adhoc

completed
2026-09-23T00:25:20.482311+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
446.2 s
total steps
271
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls sit in a row across the middle of the table; I'll stack the outer two into the blue middle bowl. First I move the left arm to hover above the leftmost (tan) bowl to get a wrist-camera look.
move_to
left_x0.3600left_y-0.1900left_z0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7952, 0.6044, -0.382, -0.0227, -0.0296, 0.9989, -0.0181, 0.7933, 0.6018, -0.3824, -0.017, -0.02, 0.9989] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1794 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2941 right_y=0.0013 right_z=0.1786 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9989 state[joint_eff]: [-0.6085, -1.6068, 10.1538, 1.8144, -0.0513, 0.1392, -0.1245, -0.8274, -1.4291, 10.3316, 1.9609, -0.0904, 0.0464, -0.1245] 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": -0.19, "left_z": 0.25, "left_gripper": 1.0}, "note": "Three bowls sit in a row across the middle of the table; I'll stack the outer two into the blue middle bowl. First I move the left arm to hover above the leftmost (tan) bowl to get a wrist-camera look."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe wrist view shows the tan leftmost bowl down-left of the jaw column, so it is further toward the arm's left than I assumed; shifting the left arm ~10 cm in +y to center over it.
move_to
left_x0.3500left_y-0.0900left_z0.2500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7391, 1.4101, 1.2102, -0.551, -0.5842, -0.4736, 0.9989, -0.02, 0.7975, 0.6003, -0.3927, -0.0166, -0.02, 0.9988] state[eef_state]: left_x=0.3554 left_y=-0.1873 left_z=0.2345 left_yaw=-0.0203 left_pitch=-0.033 left_roll=0.0135 left_gripper=0.9989 right_x=0.2928 right_y=0.0007 right_z=0.1747 right_yaw=-0.0022 right_pitch=-0.016 right_roll=0.0001 right_gripper=0.9988 state[joint_eff]: [-0.3214, -6.2564, 9.2239, 1.3504, -0.4029, -0.0171, -0.1294, 0.1436, -1.5521, 7.1863, 1.7802, -0.0855, -0.022, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.09, "left_z": 0.25}, "note": "The wrist view shows the tan leftmost bowl down-left of the jaw column, so it is further toward the arm's left than I assumed; shifting the left arm ~10 cm in +y to center over it."})
tool
executing move_to over 9 steps (0.9s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe tan bowl is now just left of the jaw column in the wrist view; I plan to pinch its left rim, so I move ~9 cm further in +y (to the bowl's left edge) and drop to 12 cm to inspect the rim alignment.
move_to
left_x0.3500left_y0.0000left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4442, 1.2003, 1.0878, -0.5644, -0.3832, -0.2932, 0.9988, -0.02, 0.7979, 0.5999, -0.3927, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3523 left_y=-0.0906 left_z=0.2438 left_yaw=0.0183 left_pitch=-0.0474 left_roll=0.0108 left_gripper=0.9988 right_x=0.2928 right_y=0.0007 right_z=0.1744 right_yaw=-0.002 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9988 state[joint_eff]: [0.2256, -5.5316, 6.6256, 1.6679, -0.0611, 0.1392, -0.0269, -0.335, -0.9231, 7.0222, 1.7509, -0.0415, -0.0366, -0.0122] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": 0.0, "left_z": 0.12}, "note": "The tan bowl is now just left of the jaw column in the wrist view; I plan to pinch its left rim, so I move ~9 cm further in +y (to the bowl's left edge) and drop to 12 cm to inspect the rim alignment."})
tool
executing move_to over 9 steps (0.9s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe tan bowl now fills the lower wrist view slightly right of the jaw column, so its centre is ~2.5 cm to the arm's right; I move to its left rim and descend to table level so the jaws straddle the rim wall.
move_to
left_x0.3450left_y0.0420left_z0.0150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0589, 1.1496, 0.5667, -0.1108, -0.1101, -0.0891, 0.9988, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3394 left_y=0.003 left_z=0.1112 left_yaw=0.0672 left_pitch=-0.1162 left_roll=0.0123 left_gripper=0.9988 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0179 right_roll=-0.0002 right_gripper=0.9988 state[joint_eff]: [0.3077, -3.0974, 6.9402, 1.9902, 0.0415, 0.1978, -0.0122, -0.0752, -1.306, 7.0359, 1.7216, -0.0317, -0.0757, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.345, "left_y": 0.042, "left_z": 0.015}, "note": "The tan bowl now fills the lower wrist view slightly right of the jaw column, so its centre is ~2.5 cm to the arm's right; I move to its left rim and descend to table level so the jaws straddle the rim wall."})
tool
executing move_to over 7 steps (0.7s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe wrist view shows the bowl's left rim sitting just right of the jaw midline, with the right jaw over the bowl interior; raising to rim height (4.5 cm) before pinching the rim.
move_to
left_z0.0450left_y0.0380
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.1177, 1.5055, 0.3584, 0.3748, 0.0051, 0.001, 0.9988, -0.02, 0.8028, 0.5961, -0.3935, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3324 left_y=0.042 left_z=0.0048 left_yaw=0.097 left_pitch=-0.1997 left_roll=0.0065 left_gripper=0.9988 right_x=0.2925 right_y=0.0007 right_z=0.1711 right_yaw=-0.002 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9988 state[joint_eff]: [0.294, -5.6, 4.6291, 1.9121, 0.0952, 0.0757, -0.0171, -0.3487, -1.6205, 7.4735, 1.6923, -0.0415, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.045, "left_y": 0.038}, "note": "The wrist view shows the bowl's left rim sitting just right of the jaw midline, with the right jaw over the bowl interior; raising to rim height (4.5 cm) before pinching the rim."})
tool
executing move_to over 3 steps (0.3s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteGripper is straddling the bowl's left rim; closing the jaws to pinch the rim.
move_to
left_gripper0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.1013, 1.3563, 0.4007, 0.2226, 0.0002, -0.0082, 0.9988, -0.02, 0.8043, 0.5957, -0.3931, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3356 left_y=0.0377 left_z=0.0396 left_yaw=0.09 left_pitch=-0.1604 left_roll=0.0037 left_gripper=0.9988 right_x=0.2926 right_y=0.0007 right_z=0.1706 right_yaw=-0.002 right_pitch=-0.0278 right_roll=-0.0 right_gripper=0.9988 state[joint_eff]: [-0.1846, -4.0684, 7.6513, 1.5458, -0.105, -0.1001, -0.0122, -0.3761, -1.2376, 7.241, 1.746, -0.0464, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.02}, "note": "Gripper is straddling the bowl's left rim; closing the jaws to pinch the rim."})
tool
executing move_to over 10 steps (1.0s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteJaws closed to 0.033 (about a rim thickness); lifting 11 cm to check in the overhead view whether the tan bowl came with the gripper.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.0998, 1.3533, 0.4057, 0.2047, 0.0025, -0.0196, 0.0328, -0.02, 0.8043, 0.5953, -0.3935, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3346 left_y=0.0366 left_z=0.0391 left_yaw=0.0928 left_pitch=-0.1703 left_roll=-0.0065 left_gripper=0.0328 right_x=0.2925 right_y=0.0007 right_z=0.1704 right_yaw=-0.002 right_pitch=-0.0286 right_roll=-0.0 right_gripper=0.9988 state[joint_eff]: [-0.0068, -4.1094, 5.3812, 1.6777, -0.0611, 0.1343, 1.0037, -0.0889, -1.265, 7.0632, 1.746, -0.0415, -0.0317, -0.0122] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15}, "note": "Jaws closed to 0.033 (about a rim thickness); lifting 11 cm to check in the overhead view whether the tan bowl came with the gripper."})
tool
executing move_to over 8 steps (0.8s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteOverhead view suggests the tan bowl tipped toward the gripper, so it may be pinched by its rim; lifting to 24 cm to confirm it leaves the table.
