.9955, -0.0216, 0.8173, 0.5945, -0.3931, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3032 left_y=-0.0001 left_z=0.1971 left_yaw=0.1208 left_pitch=-0.3143 left_roll=0.1231 left_gripper=0.9955 right_x=0.2932 right_y=0.0001 right_z=0.1666 right_yaw=-0.0016 right_pitch=-0.0484 right_roll=0.0033 right_gripper=0.9971\nstate[joint_eff]: [0.2256, -4.1368, 6.5026, 1.3944, -0.149, 0.1392, 0.0904, -0.1162, -1.6068, 7.3778, 1.7363, -0.0562, -0.022, -0.0171]",
      "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]: [-0.1555, 1.1126, 1.0283, -0.8341, -0.2359, -0.1459, 0.9955, 0.7338, 1.6432, 0.9455, -0.1219, 0.5468, 0.4351, 0.997]\nstate[eef_state]: left_x=0.3026 left_y=-0.002 left_z=0.1959 left_yaw=0.1138 left_pitch=-0.3206 left_roll=0.1157 left_gripper=0.9955 right_x=0.3683 right_y=0.2132 right_z=0.1025 right_yaw=0.0348 right_pitch=-0.1075 right_roll=-0.0392 right_gripper=0.997\nstate[joint_eff]: [0.1026, -3.1248, 6.5983, 1.3651, -0.2271, 0.0073, -0.0073, 0.3077, -7.9932, 8.6906, 1.5849, 0.5201, 0.149, -0.0171]",
      "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]: [-0.1555, 1.113, 1.0283, -0.8333, -0.2352, -0.1463, 0.9955, 0.569, 1.6035, 0.8425, -0.0696, 0.45, 0.3237, 0.997]\nstate[eef_state]: left_x=0.3028 left_y=-0.0022 left_z=0.1959 left_yaw=0.1134 left_pitch=-0.3204 left_roll=0.1147 left_gripper=0.9955 right_x=0.3781 right_y=0.1549 right_z=0.0813 right_yaw=0.003 right_pitch=-0.1621 right_roll=-0.0737 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -3.1932, 6.5846, 1.3748, -0.1099, -0.0366, -0.0122, -0.4855, -9.6752, 6.5436, 1.7607, 0.0757, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3341216cb08a9f27454f15a7bbfdc8e0e19417919769b879a9da3ee65427018c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adbb7bc9d7375759f6d629e2df94fe87d19792bb22510215ffe241284dfd91b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d8d4fdac0d47b191d3f5a95442784cf0d993403ec9dcbbe531f7b1ec1dc97c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpAcKEAgSGAI4AUIIdGhpbmtpbmcSDNqmzztFQQiSrFFAPxoMxD9KPemgBblxZREHIjCgptS6ubC9BfMQQ9/5aeMhrxRif/v7WWTjWBMObW/OEyGKcMvjqmCKyImqzyo5Jc0qwQZYf1jVdd/cZG7R1oo5VmQGiAO7SRE9IXWrx7zOL5/G18fG/tqTqACjm6jSP8WxN1HGw8oJeHUWGTZZ+j/OHZcZ0sqqOvQZttjeAESD2haM97wY/v40AvtmGyfZ9vBheA+kzk5jy9f3TuIFFIqDQtwKJtICf+g1lTjsVnpE+PiXep+djrF3YcWyV0/NhNOBRXx+MsNZCHDa6lCwmNqyNFFkIwPWzH1ME0jZ/YMfdrkzK4hIO7XH0XsXMPhreishN3iX/+R9RTXrzWgcevdKbV0hWnUuADL6cCrTrA/Ti+t//2fptAiWQqq1CMUn+V8I58l9Ah7xGKJFEHBQDW34m662fhL1L1brriE6IcLTDmqEKsqcx8jjxTfA26u5q+OcfUQtvlf6TnEK6R5TKVtRTantaT22smfSuDmjE1lHfd3nbzJnawBvEzuXiLxJa7F1XmXZWgvojtsW5rtSJJQf4jHJBFsVZstNcFqLjE0ZvcsciBQP57d+2az1sLPH0unkWrXSf3efM/2YKLT1poMx13aZbPYjZm/s0fBmssdicZZzH+BxkilbMrXx78Hi3nQQtBJ8ZrFjWOpC5EilGTpnSy/ws93tTN9jLoMxpblTXVKeUcY6CNcHwHzAV3vOmTJiJPVfuCi3dbXUxjcCJ3TrtGT/GdZQrcB9Uo3hRdoqNFUqJjn75XAw5R8h36s+TuAAW12RXVGdXTc1KVGCeLaA13fUnHTAGWQ9P0jQqWU67Jt4u1yu+1nOnIq2rkg0Jct3FzVmWrYPer+m27GW2eUHHu0heSLtok/EeLgrcwG6ZM2uPDLU4mgOWD0e9GT+My1q94TYqY7Xy06LHKmVx3aU7iXy5kyCy0unzFJtxgrhooyKlqOVE0pwZNjmLZsUlSeYLAWnZxFFKtvGJe8crNG911Ju/9VSoJrinUaG5YKupAm2L1bJ/4mN0huP7DdK0qTn1PIVR+bR+Ny8vs7+xnpUR8KOJamtGUi8rZoMt1agNhGnnCCkG+cx6Su4wMPKjnxHr+UMii+xtuPaxlDhkzkdlT03Rv4wPwk4PLjwTxe0fM0mm9Fz6dCGjSSpehpnbFqGllWc90To0SFtQzEB/o6VwgS5QhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q43uMSKBiAkMbq1ra4x2fE",
      "input": {
        "note": "The pink bowl's left wall is on the jaw column. Descending low so the jaws straddle the wall.",
        "targets": {
          "right_y": 0.15,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Q43uMSKBiAkMbq1ra4x2fE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.113, 1.0283, -0.8337, -0.2352, -0.1463, 0.9955, 0.5575, 1.792, 0.701, 0.2028, 0.4324, 0.3042, 0.997]\nstate[eef_state]: left_x=0.3027 left_y=-0.0021 left_z=0.1958 left_yaw=0.1134 left_pitch=-0.3208 left_roll=0.1148 left_gripper=0.9955 right_x=0.3679 right_y=0.1464 right_z=0.0012 right_yaw=0.0099 right_pitch=-0.219 right_roll=-0.1076 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -3.1932, 6.7624, 1.3504, -0.1148, -0.022, -0.0122, -0.4444, -6.2701, 4.5197, 1.326, 0.2466, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:739c1c2695d5c1b8f94c3e1a24a2c11fd9e2c62baec060096caf04db80847b56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9138c1f77fda44b0d57cc9234affe3c3cf39de8f4e0f7cb5cc51847723718db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:31ef1fd70bbf35ad817813a8da2005e62c0f95bf789ae07859220d478734c625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 3.91 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]: [-0.1555, 1.1126, 1.0283, -0.8341, -0.2359, -0.1459, 0.9955, 0.7338, 1.6432, 0.9455, -0.1219, 0.5468, 0.4351, 0.997]\nstate[eef_state]: left_x=0.3026 left_y=-0.002 left_z=0.1959 left_yaw=0.1138 left_pitch=-0.3206 left_roll=0.1157 left_gripper=0.9955 right_x=0.3683 right_y=0.2132 right_z=0.1025 right_yaw=0.0348 right_pitch=-0.1075 right_roll=-0.0392 right_gripper=0.997\nstate[joint_eff]: [0.1026, -3.1248, 6.5983, 1.3651, -0.2271, 0.0073, -0.0073, 0.3077, -7.9932, 8.6906, 1.5849, 0.5201, 0.149, -0.0171]",
      "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]: [-0.1555, 1.113, 1.0283, -0.8333, -0.2352, -0.1463, 0.9955, 0.569, 1.6035, 0.8425, -0.0696, 0.45, 0.3237, 0.997]\nstate[eef_state]: left_x=0.3028 left_y=-0.0022 left_z=0.1959 left_yaw=0.1134 left_pitch=-0.3204 left_roll=0.1147 left_gripper=0.9955 right_x=0.3781 right_y=0.1549 right_z=0.0813 right_yaw=0.003 right_pitch=-0.1621 right_roll=-0.0737 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -3.1932, 6.5846, 1.3748, -0.1099, -0.0366, -0.0122, -0.4855, -9.6752, 6.5436, 1.7607, 0.0757, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.113, 1.0283, -0.8337, -0.2352, -0.1463, 0.9955, 0.5575, 1.792, 0.701, 0.2028, 0.4324, 0.3042, 0.997]\nstate[eef_state]: left_x=0.3027 left_y=-0.0021 left_z=0.1958 left_yaw=0.1134 left_pitch=-0.3208 left_roll=0.1148 left_gripper=0.9955 right_x=0.3679 right_y=0.1464 right_z=0.0012 right_yaw=0.0099 right_pitch=-0.219 right_roll=-0.1076 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -3.1932, 6.7624, 1.3504, -0.1148, -0.022, -0.0122, -0.4444, -6.2701, 4.5197, 1.326, 0.2466, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:739c1c2695d5c1b8f94c3e1a24a2c11fd9e2c62baec060096caf04db80847b56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9138c1f77fda44b0d57cc9234affe3c3cf39de8f4e0f7cb5cc51847723718db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31ef1fd70bbf35ad817813a8da2005e62c0f95bf789ae07859220d478734c625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "text": "Pink wall sits between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012w8AEcB7KXbSnMXihdSv4A",
      "input": {
        "note": "The pink bowl's wall is between the open jaws at table level. Closing to pinch it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012w8AEcB7KXbSnMXihdSv4A",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.113, 1.0283, -0.833, -0.2356, -0.1463, 0.9955, 0.556, 1.7718, 0.704, 0.2413, 0.49, 0.2668, 0.032]\nstate[eef_state]: left_x=0.3028 left_y=-0.0021 left_z=0.1959 left_yaw=0.1137 left_pitch=-0.3199 left_roll=0.1149 left_gripper=0.9955 right_x=0.3788 right_y=0.1417 right_z=0.0189 right_yaw=-0.0098 right_pitch=-0.1461 right_roll=-0.1399 right_gripper=0.032\nstate[joint_eff]: [-0.1299, -3.1658, 6.6256, 1.4042, -0.1685, -0.0659, -0.0122, 0.1846, -5.4496, 4.9026, 1.0672, -0.7253, 0.3541, 0.4078]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fc56c70beccc0b44dbc69f9cf3f0e9c473ef86c5e1e2727014b49b52709ea60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8c04280168d538cf9fc6152e3a06aa57a817c7887172929fe8ed90f2b6c9242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a7a9f78b8f712be1113de05fa46b48c51185b0737767aabf04203912e5ae1df",
        "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 · 6.672 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]: [-0.1555, 1.113, 1.0283, -0.8333, -0.2352, -0.1463, 0.9955, 0.569, 1.6035, 0.8425, -0.0696, 0.45, 0.3237, 0.997]\nstate[eef_state]: left_x=0.3028 left_y=-0.0022 left_z=0.1959 left_yaw=0.1134 left_pitch=-0.3204 left_roll=0.1147 left_gripper=0.9955 right_x=0.3781 right_y=0.1549 right_z=0.0813 right_yaw=0.003 right_pitch=-0.1621 right_roll=-0.0737 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -3.1932, 6.5846, 1.3748, -0.1099, -0.0366, -0.0122, -0.4855, -9.6752, 6.5436, 1.7607, 0.0757, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.113, 1.0283, -0.8337, -0.2352, -0.1463, 0.9955, 0.5575, 1.792, 0.701, 0.2028, 0.4324, 0.3042, 0.997]\nstate[eef_state]: left_x=0.3027 left_y=-0.0021 left_z=0.1958 left_yaw=0.1134 left_pitch=-0.3208 left_roll=0.1148 left_gripper=0.9955 right_x=0.3679 right_y=0.1464 right_z=0.0012 right_yaw=0.0099 right_pitch=-0.219 right_roll=-0.1076 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -3.1932, 6.7624, 1.3504, -0.1148, -0.022, -0.0122, -0.4444, -6.2701, 4.5197, 1.326, 0.2466, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.113, 1.0283, -0.833, -0.2356, -0.1463, 0.9955, 0.556, 1.7718, 0.704, 0.2413, 0.49, 0.2668, 0.032]\nstate[eef_state]: left_x=0.3028 left_y=-0.0021 left_z=0.1959 left_yaw=0.1137 left_pitch=-0.3199 left_roll=0.1149 left_gripper=0.9955 right_x=0.3788 right_y=0.1417 right_z=0.0189 right_yaw=-0.0098 right_pitch=-0.1461 right_roll=-0.1399 right_gripper=0.032\nstate[joint_eff]: [-0.1299, -3.1658, 6.6256, 1.4042, -0.1685, -0.0659, -0.0122, 0.1846, -5.4496, 4.9026, 1.0672, -0.7253, 0.3541, 0.4078]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fc56c70beccc0b44dbc69f9cf3f0e9c473ef86c5e1e2727014b49b52709ea60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8c04280168d538cf9fc6152e3a06aa57a817c7887172929fe8ed90f2b6c9242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a7a9f78b8f712be1113de05fa46b48c51185b0737767aabf04203912e5ae1df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzgcKEAgSGAI4AUIIdGhpbmtpbmcSDEU1yYe7FIDly7kaixoM5Kgdfay0TKuC0GnQIjBavmmDN3yho4TjR8qYzKxvDSPEhorNVTl5JNbAD73lkypS/+uxw3haihZ5bx1GCu8q6waxmzkSxqpwusK+0Umy2PtXcbAHuljxCoA2ATlOPBjFsRO0NRYpqwvxVLis4TCbYuXF538JJsuS8J6bSs7yobuFmEuW97EIpcIPimuMVntDsq1sJplDII5nBijz8cqmMhie3xAQjLLjLmFaDd/XZ7RIbmv+G8afEKso6iuqYj8EukDPu7k6y3+C9+qgff22F27LvZWe9ZuHkZR1I2tsw09sXZFZDHZ7AD6u9VMGmFRv4OGmB8v++tLDM06zxOaZ79TL9aqLjr+Bl/scKSwaM8h+k9+GJ7ZqoTwGhq6ubrj8lruS3dHjr6S0qibyCTAIVbEwtdVMtuxdzKep++iGJGik4nI584X8NVC96jEDgdtz4CqEiUCEQ6cmoKJoduGwp5nMLd/sRVG0lF1/nflrxARit7HF+v01v/kc6bxRgWG25QxvzjpQSnw10k397V2fl+Gi/Wr2hSpRkdmbU0JMAf0Jn5OMq6XqZm1E/qsTmWwotLeyVhCrTAFLHaS2svU8pHp5pw9RBp4P8Dov8qSXMejlZoX/hGUooYmdxM3t995Hu0hC8RUfpJrA0/mgcs1IZ1yAlJuYwmArqsUYyXZMDrNbcsuXHMsjY5S2PgticJ39Om1fSaNWgoyeyw/A6tJrktcQWvH835QcdvlNHV10JOVJDhLiL8qs/Q7V1q61T398Aa0Z4hGILDc+MYMVpL2TZjd39Aq6iUkVQYfVfZdHEsdqeHgscK2DwOvQLodY2uHU24BBDuZRuA8aMzPn+3n6q1TARqvUI9diLrThoYepi6MZBjheGpwKHDnEwWCjMvqwUSAF8sUOz+1wwm4mcV5Ekj2xVmXL2GS/gUBhkcp0zBNEkNRCR5hK/8nw9P0bxboIw9F/7MTIItVmCqPAyoyzRkqLXqZMXhHNN8JLmUfzhdqdFls9WopwCBzlilHex4bVNT8WuuQXXLjW1Dci4pZY5kMSGv53uwGHX2V2kEMnEutahtBGtsKnfYNkxK5c3dqvyflX/C9nryDM802Y66b/NSwhbvIRzVORcmxp7cLYtFbxVjehKtTOjA71E2u05/ue+6VGGLEC/UFALNSGK7hUgtkKesjV6HMZLMbiolMiK37o7QejqfEXvmBEDSjLLxhBa5e0vgvRWP4XLGLVGEHR7FA7ZyNH8X3YYvxJVRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GyEXj4b5JqSm9NLixnRxpE",
      "input": {
        "note": "Jaws closed on the pink bowl's wall (reading 0.03, thin wall). Lifting to confirm it's held.",
        "targets": {
          "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_01GyEXj4b5JqSm9NLixnRxpE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.113, 1.0283, -0.8333, -0.2356, -0.1463, 0.9955, 0.556, 1.5906, 0.823, -0.0803, 0.4812, 0.2604, 0.0424]\nstate[eef_state]: left_x=0.3028 left_y=-0.0021 left_z=0.1959 left_yaw=0.1137 left_pitch=-0.3203 left_roll=0.115 left_gripper=0.9955 right_x=0.3752 right_y=0.1411 right_z=0.0792 right_yaw=-0.0014 right_pitch=-0.1682 right_roll=-0.1507 right_gripper=0.0424\nstate[joint_eff]: [-0.1709, -3.1932, 6.6393, 1.3797, -0.1587, -0.0415, -0.0122, -0.3624, -8.4718, 8.9915, 1.5263, 0.3346, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3549174d4d1d46af4eece1e0a197522f0ee7bc2cb76b84fea1653073002c3ee4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da304725676871a991545b4ad4cf826ab0c14e9737d8eb037e314a6f3f036620",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:96813bad4f1fae0a26fae25eedb0f6f8406282cf356eb5e155b1165e90e10e82",
        "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 · 5.6 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]: [-0.1555, 1.113, 1.0283, -0.8337, -0.2352, -0.1463, 0.9955, 0.5575, 1.792, 0.701, 0.2028, 0.4324, 0.3042, 0.997]\nstate[eef_state]: left_x=0.3027 left_y=-0.0021 left_z=0.1958 left_yaw=0.1134 left_pitch=-0.3208 left_roll=0.1148 left_gripper=0.9955 right_x=0.3679 right_y=0.1464 right_z=0.0012 right_yaw=0.0099 right_pitch=-0.219 right_roll=-0.1076 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -3.1932, 6.7624, 1.3504, -0.1148, -0.022, -0.0122, -0.4444, -6.2701, 4.5197, 1.326, 0.2466, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.113, 1.0283, -0.833, -0.2356, -0.1463, 0.9955, 0.556, 1.7718, 0.704, 0.2413, 0.49, 0.2668, 0.032]\nstate[eef_state]: left_x=0.3028 left_y=-0.0021 left_z=0.1959 left_yaw=0.1137 left_pitch=-0.3199 left_roll=0.1149 left_gripper=0.9955 right_x=0.3788 right_y=0.1417 right_z=0.0189 right_yaw=-0.0098 right_pitch=-0.1461 right_roll=-0.1399 right_gripper=0.032\nstate[joint_eff]: [-0.1299, -3.1658, 6.6256, 1.4042, -0.1685, -0.0659, -0.0122, 0.1846, -5.4496, 4.9026, 1.0672, -0.7253, 0.3541, 0.4078]",
      "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]: [-0.1555, 1.113, 1.0283, -0.8333, -0.2356, -0.1463, 0.9955, 0.556, 1.5906, 0.823, -0.0803, 0.4812, 0.2604, 0.0424]\nstate[eef_state]: left_x=0.3028 left_y=-0.0021 left_z=0.1959 left_yaw=0.1137 left_pitch=-0.3203 left_roll=0.115 left_gripper=0.9955 right_x=0.3752 right_y=0.1411 right_z=0.0792 right_yaw=-0.0014 right_pitch=-0.1682 right_roll=-0.1507 right_gripper=0.0424\nstate[joint_eff]: [-0.1709, -3.1932, 6.6393, 1.3797, -0.1587, -0.0415, -0.0122, -0.3624, -8.4718, 8.9915, 1.5263, 0.3346, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3549174d4d1d46af4eece1e0a197522f0ee7bc2cb76b84fea1653073002c3ee4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da304725676871a991545b4ad4cf826ab0c14e9737d8eb037e314a6f3f036620",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96813bad4f1fae0a26fae25eedb0f6f8406282cf356eb5e155b1165e90e10e82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxwsKEAgSGAI4AUIIdGhpbmtpbmcSDCpCgaB6EkosDJ257xoMZ6WUrskNw/RL66CTIjDudm879W8XUis1ZL7cZbwgVE22Q/roquRo5ur+Z67A2Ln6JMPXXWJ3nNh3Db+Kw0Aq5Aq9lU8+zA9kpJAlLrsyymFE98maY6KxxKdTh/j2ODB+vPoNykufEpfBLyXO9V506WqCJiJy1VbfoDg7O+ZE4tqK61B8Rvm6sAljVt5xoBhmu41OIqEslsxutz4b0HFpzYAUjjkwqryreV9wwGoyqR6xqmumzuslQtRJ4qvP7np38OisDnD2QEc9Xj4hcjHHe/rdGDOLbfFhL5b/3clOk0lpiE0ul4hF0/Ue5LN7hKt+mlY9MvGUehSuRdZ4LYBufpDka7jlk4nPuUzltjotM2xTqY1DWUJY626Edc9Ntj0Sdc4PQwi+JCbybuZiOLAliUi+LIjdloAMnOTdzEnXWDmhpXjktiesRlG3L6nN1SBHdDcO2sXUMNrIG29AsbBqUI0u6XLnY3n432hSfeWy5ZlwN2jH2WMzX6nprCn6Wg/RDr31Ol09fhmw3ZAPqYTKnjo3V/JFLQlOIE2gyobC/RDAMtQvIg/VmNigWGheA8LzHTI0shKNGg6EILm4Qe2MtxeRm+CiMHYZXObeYgzfCnRN0T8FjIsUIsX5ppEtmzy3VL6sPbJXbAqpAbHZff0T8q4boQVeW3qtWLh5TLRehqzw6H16sF8V48d6RlNjuO1oviNa2b8TzoqfblyAqZQRvhTNynJOL5hnqeqCNx3oaXbnCx9q9p08AMkH37noPyEy3JQgulwzipZGmXNSWb/LS1twEa0JuGQ+C1kW26/FL9ot85wsOeieOKhCHpG+RBNWXAqnd22GsDZo4+bv3Jh3lMeWE7YPS9F68bKFbe2kCePeAW1MklUSAvx41m6oMfmXu/EJrUPti5jLBJ9vbypV8chdWfm4A4C7eyJbGBkE7lfBATEpXrCNr35WCT+0prYIyBz0Ap2M0JdeGrOBM9eqkp38Gbd+ZzkTcxyWheSS+UXPYe80nuz8Sq1jEo9lu1Ijjau5pPk/YGpM4KA5tEVEKcYJELNPL3E6DQ17Uu5D5fN5TjWNSkoZVYNACQ6FYVkUWiX+WbuWGLfVR9MEMOtyHZ5tfUF5fVDt4rARMNZFIjIJdg1GrbsrbAxBWkWAayxfGuvOhyrBAZbZ8Vq6K1qy6r1lxZYwuHBzHU5mTMZvn3oNG4g6VeEVavaWCkB8x2KwJqPeyULnaxQRQ2/WhjwtW+7YSBQ324HChvXjAnnIkOwiKqVZoAQsnjmVm18ysZFA7Cf55us0FAcpph1f/dNuOKVo+J8RGK7DFm57aculuH4crsum9dLDG+m42CR9QJZYx++MbY/8/fOchDyoQM6VNspRVHozPbcRqOm4HSHzwB4T4xkinkNwI9bs9eFlvq+aXFpzaq7Rc4NFgXqragDe4BMHVgI/xFjJMM8hPcpYU0x//p3xv1OQChv0AMXi1x8VyV15nQjIhiDXXFMP0MPpzhT/TvkdcJL42vhWIaUa3dTsrM72Oj79QJjZBR6m0j+UBGcXDktRvS2UnwkzGt9YQk21ZVbDcDEU5vTh1sXlCdca3ZEKmRD43K6R1/dhKc5AQd2fnA7P2Oh2xxhs4QKpCht4L+tO2dw8DMnU7eOyNRsCzycD6GrSMGihN/epMeMAxtdgXDgb6MTMeGIOVlCfTK/K6y/JKs542X26vufnpzFN2Pohl3wuIS216jBmhaMSpvCYU3TplzbbGnMNCJCrdjbP6hBKRwKoKKHJ16Q5fv1tW4v2ZitxO7Q52Y6paLE2LZL/M5uxVTGLh2n4wO92b3ZxXvzwiaWxlz47ugss+tW/OvG5u/FYmiX5RH/IjsZU3uw5ORsqF0kmJIpM3m63/UW6IEXaSuPfAyexKZCfOZxdwMmo1DvWY9iSkpnC1IP0ZASAvAoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GPhcNVETqfZhXwcfUGokAE",
      "input": {
        "note": "The pink bowl lifted with the gripper, so it's held. Raising it and moving toward the grey/white stack on the left.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.25,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GPhcNVETqfZhXwcfUGokAE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.113, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.7929, 1.7691, 1.4559, -0.6609, 0.5842, 0.4393, 0.0424]\nstate[eef_state]: left_x=0.3027 left_y=-0.0021 left_z=0.1958 left_yaw=0.1137 left_pitch=-0.3207 left_roll=0.1152 left_gripper=0.9955 right_x=0.3797 right_y=0.2517 right_z=0.1727 right_yaw=0.0487 right_pitch=-0.204 right_roll=-0.1615 right_gripper=0.0424\nstate[joint_eff]: [-0.1026, -3.2342, 6.7487, 1.3553, -0.1245, -0.0317, -0.0122, -0.0889, -8.5538, 9.3744, 1.2869, 0.5055, 0.3297, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0b2e7089de85c279302a92caea76185775a41d6a92d4f3a4df880046fde703b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:671d121bb44675d45007b371fb51dc4eb18dbc2402de68780688a2a2848d6145",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30fd072cbf9a3ec65aa5524b33f105596bbb3a1bd657870351710402d4f96ad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 5.166 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]: [-0.1555, 1.113, 1.0283, -0.833, -0.2356, -0.1463, 0.9955, 0.556, 1.7718, 0.704, 0.2413, 0.49, 0.2668, 0.032]\nstate[eef_state]: left_x=0.3028 left_y=-0.0021 left_z=0.1959 left_yaw=0.1137 left_pitch=-0.3199 left_roll=0.1149 left_gripper=0.9955 right_x=0.3788 right_y=0.1417 right_z=0.0189 right_yaw=-0.0098 right_pitch=-0.1461 right_roll=-0.1399 right_gripper=0.032\nstate[joint_eff]: [-0.1299, -3.1658, 6.6256, 1.4042, -0.1685, -0.0659, -0.0122, 0.1846, -5.4496, 4.9026, 1.0672, -0.7253, 0.3541, 0.4078]",
      "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]: [-0.1555, 1.113, 1.0283, -0.8333, -0.2356, -0.1463, 0.9955, 0.556, 1.5906, 0.823, -0.0803, 0.4812, 0.2604, 0.0424]\nstate[eef_state]: left_x=0.3028 left_y=-0.0021 left_z=0.1959 left_yaw=0.1137 left_pitch=-0.3203 left_roll=0.115 left_gripper=0.9955 right_x=0.3752 right_y=0.1411 right_z=0.0792 right_yaw=-0.0014 right_pitch=-0.1682 right_roll=-0.1507 right_gripper=0.0424\nstate[joint_eff]: [-0.1709, -3.1932, 6.6393, 1.3797, -0.1587, -0.0415, -0.0122, -0.3624, -8.4718, 8.9915, 1.5263, 0.3346, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.113, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.7929, 1.7691, 1.4559, -0.6609, 0.5842, 0.4393, 0.0424]\nstate[eef_state]: left_x=0.3027 left_y=-0.0021 left_z=0.1958 left_yaw=0.1137 left_pitch=-0.3207 left_roll=0.1152 left_gripper=0.9955 right_x=0.3797 right_y=0.2517 right_z=0.1727 right_yaw=0.0487 right_pitch=-0.204 right_roll=-0.1615 right_gripper=0.0424\nstate[joint_eff]: [-0.1026, -3.2342, 6.7487, 1.3553, -0.1245, -0.0317, -0.0122, -0.0889, -8.5538, 9.3744, 1.2869, 0.5055, 0.3297, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0b2e7089de85c279302a92caea76185775a41d6a92d4f3a4df880046fde703b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:671d121bb44675d45007b371fb51dc4eb18dbc2402de68780688a2a2848d6145",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30fd072cbf9a3ec65aa5524b33f105596bbb3a1bd657870351710402d4f96ad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzwkKEAgSGAI4AUIIdGhpbmtpbmcSDGFhC+HMBIBDjiSDqRoM5oaNn8hI6Zs1dawqIjDneEb5kpR9bbfadHx1SzTOqb5A2xw8KEuI5DSnnYImKvFrrQFC3h4tkS6euhRVAb4q7AjqHyInl8WSXMHiv83plHUErHzpUkuIrVNT1nHZihQmusr6dVcv2f5dwv4Ur1NoIMuy/o3zTV0LbRyH3xVEez5Q3wp5/EBJlXffqegclNzOSKHE+WYLr3MAE7zf5MOJMbpz9Jg3SahmeQxYg/DNUlyifugNc6R9UCmJjhNsYjjJ0RZJPATl/GHknPXyMlcAzHHTQksyCvvHCmXup4OPxqUvvi/HTz+WHjAqZu8r2F5nrPCPRTl6OilrrlOHV2lP0stdLgKVmC+F1Bdx7nnw7st8VP13fXruzuR/Dzi1pVSJfvBUx6tYxpgDZKxv4t+zDRAFmhVw+5kHw6OSnnNnlqRy8js0rhObXVf2ZaII7DtCygUopisjFnDV94PQ7D9VG8AdeUaD9caKLJhaR0SC4569eEbGG33pEMYBhgi41BFhX2MztqdiBzpkZqsZGHXS+GK1onVdgDYlEXKPfRauEFNYQNbijBFI6suNTr6YUiDuVn0aJcTLl2kD3pUgyP6WfUJihHL0SyX0vBO2udKz9wACgAnAYSU36vW7a/J6BOTeCJCkqjGa3X4gjYH8oo8ueZ0wS2D5fe1RgLINEpauaEVCoTFCgroZOw4HxnhQ4TcPqTZ7vsILajzGAw87oD0JzcegZzf4kZlwxJ8nZdU3zP+I8S/XZeZiJvreCgS0oAbtD6YfkpeMrjOmz6uoGEtpVRh9eYLgH2c/Qc99Ksd7J2lBGQfmCnPRhvRLG6d5r1F3VA8YXgmRNMROVZQhUmILU/OyVYhwSCkHkljbQNoLTmHCgLGr5a3GaHGSKtZmiTKpniMl/1q0ylZJz/B5Yv+aI6nYQmDvFZx9f0KeGERV6Tm1UAK5J1k78buFEAPHXzbMJVDZB3ucfcMHNrfkoSTv0G+tFJz6e9/U1n0Ag/CvE9ONKnRWQg365+Sk4M/RFNBR+FP7Vkz6uEV5hsMqjfDEytuWEej2CZj37/f0Sxx4qT4Rjn+CJ6zQpozWSE4W9ROPUvilUnGZE+R9GuEYHMQjkYbSXfYwNesGTlsnXiroQBe2sM6C/Sn8u/TnWhWHC7k4va1iYaL1i7+w1D0zvLusVLVQ1kHDApIk74Po2V6f2ez8h+4Vo3mTut4xXE4AHcwRLd81Gkx9PEISpOTh8qeNUrGa/xJ1HYLPOSPqhx+xaYMLkmuLLcpB0jMdI0iBYkLmWk2aKlkAfFOUn3414UpcLcp6qeIRSVXtB6EYAPYgc3EG0UQwiVqzCWRhTJ6OvfmjnmzslopQS2oNdOxZEPzskrpZ98LkWFHFP8J87Xk3jfEgVaVk5873K09h9HYHwPJYXd70yqmMO5L49Yt9KaZC/nRXa56T8+04kqJdxvC/yDqa8Sb/oagI0RnBrdvWBLmvfDQVgA7H+L4otT79lhwCJesEuV5Py+dJwd1SRcdyZqV1ih/aCz2CHKmV8TVeuyycji3uHLrSrl1ahn1x/mgrPqWwHg4sYtoO59nABLtsPx8fvFIHtvmrZzdPupT1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019mpskFunfyAPjKsLM3iG15",
      "input": {
        "note": "The grey stack is visible left of the held pink bowl. Shifting left so the pink bowl's centre sits over the stack.",
        "targets": {
          "right_x": 0.395,
          "right_y": 0.35,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_019mpskFunfyAPjKsLM3iG15",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.113, 1.0283, -0.8341, -0.2356, -0.1463, 0.9955, 0.9218, 2.1216, 1.8324, -0.8104, 0.6155, 0.5358, 0.0424]\nstate[eef_state]: left_x=0.3026 left_y=-0.0021 left_z=0.1958 left_yaw=0.1138 left_pitch=-0.3211 left_roll=0.1153 left_gripper=0.9955 right_x=0.385 right_y=0.3447 right_z=0.1338 right_yaw=0.0834 right_pitch=-0.2636 right_roll=-0.2035 right_gripper=0.0424\nstate[joint_eff]: [-0.335, -3.2205, 6.6256, 1.3553, -0.1245, -0.0611, -0.0122, -0.0889, -12.041, 9.2923, 1.1355, 0.6667, 0.315, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd405ad73db7ec1335f53a3b9d85343566dbe700387bdd100f7b16e63dbbb8fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0ce00e5c954b10b2226e30b2de6099707b14ac677c53e901f2061c32968275d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:954f0d1d032c01ba71d1a4b49c008c6692774d9106fd616c8ff165870085f1fb",