move_to
left_z0.2400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.0998, 1.1397, 0.6968, -0.3218, 0.0002, -0.0238, 0.0347, -0.02, 0.8043, 0.5953, -0.3943, -0.0166, -0.02, 0.9988] state[eef_state]: left_x=0.3329 left_y=0.0369 left_z=0.1304 left_yaw=0.097 left_pitch=-0.192 left_roll=-0.0081 left_gripper=0.0347 right_x=0.2924 right_y=0.0007 right_z=0.1702 right_yaw=-0.0022 right_pitch=-0.0294 right_roll=0.0003 right_gripper=0.9988 state[joint_eff]: [-0.3761, -4.9709, 9.5795, 1.619, 0.0024, 0.0122, 0.7155, -0.0615, -1.2786, 7.0359, 1.7411, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.24}, "note": "Overhead view suggests the tan bowl tipped toward the gripper, so it may be pinched by its rim; lifting to 24 cm to confirm it leaves the table."})
tool
executing move_to over 8 steps (0.8s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe tan bowl has left the table — it is hanging from the gripper by its rim. Traversing right so the hanging bowl sits above the blue middle bowl.
move_to
left_y-0.1000left_z0.2200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.0998, 1.145, 1.0866, -0.7189, 0.0002, -0.0261, 0.0373, -0.02, 0.8043, 0.5953, -0.3939, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.333 left_y=0.0369 left_z=0.2251 left_yaw=0.0983 left_pitch=-0.2046 left_roll=-0.0098 left_gripper=0.0373 right_x=0.2924 right_y=0.0007 right_z=0.1703 right_yaw=-0.002 right_pitch=-0.029 right_roll=-0.0 right_gripper=0.9988 state[joint_eff]: [-0.253, -3.1521, 9.1556, 1.5458, -0.0464, -0.0317, 0.6422, -0.0615, -1.2923, 7.0085, 1.7216, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.1, "left_z": 0.22}, "note": "The tan bowl has left the table \u2014 it is hanging from the gripper by its rim. Traversing right so the hanging bowl sits above the blue middle bowl."})
tool
executing move_to over 13 steps (1.3s)
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 noteCarrying the tan bowl above the blue bowl; lowering to ~14 cm so the hanging bowl's base is just above the blue bowl's rim before releasing.
move_to
left_x0.3400left_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4973, 1.2671, 1.1194, -0.7815, -0.3782, -0.4473, 0.0404, -0.02, 0.8043, 0.5945, -0.3935, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.325 left_y=-0.0981 left_z=0.1997 left_yaw=0.0662 left_pitch=-0.2674 left_roll=0.0164 left_gripper=0.0404 right_x=0.2924 right_y=0.0007 right_z=0.17 right_yaw=-0.002 right_pitch=-0.0294 right_roll=0.0 right_gripper=0.9988 state[joint_eff]: [-0.3077, -4.547, 9.7162, 1.4481, -0.3736, -0.0122, 0.3053, -0.335, -1.1556, 7.0906, 1.7411, -0.0317, -0.0757, -0.0122] 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_x": 0.34, "left_z": 0.14}, "note": "Carrying the tan bowl above the blue bowl; lowering to ~14 cm so the hanging bowl's base is just above the blue bowl's rim before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe blue bowl's rim appears at the upper-right of the wrist view, so the carried bowl is still short of it; lifting for clearance and shifting 6 cm further toward the blue bowl.
move_to
left_y-0.1500left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4706, 1.3296, 0.9264, -0.6144, -0.3668, -0.4419, 0.0427, -0.02, 0.8051, 0.5945, -0.3935, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3239 left_y=-0.0896 left_z=0.1276 left_yaw=0.0959 left_pitch=-0.3473 left_roll=0.0613 left_gripper=0.0427 right_x=0.2924 right_y=0.0007 right_z=0.1698 right_yaw=-0.002 right_pitch=-0.0301 right_roll=0.0 right_gripper=0.9988 state[joint_eff]: [0.2393, -5.5726, 7.9385, 1.7998, -0.1538, 0.1783, 0.2222, -0.3761, -1.347, 7.2137, 1.7265, -0.0415, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.15, "left_z": 0.18}, "note": "The blue bowl's rim appears at the upper-right of the wrist view, so the carried bowl is still short of it; lifting for clearance and shifting 6 cm further toward the blue bowl."})
tool
executing move_to over 6 steps (0.6s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteBlue bowl now peeks just beyond the carried bowl's far-right edge; nudging 3.5 cm further right and 2 cm forward to line the carried bowl up over it.
move_to
left_y-0.1850left_x0.3450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.654, 1.4509, 1.2015, -0.841, -0.432, -0.5987, 0.0447, -0.02, 0.8051, 0.5945, -0.3935, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3227 left_y=-0.1497 left_z=0.1675 left_yaw=0.0684 left_pitch=-0.3656 left_roll=0.0562 left_gripper=0.0447 right_x=0.2924 right_y=0.0007 right_z=0.1698 right_yaw=-0.002 right_pitch=-0.0301 right_roll=0.0 right_gripper=0.9988 state[joint_eff]: [-0.3214, -5.9009, 8.759, 1.033, -0.4811, -0.0317, 0.1929, -0.0205, -1.3197, 7.3641, 1.6923, -0.0366, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_y": -0.185, "left_x": 0.345}, "note": "Blue bowl now peeks just beyond the carried bowl's far-right edge; nudging 3.5 cm further right and 2 cm forward to line the carried bowl up over it."})
tool
executing move_to over 4 steps (0.4s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteOverhead shows the carried white bowl nearly over the purple bowl with a sliver of purple still showing to its right; nudging 2 cm further right and lowering toward the purple bowl's rim.
move_to
left_y-0.2050left_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6937, 1.6016, 1.3006, -0.8776, -0.4438, -0.638, 0.0462, -0.02, 0.8062, 0.5945, -0.3939, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3334 left_y=-0.174 left_z=0.1485 left_yaw=0.0849 left_pitch=-0.4208 left_roll=0.1056 left_gripper=0.0462 right_x=0.2924 right_y=0.0007 right_z=0.1694 right_yaw=-0.002 right_pitch=-0.0317 right_roll=0.0 right_gripper=0.9988 state[joint_eff]: [-0.5128, -8.1026, 9.7026, 1.1697, -0.3297, -0.0513, 0.149, -0.3624, -1.2103, 7.0222, 1.746, -0.0806, -0.0611, -0.0122] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.205, "left_z": 0.13}, "note": "Overhead shows the carried white bowl nearly over the purple bowl with a sliver of purple still showing to its right; nudging 2 cm further right and lowering toward the purple bowl's rim."})
tool
executing move_to over 3 steps (0.3s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe arm did not track the last small command, so I re-issue a slightly larger move: lift 2 cm and shift 3.5 cm further right to get the carried bowl centred over the purple bowl.
move_to
left_y-0.2150left_z0.1650left_x0.3300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7006, 1.6138, 1.3148, -0.8757, -0.4438, -0.6483, 0.0475, -0.02, 0.8082, 0.5945, -0.3969, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3353 left_y=-0.1789 left_z=0.1492 left_yaw=0.0829 left_pitch=-0.4174 left_roll=0.0964 left_gripper=0.0475 right_x=0.2921 right_y=0.0007 right_z=0.1683 right_yaw=-0.002 right_pitch=-0.0366 right_roll=0.0001 right_gripper=0.9988 state[joint_eff]: [-0.1983, -8.1299, 9.265, 1.16, -0.398, 0.0122, 0.1245, -0.294, -1.4974, 7.0085, 1.7509, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.215, "left_z": 0.165, "left_x": 0.33}, "note": "The arm did not track the last small command, so I re-issue a slightly larger move: lift 2 cm and shift 3.5 cm further right to get the carried bowl centred over the purple bowl."})
tool
executing move_to over 4 steps (0.4s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe arm is frozen at the same pose despite new targets; commanding a large pure lift to 26 cm to break out of the stalled configuration.