        "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 · 3.944 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]: [-0.1555, 1.113, 1.0283, -0.8333, -0.2356, -0.1463, 0.9955, 0.556, 1.5906, 0.823, -0.0803, 0.4812, 0.2604, 0.0424]\nstate[eef_state]: left_x=0.3028 left_y=-0.0021 left_z=0.1959 left_yaw=0.1137 left_pitch=-0.3203 left_roll=0.115 left_gripper=0.9955 right_x=0.3752 right_y=0.1411 right_z=0.0792 right_yaw=-0.0014 right_pitch=-0.1682 right_roll=-0.1507 right_gripper=0.0424\nstate[joint_eff]: [-0.1709, -3.1932, 6.6393, 1.3797, -0.1587, -0.0415, -0.0122, -0.3624, -8.4718, 8.9915, 1.5263, 0.3346, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1555, 1.113, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.7929, 1.7691, 1.4559, -0.6609, 0.5842, 0.4393, 0.0424]\nstate[eef_state]: left_x=0.3027 left_y=-0.0021 left_z=0.1958 left_yaw=0.1137 left_pitch=-0.3207 left_roll=0.1152 left_gripper=0.9955 right_x=0.3797 right_y=0.2517 right_z=0.1727 right_yaw=0.0487 right_pitch=-0.204 right_roll=-0.1615 right_gripper=0.0424\nstate[joint_eff]: [-0.1026, -3.2342, 6.7487, 1.3553, -0.1245, -0.0317, -0.0122, -0.0889, -8.5538, 9.3744, 1.2869, 0.5055, 0.3297, 1.0379]",
      "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]: [-0.1555, 1.113, 1.0283, -0.8341, -0.2356, -0.1463, 0.9955, 0.9218, 2.1216, 1.8324, -0.8104, 0.6155, 0.5358, 0.0424]\nstate[eef_state]: left_x=0.3026 left_y=-0.0021 left_z=0.1958 left_yaw=0.1138 left_pitch=-0.3211 left_roll=0.1153 left_gripper=0.9955 right_x=0.385 right_y=0.3447 right_z=0.1338 right_yaw=0.0834 right_pitch=-0.2636 right_roll=-0.2035 right_gripper=0.0424\nstate[joint_eff]: [-0.335, -3.2205, 6.6256, 1.3553, -0.1245, -0.0611, -0.0122, -0.0889, -12.041, 9.2923, 1.1355, 0.6667, 0.315, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd405ad73db7ec1335f53a3b9d85343566dbe700387bdd100f7b16e63dbbb8fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0ce00e5c954b10b2226e30b2de6099707b14ac677c53e901f2061c32968275d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:954f0d1d032c01ba71d1a4b49c008c6692774d9106fd616c8ff165870085f1fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwkKEAgSGAI4AUIIdGhpbmtpbmcSDN0QuQKdoWhBhQje7BoM8q1T9rIq63QCgTOrIjAe+Vg9wq3QSzz28RpLScVso1eD3BdSpcsmBQ9bbfy+3EVvEESi7SxIzTLti82OQW4q3AiLqdA71glt+fkYlix/zaXvkqcMDWLJS6DEtwrrgqIQT65tLpOkRqbPW/djSeW5bLvWwLQ4yzqbuQz85kuZ5p5NVQW/kjaqksOppPPVi2qxJtmugK6Joj/xBDQSfxmk1smtUVTumLlwiwNKZvSVfC4fCw2NqKmEeCgarpyGRb/brDvcQO1BMNqR57DdgodKpxm9n4rVxCWjcpdmEvtiEbbH3zv6lsHR0PMvHq1CeWMnW0KO+LvTHJzB+jKLtVKe1Z5XAwmP1n7UPlEnMyqmQW908jbs2xQh3af6O1QrqN1WuqwzZI0u2j+UjGUxARQnpJnuD7IzHS1It1RaOLT0dZ9+0O4rDEPsW8n7YEZOVb5bfPb3v9icZmsfwtpV5al+vIy37i0g9rG9D2ss86KngRqd1GOGqNmQDDRqJIQEvQ1V9ydfdd/pAaxZ2AhrmknIz+sbj9laU0NhM1OAZR2lFpniIkVTxkvHFID0gzx7CCwRVl1PBM4XOfZ3FsVwG3aK8gi3/hQ4+eyK1N9dGdv9uyclofYB/qk9EfBhr0yKfM2WKXRjEPWDYf9SmtJgoSqv4DU0hoGZFpf+xe2OWObX5KPQjIYVXVZ7mRp/QaJVhgVI2FjbEilgitbWWvdh0Sv932Pxu0aIQ/sn7L3JmFqIbR/W9mnG2+91xmQXOgdB7gXeHEJuMpOj6guyusvxMse3FjBpI/45WuIflMjH517kDphvT04ZmenTDlqt4UXPiHGIi9OG1ks7r46ijkn9Ly0PvUmYKqZshL1DRcv5/qbHH7A0p8yU1LezvIZeBJEBXc2jpjb/uv7W6ajsnoszIEh9HtUofyrnQ1oT9Z5CPrgdev58vDGUv/iyfiR3RN/KPJ2GiEsUkj+dhs91n1S9OEM5QKYSxcAcmEOMt5Yd7Jo5UHFCjBkIk+Sm1/mcPXVReg7NnmkY+2lHenYiSwgRKCM18e7QFUPqSVmxAMFgqWOgHyERDSHNqJx/x5DeukS5Go8RlFrDMpxXfePxk7nlnH75UlBpdV+sre+9EOh63jo/G7G1NmnrAhlJRlCXTVzKIRuBLAMl206KNTdBQ0OqJp5atOGLPSHYba77gUmHfxHzijrlJyf18WGhpdQE2N+9fcO1TnxDiRHQQ9knukHqkw7EKiO3LAV1IYd0+nhRN+QP1leqJFXEwvow09yfVpwzDgq1K/2emQy5jCOfAQceUemf+3QT/MLajr6QW8+CIX6s0gL37Nb86zJfigAZuLlAQQqesDdygoKj8FAyBwXQG0Kh0pLNkDXYqwjKOjChrEG1ieIbbT6Ug1OZNtt3BEgoY+f2aN5TGracrUmIGRQswxv4qO4Ddfb26uJMShoDXWuoWsi5wR25s2p6yEmVpsBZpKeenzFjjhB6gJDy6X3BHIhWKegCPQZtDLN9uHQAcu9mazROenOYf7FOPBWiQUCoV2rN1iqIuxq0l/8jtDkw2eh6RjpK2VGzl5ZIWuptdSMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BRudPFHwmo3F7LvciEqKSu",
      "input": {
        "note": "The grey stack is almost fully under the pink bowl, just its left rim peeking out. Lowering the pink bowl onto the stack.",
        "targets": {
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BRudPFHwmo3F7LvciEqKSu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.1137, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9249, 2.1475, 1.6737, -0.6884, 0.6014, 0.5385, 0.043]\nstate[eef_state]: left_x=0.3027 left_y=-0.0021 left_z=0.1956 left_yaw=0.1138 left_pitch=-0.3214 left_roll=0.1154 left_gripper=0.9955 right_x=0.3749 right_y=0.3373 right_z=0.0771 right_yaw=0.0797 right_pitch=-0.3145 right_roll=-0.2414 right_gripper=0.043\nstate[joint_eff]: [-0.1709, -3.2889, 6.8308, 1.3455, -0.1832, -0.0317, -0.0122, -0.5675, -11.3573, 7.1453, 1.3407, 0.4274, -0.0562, 0.989]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0a4fafabe657a25d2002477c491699366312271d702be9fcf09df962896fede",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26840dc626f52fa46980745be88d649febfd8b6461cd5ba500008a4d8dbeb65c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b5c4c504ead6706f964b7ae153cb93e8a5d33217e994d18bf1298de92820547",
        "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 · 4.034 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]: [-0.1555, 1.113, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.7929, 1.7691, 1.4559, -0.6609, 0.5842, 0.4393, 0.0424]\nstate[eef_state]: left_x=0.3027 left_y=-0.0021 left_z=0.1958 left_yaw=0.1137 left_pitch=-0.3207 left_roll=0.1152 left_gripper=0.9955 right_x=0.3797 right_y=0.2517 right_z=0.1727 right_yaw=0.0487 right_pitch=-0.204 right_roll=-0.1615 right_gripper=0.0424\nstate[joint_eff]: [-0.1026, -3.2342, 6.7487, 1.3553, -0.1245, -0.0317, -0.0122, -0.0889, -8.5538, 9.3744, 1.2869, 0.5055, 0.3297, 1.0379]",
      "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]: [-0.1555, 1.113, 1.0283, -0.8341, -0.2356, -0.1463, 0.9955, 0.9218, 2.1216, 1.8324, -0.8104, 0.6155, 0.5358, 0.0424]\nstate[eef_state]: left_x=0.3026 left_y=-0.0021 left_z=0.1958 left_yaw=0.1138 left_pitch=-0.3211 left_roll=0.1153 left_gripper=0.9955 right_x=0.385 right_y=0.3447 right_z=0.1338 right_yaw=0.0834 right_pitch=-0.2636 right_roll=-0.2035 right_gripper=0.0424\nstate[joint_eff]: [-0.335, -3.2205, 6.6256, 1.3553, -0.1245, -0.0611, -0.0122, -0.0889, -12.041, 9.2923, 1.1355, 0.6667, 0.315, 1.033]",
      "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]: [-0.1555, 1.1137, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9249, 2.1475, 1.6737, -0.6884, 0.6014, 0.5385, 0.043]\nstate[eef_state]: left_x=0.3027 left_y=-0.0021 left_z=0.1956 left_yaw=0.1138 left_pitch=-0.3214 left_roll=0.1154 left_gripper=0.9955 right_x=0.3749 right_y=0.3373 right_z=0.0771 right_yaw=0.0797 right_pitch=-0.3145 right_roll=-0.2414 right_gripper=0.043\nstate[joint_eff]: [-0.1709, -3.2889, 6.8308, 1.3455, -0.1832, -0.0317, -0.0122, -0.5675, -11.3573, 7.1453, 1.3407, 0.4274, -0.0562, 0.989]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0a4fafabe657a25d2002477c491699366312271d702be9fcf09df962896fede",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26840dc626f52fa46980745be88d649febfd8b6461cd5ba500008a4d8dbeb65c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b5c4c504ead6706f964b7ae153cb93e8a5d33217e994d18bf1298de92820547",
        "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/gYKEAgSGAI4AUIIdGhpbmtpbmcSDAfljnYbEdfkNxj6fhoM9iWhXqz1DnJMb9guIjBUvMQw255lpLDKDirsdrBuOimdwQcC7JQa/j2jFDDdKkrnIuRijpIIRzuDYTmc2YAqmwbmAu282jggf7vNbcsVsTIT6Uj/tddAn150cpUup+wXuh1OmAPZZNeknF4q+r0IEzkXneFYYGgpFUAeCADHuhIBjqn+Fo3CbBlolWMmp4wjegsIQvWJVu+r3ydrRSUrz4q4BvuhwoxXHBlIF3u/GXcTJTvimtTLYE9Vu+STRALxgaul62vsRbWO0tl28w3L+bNpfoT3wog00DOvALTbsRfR/EKiOCNrT4Iv6f2PbtNEcXVuLZCmrhWzRy33lgTjniHm+3w+Ok5SRGHZk27YEq33Z4ivpIg5OuegGo7m47TprtbmRTSra7VQkcdxHI1cBZFGL8PPMZnyl8u30oxbdruHELHzOe9KSAklN1KGQPceIAl7CYa1pJ4MQ/iBtfur/xv7lnUo38lwTfPTcwbDnuxJkXFwDemAiVTsKmIcpuizZ6wDS3jgDWvM9N3E1d0V5yCPzYq+d76NTccbrchyqRM6EC8eOK3nFOIa5l/S6OG+QEIV7ZcRZYoK++jnOmhHoWjaO/LHk6S6Y9KcH3pg/jwvRY6Z3Eq1QchsCg2jNf5TIW6CKgbdPLoatW9xJkUKfjtJwh0F0zcHzkSqezB9XvoSrrCxX+QCmtl1SfeWfQpoShztqwSai+aHz9Lq1cgsWWsrFqNFdkd1ShcIZI2saPqDRtrZ6Z3+wh/VDfIRIlj/dCixbyoRb40qWqA21w501C/zvICR0nMBrjlvyMHRLEJwg3+yLcKm3J6wHlc3SD1jFjV2NTSIF4l7k0/1+6XVe/O87fW4sjZal5GuyM2frO9HlvbHDyQFnhNyWVbqqwetGzdg7lrNXpyMycG0HKR18S3+g6X1yPtGpEl9+6s6L1sN8JORIs/yxO8NaMDfyQybBPxuzvJUvYxePRoYJil0Cr9IUhNlXk3mmIUszq6JrU5bS6GjdCkkIhPQXrcQ+BL7k4QhBUjtL4JujsjDEDD83d6gkN8043GZvpEDN34ffOTPVtoVBKMwXdjhOvnj5kipQ/FwqRNfZtw9Ky0V/JpXTXkPX+3tAo2uqH8RzUTljEZbqa0/iwuk/2ArFXQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P5fGRHX745FQZ6pSZf6Bqq",
      "input": {
        "note": "The pink bowl is lowered onto the grey/white stack, with the grey rim just visible at its left. Releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01P5fGRHX745FQZ6pSZf6Bqq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.1145, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9249, 2.1555, 1.6638, -0.6456, 0.6018, 0.5243, 0.9956]\nstate[eef_state]: left_x=0.3028 left_y=-0.0021 left_z=0.1954 left_yaw=0.1139 left_pitch=-0.3222 left_roll=0.1156 left_gripper=0.9955 right_x=0.3783 right_y=0.3417 right_z=0.0737 right_yaw=0.093 right_pitch=-0.2995 right_roll=-0.2319 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -3.2752, 6.612, 1.3504, -0.1538, -0.0415, -0.0122, -0.4034, -12.1641, 6.5573, 1.3114, 0.4127, 0.0366, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6971200654ebb2e6b47e486c7a63b2fbf4a88a6366004f3257e411f99adc1c67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74884fb05d7cdfdf0886431567deabdde3d7993b5426c0543d8f7be27761260b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d98d609abc35d2d02d1362e62e6bb547ff4326d1fb24ad57c9e12c634832acef",
        "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 · 10.33 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]: [-0.1555, 1.113, 1.0283, -0.8341, -0.2356, -0.1463, 0.9955, 0.9218, 2.1216, 1.8324, -0.8104, 0.6155, 0.5358, 0.0424]\nstate[eef_state]: left_x=0.3026 left_y=-0.0021 left_z=0.1958 left_yaw=0.1138 left_pitch=-0.3211 left_roll=0.1153 left_gripper=0.9955 right_x=0.385 right_y=0.3447 right_z=0.1338 right_yaw=0.0834 right_pitch=-0.2636 right_roll=-0.2035 right_gripper=0.0424\nstate[joint_eff]: [-0.335, -3.2205, 6.6256, 1.3553, -0.1245, -0.0611, -0.0122, -0.0889, -12.041, 9.2923, 1.1355, 0.6667, 0.315, 1.033]",
      "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]: [-0.1555, 1.1137, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9249, 2.1475, 1.6737, -0.6884, 0.6014, 0.5385, 0.043]\nstate[eef_state]: left_x=0.3027 left_y=-0.0021 left_z=0.1956 left_yaw=0.1138 left_pitch=-0.3214 left_roll=0.1154 left_gripper=0.9955 right_x=0.3749 right_y=0.3373 right_z=0.0771 right_yaw=0.0797 right_pitch=-0.3145 right_roll=-0.2414 right_gripper=0.043\nstate[joint_eff]: [-0.1709, -3.2889, 6.8308, 1.3455, -0.1832, -0.0317, -0.0122, -0.5675, -11.3573, 7.1453, 1.3407, 0.4274, -0.0562, 0.989]",
      "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]: [-0.1555, 1.1145, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9249, 2.1555, 1.6638, -0.6456, 0.6018, 0.5243, 0.9956]\nstate[eef_state]: left_x=0.3028 left_y=-0.0021 left_z=0.1954 left_yaw=0.1139 left_pitch=-0.3222 left_roll=0.1156 left_gripper=0.9955 right_x=0.3783 right_y=0.3417 right_z=0.0737 right_yaw=0.093 right_pitch=-0.2995 right_roll=-0.2319 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -3.2752, 6.612, 1.3504, -0.1538, -0.0415, -0.0122, -0.4034, -12.1641, 6.5573, 1.3114, 0.4127, 0.0366, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6971200654ebb2e6b47e486c7a63b2fbf4a88a6366004f3257e411f99adc1c67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74884fb05d7cdfdf0886431567deabdde3d7993b5426c0543d8f7be27761260b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d98d609abc35d2d02d1362e62e6bb547ff4326d1fb24ad57c9e12c634832acef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Released. Lifting away to check the stack.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ao3AXDjgd37KiLD9sPKAj1",
      "input": {
        "note": "The pink bowl is released and sits nested on the grey bowl. Moving the right arm back to park so the overhead camera can see the stack.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 29 steps (2.9s)",