move_to
left_z0.2600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7006, 1.6138, 1.3155, -0.8761, -0.4438, -0.6483, 0.0482, -0.02, 0.8082, 0.5945, -0.3977, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3354 left_y=-0.1789 left_z=0.1494 left_yaw=0.0828 left_pitch=-0.4172 left_roll=0.0961 left_gripper=0.0482 right_x=0.292 right_y=0.0007 right_z=0.1681 right_yaw=-0.002 right_pitch=-0.0374 right_roll=0.0001 right_gripper=0.9988 state[joint_eff]: [-0.294, -8.1436, 9.3744, 1.1697, -0.3932, -0.0269, 0.0659, -0.0479, -1.2923, 7.0222, 1.7411, -0.0513, -0.0513, -0.0122] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.26}, "note": "The arm is frozen at the same pose despite new targets; commanding a large pure lift to 26 cm to break out of the stalled configuration."})
tool
executing move_to over 8 steps (0.8s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteLowering back to 19 cm and 1 cm further right to judge from the wrist view how the carried bowl lines up with the purple bowl before releasing.
move_to
left_z0.1900left_y-0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7002, 1.6703, 1.8, -1.2346, -0.437, -0.6556, 0.0498, -0.02, 0.8101, 0.5945, -0.4118, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3447 left_y=-0.188 left_z=0.2604 left_yaw=0.0625 left_pitch=-0.3715 left_roll=0.0343 left_gripper=0.0498 right_x=0.2901 right_y=0.0007 right_z=0.1648 right_yaw=-0.002 right_pitch=-0.0534 right_roll=0.0004 right_gripper=0.9988 state[joint_eff]: [-0.1162, -6.2291, 7.4598, 0.9109, -0.3101, 0.0415, 0.1441, -0.1709, -1.4564, 6.9949, 1.8388, -0.0708, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.19, "left_y": -0.2}, "note": "Lowering back to 19 cm and 1 cm further right to judge from the wrist view how the carried bowl lines up with the purple bowl before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteWrist view shows the purple bowl up and to the left of the carried bowl, meaning it is farther out and more toward +y than I thought; repositioning 7 cm back in +y and 3 cm forward.
move_to
left_x0.3650left_y-0.1200left_z0.1850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.725, 1.6569, 1.4948, -1.0416, -0.44, -0.672, 0.0512, -0.02, 0.8101, 0.5945, -0.4152, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3342 left_y=-0.1907 left_z=0.1802 left_yaw=0.0794 left_pitch=-0.4389 left_roll=0.1024 left_gripper=0.0512 right_x=0.2896 right_y=0.0007 right_z=0.1641 right_yaw=-0.002 right_pitch=-0.0568 right_roll=0.0005 right_gripper=0.9988 state[joint_eff]: [-0.5538, -8.6906, 7.0085, 1.16, -0.3736, -0.1392, 0.1343, -0.1573, -1.3197, 6.9812, 1.6972, -0.0269, -0.0659, -0.0122] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.365, "left_y": -0.12, "left_z": 0.185}, "note": "Wrist view shows the purple bowl up and to the left of the carried bowl, meaning it is farther out and more toward +y than I thought; repositioning 7 cm back in +y and 3 cm forward."})
tool
executing move_to over 7 steps (0.7s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteTop view now shows the purple bowl just right of the carried bowl (I overshot back), so I split the difference at y=-0.155 and lower to 13.5 cm, ready to drop the tan bowl into the purple one.
move_to
left_y-0.1550left_x0.3550left_z0.1350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.498, 1.6127, 1.4273, -0.9787, -0.3538, -0.485, 0.052, -0.02, 0.8116, 0.5945, -0.416, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3614 left_y=-0.1228 left_z=0.1732 left_yaw=0.1193 left_pitch=-0.4731 left_roll=0.1139 left_gripper=0.052 right_x=0.2895 right_y=0.0007 right_z=0.1635 right_yaw=-0.002 right_pitch=-0.0591 right_roll=0.0005 right_gripper=0.9988 state[joint_eff]: [0.2803, -9.4838, 6.3111, 1.2674, -0.1929, 0.2906, 0.0708, -0.253, -1.4838, 6.9949, 1.663, -0.0464, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.155, "left_x": 0.355, "left_z": 0.135}, "note": "Top view now shows the purple bowl just right of the carried bowl (I overshot back), so I split the difference at y=-0.155 and lower to 13.5 cm, ready to drop the tan bowl into the purple one."})
tool
executing move_to over 3 steps (0.3s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent notePurple bowl still peeks just right and behind the carried bowl; nudging 2 cm right and 1 cm forward at a safe height to centre the carried bowl over it.
move_to
left_y-0.1750left_x0.3600left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5838, 1.6489, 1.3479, -0.9112, -0.3668, -0.5327, 0.0526, -0.02, 0.8116, 0.5945, -0.416, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3496 left_y=-0.1507 left_z=0.14 left_yaw=0.0877 left_pitch=-0.5009 left_roll=0.1309 left_gripper=0.0526 right_x=0.2895 right_y=0.0007 right_z=0.1635 right_yaw=-0.002 right_pitch=-0.0591 right_roll=0.0005 right_gripper=0.9988 state[joint_eff]: [1.0735, -7.5009, 6.8444, 1.1404, -0.4664, -0.0952, 0.0464, -0.3214, -1.3607, 6.9812, 1.6435, -0.0513, -0.022, -0.0122] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.175, "left_x": 0.36, "left_z": 0.15}, "note": "Purple bowl still peeks just right and behind the carried bowl; nudging 2 cm right and 1 cm forward at a safe height to centre the carried bowl over it."})
tool
executing move_to over 3 steps (0.3s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe arm stalls trying to move sideways at this low height, so I lift to 22 cm where it tracks well and shift to y=-0.20 to get the carried bowl over the purple bowl.
move_to
left_z0.2200left_y-0.2000left_x0.3600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5976, 1.6806, 1.3628, -0.9268, -0.3672, -0.5716, 0.0527, -0.02, 0.8154, 0.5945, -0.4221, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3482 left_y=-0.1559 left_z=0.1324 left_yaw=0.1098 left_pitch=-0.5226 left_roll=0.1339 left_gripper=0.0527 right_x=0.2888 right_y=0.0007 right_z=0.1613 right_yaw=-0.002 right_pitch=-0.069 right_roll=0.0007 right_gripper=0.9988 state[joint_eff]: [-0.294, -8.2256, 8.7726, 0.9402, -0.2662, 0.2125, -0.0024, -0.3624, -1.6615, 6.9949, 1.7021, -0.0317, -0.0366, -0.0122] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22, "left_y": -0.2, "left_x": 0.36}, "note": "The arm stalls trying to move sideways at this low height, so I lift to 22 cm where it tracks well and shift to y=-0.20 to get the carried bowl over the purple bowl."})
tool
executing move_to over 6 steps (0.6s)
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 arm is frozen; commanding a retreat toward the base and upward to unstick it.
move_to
left_x0.3000left_z0.2500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5976, 1.6806, 1.3651, -0.9379, -0.3668, -0.5655, 0.0527, -0.02, 0.8165, 0.5945, -0.4225, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3466 left_y=-0.1549 left_z=0.1323 left_yaw=0.109 left_pitch=-0.53 left_roll=0.1434 left_gripper=0.0527 right_x=0.2888 right_y=0.0007 right_z=0.1609 right_yaw=-0.002 right_pitch=-0.0706 right_roll=0.0007 right_gripper=0.9988 state[joint_eff]: [-0.1983, -7.9521, 8.4444, 0.906, -0.2711, 0.1148, -0.0122, -0.1709, -1.1829, 7.0769, 1.6484, -0.0806, -0.0513, -0.0122] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_z": 0.25}, "note": "The arm is frozen; commanding a retreat toward the base and upward to unstick it."})
tool
executing move_to over 8 steps (0.8s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe arm moves freely when pulled back; shifting 5 cm toward the purple bowl at this retracted, higher pose before reaching forward again.