      "tool_use_id": "toolu_01Ao3AXDjgd37KiLD9sPKAj1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.1168, 1.0283, -0.8333, -0.2352, -0.1463, 0.9955, 0.0647, 1.0683, 0.9665, -0.7715, 0.1413, -0.2073, 0.9958]\nstate[eef_state]: left_x=0.3031 left_y=-0.0022 left_z=0.1948 left_yaw=0.1137 left_pitch=-0.3241 left_roll=0.1158 left_gripper=0.9955 right_x=0.3008 right_y=-0.0019 right_z=0.1905 right_yaw=0.0447 right_pitch=-0.3171 right_roll=-0.2372 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -3.4256, 6.5983, 1.4042, -0.1392, -0.0513, -0.0122, -0.212, -3.6718, 8.1026, 1.4628, -0.0757, -0.0464, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a9faa531a6a5226143f8de9ceabeee523cf3f9cc8730c4a9224a3e095b60254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee6893d368d6f9b185aaea75e84e8215c3506579d055bd85926cfa84052d3e11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:36edb1bca1a335ef2cb6b386e8f130eb54c6657a8361256b4186576a8062b968",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 6.236 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]: [-0.1555, 1.1137, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9249, 2.1475, 1.6737, -0.6884, 0.6014, 0.5385, 0.043]\nstate[eef_state]: left_x=0.3027 left_y=-0.0021 left_z=0.1956 left_yaw=0.1138 left_pitch=-0.3214 left_roll=0.1154 left_gripper=0.9955 right_x=0.3749 right_y=0.3373 right_z=0.0771 right_yaw=0.0797 right_pitch=-0.3145 right_roll=-0.2414 right_gripper=0.043\nstate[joint_eff]: [-0.1709, -3.2889, 6.8308, 1.3455, -0.1832, -0.0317, -0.0122, -0.5675, -11.3573, 7.1453, 1.3407, 0.4274, -0.0562, 0.989]",
      "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]: [-0.1555, 1.1145, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9249, 2.1555, 1.6638, -0.6456, 0.6018, 0.5243, 0.9956]\nstate[eef_state]: left_x=0.3028 left_y=-0.0021 left_z=0.1954 left_yaw=0.1139 left_pitch=-0.3222 left_roll=0.1156 left_gripper=0.9955 right_x=0.3783 right_y=0.3417 right_z=0.0737 right_yaw=0.093 right_pitch=-0.2995 right_roll=-0.2319 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -3.2752, 6.612, 1.3504, -0.1538, -0.0415, -0.0122, -0.4034, -12.1641, 6.5573, 1.3114, 0.4127, 0.0366, -0.0464]",
      "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]: [-0.1555, 1.1168, 1.0283, -0.8333, -0.2352, -0.1463, 0.9955, 0.0647, 1.0683, 0.9665, -0.7715, 0.1413, -0.2073, 0.9958]\nstate[eef_state]: left_x=0.3031 left_y=-0.0022 left_z=0.1948 left_yaw=0.1137 left_pitch=-0.3241 left_roll=0.1158 left_gripper=0.9955 right_x=0.3008 right_y=-0.0019 right_z=0.1905 right_yaw=0.0447 right_pitch=-0.3171 right_roll=-0.2372 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -3.4256, 6.5983, 1.4042, -0.1392, -0.0513, -0.0122, -0.212, -3.6718, 8.1026, 1.4628, -0.0757, -0.0464, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a9faa531a6a5226143f8de9ceabeee523cf3f9cc8730c4a9224a3e095b60254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee6893d368d6f9b185aaea75e84e8215c3506579d055bd85926cfa84052d3e11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36edb1bca1a335ef2cb6b386e8f130eb54c6657a8361256b4186576a8062b968",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TTL8ijDsoQi3DyBn95uPXY",
      "input": {
        "note": "Overhead view shows the grey/white stack, but the pink bowl slid off and is on the table just right of and in front of it. Moving the right arm over the pink bowl's left wall to try again.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.26,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01TTL8ijDsoQi3DyBn95uPXY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.1183, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.8913, 1.7763, 1.3067, -0.7254, 0.5694, 0.5102, 0.9958]\nstate[eef_state]: left_x=0.3031 left_y=-0.0021 left_z=0.1943 left_yaw=0.1142 left_pitch=-0.3258 left_roll=0.1167 left_gripper=0.9955 right_x=0.3225 right_y=0.2534 right_z=0.1096 right_yaw=0.0724 right_pitch=-0.3623 right_roll=-0.2646 right_gripper=0.9958\nstate[joint_eff]: [0.0479, -3.2752, 6.7897, 1.3407, -0.1832, -0.0513, -0.0122, 0.3077, -8.6906, 8.4718, 0.9158, 0.6178, 0.188, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7802b5f58c207cab26691777e50338ee9a7c2c440641c847036d4a00bc1d5bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2fee629af5bb1a21bbf7d81494d971e3c91e4248723f80188306f1783090ee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40ae96438c89fe6282c3cccaacb32e0e5ec135f26d311aa6cd1486bbf8b435f6",
        "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 · 4.243 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]: [-0.1555, 1.1145, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9249, 2.1555, 1.6638, -0.6456, 0.6018, 0.5243, 0.9956]\nstate[eef_state]: left_x=0.3028 left_y=-0.0021 left_z=0.1954 left_yaw=0.1139 left_pitch=-0.3222 left_roll=0.1156 left_gripper=0.9955 right_x=0.3783 right_y=0.3417 right_z=0.0737 right_yaw=0.093 right_pitch=-0.2995 right_roll=-0.2319 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -3.2752, 6.612, 1.3504, -0.1538, -0.0415, -0.0122, -0.4034, -12.1641, 6.5573, 1.3114, 0.4127, 0.0366, -0.0464]",
      "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]: [-0.1555, 1.1168, 1.0283, -0.8333, -0.2352, -0.1463, 0.9955, 0.0647, 1.0683, 0.9665, -0.7715, 0.1413, -0.2073, 0.9958]\nstate[eef_state]: left_x=0.3031 left_y=-0.0022 left_z=0.1948 left_yaw=0.1137 left_pitch=-0.3241 left_roll=0.1158 left_gripper=0.9955 right_x=0.3008 right_y=-0.0019 right_z=0.1905 right_yaw=0.0447 right_pitch=-0.3171 right_roll=-0.2372 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -3.4256, 6.5983, 1.4042, -0.1392, -0.0513, -0.0122, -0.212, -3.6718, 8.1026, 1.4628, -0.0757, -0.0464, 0.0073]",
      "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]: [-0.1555, 1.1183, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.8913, 1.7763, 1.3067, -0.7254, 0.5694, 0.5102, 0.9958]\nstate[eef_state]: left_x=0.3031 left_y=-0.0021 left_z=0.1943 left_yaw=0.1142 left_pitch=-0.3258 left_roll=0.1167 left_gripper=0.9955 right_x=0.3225 right_y=0.2534 right_z=0.1096 right_yaw=0.0724 right_pitch=-0.3623 right_roll=-0.2646 right_gripper=0.9958\nstate[joint_eff]: [0.0479, -3.2752, 6.7897, 1.3407, -0.1832, -0.0513, -0.0122, 0.3077, -8.6906, 8.4718, 0.9158, 0.6178, 0.188, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7802b5f58c207cab26691777e50338ee9a7c2c440641c847036d4a00bc1d5bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2fee629af5bb1a21bbf7d81494d971e3c91e4248723f80188306f1783090ee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40ae96438c89fe6282c3cccaacb32e0e5ec135f26d311aa6cd1486bbf8b435f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmQoKEAgSGAI4AUIIdGhpbmtpbmcSDLKY0rWfRcXrAUGpdxoMLBcb3EKMZwWwbstaIjCcU3MPzheUL0YBC/xFH/+L6tTSqUaYJL84IdjxaVJ6dv89jsrlEoPoUCLQ/X3AlHcqtgllj+vDLslM5EuSrHzgSFMORlWGWgpPtOr4mCjAzaBhoh2b1Hue+xpXFN/tHExa9CgyiS4QGZR2MRVFDAK39NNy5aMdAOR6cCy1l3Iq0QUo8WVbncmTpllXxb8OFPmb4mK/UXl9YbFHQolAjrURIJUttdlxEsFqIrlOTdpi1b7bBVMd+KRL2pO/3wAT0x9NuMZUOy3iICoOm1vUWh0SFm4UvcvOBAli99+TlRsCMkkuSqoJrTOpZRb41Xhvs4buql/QUG8AAkp7Ik17TwJQbrdjWB6BuNc9fg6thR9SDi5xuixddQSdIT3ioIrrB8Sno8bcxhjv0MqzUXd4Z6CL5CRQjca5xA5Yxkh7JhlhBI8ALX732ScZm9bks97GI4HGPJCnB1e2K2iAbLwzcgKPIl9k5NdjhI3Cb6lmivzpkwrQenjTrUIlb0EKzE5PerMaAUc44XdG9iEkbJi7uCs1Sv7ZXXO9/mNyBUawHjKkLudBclWa7YdOPq49Z7OBwMYLuwNvfcP835oTuQN5tklkJIQvJAAVuu7wFCGNNNlvuE01Y50/EFYmmag8KtwHnaMCT3vC9tYkM3pRiaDWrNHwA8cjWJnwu72XrZ3ytNfPFKm0dX/Ymk+4yRWz/v5dtu+jOPFLYtZZvkqHM972RCBu4DDFcVhlOZ+yyFNGXXlhiftTWGJWtPrF5UYX71mPXCiYHO/xwSrutQAMwuUthWr3dM3uBUtTX02tCPKHo1qqwb+VHWluvgwRQ7QDGcSClTxS1e4s0HZmIy0JbTd5PKsEB/CevxJ2NT6VpaHdBTD1ot5Ux7ZYDuoGreNa3w6UiVG/EoEWLU92yyVIpvDXDGIxI7XdFsR46Gva4LWbb2WiEXUabND8zabNc5xoYUwpx//C0xzyhua0NbomB5YswvW9Q8ZJeRgsOvIW5PfTd0cpNQW/awlrxQBkmavgVKOhPDQbLIimmxhc/o9NUzLyS/TPAizPPbmeT3THHMaUXbTsuE6hzU5xd4+D2BNJApCXFvgMPgciLqxKlaJWfiJ7po8lFIzkhcv2AWC/e4DHruHlinGkia3NwOde4cSPWMrmNWAeBTEtWNxntXdI+Vj/kE7VwjGGAvxk8VBl0C7O51JyZeA/rY5QBTHX4d7EChlDJaQ/QTYVkyX6KxJmLxtBhBvpFTyLBA75GmgwmjtaE8wPS6fm3p7/vBUJ7Qi6PqaW8JsbFqhN0zMmo5nAwzZpxHbGakmb8HIOoYpGsYP0sNqhzr4c7pNgbWV0AZtc2hDxHuxBT0AqDp4eTPsy3ZAnuDcGfLZRdHtRmecfLvvFMdNpNBjXKJQiEutHxYim+GXzgNMwP+vNCvO5ViuVhSFVBeTPc/nA7OviSzNX2LcVZK5s4YxOokpX8+TXr6cO4MIM+iAclpWDG02Ad0bWZk2aRa6DQiEVtgMIEMLn4sPRSDgQxiGmjIKaEo6O4ZZRM3QyAyfJBvWWlF7dBJNcLJNkOYwlyxeb3XV5puIv/nd+Th95jgCaqVEp9VwNvkz3M5rG/6fwaKxRgpl3Rthl0bqeH25zcU8yJjLGlWfc98FOwDT64+J1ChW6xtIA4vkNwECwn7hCKTKBvI+cERsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014xUbdjxM3shhKP4Dd2HyuJ",
      "input": {
        "note": "The pink bowl's left wall is on the jaw column, with the grey stack further ahead and to the left. Descending to straddle the pink wall.",
        "targets": {
          "right_x": 0.335,
          "right_y": 0.25,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_014xUbdjxM3shhKP4Dd2HyuJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.1183, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.8639, 1.9377, 1.1015, -0.3859, 0.556, 0.4751, 0.9958]\nstate[eef_state]: left_x=0.3031 left_y=-0.0021 left_z=0.1943 left_yaw=0.1142 left_pitch=-0.3258 left_roll=0.1167 left_gripper=0.9955 right_x=0.3271 right_y=0.2448 right_z=0.0101 right_yaw=0.0648 right_pitch=-0.3954 right_roll=-0.2989 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -3.2889, 6.5983, 1.3114, -0.1636, -0.0269, -0.0122, -0.6632, -8.9231, 5.135, 0.8816, 0.2759, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed2e0d95e0f366b1f12dd42f77173194e8648353f818f4ab35581abaed234193",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73dfcfe6cc2267bd2df020a68643470d30725e849df20e6c4751d687ccfc5074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4dfc3f61bc0c5cf4613a7020a8ccd567fb5cf8d029083152794817866ae203e",
        "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 · 7.172 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]: [-0.1555, 1.1168, 1.0283, -0.8333, -0.2352, -0.1463, 0.9955, 0.0647, 1.0683, 0.9665, -0.7715, 0.1413, -0.2073, 0.9958]\nstate[eef_state]: left_x=0.3031 left_y=-0.0022 left_z=0.1948 left_yaw=0.1137 left_pitch=-0.3241 left_roll=0.1158 left_gripper=0.9955 right_x=0.3008 right_y=-0.0019 right_z=0.1905 right_yaw=0.0447 right_pitch=-0.3171 right_roll=-0.2372 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -3.4256, 6.5983, 1.4042, -0.1392, -0.0513, -0.0122, -0.212, -3.6718, 8.1026, 1.4628, -0.0757, -0.0464, 0.0073]",
      "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]: [-0.1555, 1.1183, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.8913, 1.7763, 1.3067, -0.7254, 0.5694, 0.5102, 0.9958]\nstate[eef_state]: left_x=0.3031 left_y=-0.0021 left_z=0.1943 left_yaw=0.1142 left_pitch=-0.3258 left_roll=0.1167 left_gripper=0.9955 right_x=0.3225 right_y=0.2534 right_z=0.1096 right_yaw=0.0724 right_pitch=-0.3623 right_roll=-0.2646 right_gripper=0.9958\nstate[joint_eff]: [0.0479, -3.2752, 6.7897, 1.3407, -0.1832, -0.0513, -0.0122, 0.3077, -8.6906, 8.4718, 0.9158, 0.6178, 0.188, -0.0171]",