move_to
left_y-0.2150left_z0.2350left_x0.3100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6804, 1.6291, 1.7245, -1.3651, -0.3679, -0.6533, 0.0529, -0.02, 0.8181, 0.5945, -0.4225, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3089 left_y=-0.1637 left_z=0.2344 left_yaw=0.0882 left_pitch=-0.5349 left_roll=0.1112 left_gripper=0.0529 right_x=0.2889 right_y=0.0007 right_z=0.1605 right_yaw=-0.002 right_pitch=-0.0721 right_roll=0.0008 right_gripper=0.9988 state[joint_eff]: [-0.7179, -7.2547, 8.5675, 0.7643, -0.486, 0.0659, 0.0122, -0.0615, -1.3197, 7.2821, 1.6386, -0.0757, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.215, "left_z": 0.235, "left_x": 0.31}, "note": "The arm moves freely when pulled back; shifting 5 cm toward the purple bowl at this retracted, higher pose before reaching forward again."})
tool
executing move_to over 5 steps (0.5s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteWrist view now shows the purple bowl to the left of the carried bowl, so I went too far; moving back to y=-0.14 and forward to x=0.355 to hover the carried bowl over the purple one.
move_to
left_y-0.1400left_x0.3550left_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7925, 1.7813, 1.8584, -1.4368, -0.3752, -0.7544, 0.0532, -0.02, 0.8185, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3041 left_y=-0.2111 left_z=0.2198 left_yaw=0.0863 left_pitch=-0.5834 left_roll=0.1437 left_gripper=0.0532 right_x=0.2889 right_y=0.0007 right_z=0.1603 right_yaw=-0.002 right_pitch=-0.0729 right_roll=0.0008 right_gripper=0.9988 state[joint_eff]: [-0.3761, -8.5265, 8.9504, 0.5836, -0.5299, -0.0464, 0.0317, -0.1983, -1.3744, 6.9949, 1.6386, -0.0464, -0.0611, -0.0073] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.14, "left_x": 0.355, "left_z": 0.17}, "note": "Wrist view now shows the purple bowl to the left of the carried bowl, so I went too far; moving back to y=-0.14 and forward to x=0.355 to hover the carried bowl over the purple one."})
tool
executing move_to over 7 steps (0.7s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe arm is frozen with its wrist pitch pinned near the -0.6 limit; commanding a less extreme pitch together with a small sideways move to free the IK.
move_to
left_pitch-0.3000left_y-0.1800left_z0.2100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8005, 1.7882, 1.8805, -1.4406, -0.3756, -0.7757, 0.0533, -0.02, 0.8185, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3046 left_y=-0.2158 left_z=0.2236 left_yaw=0.0865 left_pitch=-0.5742 left_roll=0.123 left_gripper=0.0533 right_x=0.2889 right_y=0.0007 right_z=0.1603 right_yaw=-0.002 right_pitch=-0.0729 right_roll=0.0008 right_gripper=0.9988 state[joint_eff]: [0.0068, -8.6632, 8.2256, 0.6374, -0.4811, -0.0171, -0.0073, -0.1846, -1.3333, 7.0632, 1.6435, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_pitch": -0.3, "left_y": -0.18, "left_z": 0.21}, "note": "The arm is frozen with its wrist pitch pinned near the -0.6 limit; commanding a less extreme pitch together with a small sideways move to free the IK."})
tool
executing move_to over 10 steps (1.0s)
step 168
top_cam
camera top_cam step 168
assistant
agent noteUsing the measured wrist-view scale (535 px per metre of y), the purple bowl lines up with the carried bowl at y≈-0.136; moving there and forward to x=0.355 while holding pitch at -0.3 so the IK keeps tracking.
move_to
left_pitch-0.3000left_y-0.1360left_x0.3550left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8196, 1.5372, 1.4036, -1.1042, -0.5419, -0.7433, 0.0534, -0.02, 0.8192, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.2973 left_y=-0.1797 left_z=0.1936 left_yaw=0.1 left_pitch=-0.3828 left_roll=0.1551 left_gripper=0.0534 right_x=0.2889 right_y=0.0007 right_z=0.1601 right_yaw=-0.002 right_pitch=-0.0736 right_roll=0.0008 right_gripper=0.9988 state[joint_eff]: [-0.4718, -8.4444, 6.8308, 1.1551, -0.5739, 0.1245, -0.0024, -0.212, -1.4564, 6.9812, 1.7167, -0.0415, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_pitch": -0.3, "left_y": -0.136, "left_x": 0.355, "left_z": 0.18}, "note": "Using the measured wrist-view scale (535 px per metre of y), the purple bowl lines up with the carried bowl at y\u2248-0.136; moving there and forward to x=0.355 while holding pitch at -0.3 so the IK keeps tracking."})
tool
executing move_to over 5 steps (0.5s)
step 173
assistant
agent noteThe purple bowl is now hidden right behind the carried bowl, so y is aligned but the purple sits farther out; reaching 5 cm forward to bring the carried bowl over it.
move_to
left_pitch-0.3000left_x0.3900left_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6178, 1.523, 1.28, -0.8921, -0.5114, -0.556, 0.0534, -0.02, 0.823, 0.5945, -0.4232, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3409 left_y=-0.1318 left_z=0.1719 left_yaw=0.1463 left_pitch=-0.3531 left_roll=0.1717 left_gripper=0.0534 right_x=0.289 right_y=0.0007 right_z=0.159 right_yaw=-0.002 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9988 state[joint_eff]: [0.2803, -7.0222, 6.5846, 1.243, -0.3199, 0.1929, -0.0073, -0.0889, -1.6889, 6.9812, 1.6386, -0.0611, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_pitch": -0.3, "left_x": 0.39, "left_z": 0.17}, "note": "The purple bowl is now hidden right behind the carried bowl, so y is aligned but the purple sits farther out; reaching 5 cm forward to bring the carried bowl over it."})
tool
executing move_to over 4 steps (0.4s)
step 177
assistant
agent notePurple bowl is fully hidden behind the carried bowl, so they are aligned; lowering the carried bowl to just above the purple bowl's rim before releasing.
move_to
left_pitch-0.3000left_z0.1150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5529, 1.6363, 1.309, -0.8124, -0.498, -0.4953, 0.0535, -0.02, 0.8242, 0.5945, -0.4232, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3718 left_y=-0.1261 left_z=0.149 left_yaw=0.1688 left_pitch=-0.3712 left_roll=0.2043 left_gripper=0.0535 right_x=0.2891 right_y=0.0007 right_z=0.1587 right_yaw=-0.002 right_pitch=-0.079 right_roll=0.0009 right_gripper=0.9988 state[joint_eff]: [0.3624, -8.1709, 10.3043, 1.1893, -0.3736, 0.0904, -0.0073, -0.3624, -1.4838, 6.9949, 1.6337, -0.0611, -0.0317, -0.0073] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_pitch": -0.3, "left_z": 0.115}, "note": "Purple bowl is fully hidden behind the carried bowl, so they are aligned; lowering the carried bowl to just above the purple bowl's rim before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 180
assistant
agent noteThe descent stopped short, suggesting the carried bowl is resting on the purple bowl; opening the jaws to release it into the purple bowl.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.543, 1.6463, 1.3167, -0.7948, -0.4984, -0.4862, 0.0534, -0.02, 0.8242, 0.5945, -0.4229, -0.0162, -0.0204, 0.9988] state[eef_state]: left_x=0.378 left_y=-0.1253 left_z=0.1497 left_yaw=0.17 left_pitch=-0.3605 left_roll=0.1997 left_gripper=0.0534 right_x=0.2891 right_y=0.0007 right_z=0.1588 right_yaw=-0.0023 right_pitch=-0.0786 right_roll=0.0007 right_gripper=0.9988 state[joint_eff]: [-0.5402, -8.1436, 9.5932, 1.2772, -0.4176, 0.1636, -0.0171, -0.1162, -1.2376, 6.9812, 1.7167, -0.0122, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The descent stopped short, suggesting the carried bowl is resting on the purple bowl; opening the jaws to release it into the purple bowl."})
tool
executing move_to over 10 steps (1.0s)
step 190
assistant
agent noteThe white bowl was released beside the purple bowl rather than inside it; going back to pinch its left rim again (it now sits slightly right of where it started).
move_to
left_x0.3300left_y-0.0050left_z0.0500left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.543, 1.6463, 1.3163, -0.7956, -0.495, -0.4854, 0.9946, -0.02, 0.8242, 0.5945, -0.4232, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3776 left_y=-0.1257 left_z=0.1492 left_yaw=0.1675 left_pitch=-0.3635 left_roll=0.1984 left_gripper=0.9946 right_x=0.2891 right_y=0.0007 right_z=0.1587 right_yaw=-0.002 right_pitch=-0.079 right_roll=0.0009 right_gripper=0.9988 state[joint_eff]: [-0.1436, -7.7333, 6.4342, 1.0574, -0.3199, 0.0659, 0.0464, -0.212, -1.388, 6.9949, 1.6337, -0.0464, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": {"left_x": 0.33, "left_y": -0.005, "left_z": 0.05, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The white bowl was released beside the purple bowl rather than inside it; going back to pinch its left rim again (it now sits slightly right of where it started)."})
tool
executing move_to over 13 steps (1.3s)
step 203
assistant
agent noteThe white bowl's rim appears well to the right in the wrist view, so I shift ~6 cm in -y to bring its left rim onto the jaw column.
move_to
left_y-0.0600left_z0.0450left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.289, 1.356, 0.3191, 0.2729, -0.4969, -0.16, 0.9982, -0.02, 0.8268, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3153 left_y=-0.0022 left_z=0.0338 left_yaw=0.1951 left_pitch=-0.0999 left_roll=0.2241 left_gripper=0.9982 right_x=0.2893 right_y=0.0007 right_z=0.1581 right_yaw=-0.002 right_pitch=-0.0812 right_roll=0.0009 right_gripper=0.9988 state[joint_eff]: [0.3214, -3.5214, 6.0786, 1.8926, -0.2027, 0.0513, -0.1929, -0.1709, -1.6342, 6.9812, 1.6581, -0.022, -0.0513, -0.0122] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.06, "left_z": 0.045, "left_pitch": 0.0}, "note": "The white bowl's rim appears well to the right in the wrist view, so I shift ~6 cm in -y to bring its left rim onto the jaw column."})
tool
executing move_to over 6 steps (0.6s)
step 209
assistant
agent noteThe bowl's left rim now runs between the open jaws in the wrist view; closing to pinch the rim.
move_to
left_gripper0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5659, 1.4342, 0.347, 0.2672, -0.6884, -0.3218, 0.9981, -0.02, 0.8272, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3086 left_y=-0.0588 left_z=0.0337 left_yaw=0.1491 left_pitch=-0.0479 left_roll=0.2389 left_gripper=0.9981 right_x=0.2893 right_y=0.0007 right_z=0.158 right_yaw=-0.002 right_pitch=-0.0816 right_roll=0.0009 right_gripper=0.9988 state[joint_eff]: [-0.2667, -3.9453, 7.4051, 1.4921, -0.4762, -0.0317, -0.0269, -0.212, -1.388, 6.9949, 1.6728, -0.0171, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.02}, "note": "The bowl's left rim now runs between the open jaws in the wrist view; closing to pinch the rim."})
tool
executing move_to over 10 steps (1.0s)
step 219
assistant
agent noteBowl rim pinched again; carrying it over the purple bowl, this time aiming ~11 cm further in -y than last release since the bowl landed that far short before.
move_to
left_z0.2000left_y-0.2300left_x0.3750left_pitch-0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5686, 1.4303, 0.3515, 0.3031, -0.6918, -0.3416, 0.0395, -0.02, 0.8307, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.3145 left_y=-0.063 left_z=0.0416 left_yaw=0.1585 left_pitch=-0.0106 left_roll=0.1952 left_gripper=0.0395 right_x=0.2894 right_y=0.0007 right_z=0.157 right_yaw=-0.002 right_pitch=-0.0851 right_roll=0.001 right_gripper=0.9988 state[joint_eff]: [-0.0205, -3.2889, 4.9436, 0.6325, -0.2662, 0.1636, 0.7155, -0.1162, -1.6068, 6.9675, 1.6435, -0.0415, -0.0611, -0.0122] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2, "left_y": -0.23, "left_x": 0.375, "left_pitch": -0.3}, "note": "Bowl rim pinched again; carrying it over the purple bowl, this time aiming ~11 cm further in -y than last release since the bowl landed that far short before."})
tool
executing move_to over 15 steps (1.5s)
step 234
assistant
agent noteThe carried bowl now hides the purple bowl in the overhead view, so they are aligned; lowering it onto the purple bowl before releasing.
move_to
left_z0.1300left_pitch-0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7929, 1.8717, 1.7233, -1.0206, -0.635, -0.7235, 0.0422, -0.02, 0.8314, 0.5945, -0.4229, -0.0166, -0.02, 0.9988] state[eef_state]: left_x=0.3806 left_y=-0.232 left_z=0.192 left_yaw=0.1479 left_pitch=-0.274 left_roll=0.165 left_gripper=0.0422 right_x=0.2895 right_y=0.0007 right_z=0.1568 right_yaw=-0.0022 right_pitch=-0.0858 right_roll=0.0013 right_gripper=0.9988 state[joint_eff]: [-0.6769, -10.0034, 7.7744, 0.5592, -0.3443, 0.0024, 0.7595, -0.2393, -1.4427, 7.3778, 1.6239, -0.0513, 0.0073, -0.0122] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.13, "left_pitch": -0.3}, "note": "The carried bowl now hides the purple bowl in the overhead view, so they are aligned; lowering it onto the purple bowl before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 239
assistant
agent noteThe purple rim is snug against the carried bowl in the wrist view; opening the jaws to drop the white bowl into the purple bowl.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.791, 1.8881, 1.5257, -0.8768, -0.6136, -0.73, 0.0452, -0.02, 0.8314, 0.5945, -0.4229, -0.0166, -0.02, 0.9988] state[eef_state]: left_x=0.3719 left_y=-0.2264 left_z=0.1294 left_yaw=0.1599 left_pitch=-0.3306 left_roll=0.208 left_gripper=0.0452 right_x=0.2895 right_y=0.0007 right_z=0.1568 right_yaw=-0.0022 right_pitch=-0.0858 right_roll=0.0013 right_gripper=0.9988 state[joint_eff]: [0.6222, -9.388, 6.3111, 0.9499, -0.3687, 0.0073, 0.6178, -0.0615, -1.4291, 7.0085, 1.6239, -0.0415, -0.0415, -0.0122] 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": {"left_gripper": 1.0}, "note": "The purple rim is snug against the carried bowl in the wrist view; opening the jaws to drop the white bowl into the purple bowl."})
tool
executing move_to over 10 steps (1.0s)
step 249
assistant
agent noteBowl released; pulling the left arm back out of the way to verify in the overhead view whether the white bowl nested into the purple one.