      "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]: [-0.1555, 1.1183, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.8639, 1.9377, 1.1015, -0.3859, 0.556, 0.4751, 0.9958]\nstate[eef_state]: left_x=0.3031 left_y=-0.0021 left_z=0.1943 left_yaw=0.1142 left_pitch=-0.3258 left_roll=0.1167 left_gripper=0.9955 right_x=0.3271 right_y=0.2448 right_z=0.0101 right_yaw=0.0648 right_pitch=-0.3954 right_roll=-0.2989 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -3.2889, 6.5983, 1.3114, -0.1636, -0.0269, -0.0122, -0.6632, -8.9231, 5.135, 0.8816, 0.2759, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed2e0d95e0f366b1f12dd42f77173194e8648353f818f4ab35581abaed234193",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73dfcfe6cc2267bd2df020a68643470d30725e849df20e6c4751d687ccfc5074",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4dfc3f61bc0c5cf4613a7020a8ccd567fb5cf8d029083152794817866ae203e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwcKEAgSGAI4AUIIdGhpbmtpbmcSDPGZHhSv/EU5vEC1sBoMbTZqGFZTbBnBe/aEIjBIfaPA9nmy2E3kIXzELlJoGx2sOHl9lIGEiphmkmeT5ycMUuu0JjlF3dI3zjBEFe8qzAZgbe1jLxHfpcx3OjboaOTOS1JOqP5SvuOXePBiUxkBv8FzEnFujeGUHQNTs6l7YiYYhC8+Jixw/2plAzwFtJlP619oSq/P44ihxdR/HeHRo+DXcRC2wPP67Q1aJEjXZ/fKqnssg2L6CM+wBGqxOSZNB9/A3hHPuFL4L4ePnFuXOsttIIDwj2YoOQvgRaAO9bQiCAwv60ORPZWdsIt0+wKj7mC8dTvnxErmWqSZRRrsSvhNMce/x+V1zVyHGaoLdL+YbkQ2m6RphAssVoriahBULVKllKCM9Jw3uLfWGpJSWUk2tjOnZy+FPA6BGm1DWd1J58/bVGAcfZQLOJG2vnIsdSO2IiZqiVzQR/5BVNRUJkj4CFn6QKfzzL2JMtYBBW54m1xeo3/jhfAGGVbqVGNyeUxPYvu1NG1FtT0XFNfxGV2LpaXwtuXNFpxMCStpBCI2IQ5d8W3Tixn5nQUzUZLFVteM+DJRVUyq7c+SDpNufmwdpmWrWsl3jx3Bi5ITouB33NGzMdxAqKnnMKKXjIOlIbMdbCsMvkle0lXnkOo2AvGF40YcXm2dGUQlXvYYN9xGuKr4CU2KgV7Pb9KF+hK02LqHDa3wPZdBNruIzXK4uF/4z5Ztn/gA7QpAFrK3WoPCbrsq0LlLvKEagNJTI/U5czBHiW5iSyjlQG/Uyv7oGuiGatbTiVbGgACdJEzvR2QUrUayPw2lZiCX1f6Sk8RfgDJ2P+JpotX651Cv4nph5lQ9LsoyMR3xWV76pyfOLGyqQF2U1POwiihmQfMPpFn6sXgHEKcb9ksShq5G9xVvtTUe+6/jZEW6KTjKrN9RN8mFRfJ0iwUD5M1ZglGcvSSp0PqodyH3piuoZY72uqfdgeEm4tLNRyLZivt4/VvYYtiZpMO15nBYMH2BxHYUcXfjaADFV7Pk0n86Yw++FpPPORdxWRK2opdbp0PIWB5cBAYZrYlykXPuir9/TjgKXe3zK85b19yjkG6S62iWToxDR4PYvm+pjWGQqIfHFwBDHpoB5pONlAwla9a+gs0cQ0ymJ3iXFy+pKh5P85HPfyC3OLxUjSKQ6BVqhqptAMYSsO+9IysebNqKeMUaeuaOGPlXQBKwEKcLuq6Uj1XHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HeB6gViYNT78zjXkGsatML",
      "input": {
        "note": "The pink wall sits between the jaws, slightly right of centre. 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_01HeB6gViYNT78zjXkGsatML",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.1183, 1.0283, -0.8333, -0.2356, -0.1463, 0.9955, 0.8619, 1.9434, 1.0897, -0.3878, 0.5419, 0.4717, 0.0332]\nstate[eef_state]: left_x=0.3032 left_y=-0.0022 left_z=0.1944 left_yaw=0.1142 left_pitch=-0.3255 left_roll=0.1165 left_gripper=0.9955 right_x=0.3228 right_y=0.242 right_z=0.0033 right_yaw=0.0675 right_pitch=-0.419 right_roll=-0.306 right_gripper=0.0332\nstate[joint_eff]: [-0.0889, -3.2615, 6.5983, 1.37, -0.1538, -0.0708, -0.0122, -0.212, -9.853, 6.4752, 0.8034, 0.3346, -0.0513, 1.5702]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f62e09b9a2d59fe58bd38f587799f5f3de3edaa376288c698d0a640c1b5bc1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25027d2e39e2f4b415314d37f5b074891ca6a1d4096d1f77db6080154d515a0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41ce01a2e9b71b1e1a0881e16bba8a5e4a6b0485b4b7acbd80553f27746cbd7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 7.559 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]: [-0.1555, 1.1183, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.8913, 1.7763, 1.3067, -0.7254, 0.5694, 0.5102, 0.9958]\nstate[eef_state]: left_x=0.3031 left_y=-0.0021 left_z=0.1943 left_yaw=0.1142 left_pitch=-0.3258 left_roll=0.1167 left_gripper=0.9955 right_x=0.3225 right_y=0.2534 right_z=0.1096 right_yaw=0.0724 right_pitch=-0.3623 right_roll=-0.2646 right_gripper=0.9958\nstate[joint_eff]: [0.0479, -3.2752, 6.7897, 1.3407, -0.1832, -0.0513, -0.0122, 0.3077, -8.6906, 8.4718, 0.9158, 0.6178, 0.188, -0.0171]",
      "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]: [-0.1555, 1.1183, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.8639, 1.9377, 1.1015, -0.3859, 0.556, 0.4751, 0.9958]\nstate[eef_state]: left_x=0.3031 left_y=-0.0021 left_z=0.1943 left_yaw=0.1142 left_pitch=-0.3258 left_roll=0.1167 left_gripper=0.9955 right_x=0.3271 right_y=0.2448 right_z=0.0101 right_yaw=0.0648 right_pitch=-0.3954 right_roll=-0.2989 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -3.2889, 6.5983, 1.3114, -0.1636, -0.0269, -0.0122, -0.6632, -8.9231, 5.135, 0.8816, 0.2759, -0.0415, -0.0122]",
      "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]: [-0.1555, 1.1183, 1.0283, -0.8333, -0.2356, -0.1463, 0.9955, 0.8619, 1.9434, 1.0897, -0.3878, 0.5419, 0.4717, 0.0332]\nstate[eef_state]: left_x=0.3032 left_y=-0.0022 left_z=0.1944 left_yaw=0.1142 left_pitch=-0.3255 left_roll=0.1165 left_gripper=0.9955 right_x=0.3228 right_y=0.242 right_z=0.0033 right_yaw=0.0675 right_pitch=-0.419 right_roll=-0.306 right_gripper=0.0332\nstate[joint_eff]: [-0.0889, -3.2615, 6.5983, 1.37, -0.1538, -0.0708, -0.0122, -0.212, -9.853, 6.4752, 0.8034, 0.3346, -0.0513, 1.5702]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f62e09b9a2d59fe58bd38f587799f5f3de3edaa376288c698d0a640c1b5bc1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25027d2e39e2f4b415314d37f5b074891ca6a1d4096d1f77db6080154d515a0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41ce01a2e9b71b1e1a0881e16bba8a5e4a6b0485b4b7acbd80553f27746cbd7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Piw9dFBY9ipYGpujTk8DdJ",
      "input": {
        "note": "The pink bowl's wall is pinched. Lifting it clear before moving it over the stack.",
        "targets": {
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Piw9dFBY9ipYGpujTk8DdJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.1183, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.8627, 1.7901, 1.5074, -0.9779, 0.5343, 0.4675, 0.0412]\nstate[eef_state]: left_x=0.3031 left_y=-0.0021 left_z=0.1943 left_yaw=0.1142 left_pitch=-0.3258 left_roll=0.1167 left_gripper=0.9955 right_x=0.3239 right_y=0.2455 right_z=0.1476 right_yaw=0.0691 right_pitch=-0.4383 right_roll=-0.3179 right_gripper=0.0412\nstate[joint_eff]: [-0.1162, -2.947, 6.8855, 1.3455, -0.1148, -0.0513, -0.0122, -0.4308, -10.8513, 8.1573, 0.8767, 0.3639, -0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60d33f75bfac4ef2f19ac03e6ca6b37a57ff78288283559d0307ec01682d1850",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1d2bdfd2d1ce04c4f82fdc1c89f1f6976af53b148b6d9a92e2f86a4b68076f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad2cae650cfc2e623ddb293188c337e5d5ec21da4d40d78af052d74f18e8b7b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 8.161 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]: [-0.1555, 1.1183, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.8639, 1.9377, 1.1015, -0.3859, 0.556, 0.4751, 0.9958]\nstate[eef_state]: left_x=0.3031 left_y=-0.0021 left_z=0.1943 left_yaw=0.1142 left_pitch=-0.3258 left_roll=0.1167 left_gripper=0.9955 right_x=0.3271 right_y=0.2448 right_z=0.0101 right_yaw=0.0648 right_pitch=-0.3954 right_roll=-0.2989 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -3.2889, 6.5983, 1.3114, -0.1636, -0.0269, -0.0122, -0.6632, -8.9231, 5.135, 0.8816, 0.2759, -0.0415, -0.0122]",
      "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]: [-0.1555, 1.1183, 1.0283, -0.8333, -0.2356, -0.1463, 0.9955, 0.8619, 1.9434, 1.0897, -0.3878, 0.5419, 0.4717, 0.0332]\nstate[eef_state]: left_x=0.3032 left_y=-0.0022 left_z=0.1944 left_yaw=0.1142 left_pitch=-0.3255 left_roll=0.1165 left_gripper=0.9955 right_x=0.3228 right_y=0.242 right_z=0.0033 right_yaw=0.0675 right_pitch=-0.419 right_roll=-0.306 right_gripper=0.0332\nstate[joint_eff]: [-0.0889, -3.2615, 6.5983, 1.37, -0.1538, -0.0708, -0.0122, -0.212, -9.853, 6.4752, 0.8034, 0.3346, -0.0513, 1.5702]",
      "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]: [-0.1555, 1.1183, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.8627, 1.7901, 1.5074, -0.9779, 0.5343, 0.4675, 0.0412]\nstate[eef_state]: left_x=0.3031 left_y=-0.0021 left_z=0.1943 left_yaw=0.1142 left_pitch=-0.3258 left_roll=0.1167 left_gripper=0.9955 right_x=0.3239 right_y=0.2455 right_z=0.1476 right_yaw=0.0691 right_pitch=-0.4383 right_roll=-0.3179 right_gripper=0.0412\nstate[joint_eff]: [-0.1162, -2.947, 6.8855, 1.3455, -0.1148, -0.0513, -0.0122, -0.4308, -10.8513, 8.1573, 0.8767, 0.3639, -0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60d33f75bfac4ef2f19ac03e6ca6b37a57ff78288283559d0307ec01682d1850",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1d2bdfd2d1ce04c4f82fdc1c89f1f6976af53b148b6d9a92e2f86a4b68076f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad2cae650cfc2e623ddb293188c337e5d5ec21da4d40d78af052d74f18e8b7b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSogoKEAgSGAI4AUIIdGhpbmtpbmcSDL4DCzhvgdEnLD/LYhoMlvgETdNfKfGfdAQSIjAiAufq+HZnFGFvU2Ldp6Ziic3Ft0tMrOLRjLztfH/vqwSFHhy44c5AuuFTAab7m+gqvwmf3+4JbxXlQ/bdiqIz4hagS6OEkiNLTN08dTi79j0L+Eekg3nC1NrWcJW5yq92jQAelacHvd26wAPBx6M6xxElA3NXBz/vbUhjY/qsL4FeR2gi+sLmGl3aSpPpcIJ8XKOqGqoMuSg6pnSfEiKjTyWWZjL7WL0ipnKZrb7bTV7uaqilmmJ4dL9RNyWy1o1JEfZJ3gfWLSB0g6nEpK2bKvTc7yPtOqd6JLAvvWOpg+zn1gM89RyWZy+es3PDmq3hSVnwRpglOpep8zXNKg0FeDt8KzkPR2iuszgxQmzRAhYu8ersfanYd7Za4R0aZn3wIH32FGAX6g3W9bSmn+DATHGHUgCBmtaVRdDa3dfpVBF2x8CBkAzaUx4xlnXrtzgARTmbHiIfN+cLGnRLdjOAYOUsEC1/0MLIJA3MQ7zfK5hdp9gJYR0ZK+N89BC9lBkSsJED5EWv6+RTna6wWA0gLXoLm/5jX4Rq9G16eO3NH1DyBo6pZH0R07Cm77BR/lEAu1/ui0dARHjCC1J8UoGPm91rXdC8Pc+Okg97ys8lcX2FOGiLU4srkuwtr7WJfEWTuw+qHZcjVIgyiL+xFstjRHRmqph98tqRe+VI8TzKMNYUiXUWv/8GIoT9QBNPDEEbfzgIZpl68nkOBimeldDH/BLZ40TzNlKJKjJhIPA9S/3tShlNNfDGBtz0nzli8d44K/XcUWe2H278fR5Q/EfAD332aeJrsZk0xcQqw7RlRwo85AI9/bQWp4iMvTB42sPMW+UNneWB+aOWswfDLHC1JlnLyo9qSj8qjqW2g45PxtzmVmMABwZCMDOggh/JW//SR1ayq5wQ5zz1U4kyRkTAax9vE/014W25F0hRu44+yKlI8O5yGsP2raZnCfRsBwVGOpN857lIqFEJpzRDTqsbIhgWuu6F9MDfONUy6i6oGisBAydih5IIqDb/vJzl5GGJJ+uwbJ2GG7i5/ROwWDDpF1+mZofLF+9b4LG0x//2Cx18HVFxCD3NCfYKpusEDkxvoiMiUo3k+OxHgtFuaeoFp8HGXRmFX0zUtZxK/oucgWb5IJqt+iyKAXQrKZNFeDb+JaRWC8MDO6tswCNLLzVWGiTkUwt210xHlQ5nYYLqhl/OSbZpsycaVBiixoFpthPE2+/XEJBcKJPwm/Nvg1MiW+XfdmfMmG89Ehe4b/1+I4ZFk/iQsmGpr2zZ8lKslO6+bXdoWOnOxmmDy+WZfqaFL8znrR29oXmgfpvQpdy6pcz7smwvZYcb9DnTBVv9sTxuxBxJeSmKc97tn86Ift1yXbvbel/MJBkssrrnd6V5WR1+KfyWOyr4YufKWr6Nd3wymrCE9VNUu9KpHCmYUKcFor8TQuZdgBRf5g8iJmpiwU/9LY4T/0+io/unvfltw1/XmlKqbeARnHLrf5BDeRmsMJA3ps8VX/0lYzVpNiMxeQE9dMbZhQmQpJLgD6/OuYzWGJtmQomyjSko8rZT2XgghaS7dDZjnXgq3E164GAKQDJgJfekHcMlDLqSZWBi+WLRIvEmdxvIE1Og/1O6ywZl2Sh4YBdf76XpkKEGCVF/IqMweGqjoCX2KpXMxerpQq+EuRWt6YZGAeOoE6XDE4o6CsEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YFCqd54YNoPReSgcRdG1mn",
      "input": {
        "note": "Pink bowl is held; the stack is ahead-left in the wrist view. Moving so the pink bowl's centre sits over the stack, a bit further forward than last time.",
        "targets": {
          "right_x": 0.405,
          "right_y": 0.35,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01YFCqd54YNoPReSgcRdG1mn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.1221, 1.0283, -0.8345, -0.2352, -0.1463, 0.9955, 0.8764, 2.4786, 2.5935, -1.4197, 0.5182, 0.4637, 0.0467]\nstate[eef_state]: left_x=0.3033 left_y=-0.0022 left_z=0.1931 left_yaw=0.1143 left_pitch=-0.3303 left_roll=0.1176 left_gripper=0.9955 right_x=0.3993 right_y=0.3484 right_z=0.1466 right_yaw=0.0792 right_pitch=-0.4809 right_roll=-0.3435 right_gripper=0.0467\nstate[joint_eff]: [-0.1026, -3.535, 6.6256, 1.3309, -0.1587, -0.0464, -0.0122, -0.0068, -11.3983, 5.2991, 0.1245, 0.4225, 0.1392, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a6f22fabb9580c3e9a0ddb62d43eea5f306a8dbf5f1685399c7d8024dcf986a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:465f0571d583ab21655e32d6fa6310fde1c0388780beec95407d5dcd640d0d60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e6a3125643fd2bb80d33c584eda3b8d04c2e1bcbf68cf4584e65c2782831a8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 5.53 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]: [-0.1555, 1.1183, 1.0283, -0.8333, -0.2356, -0.1463, 0.9955, 0.8619, 1.9434, 1.0897, -0.3878, 0.5419, 0.4717, 0.0332]\nstate[eef_state]: left_x=0.3032 left_y=-0.0022 left_z=0.1944 left_yaw=0.1142 left_pitch=-0.3255 left_roll=0.1165 left_gripper=0.9955 right_x=0.3228 right_y=0.242 right_z=0.0033 right_yaw=0.0675 right_pitch=-0.419 right_roll=-0.306 right_gripper=0.0332\nstate[joint_eff]: [-0.0889, -3.2615, 6.5983, 1.37, -0.1538, -0.0708, -0.0122, -0.212, -9.853, 6.4752, 0.8034, 0.3346, -0.0513, 1.5702]",