move_to
left_x0.2500left_y0.0000left_z0.2500left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7895, 1.8915, 1.5127, -0.8776, -0.5991, -0.7311, 0.995, -0.02, 0.8326, 0.5945, -0.4229, -0.0166, -0.02, 0.9988] state[eef_state]: left_x=0.3689 left_y=-0.2253 left_z=0.1224 left_yaw=0.1595 left_pitch=-0.3516 left_roll=0.2136 left_gripper=0.995 right_x=0.2895 right_y=0.0007 right_z=0.1565 right_yaw=-0.0022 right_pitch=-0.087 right_roll=0.0013 right_gripper=0.9988 state[joint_eff]: [-0.1573, -9.9077, 7.2274, 0.8816, -0.4615, -0.0073, -0.1392, -0.1846, -1.1692, 7.0769, 1.6288, -0.0269, -0.0122, -0.0122] 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
move_to({"targets": {"left_x": 0.25, "left_y": 0.0, "left_z": 0.25, "left_pitch": 0.0}, "note": "Bowl released; pulling the left arm back out of the way to verify in the overhead view whether the white bowl nested into the purple one."})
tool
executing move_to over 21 steps (2.1s)
step 270
assistant
agent noteI pinched the leftmost bowl by its rim with the left arm and nested it into the middle (purple) bowl — the overhead view now shows a white-in-purple stack plus the remaining pink bowl. I ran out of call budget before moving the third bowl.
done
hindsightKey lessons: (1) Bowls (~12 cm dia) are too wide to grasp across; pinch the rim wall with one jaw inside and one outside, at z≈0.04 (rim height), closing to ~0.02. A settled gripper reading of ~0.035-0.05 means the thin rim is held — verify by lifting and watching the overhead view. (2) A rim-pinched bowl hangs tilted roughly 6-11 cm to the jaw side, so the grasp point must be offset well past the target bowl; don't trust simple offset models, instead close the loop with the top camera: when the carried bowl completely hides the target bowl in top_cam AND the target's rim vanishes behind it in the wrist view, releasing from z≈0.13 nests reliably. (3) The left arm repeatedly FROZE (identical joint_pos, no motion at all) when reaching forward at low z while wrist pitch sagged near the -0.6 bound; explicitly commanding left_pitch≈-0.3 in the same move immediately restored tracking. Commanding pitch explicitly whenever carrying a load is worth doing from the start. (4) Wrist-camera y scale measured here: ~535 px per metre of lateral arm motion at ~20 cm range. (5) Budget: locating and nesting one bowl cost ~30 calls mostly due to the offset confusion; with the pitch trick and the occlusion-based alignment cue it should take under 10.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4473, 0.7811, 0.907, -0.8417, -0.627, -0.2714, 0.9963, -0.02, 0.836, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988] state[eef_state]: left_x=0.2528 left_y=-0.0024 left_z=0.2484 left_yaw=0.1945 left_pitch=0.0004 left_roll=0.182 left_gripper=0.9963 right_x=0.2897 right_y=0.0007 right_z=0.1556 right_yaw=-0.0019 right_pitch=-0.0904 right_roll=0.0011 right_gripper=0.9988 state[joint_eff]: [0.2393, -0.4991, 6.106, 1.5165, -0.3248, 0.1441, 0.1245, -0.3761, -1.7709, 7.1726, 1.6874, -0.0659, -0.0366, -0.0122] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
done({"summary": "I pinched the leftmost bowl by its rim with the left arm and nested it into the middle (purple) bowl \u2014 the overhead view now shows a white-in-purple stack plus the remaining pink bowl. I ran out of call budget before moving the third bowl.", "hindsight": "Key lessons: (1) Bowls (~12 cm dia) are too wide to grasp across; pinch the rim wall with one jaw inside and one outside, at z\u22480.04 (rim height), closing to ~0.02. A settled gripper reading of ~0.035-0.05 means the thin rim is held \u2014 verify by lifting and watching the overhead view. (2) A rim-pinched bowl hangs tilted roughly 6-11 cm to the jaw side, so the grasp point must be offset well past the target bowl; don't trust simple offset models, instead close the loop with the top camera: when the carried bowl completely hides the target bowl in top_cam AND the target's rim vanishes behind it in the wrist view, releasing from z\u22480.13 nests reliably. (3) The left arm repeatedly FROZE (identical joint_pos, no motion at all) when reaching forward at low z while wrist pitch sagged near the -0.6 bound; explicitly commanding left_pitch\u2248-0.3 in the same move immediately restored tracking. Commanding pitch explicitly whenever carrying a load is worth doing from the start. (4) Wrist-camera y scale measured here: ~535 px per metre of lateral arm motion at ~20 cm range. (5) Budget: locating and nesting one bowl cost ~30 calls mostly due to the offset confusion; with the pitch trick and the occlusion-based alignment cue it should take under 10."})
tool
done: I pinched the leftmost bowl by its rim with the left arm and nested it into the middle (purple) bowl — the overhead view now shows a white-in-purple stack plus the remaining pink bowl. I ran out of call budget before moving the third bowl.
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 · 33.45 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6044, -0.382, -0.0227, -0.0296, 0.9989, -0.0181, 0.7933, 0.6018, -0.3824, -0.017, -0.02, 0.9989]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1794 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2941 right_y=0.0013 right_z=0.1786 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -1.6068, 10.1538, 1.8144, -0.0513, 0.1392, -0.1245, -0.8274, -1.4291, 10.3316, 1.9609, -0.0904, 0.0464, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1494e522a45d3aeffd28b0735f9eb2759bdca2e0c6dcb4e88ea531ffb5a1a9b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:917a2b0302a0626883efaed3ce7f6280b494b80fb8b2670c2c416ac99d3caaba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b2bc549dcd27ec3feb4177b9540339154069eec517741228733d5b3f81eddcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 10.09 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6044, -0.382, -0.0227, -0.0296, 0.9989, -0.0181, 0.7933, 0.6018, -0.3824, -0.017, -0.02, 0.9989]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1794 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2941 right_y=0.0013 right_z=0.1786 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -1.6068, 10.1538, 1.8144, -0.0513, 0.1392, -0.1245, -0.8274, -1.4291, 10.3316, 1.9609, -0.0904, 0.0464, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1494e522a45d3aeffd28b0735f9eb2759bdca2e0c6dcb4e88ea531ffb5a1a9b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:917a2b0302a0626883efaed3ce7f6280b494b80fb8b2670c2c416ac99d3caaba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b2bc549dcd27ec3feb4177b9540339154069eec517741228733d5b3f81eddcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Da2LBFL7D5hecaRqyatgjc",
      "input": {
        "note": "Three bowls sit in a row across the middle of the table; I'll stack the outer two into the blue middle bowl. First I move the left arm to hover above the leftmost (tan) bowl to get a wrist-camera look.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.36,