      "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]: [-0.1555, 1.1183, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.8627, 1.7901, 1.5074, -0.9779, 0.5343, 0.4675, 0.0412]\nstate[eef_state]: left_x=0.3031 left_y=-0.0021 left_z=0.1943 left_yaw=0.1142 left_pitch=-0.3258 left_roll=0.1167 left_gripper=0.9955 right_x=0.3239 right_y=0.2455 right_z=0.1476 right_yaw=0.0691 right_pitch=-0.4383 right_roll=-0.3179 right_gripper=0.0412\nstate[joint_eff]: [-0.1162, -2.947, 6.8855, 1.3455, -0.1148, -0.0513, -0.0122, -0.4308, -10.8513, 8.1573, 0.8767, 0.3639, -0.0269, 1.033]",
      "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]: [-0.1555, 1.1221, 1.0283, -0.8345, -0.2352, -0.1463, 0.9955, 0.8764, 2.4786, 2.5935, -1.4197, 0.5182, 0.4637, 0.0467]\nstate[eef_state]: left_x=0.3033 left_y=-0.0022 left_z=0.1931 left_yaw=0.1143 left_pitch=-0.3303 left_roll=0.1176 left_gripper=0.9955 right_x=0.3993 right_y=0.3484 right_z=0.1466 right_yaw=0.0792 right_pitch=-0.4809 right_roll=-0.3435 right_gripper=0.0467\nstate[joint_eff]: [-0.1026, -3.535, 6.6256, 1.3309, -0.1587, -0.0464, -0.0122, -0.0068, -11.3983, 5.2991, 0.1245, 0.4225, 0.1392, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a6f22fabb9580c3e9a0ddb62d43eea5f306a8dbf5f1685399c7d8024dcf986a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:465f0571d583ab21655e32d6fa6310fde1c0388780beec95407d5dcd640d0d60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e6a3125643fd2bb80d33c584eda3b8d04c2e1bcbf68cf4584e65c2782831a8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSjwkKEAgSGAI4AUIIdGhpbmtpbmcSDG/qkwjTvlpvzir91BoMwOQxeLiQote4peAxIjB8mK1rhAoEuhknbxzwRTCnVWG5SeF111gweeVHFFZ+vP9v3BkDQ8p0g6aW76gTLcMqrAhp5W8/g6Lidx60OsWF2YNTVVgZD1SEb6QB8mv1qna2148CSz/aZHJk280aVQKnmejp/mFntjWKe8x9mTL+JcjP9/JmsEhXVdAOFpRm4MExJq/9nt7Or8U1ZCl7StWyzI8DIILbuh+sR3gyVX4XTw3MhHdASuxMGL+2xxXBuoL6/9s5oZz7B6FbYv6eVSWNN+S8QAd39HXBQVacyuAvGOT0HjP/gLf/JMrICnv3tftRcwi+rC4KYTaqcIEJwPC+30SMCw7UQrirPgzV+ZgSfYPbRtBIn8FBUlD0V3lVnE+ytZHj2QBa1Gzz4GTbQQmXMwDxT9AND/bfMnDn7+qATQvkrEOPxiHKo3n0ZmTXOG/Hxa5ngwglTRreQ8Wax5VGLUIF7cc0XdaMbatd7CPzxZqrXK0zfmqQgJEPFftNqazrizl10CQB1Z2ECdEdxo7fYgn8M24Ez6x5ABczWlBjWegNfPBvY4xN4UDR/etu2280DrXwsXSIZRR3BVXYSL202UMzoWWmmaz89Cmx04XJy8DXM/DiebzNRDkSqHRoFpR95AaYUrYSqcfabc74qPwGW/WpBeOqC0VDVGe3xO/ayvGxVTs/OQk5BFwqNE+dsRtqbDjUBX64+6xGtykfogH0Coz/EsoW7O1NJT95i8iN0vjlR3D6koKDvsOmKFhDNyIDE4MJy8PUBuNXzleBCcFY90rHpfK0/FuWd20c5lPYOGRJf7zJhlUnowFXx3vJMT1G5pDOs901UJT69s2y329//TObU5xIVsnQMZYTFwq60loQmZWeb7Fv2ufBZAXjp8aWVgznRma974WztZndf6d7ukRZQdE0S1T/4bUtTlrrx9y5po/unRiQeSD1Vuyf8GDEnuxsREZvF/Vyo7re4cI/mJcW5qhvWE68EiKgx0Xe5+2mlsMUxKz/qpsrPgw/T+xrHbTKTj/09mdiqua6QutA832qSz3oW+LWcOg5Ct2jct8sqWxFWR2B3UiA8mK5G8s4NF/YHaMnEUtavx2rlXJbMrRKK6zW5D+QyGJJUBj2IiW2RvNXctIPeB9SYD2dthVAi9PIRF1OQNOp3PCSsaXil1G1qcPx2gbj+tNb01gVeSE7zNfd95WOxZ3MJ7sxV5zULONjH/Y/g2CgeuecQDYVU+37SLSsjAz4GOM6UWEaJPKn52Pq93M5xIIwy9DZombse7vTAJlHvCnYrCeZC0+z7E9BrrCPZ6cPc4ytGiqUx36I95fipEBhbBRMlWpRNNr0MmcMUo9HR9lL87v9eVTejrcLoePklZfi4R31Y0vK/rDhIBBwC96AhJYq3LdZThzbhfdPwiw2unGD+Hd34JwCeaIL05rxS16tOpbZ4qXQA1TH8Gfo1Xyy1wZfnqdt5EuxIJXaFRY3vvyYP65ZhWsQoQwlcfSohk0crHfhlaYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dmim1jwDVAM8cxmw64iBFB",
      "input": {
        "note": "The stack peeks out just left of the pink bowl's edge. Shifting 2 cm left to centre over it and lowering.",
        "targets": {
          "right_y": 0.37,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Dmim1jwDVAM8cxmw64iBFB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.1221, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9016, 2.5484, 2.4908, -1.3701, 0.5117, 0.4717, 0.0467]\nstate[eef_state]: left_x=0.3034 left_y=-0.0022 left_z=0.1933 left_yaw=0.1146 left_pitch=-0.3295 left_roll=0.1177 left_gripper=0.9955 right_x=0.3868 right_y=0.3554 right_z=0.0837 right_yaw=0.0515 right_pitch=-0.5675 right_roll=-0.4381 right_gripper=0.0467\nstate[joint_eff]: [-0.1026, -3.1111, 6.5983, 1.3065, -0.1441, -0.0659, -0.0122, 0.0068, -15.9111, 6.5846, 0.8962, 0.3834, 0.188, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd4ddb19ca4f3051864ab8f8354afa770568beaa5d0312fe19fb155dc1c6e56e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d01626cd63ef5239a6e3829eb499e2578a7455c80da334923e6004aecc04d6d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:81b0e4af42e32eaa0e8e0b3bc27c20bf2134c18a56cf7b5bf984733ae1ce70a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 4.971 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]: [-0.1555, 1.1183, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.8627, 1.7901, 1.5074, -0.9779, 0.5343, 0.4675, 0.0412]\nstate[eef_state]: left_x=0.3031 left_y=-0.0021 left_z=0.1943 left_yaw=0.1142 left_pitch=-0.3258 left_roll=0.1167 left_gripper=0.9955 right_x=0.3239 right_y=0.2455 right_z=0.1476 right_yaw=0.0691 right_pitch=-0.4383 right_roll=-0.3179 right_gripper=0.0412\nstate[joint_eff]: [-0.1162, -2.947, 6.8855, 1.3455, -0.1148, -0.0513, -0.0122, -0.4308, -10.8513, 8.1573, 0.8767, 0.3639, -0.0269, 1.033]",
      "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]: [-0.1555, 1.1221, 1.0283, -0.8345, -0.2352, -0.1463, 0.9955, 0.8764, 2.4786, 2.5935, -1.4197, 0.5182, 0.4637, 0.0467]\nstate[eef_state]: left_x=0.3033 left_y=-0.0022 left_z=0.1931 left_yaw=0.1143 left_pitch=-0.3303 left_roll=0.1176 left_gripper=0.9955 right_x=0.3993 right_y=0.3484 right_z=0.1466 right_yaw=0.0792 right_pitch=-0.4809 right_roll=-0.3435 right_gripper=0.0467\nstate[joint_eff]: [-0.1026, -3.535, 6.6256, 1.3309, -0.1587, -0.0464, -0.0122, -0.0068, -11.3983, 5.2991, 0.1245, 0.4225, 0.1392, 1.033]",
      "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]: [-0.1555, 1.1221, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9016, 2.5484, 2.4908, -1.3701, 0.5117, 0.4717, 0.0467]\nstate[eef_state]: left_x=0.3034 left_y=-0.0022 left_z=0.1933 left_yaw=0.1146 left_pitch=-0.3295 left_roll=0.1177 left_gripper=0.9955 right_x=0.3868 right_y=0.3554 right_z=0.0837 right_yaw=0.0515 right_pitch=-0.5675 right_roll=-0.4381 right_gripper=0.0467\nstate[joint_eff]: [-0.1026, -3.1111, 6.5983, 1.3065, -0.1441, -0.0659, -0.0122, 0.0068, -15.9111, 6.5846, 0.8962, 0.3834, 0.188, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd4ddb19ca4f3051864ab8f8354afa770568beaa5d0312fe19fb155dc1c6e56e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d01626cd63ef5239a6e3829eb499e2578a7455c80da334923e6004aecc04d6d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81b0e4af42e32eaa0e8e0b3bc27c20bf2134c18a56cf7b5bf984733ae1ce70a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmgkKEAgSGAI4AUIIdGhpbmtpbmcSDDzoeazNHaq6t6MDDhoM8Cxe7TEkkI3e5261IjBmscdU67llyIVs+aHyHNVhiK/LH2yCOajIYXIiXyFPXvMgjBJyNDtFpxGEnzuw3cMqtwj69jToVdGEPcPWWPjzFrX/bAHEaP3jVDrW1Un39M47CCOCrCnYbuzKdziytcksB1YPKxNA49WYQeMtrdH759klnISpGO9Bh/DfpLb8pIGpbKLKepNKykLLsIQXts0RZlLc82IPI4pE/6FV5pqgPUh/fbibsbIGdk3Y0VaH/Da9UJ6NVsDSVM8sWlDwZwiNlP/GCHab8GKSfPfpl2J0YFn//b3ldFo2RrpbojSBFErN+7GbWp10cOAbTPl4Lsvr2iNHdPJpOeK9bZoQLa0jCVvdtlRnZrmFI5lOBxKG/TXpx0xPhVynjQu7Q7ZdHnYhQ8KESVZJN/V9G/YDKYrxzShvh3BTtFk/qCMexVmBc8TEoh2Vq5P0i4ftjSFzvMyJdCzffmHTiv/dIAgrfNRS6kAu91GKHU7Mb86D8Ha7JfNLtR13hH8A3UqFbG/jhoE8GUSEehUbMXHE8BHlul8OVcTEBv+Am8ToOfmCy7mpFM2CZgVEieH1m1fkhfelULu+V37ZKOOnZWodpxa8DEtY35rND/xYo2PrQQTFLgAtVRpxyl4OZu1XdfqHjUqw+P/9ZcwAd34gzc9YioNZlciNCnD5v2AbnfiwNE3huwE81Y38hoVEWLmqCklKRz0xbtnGOnMnzMmsiM2nIwkZWPYhBRdJcg8EbIiqh8fzZz0RmnSsxoePeIsHmxTL/gyrhxUlavpNflfllgOnj4q6ZZqhSufv65Tw5ouDqxHa0PsXpZZQhDp8L28AyfAQ0Dne4bwUKBeOkcfAiLQC7bUgqMecwlLMOFY3ORq+/QZbAcDsRNFJvUwFO+yNhGOh1wQTtZJJMZ6q9622Kj1BZmZiFKxTdlO2sNdydsxW3EmGwcKnzEeiocOTlWTRlYkuQNLb+opUGkiSNeEZKp8sccyc0Lm1a8XCmWH/Fuua9dzJNHfv7R3+mKRsXX7db3wcYnyASD/QdFk3YOcH5HPDS7bUD5m62eC0eutouYYHVZPUyTQP2cbCf8n+yAYIOE1Y33bBAP2Z/KnrmgGvVgXD0fMJYJhvO4GbBgtGKDg8/3orvu4hVautUUKKEL5CyzS6uMYqYtV9BCT7GJui1b9C+Lfaz+FzquARTyMADzMqkoxzCu+wE6i7SONmLcue+4JXwitIB4+yPZS0a0z0mCgtmVQrHbbSwcmap7MyIepT4CyR5Ra7bIdIsBw/6run3ypg7HW9eAC3T2O9rlNfldZjx46yyBNp1wI/JtGnvdqZ5zXMBhHGb0AFmR1cp+r9XIGAMhex6k5WkeY12WhRzlQhxT4LH3AxtAjHaoiRgJJdE2Z0VtKNd0ipB7omVDUetbOaTnvm7Ea33dpv/nWYqXecDiKLUy96FJuJsQmykM1sjaJO+QvXUAEs9/pY3BbBvJydlt2Q8Or7c2Fx2wfKiaU/K6LiOo0oILPpkIFYUQbHARgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CwS6W6Ap5w6mv2BUFwfqvh",
      "input": {
        "note": "The pink bowl is lowered and roughly centred over the stack, with only a sliver of the grey rim showing. Releasing.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CwS6W6Ap5w6mv2BUFwfqvh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.124, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9081, 2.5374, 2.4096, -1.33, 0.5156, 0.4702, 0.9957]\nstate[eef_state]: left_x=0.3036 left_y=-0.0022 left_z=0.1927 left_yaw=0.1147 left_pitch=-0.3313 left_roll=0.1183 left_gripper=0.9955 right_x=0.3814 right_y=0.353 right_z=0.0681 right_yaw=0.0419 right_pitch=-0.5847 right_roll=-0.469 right_gripper=0.9957\nstate[joint_eff]: [-0.1846, -3.2342, 6.612, 1.3504, -0.1392, -0.0269, -0.0122, -0.0479, -15.9932, 6.3248, 0.6081, 0.4615, -0.0171, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cca64367e174f44d2ebd357d670164616c15af9dbfd7a0042e42160df94383cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eea27627d4d62fd665c0da7e6489bf5b6a7e25c2669b70af955f3e9f75aa2b51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c064933f524666a552705ac1a6eb7693e7b3e5995dd574475f53867a109e193",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 8.851 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]: [-0.1555, 1.1221, 1.0283, -0.8345, -0.2352, -0.1463, 0.9955, 0.8764, 2.4786, 2.5935, -1.4197, 0.5182, 0.4637, 0.0467]\nstate[eef_state]: left_x=0.3033 left_y=-0.0022 left_z=0.1931 left_yaw=0.1143 left_pitch=-0.3303 left_roll=0.1176 left_gripper=0.9955 right_x=0.3993 right_y=0.3484 right_z=0.1466 right_yaw=0.0792 right_pitch=-0.4809 right_roll=-0.3435 right_gripper=0.0467\nstate[joint_eff]: [-0.1026, -3.535, 6.6256, 1.3309, -0.1587, -0.0464, -0.0122, -0.0068, -11.3983, 5.2991, 0.1245, 0.4225, 0.1392, 1.033]",
      "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]: [-0.1555, 1.1221, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9016, 2.5484, 2.4908, -1.3701, 0.5117, 0.4717, 0.0467]\nstate[eef_state]: left_x=0.3034 left_y=-0.0022 left_z=0.1933 left_yaw=0.1146 left_pitch=-0.3295 left_roll=0.1177 left_gripper=0.9955 right_x=0.3868 right_y=0.3554 right_z=0.0837 right_yaw=0.0515 right_pitch=-0.5675 right_roll=-0.4381 right_gripper=0.0467\nstate[joint_eff]: [-0.1026, -3.1111, 6.5983, 1.3065, -0.1441, -0.0659, -0.0122, 0.0068, -15.9111, 6.5846, 0.8962, 0.3834, 0.188, 1.033]\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]: [-0.1555, 1.124, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9081, 2.5374, 2.4096, -1.33, 0.5156, 0.4702, 0.9957]\nstate[eef_state]: left_x=0.3036 left_y=-0.0022 left_z=0.1927 left_yaw=0.1147 left_pitch=-0.3313 left_roll=0.1183 left_gripper=0.9955 right_x=0.3814 right_y=0.353 right_z=0.0681 right_yaw=0.0419 right_pitch=-0.5847 right_roll=-0.469 right_gripper=0.9957\nstate[joint_eff]: [-0.1846, -3.2342, 6.612, 1.3504, -0.1392, -0.0269, -0.0122, -0.0479, -15.9932, 6.3248, 0.6081, 0.4615, -0.0171, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cca64367e174f44d2ebd357d670164616c15af9dbfd7a0042e42160df94383cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eea27627d4d62fd665c0da7e6489bf5b6a7e25c2669b70af955f3e9f75aa2b51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c064933f524666a552705ac1a6eb7693e7b3e5995dd574475f53867a109e193",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QgKEAgSGAI4AUIIdGhpbmtpbmcSDPHs4cXb2TI29TY2IBoMz/Yc7zqtEY2sY+U4IjB2NdRC5qFU8cJS4oyOjpoZ5GUw0l+Hvy5B8fJMa5jK0RNBg2Tl1fmUTjZL+1ip+N8qggjCyUF3yLwy2iy27AWEXZKYpGs62k2PKcPt1+rp5WaypJIYxOIi0Dfmv7NsMHPB1icaDZKwRD5oZUODk2lCS7R+CHGIZsSK5iwAtlRf2ncIuxZ7CtLCWDrXsDaISq18dB2YKNwX1394DdQy/jHigDtS3aF0pVu+7Iz7WCWknnO/TtuYXFiBHkAtjyNWsusLwX2NycS0uCWcvGlbqto9BeAY0t2H5UdMDrAmPxHJgY9gguMwtLu2UuxMpOCCzYwONY0z8uZM73Frfd+P6Bvo+rmvqbQXQbVYNX7zttwe+pcAccxfdzxP5wcltnFuhIBC9D4U7Go2G0gZsEBWLg3DAjc8T0FhfrvAKr9ALaUsSVYvXJFdwYC9lrV3SiWKqcjihD+vc19NixMorR4De8ZwjasbqwGHo+a70adW29YpDs/ODYuRRRe3GNv+Lfpb+hP7i4XaV1+Ta2yCZrTGcrrtDBsYE06tM46rYbQ7IYX3jIyGeUqbEirAj62xVY3zHOWu8OqWLFeQLJeDNpAjfqwj1LDXCrcH/2yxPKLVlO3w/0mtDbg0STWPwvTFfY23XfinnA9b1j+s6gyIaaBvKZVBqMhldUS4S+QttyHZzE6GJW+IDoJBYISB/MJlne4N591LqawkV3N8AjZ6Gruc4z/hdZZzyR8Tbd3HTkUcfTo1x22YZfRJ4rIWdisUvFeLcU3WrT+yTPUDfznVlD11bBMagiaCDYHM0pXV+FD0xs0+dOUenjkXj8SkAYB1UW3ZsqQdi3KudylZCypDHjw6468VPFvN/MPMQsSS6q4Ep3MGSebiBtmKs/BZwHkTByPraybpMm4WjVs7p4EiVoUZSVtGR/NCx4T6X3nd/r9eQA9ovNBa+0GGEMRbDftq1883qnoeT2Dn0FEWDcn9C1I0Em2xTCcs5PeuGy1AM4pH1o9l1Xt+p4QjVEZ/ShXt6ci74Alai/skGmirJk+ltisa+sWVYqSlLCPfZaMGEaLT3Em7gizNNh6FWqlliqTpPe2LexRgMdvKHswFQxj95OkX/7oETzwgx/B4ISNSa3vohXxJIrrP2mJXz65OKYI9NF51bKRd4srCETgC/JJPqhagjUvz/I+dQo5asc3r3Emn4CRuO1lNc6pKDRVjRIbq5QnI/Uz9WA7AvkAU77PjCwGaE9ZTZaEc+EuaQGjNeDyE+k0iisDgDncRlHCLWPeHAhrW9UHheDY4r7cHff29ntbprk4obODfmuI2aZU5ihwqagOFvYBH4qL1srDDlsuNuZdp6C9OlDy5UgGh3KRCkJB5wu8Mz7bWQGw7VGC86LpX/DxFxxKWmE6HjRElD5f8LFGct0cGOgE93L7oo1eI5BWnQh99PChnvVsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dvec6sQVoEKVfU5jz4g5M8",
      "input": {
        "note": "Released the pink bowl; the wrist view now shows the grey bowl's inside with the pink rim in front of it, so it may not have nested. Moving the arm away to check from overhead.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01Dvec6sQVoEKVfU5jz4g5M8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.1252, 1.0283, -0.8333, -0.2356, -0.1463, 0.9955, 0.3882, 1.3888, 1.3144, -1.1481, 0.3988, -0.0681, 0.9958]\nstate[eef_state]: left_x=0.3037 left_y=-0.0022 left_z=0.1925 left_yaw=0.1148 left_pitch=-0.3321 left_roll=0.1185 left_gripper=0.9955 right_x=0.3027 right_y=0.0535 right_z=0.1945 right_yaw=0.0147 right_pitch=-0.5907 right_roll=-0.4736 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -3.2342, 6.5983, 1.3895, -0.1636, -0.0415, -0.0122, -0.2393, -6.3111, 6.2427, 1.0623, 0.105, -0.0073, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c6a661e971d929befa258c3cfda4d284df9e2aa608d016a58c21e714b96b127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e362337526451755c123a8884db7ad44da376aba5f8e17bc4fd0dabd5a50d33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd43fdc574eb823ff993700f1179e60079ad4845aba3587c6abad6421b5183a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 5.367 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]: [-0.1555, 1.1221, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9016, 2.5484, 2.4908, -1.3701, 0.5117, 0.4717, 0.0467]\nstate[eef_state]: left_x=0.3034 left_y=-0.0022 left_z=0.1933 left_yaw=0.1146 left_pitch=-0.3295 left_roll=0.1177 left_gripper=0.9955 right_x=0.3868 right_y=0.3554 right_z=0.0837 right_yaw=0.0515 right_pitch=-0.5675 right_roll=-0.4381 right_gripper=0.0467\nstate[joint_eff]: [-0.1026, -3.1111, 6.5983, 1.3065, -0.1441, -0.0659, -0.0122, 0.0068, -15.9111, 6.5846, 0.8962, 0.3834, 0.188, 1.033]\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]: [-0.1555, 1.124, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9081, 2.5374, 2.4096, -1.33, 0.5156, 0.4702, 0.9957]\nstate[eef_state]: left_x=0.3036 left_y=-0.0022 left_z=0.1927 left_yaw=0.1147 left_pitch=-0.3313 left_roll=0.1183 left_gripper=0.9955 right_x=0.3814 right_y=0.353 right_z=0.0681 right_yaw=0.0419 right_pitch=-0.5847 right_roll=-0.469 right_gripper=0.9957\nstate[joint_eff]: [-0.1846, -3.2342, 6.612, 1.3504, -0.1392, -0.0269, -0.0122, -0.0479, -15.9932, 6.3248, 0.6081, 0.4615, -0.0171, -0.1001]\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]: [-0.1555, 1.1252, 1.0283, -0.8333, -0.2356, -0.1463, 0.9955, 0.3882, 1.3888, 1.3144, -1.1481, 0.3988, -0.0681, 0.9958]\nstate[eef_state]: left_x=0.3037 left_y=-0.0022 left_z=0.1925 left_yaw=0.1148 left_pitch=-0.3321 left_roll=0.1185 left_gripper=0.9955 right_x=0.3027 right_y=0.0535 right_z=0.1945 right_yaw=0.0147 right_pitch=-0.5907 right_roll=-0.4736 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -3.2342, 6.5983, 1.3895, -0.1636, -0.0415, -0.0122, -0.2393, -6.3111, 6.2427, 1.0623, 0.105, -0.0073, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c6a661e971d929befa258c3cfda4d284df9e2aa608d016a58c21e714b96b127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e362337526451755c123a8884db7ad44da376aba5f8e17bc4fd0dabd5a50d33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd43fdc574eb823ff993700f1179e60079ad4845aba3587c6abad6421b5183a4",
        "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_01HovtWDjTqhDaWve2G3jrqZ",
      "input": {
        "note": "The pink bowl slid off again and now sits just right of and in front of the grey/white stack; the right arm was at its reach limit. Switching to the left arm, which reaches the stack easily, and positioning over the pink bowl's left wall.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.34,
          "left_y": -0.375,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 34 steps (3.4s)",
      "tool_use_id": "toolu_01HovtWDjTqhDaWve2G3jrqZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0306, 2.2467, 2.0621, -1.1866, -0.6151, -1.0416, 0.9966, 0.3458, 1.3922, 1.3094, -1.1744, 0.4759, -0.0708, 0.9958]\nstate[eef_state]: left_x=0.3371 left_y=-0.3568 left_z=0.122 left_yaw=0.1337 left_pitch=-0.3685 left_roll=0.1367 left_gripper=0.9966 right_x=0.3011 right_y=0.0263 right_z=0.1955 right_yaw=-0.1055 right_pitch=-0.594 right_roll=-0.5723 right_gripper=0.9958\nstate[joint_eff]: [-1.9897, -9.4291, 8.7726, 1.1941, -0.6374, -0.0366, -0.3687, 3.6855, -5.4769, 6.5026, 1.1111, -0.8278, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 411):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66033763c5edbd5c19a6b3c37f19d8c11a854112ac96477ebe5a2bbd439b4ef4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 411):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80032c993051e8d004877ee4d5fba88d1630bdaf6229623710748aafbde10715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 411):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a87d09561e4dfaa4db22161531c7565b1c02b2b0a1f58ae4d1ecbb39af583816",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /messages · status 200 · 5.697 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.124, 1.0283, -0.8337, -0.2356, -0.1463, 0.9955, 0.9081, 2.5374, 2.4096, -1.33, 0.5156, 0.4702, 0.9957]\nstate[eef_state]: left_x=0.3036 left_y=-0.0022 left_z=0.1927 left_yaw=0.1147 left_pitch=-0.3313 left_roll=0.1183 left_gripper=0.9955 right_x=0.3814 right_y=0.353 right_z=0.0681 right_yaw=0.0419 right_pitch=-0.5847 right_roll=-0.469 right_gripper=0.9957\nstate[joint_eff]: [-0.1846, -3.2342, 6.612, 1.3504, -0.1392, -0.0269, -0.0122, -0.0479, -15.9932, 6.3248, 0.6081, 0.4615, -0.0171, -0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.1252, 1.0283, -0.8333, -0.2356, -0.1463, 0.9955, 0.3882, 1.3888, 1.3144, -1.1481, 0.3988, -0.0681, 0.9958]\nstate[eef_state]: left_x=0.3037 left_y=-0.0022 left_z=0.1925 left_yaw=0.1148 left_pitch=-0.3321 left_roll=0.1185 left_gripper=0.9955 right_x=0.3027 right_y=0.0535 right_z=0.1945 right_yaw=0.0147 right_pitch=-0.5907 right_roll=-0.4736 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -3.2342, 6.5983, 1.3895, -0.1636, -0.0415, -0.0122, -0.2393, -6.3111, 6.2427, 1.0623, 0.105, -0.0073, 0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0306, 2.2467, 2.0621, -1.1866, -0.6151, -1.0416, 0.9966, 0.3458, 1.3922, 1.3094, -1.1744, 0.4759, -0.0708, 0.9958]\nstate[eef_state]: left_x=0.3371 left_y=-0.3568 left_z=0.122 left_yaw=0.1337 left_pitch=-0.3685 left_roll=0.1367 left_gripper=0.9966 right_x=0.3011 right_y=0.0263 right_z=0.1955 right_yaw=-0.1055 right_pitch=-0.594 right_roll=-0.5723 right_gripper=0.9958\nstate[joint_eff]: [-1.9897, -9.4291, 8.7726, 1.1941, -0.6374, -0.0366, -0.3687, 3.6855, -5.4769, 6.5026, 1.1111, -0.8278, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 411):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66033763c5edbd5c19a6b3c37f19d8c11a854112ac96477ebe5a2bbd439b4ef4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 411):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80032c993051e8d004877ee4d5fba88d1630bdaf6229623710748aafbde10715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 411):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a87d09561e4dfaa4db22161531c7565b1c02b2b0a1f58ae4d1ecbb39af583816",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3wgKEAgSGAI4AUIIdGhpbmtpbmcSDNZP5VVOdyDACRDTIBoMqhWQ9e8CilpLoNOaIjDH5N0ugOxebl8DNEPfJT4dvHaY/5Nl2LsSvelUTOBhFmkOun8NuQwoLx9F6XF9jWcq/AfJHiZ1si3Ft7raDk97wJMgQNEWZEZeKDqHcyCBNU6o22Rxplg81SsdlWP07kBBX6Ag9cHP/ptR06o6ZI75b2+X2Yhwx1S0eIZhcRcXBq7ZSlN5C0HimHICVqlxhLQrPuOZMeLYa+kxM1tv0V2YrIA5xzwZkwTXmanaORwC9uwa2gZMr3207lZmszYChDZkSOUeawOdzrkwEQww2iFrDFTedOr96XsuOkhorm0QHqHeCiphCEqqjhEINwMIIwaWPsGUMA3DLCfdwyQ0H5Q11fIbUHQN0iLx5lZRNGcallexWVXP+M/g8YqA/J1q6farExgiNquydT+h/8y0rrcDlGOAYUnUqY0dTdtldMAHYP8tUcdMYc0h4zlRPN5v/S3+BeW3hIY1QLJT+9KwUr71Nittq5A/ahIoTKCuDBDZyTguA2ifFklfmnsIIgpsRtG+LkXOGvd4ls5cxQd6gwO8rGDQ+Yj5XsxN12KSgBsVuL5O3lM1w4SRE+q5ixDz5bsOS3yCzyJRHoztn5soCEPI2Pr5B4tfX7T+wbeBJwQc3XMLEN3nz0iVrL0RvWFfAWj9xYHHHo6eCpkj+PqbPNvyHG4cp6iYNtESo2tk1Qz3ByLz/3E1AMVSOPPyLdXDKpWv+6gYIJPzPeTPgQVIgcyhC0inKmb7TeL+hx6/nCMyoW/RakyAIZJcVxb2ntkQJD5FcQU7pAUzEuVWLTAUFb8rQMEWjmBuLHTuL4dvTeq+YaFkX3VB1v4sB5bBug36tdK2E/m9wGahvS6bYATgrbQ/O7Hn6E59ScLd9c7UTNh+b4CpuxbTsQhNxTCp3MpkskeoYJRO2n7lAtG9Hzlu5vUAqW35YUTlSrc/UESAVXKdS8mZX4nYesxakodJsURAjQb7GZMlNlaVppNJqZAefRJr6IjqbPrOpQhrt92uX8K0/dojJxnG31Qb23qE8NU6N+jUskJ21W/zSjBpRB0dAfMQRhSVhGqwBLEcIUeDqW3ycigDuSJNMyEJ+IbPQ6q/S149LeiI1PsEKke92iEvQk+lDwP80t61ncK/dX49/exfXSX6iUFCRW3SGfUtK7f1jCwVuREWDlW3Tw7XxwrEoPPPWrysmUUZZ8ZpB3+TxocHdXeQhLVef5xVFXmLGPtN9S0/9/frYS3aiV0wQDMuwTMRLucwyG0idL0ZjVnRQUf0KV5AWY3VXGVU7yyQJUEF9mv01BpZFcJejAIannU1VTd3KfL4UX1UqsfmlHU+7WRJ2NQ/vJxrPucZXvU2/ygnbr4AAX8A97jkUdx7UHcr68yaKrYW4IEYY0nt1s+fH6aQi32DJyD2+FF3ANvxZywyxz/t8EZ4RPgGSzlODW1gPzEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Axi94jv66EkfpjYrWT6mZB",
      "input": {
        "note": "In the left wrist view the pink bowl's left wall is about 3–4 cm right of the jaws. Shifting right and lowering.",
        "targets": {