          "left_y": -0.19,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01Da2LBFL7D5hecaRqyatgjc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7391, 1.4101, 1.2102, -0.551, -0.5842, -0.4736, 0.9989, -0.02, 0.7975, 0.6003, -0.3927, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3554 left_y=-0.1873 left_z=0.2345 left_yaw=-0.0203 left_pitch=-0.033 left_roll=0.0135 left_gripper=0.9989 right_x=0.2928 right_y=0.0007 right_z=0.1747 right_yaw=-0.0022 right_pitch=-0.016 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -6.2564, 9.2239, 1.3504, -0.4029, -0.0171, -0.1294, 0.1436, -1.5521, 7.1863, 1.7802, -0.0855, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61d2df6fdf98a30b90e0d53701c9aedac8fbbc2deb0247ae0918f98afeb1e92d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baa7f64a0a90d4437b819df6f85ba1ef37642a3215f3d629673e09985f17427c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2216b0e91bc936789f760a68253d70cc664c9173b476bb080a7b8a4d4fefe86b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 17.41 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6044, -0.382, -0.0227, -0.0296, 0.9989, -0.0181, 0.7933, 0.6018, -0.3824, -0.017, -0.02, 0.9989]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1794 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2941 right_y=0.0013 right_z=0.1786 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -1.6068, 10.1538, 1.8144, -0.0513, 0.1392, -0.1245, -0.8274, -1.4291, 10.3316, 1.9609, -0.0904, 0.0464, -0.1245]",
      "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]: [-0.7391, 1.4101, 1.2102, -0.551, -0.5842, -0.4736, 0.9989, -0.02, 0.7975, 0.6003, -0.3927, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3554 left_y=-0.1873 left_z=0.2345 left_yaw=-0.0203 left_pitch=-0.033 left_roll=0.0135 left_gripper=0.9989 right_x=0.2928 right_y=0.0007 right_z=0.1747 right_yaw=-0.0022 right_pitch=-0.016 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -6.2564, 9.2239, 1.3504, -0.4029, -0.0171, -0.1294, 0.1436, -1.5521, 7.1863, 1.7802, -0.0855, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61d2df6fdf98a30b90e0d53701c9aedac8fbbc2deb0247ae0918f98afeb1e92d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baa7f64a0a90d4437b819df6f85ba1ef37642a3215f3d629673e09985f17427c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2216b0e91bc936789f760a68253d70cc664c9173b476bb080a7b8a4d4fefe86b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6QoKjgEIEhgCKkCo4NOOxM7mQbl3nBxR/t6ZYX+Wj0VvS7ka1j7h7hrhBuu5vgUyGwdV3TH3T8qLXusDp7OTUkgPEemdk8w2D/GqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAai5zNUGEgyUgfBKcg0trQWUbugaDC5mDpVYwoQtbOclvyIw45Jd55DvYjwFOt9jV7hMYxQlPcvszWwEqBZfRpPR9A2RUTkKG3x9wUBF9jWttTTNKocJpMrggoeMjHxRqJ8RLk829ODVutm5mNn1bPyA2y+ztnbBuIa/lJJpLa98GHSCkG2/r4mAf28ZaDD5iCM2BCXcrRnbG/efcVfG3jwCP04v8zAKZzBAM6rrR469JJP4B8T3XrAaZSAidi984zz/MrUBhqmrgySRZ1ZcWcZAhgEH47TXUEuWU3qpzMQabHINWbdR1c5rn16hoh7+TlyWzSyKwa4vewAaxnXEJ566wg5X/OpTuLmxSmGmiiXWiZTdgjHT3XK+Fc4DC4GtYlfb3idDJZR9Djdtrq2hpemq3MRL2VTE9eOSdOmnDYjz4c2l4K50nk16Fa9irO3FuaUSxow537Los7PqrVAglMQUxKzgCCdUoWguf9hK/Z4N4N15MjJNBImqgBBxibj/OA/ZGIRkUDDbPtaW4QmNziXowr7cs/bv/Cp8A7AHRctUiZ2bp9K76tTNXApCZ1uStoOHLygO0GwmnQbeVb77uS+IloOC21msWQkA39bnjhcsOp/IAhNxIGJS6//HEOi60WkFJOe4Q5NvJ+7d1lerZcbSCa6mCBCyU0lQK+jvUksf/0LuX8RQ51JQ76yiP2erF+LlMpzvG4BSdxlEgJwWx5mFO2Efz1Ve/sjzqVhgcUKGcUb7Uql4Ls9kLu6W0PLMjg0dwIWHc/ZqdCqhk8vqEYEtiooXIbB78RVBYaHUnCTa7N/ekgEMGUfuashiRraOvMK2U2jJ/4X1UwLnmsXhoMPlMnWwxaL7j/Mqltkk9suFlZ5JvX9/cxbxVsibQxVEQqIqakUSjtS7lLZlm7es7UuP2A8ZgnD9J8iRVZCjaC2/BquJs+MQZYeUModj2m8pjTklM51IvGi7T3Y/YhrAlWBFurSwIR1flYg3EJg3umMfi4V+99yg65UTywK7VvW9ZDW90KfNdnCLKVem6WG4xWgd06b0ucUbKZ/UqjMV1BlePpjejaw8g6b88DC4kx/TT+5ZxM9CaE1MhGjRMAQ4Zb2IO8aa+rHsspWXAfWSHPyK16pzcxZ8FmG1CEz7Yyy8c4CZVzUyb2/dYG+e2RKqxQ7v1bVIsBfEYiCGq+6AVHW97LWSSvnag80aTu+BCXesjDwVPhaGDMFQyiKktZ2JisCIGB4UwF1pn0iTNT5US0VbEVv8RtoxxmUMKPEjBgNK0JB6fS2Bm3hpzhJihWrP83HF8NnmE67d15JPObMVU9mmqhtfYAYz6VajQdK6vjuJJMXCSDu8wSsOMWrukX/11oi4H204GqTSShk66gVxjIu3zO5xeCpB/LNNxwKT58gsP3tfUiMooauQ8d80yb+wVxSDQfKGCZccqx8ywA0Odz8DAOsnbDwOEHBMegSyIUe/VRA0OP586Dsp+Wa/N4jyqtqYSmPm2QG40M6MGCSyEPvfkOB+VRcTjqAdGVhJnZFtt21t7EZNKeuO3HXcZG6/FljXMYOXdhHVhh1xKFgfyQgffrhdXSoOP02bILCM/Ku8RG4OnDDZzKkE8XRwUDQE9hpNpDuGiCiu7ptdQcDBvnOkXw2UF3dLQ3pA31aZGRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GZnKkja7ekx5VjW35SqQCx",
      "input": {
        "note": "The wrist view shows the tan leftmost bowl down-left of the jaw column, so it is further toward the arm's left than I assumed; shifting the left arm ~10 cm in +y to center over it.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.09,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01GZnKkja7ekx5VjW35SqQCx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4442, 1.2003, 1.0878, -0.5644, -0.3832, -0.2932, 0.9988, -0.02, 0.7979, 0.5999, -0.3927, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3523 left_y=-0.0906 left_z=0.2438 left_yaw=0.0183 left_pitch=-0.0474 left_roll=0.0108 left_gripper=0.9988 right_x=0.2928 right_y=0.0007 right_z=0.1744 right_yaw=-0.002 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9988\nstate[joint_eff]: [0.2256, -5.5316, 6.6256, 1.6679, -0.0611, 0.1392, -0.0269, -0.335, -0.9231, 7.0222, 1.7509, -0.0415, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82725983fe5810cbaa0f6f25e7b071d7e3afe68edede162e535e11aec345b596",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d43e912c583e239e4fdf06b8e93df9ad4a1fdb286b2ad2a63f041ea5ac2c1db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba3aedded668fabbf06f6141c28f3bd37a3e738e4c157f2a4e102099ce36d7d8",
        "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 · 16.41 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6044, -0.382, -0.0227, -0.0296, 0.9989, -0.0181, 0.7933, 0.6018, -0.3824, -0.017, -0.02, 0.9989]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1794 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9989 right_x=0.2941 right_y=0.0013 right_z=0.1786 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9989\nstate[joint_eff]: [-0.6085, -1.6068, 10.1538, 1.8144, -0.0513, 0.1392, -0.1245, -0.8274, -1.4291, 10.3316, 1.9609, -0.0904, 0.0464, -0.1245]",
      "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]: [-0.7391, 1.4101, 1.2102, -0.551, -0.5842, -0.4736, 0.9989, -0.02, 0.7975, 0.6003, -0.3927, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3554 left_y=-0.1873 left_z=0.2345 left_yaw=-0.0203 left_pitch=-0.033 left_roll=0.0135 left_gripper=0.9989 right_x=0.2928 right_y=0.0007 right_z=0.1747 right_yaw=-0.0022 right_pitch=-0.016 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -6.2564, 9.2239, 1.3504, -0.4029, -0.0171, -0.1294, 0.1436, -1.5521, 7.1863, 1.7802, -0.0855, -0.022, -0.0171]",