          "left_y": -0.395,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Axi94jv66EkfpjYrWT6mZB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0508, 2.347, 2.1242, -1.1427, -0.6209, -1.0901, 0.9963, 0.3069, 1.4162, 1.2808, -1.2083, 0.5701, -0.0715, 0.9958]\nstate[eef_state]: left_x=0.341 left_y=-0.3816 left_z=0.0957 left_yaw=0.1411 left_pitch=-0.3577 left_roll=0.1023 left_gripper=0.9963 right_x=0.294 right_y=-0.0031 right_z=0.1862 right_yaw=-0.2542 right_pitch=-0.626 right_roll=-0.7209 right_gripper=0.9958\nstate[joint_eff]: [-1.7299, -7.1179, 6.7214, 0.7692, -0.398, -0.0024, -0.0366, 3.3983, -6.8171, 8.6496, 1.033, -0.9255, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 416):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b52d757030c9e7ece23275a86a68c56f8ce4ac19e32077665b12bb9590420e04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 416):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:166f81447170f849d0386bb089edb8482835b92b8ade56c7d169814655168d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 416):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d0d954d1f87b38258f58b2196192b2d97ad144187db659bbe4a0e49edc2bd47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /messages · status 200 · 6.72 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1555, 1.1252, 1.0283, -0.8333, -0.2356, -0.1463, 0.9955, 0.3882, 1.3888, 1.3144, -1.1481, 0.3988, -0.0681, 0.9958]\nstate[eef_state]: left_x=0.3037 left_y=-0.0022 left_z=0.1925 left_yaw=0.1148 left_pitch=-0.3321 left_roll=0.1185 left_gripper=0.9955 right_x=0.3027 right_y=0.0535 right_z=0.1945 right_yaw=0.0147 right_pitch=-0.5907 right_roll=-0.4736 right_gripper=0.9958\nstate[joint_eff]: [-0.1026, -3.2342, 6.5983, 1.3895, -0.1636, -0.0415, -0.0122, -0.2393, -6.3111, 6.2427, 1.0623, 0.105, -0.0073, 0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0306, 2.2467, 2.0621, -1.1866, -0.6151, -1.0416, 0.9966, 0.3458, 1.3922, 1.3094, -1.1744, 0.4759, -0.0708, 0.9958]\nstate[eef_state]: left_x=0.3371 left_y=-0.3568 left_z=0.122 left_yaw=0.1337 left_pitch=-0.3685 left_roll=0.1367 left_gripper=0.9966 right_x=0.3011 right_y=0.0263 right_z=0.1955 right_yaw=-0.1055 right_pitch=-0.594 right_roll=-0.5723 right_gripper=0.9958\nstate[joint_eff]: [-1.9897, -9.4291, 8.7726, 1.1941, -0.6374, -0.0366, -0.3687, 3.6855, -5.4769, 6.5026, 1.1111, -0.8278, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0508, 2.347, 2.1242, -1.1427, -0.6209, -1.0901, 0.9963, 0.3069, 1.4162, 1.2808, -1.2083, 0.5701, -0.0715, 0.9958]\nstate[eef_state]: left_x=0.341 left_y=-0.3816 left_z=0.0957 left_yaw=0.1411 left_pitch=-0.3577 left_roll=0.1023 left_gripper=0.9963 right_x=0.294 right_y=-0.0031 right_z=0.1862 right_yaw=-0.2542 right_pitch=-0.626 right_roll=-0.7209 right_gripper=0.9958\nstate[joint_eff]: [-1.7299, -7.1179, 6.7214, 0.7692, -0.398, -0.0024, -0.0366, 3.3983, -6.8171, 8.6496, 1.033, -0.9255, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 416):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b52d757030c9e7ece23275a86a68c56f8ce4ac19e32077665b12bb9590420e04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 416):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:166f81447170f849d0386bb089edb8482835b92b8ade56c7d169814655168d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 416):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d0d954d1f87b38258f58b2196192b2d97ad144187db659bbe4a0e49edc2bd47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0gkKEAgSGAI4AUIIdGhpbmtpbmcSDFoOjgmdKsO/n8r+whoMh4oYlnyMDrlIBzcjIjCjs8VhB7FRMg8qRNAS7BTcqzMwpD8TaMGT6ClfzJfbUv/vjDF8ndXKxwEP9Yu2+msq7wjJOM6pn0KATf3wO0Myp4wJcfUkVzO8wLy/SeWAYI2/en252bWGy62HnqVQWFrREzTmHvurRCbxO/ajJe0aPpeuNo/XHm2/Z64+B31KSu4yQwDpC3a21cBf4PJflblqO64f02kEmJ3yhuz2yEA6bPM8WCEmGjrWqa57omKP7ngHcEeZ7PuOrGdKYH9Nc86m9ntgUeiRWm5eYiveHsQ7kNAPsq7ENh+9wLcRMUESJ+RBE16xEritZkbLOEmDfKwd0ZYFas1HXddfqRVxIE2MHl++AUvRA4FWpZIgNYw9yMJXCnT+rEQ0kCU6NeNXjzSoHEUi3uD2aYO79/2HIkYGFue/znSXNAiL4InIg3lrQ8XnbXoZKTZkNp5j2IMw7mtRtmZnj61+aPLvz2/x5AeLw9zvhEYRtq8ioC20MWdBmT3JRrISdDPU3YyJcdv8Tbha+2oeE6a1UTkXDXdSJcXL5hHX0sJCqmObpqk6dbWC718k0BN19AEECgCFlJ4kgord7A+tKw9TMZXpBLcGyzIBNnuS3BYw8O4o9NRTmfdclvrFeGppRowh0Kl48fRNPBK9rbVZHXsE1iI3NKT/RZS3Iq5VqEseyNQwBdVfFoAfPZb3+e/x4assTcVTvgtoL9bE4wk6Rz4LgvwG+lTeiphu4MIMIhsw6yLKU9g4WJd3q79sBW5r7Hydya5kFxbQPtRShde9jRW94ssPg+JzSlpwf1vMVNhMKsvgBXWHPXD4HAXcizDkeoLYAQ7trRWyciyqRHxnNBR+RgOBTBmtt/LytENuzi2okmzkNxnKJFlANbGMJWkzUYIRmaHdhT76eizTBkewLfK2iSkm25fp9p6qiUuEHyMJ70anUsrorjBIJDJbERjDeKhMwM7/m0XR2/7iVASK/spHOantX3nVk2n8h8CBQgW3WK/oqOJYDMHStMvz+zFwz+7xj7PuDt481D1h65bL1mSvphexHwmFgXYmhH/xYASzgWLFhsgR13dv+2EDWcfamtd5EHp7VGX3zXA3JPOqoNTpYtvxGxvc83OROkpoZU1kB+1dq7VD7BQgKo2WZzW2McDW/FV8/9XctDAmzy/UdKGicKOsk/UP7tbWxDg9MF30Jda89VzsE5vPw0ksIHBswyqIHWUXhCX5xX3qBSPou+X1gj1XeCtllSCnuJuSauFcug72gyQ6P9q/MaszhP6/fGq3ocWzJmtsgOSmmWKIFNgcORAk22s7IoRw1jcSsW5/BeVmaKNKQbXddgfkw4xbIBPGuzzrOSbSMKis+QZi6P5FJl1ZYBsxqNPnHUenq15+OZQKXNBMQdNNutVnOeJI8ZQKM7ZXY7ogSb0f0hgJalNVbUxKLlFjw7x3xPsTpp44nr2ZjW52jLFTXIL9cCUDSxzQRCUK7ooRJ1/GeScpSw1ASj66oGEKJfvcxkJTD8KI2WityyJYSq1CbI3KQJ8h1uvsNUDD9n6+I7YoWXGgY8FgRZ/6ztzoBsR0O7/k7d7WSgWzHjRSP6ndsQBjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019jXoTbn5cjgXATMJAHvTGz",
      "input": {
        "note": "The pink bowl's left wall is now near the jaw column. Descending to straddle it.",
        "targets": {
          "left_y": -0.392,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_019jXoTbn5cjgXATMJAHvTGz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0622, 2.3817, 2.1323, -1.1164, -0.6212, -1.0977, 0.9963, 0.2962, 1.4197, 1.2366, -1.2091, 0.6281, -0.0715, 0.9958]\nstate[eef_state]: left_x=0.3398 left_y=-0.391 left_z=0.0824 left_yaw=0.1343 left_pitch=-0.3571 left_roll=0.0979 left_gripper=0.9963 right_x=0.2873 right_y=-0.0171 right_z=0.1779 right_yaw=-0.3307 right_pitch=-0.6343 right_roll=-0.8127 right_gripper=0.9958\nstate[joint_eff]: [-1.0598, -9.4291, 6.3795, 0.7985, -0.3932, 0.0366, -0.0171, 1.1556, -6.9675, 7.5829, 0.8376, -0.1197, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 422):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81a04fa9f0943d5801c3c3b3d3ff0e414596a845b5b5c83f609c16b25c7bce4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 422):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9a7db038bbb47c9742f4c6a0bf826c1903ea15a3c7632bf4aefc199c698907d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 422):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:042f88c6903c6bb3c0e19dcfabed22f28847a0b982f0117f0f5be4d259fcbe3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 39 attempt 0 · /messages · status 200 · 4.221 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0306, 2.2467, 2.0621, -1.1866, -0.6151, -1.0416, 0.9966, 0.3458, 1.3922, 1.3094, -1.1744, 0.4759, -0.0708, 0.9958]\nstate[eef_state]: left_x=0.3371 left_y=-0.3568 left_z=0.122 left_yaw=0.1337 left_pitch=-0.3685 left_roll=0.1367 left_gripper=0.9966 right_x=0.3011 right_y=0.0263 right_z=0.1955 right_yaw=-0.1055 right_pitch=-0.594 right_roll=-0.5723 right_gripper=0.9958\nstate[joint_eff]: [-1.9897, -9.4291, 8.7726, 1.1941, -0.6374, -0.0366, -0.3687, 3.6855, -5.4769, 6.5026, 1.1111, -0.8278, 0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0508, 2.347, 2.1242, -1.1427, -0.6209, -1.0901, 0.9963, 0.3069, 1.4162, 1.2808, -1.2083, 0.5701, -0.0715, 0.9958]\nstate[eef_state]: left_x=0.341 left_y=-0.3816 left_z=0.0957 left_yaw=0.1411 left_pitch=-0.3577 left_roll=0.1023 left_gripper=0.9963 right_x=0.294 right_y=-0.0031 right_z=0.1862 right_yaw=-0.2542 right_pitch=-0.626 right_roll=-0.7209 right_gripper=0.9958\nstate[joint_eff]: [-1.7299, -7.1179, 6.7214, 0.7692, -0.398, -0.0024, -0.0366, 3.3983, -6.8171, 8.6496, 1.033, -0.9255, -0.0366, -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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0622, 2.3817, 2.1323, -1.1164, -0.6212, -1.0977, 0.9963, 0.2962, 1.4197, 1.2366, -1.2091, 0.6281, -0.0715, 0.9958]\nstate[eef_state]: left_x=0.3398 left_y=-0.391 left_z=0.0824 left_yaw=0.1343 left_pitch=-0.3571 left_roll=0.0979 left_gripper=0.9963 right_x=0.2873 right_y=-0.0171 right_z=0.1779 right_yaw=-0.3307 right_pitch=-0.6343 right_roll=-0.8127 right_gripper=0.9958\nstate[joint_eff]: [-1.0598, -9.4291, 6.3795, 0.7985, -0.3932, 0.0366, -0.0171, 1.1556, -6.9675, 7.5829, 0.8376, -0.1197, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 422):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81a04fa9f0943d5801c3c3b3d3ff0e414596a845b5b5c83f609c16b25c7bce4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 422):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9a7db038bbb47c9742f4c6a0bf826c1903ea15a3c7632bf4aefc199c698907d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 422):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:042f88c6903c6bb3c0e19dcfabed22f28847a0b982f0117f0f5be4d259fcbe3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS+goKEAgSGAI4AUIIdGhpbmtpbmcSDDxzzWEdDaT2xZxL9BoMc1w2w1ui3+KiQTezIjB/QIT8CAJlBGqMN1JMds5Z1QeUS2QNk+smxBwvSQ+OjIvtVDW14V5XImV/htDrAfIqlwrChg7LRAgOZLJF95yzS0eRgwA7IHlQOw06wj0e+xY3h2ILD/dyKPEFMOjROxrcKNQ5/n2UO8Y23NfguXfmKVWF44o+7tgcc+Vr05rv4ThbPrDvRGXRJsLJwGSWfvovdCkKLL4xpQTZU2RknYpW2LGj7KhqGXcZZzWuUwRp3IUWp4IIbXFp2IZT90ciNhPX+0sr5jRCUtdtmk0pDddGmYEXEmXvaTTiwz9wJhaBB/meB58NDuXaGVdzof4Sn2tRblrZiY+bg/r/OdE+oGZsOwuzrKdiJFtEOxUZfb6H2o2zgxjKsc99ZWe1WMaVZHsT7mgJ0GSyB1D0iKeGIchWBmmPiSbY43s0drXjg7DyUYLs0AAvd268vtWBdNH0dDxf//1gP46cD0mLDNjSkOcChlktmH2rX0dl1a0t0y2Su5XPtXqUfTOsGK+g/x0reBGsvzdq4KkDxKooy0jxxPh8dVsnsvFUj2rHZB9jUHm9WLdbb/ywMS2i6m9Sg6X8OQIK1OdQ3tle2PtBQjA6tHcl1YTOAIXU6emsOF6ZPGUZBxj7OY1YXoHEwjQReGaAiUj7GtjgB2bEZ5H6Arcwh/3PYNXt6TvICEDq6ZVGEu161HDrn8Jn2WnNbPNzNoLaWc23nNxD/ynJKgVOfzMAgXzdORZurutrJo3A9hPa9Nl5ioJGR0K0MqUM34at88WG1q/ygf1yME/CNcNCCgh1+1TjxtMKoZCfe0+GTZO3ysJWDPDgOZ09O6NHu/y11B5daKwRtAEO38tnU0Z+cHwa1uTA5VdrNphNWXGwpLAK1HFKc1jgiiWPTc2+JBUdKeXnJBwo3JZwmVEdqqnUAWNi3KAZPz5RgSoAXM5nuzLEs2Rb87EtaS+KdBohUbDvFRj77UxA1nKiMfifAHCaN0IVblVaYg9VLytFcKPl7BWcTdkq8FyyeIYRusepwQYM1luXDaCF6RKZBADP1ZJ72o5L7ggHHfR2HCw4ODtfqdTPa3juYBLLdsK/OXgrLZPJhHmIOihdobhzosC1gdP+NzuluOb38L0uu6ArO4HcoRUVQLR17f3gf6SKcV2Pr/4BlNzDD8zMhn35Kduu5MpXEU5fuYX5p36RjIRl4tFUki5yB0CXphRfSTXKPSvvzeG5RNNJF0H8YYj3cN9+6meGwBMyrsJnAieVX/WQHE0URGnBRVBLhyZi0V9bWfAvTdxoOzEHAPwxxfJf0gzh9W+baFwXjVc0LEJRYuXqWsZei4ndkJr7kQ2kq4pHDnOguHxBzeCG74Axiqh4DLMBiZFuHTdAWX1mFgWSLtZJJYySu+LDxKQrATg5m2jOKLCF+4vpkfLWfBi3a4yB654ZKjmmjcRstk1F2P95/3XwWZFDupp1XpZhM3y33hiAVRLmi3rg1egLfi8xeFkip2vs6Dsh2euQYqliSt+EMSGvY1N8ZZX46SGpDMkPaci9SX6fKzep6YTNqWZFDqNEKZUBMcaRY5N9PJpMgAIFxEkUYapU7RtflG295BCSsJlP3/QpCyapu7mC9NUjB1cDXo4S3xDteAMdLLQsH30YQ4gCUpbjUXDOgw5Z90xPr2HKksyAh4QCSExDzdHdRM9aW7yc1FNKHO9+DPEyX/9TzkC+IBVu7A8Iub6pJDVJUeRZMyHLKyM6FhO09wQhXol34KCSxNeJ2d++48uLA8syFN4tggYXNUlNcEDD5iCc8Uy5+AMUPJRZC++bMSWurcSTHB1k3v39GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MVouw1nZDqEYxr7b1Ycdcv",
      "input": {
        "note": "The left arm's descent stalled at 8 cm and the right arm's orientation is being pushed, so the two arms are probably touching. Pulling the right arm back and up out of the way.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.15,
          "right_y": -0.05,
          "right_yaw": 0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01MVouw1nZDqEYxr7b1Ycdcv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0584, 2.3867, 2.1345, -1.1137, -0.6216, -1.1007, 0.9963, -1.2148, 0.7395, 1.1854, -1.5154, -0.7681, -0.9398, 0.9958]\nstate[eef_state]: left_x=0.3418 left_y=-0.3904 left_z=0.0808 left_yaw=0.14 left_pitch=-0.3565 left_roll=0.0961 left_gripper=0.9963 right_x=0.1584 right_y=-0.0636 right_z=0.277 right_yaw=-0.0958 right_pitch=-0.1152 right_roll=-0.0107 right_gripper=0.9958\nstate[joint_eff]: [-0.335, -13.7915, 5.8735, 0.5885, -0.3785, -0.0122, -0.0171, 1.0872, 1.3197, 7.8017, 1.0085, -0.7448, -0.0024, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 444):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01eb316013fe3404b71077b23776afc54a01636baff9e36ab65eea7bc6a94422",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 444):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae756a7f6100ba09a4e7d4758eeb4d77beaea6f8599a81c7c4ce056fb423af64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 444):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0942ece30ab4151aaa46829633980719c20eb518656e7ce7be32528645f12962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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