      "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]: [-0.4442, 1.2003, 1.0878, -0.5644, -0.3832, -0.2932, 0.9988, -0.02, 0.7979, 0.5999, -0.3927, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3523 left_y=-0.0906 left_z=0.2438 left_yaw=0.0183 left_pitch=-0.0474 left_roll=0.0108 left_gripper=0.9988 right_x=0.2928 right_y=0.0007 right_z=0.1744 right_yaw=-0.002 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9988\nstate[joint_eff]: [0.2256, -5.5316, 6.6256, 1.6679, -0.0611, 0.1392, -0.0269, -0.335, -0.9231, 7.0222, 1.7509, -0.0415, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82725983fe5810cbaa0f6f25e7b071d7e3afe68edede162e535e11aec345b596",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d43e912c583e239e4fdf06b8e93df9ad4a1fdb286b2ad2a63f041ea5ac2c1db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba3aedded668fabbf06f6141c28f3bd37a3e738e4c157f2a4e102099ce36d7d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RpeNnWqaWinPbghvZ12Tp4",
      "input": {
        "note": "The tan bowl is now just left of the jaw column in the wrist view; I plan to pinch its left rim, so I move ~9 cm further in +y (to the bowl's left edge) and drop to 12 cm to inspect the rim alignment.",
        "targets": {
          "left_x": 0.35,
          "left_y": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01RpeNnWqaWinPbghvZ12Tp4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 1.1496, 0.5667, -0.1108, -0.1101, -0.0891, 0.9988, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3394 left_y=0.003 left_z=0.1112 left_yaw=0.0672 left_pitch=-0.1162 left_roll=0.0123 left_gripper=0.9988 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0179 right_roll=-0.0002 right_gripper=0.9988\nstate[joint_eff]: [0.3077, -3.0974, 6.9402, 1.9902, 0.0415, 0.1978, -0.0122, -0.0752, -1.306, 7.0359, 1.7216, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b6863d976e6821fbf73cf2084f22ff65d0ac004f83dc11ef01a926f3a7eff9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2eaf62951282d0943d0b15c9ba9ed0b0204398daff3e2a01f44b2bdd7ed2ab3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6e351f9958ee99486a476b3a5d052c58b6c2ad0b2a855e1426a2d41712284e19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 22.55 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7391, 1.4101, 1.2102, -0.551, -0.5842, -0.4736, 0.9989, -0.02, 0.7975, 0.6003, -0.3927, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3554 left_y=-0.1873 left_z=0.2345 left_yaw=-0.0203 left_pitch=-0.033 left_roll=0.0135 left_gripper=0.9989 right_x=0.2928 right_y=0.0007 right_z=0.1747 right_yaw=-0.0022 right_pitch=-0.016 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -6.2564, 9.2239, 1.3504, -0.4029, -0.0171, -0.1294, 0.1436, -1.5521, 7.1863, 1.7802, -0.0855, -0.022, -0.0171]",
      "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]: [-0.4442, 1.2003, 1.0878, -0.5644, -0.3832, -0.2932, 0.9988, -0.02, 0.7979, 0.5999, -0.3927, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3523 left_y=-0.0906 left_z=0.2438 left_yaw=0.0183 left_pitch=-0.0474 left_roll=0.0108 left_gripper=0.9988 right_x=0.2928 right_y=0.0007 right_z=0.1744 right_yaw=-0.002 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9988\nstate[joint_eff]: [0.2256, -5.5316, 6.6256, 1.6679, -0.0611, 0.1392, -0.0269, -0.335, -0.9231, 7.0222, 1.7509, -0.0415, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 1.1496, 0.5667, -0.1108, -0.1101, -0.0891, 0.9988, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3394 left_y=0.003 left_z=0.1112 left_yaw=0.0672 left_pitch=-0.1162 left_roll=0.0123 left_gripper=0.9988 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0179 right_roll=-0.0002 right_gripper=0.9988\nstate[joint_eff]: [0.3077, -3.0974, 6.9402, 1.9902, 0.0415, 0.1978, -0.0122, -0.0752, -1.306, 7.0359, 1.7216, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b6863d976e6821fbf73cf2084f22ff65d0ac004f83dc11ef01a926f3a7eff9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2eaf62951282d0943d0b15c9ba9ed0b0204398daff3e2a01f44b2bdd7ed2ab3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e351f9958ee99486a476b3a5d052c58b6c2ad0b2a855e1426a2d41712284e19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GvPMD8g8vcawVmpPJ2WX6H",
      "input": {
        "note": "The tan bowl now fills the lower wrist view slightly right of the jaw column, so its centre is ~2.5 cm to the arm's right; I move to its left rim and descend to table level so the jaws straddle the rim wall.",
        "targets": {
          "left_x": 0.345,
          "left_y": 0.042,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01GvPMD8g8vcawVmpPJ2WX6H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1177, 1.5055, 0.3584, 0.3748, 0.0051, 0.001, 0.9988, -0.02, 0.8028, 0.5961, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3324 left_y=0.042 left_z=0.0048 left_yaw=0.097 left_pitch=-0.1997 left_roll=0.0065 left_gripper=0.9988 right_x=0.2925 right_y=0.0007 right_z=0.1711 right_yaw=-0.002 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9988\nstate[joint_eff]: [0.294, -5.6, 4.6291, 1.9121, 0.0952, 0.0757, -0.0171, -0.3487, -1.6205, 7.4735, 1.6923, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb8dc7abcb4271cb820c8e067789db3e7f22e7d565eaa8ad2eb30086e7f74663",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c25f2dc60686342e9cdeb003fc0d6febba5acd02e5ee32bf65ce58f59029d8fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0902d83fb28cf86f6cb6181467831bd5b50e68fb70b59dda4b423018476794e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 6.432 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4442, 1.2003, 1.0878, -0.5644, -0.3832, -0.2932, 0.9988, -0.02, 0.7979, 0.5999, -0.3927, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3523 left_y=-0.0906 left_z=0.2438 left_yaw=0.0183 left_pitch=-0.0474 left_roll=0.0108 left_gripper=0.9988 right_x=0.2928 right_y=0.0007 right_z=0.1744 right_yaw=-0.002 right_pitch=-0.0168 right_roll=-0.0002 right_gripper=0.9988\nstate[joint_eff]: [0.2256, -5.5316, 6.6256, 1.6679, -0.0611, 0.1392, -0.0269, -0.335, -0.9231, 7.0222, 1.7509, -0.0415, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 1.1496, 0.5667, -0.1108, -0.1101, -0.0891, 0.9988, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3394 left_y=0.003 left_z=0.1112 left_yaw=0.0672 left_pitch=-0.1162 left_roll=0.0123 left_gripper=0.9988 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0179 right_roll=-0.0002 right_gripper=0.9988\nstate[joint_eff]: [0.3077, -3.0974, 6.9402, 1.9902, 0.0415, 0.1978, -0.0122, -0.0752, -1.306, 7.0359, 1.7216, -0.0317, -0.0757, -0.0122]",
      "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]: [0.1177, 1.5055, 0.3584, 0.3748, 0.0051, 0.001, 0.9988, -0.02, 0.8028, 0.5961, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3324 left_y=0.042 left_z=0.0048 left_yaw=0.097 left_pitch=-0.1997 left_roll=0.0065 left_gripper=0.9988 right_x=0.2925 right_y=0.0007 right_z=0.1711 right_yaw=-0.002 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9988\nstate[joint_eff]: [0.294, -5.6, 4.6291, 1.9121, 0.0952, 0.0757, -0.0171, -0.3487, -1.6205, 7.4735, 1.6923, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb8dc7abcb4271cb820c8e067789db3e7f22e7d565eaa8ad2eb30086e7f74663",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c25f2dc60686342e9cdeb003fc0d6febba5acd02e5ee32bf65ce58f59029d8fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0902d83fb28cf86f6cb6181467831bd5b50e68fb70b59dda4b423018476794e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F6VUC6Lr6zV3FujyS3oDyv",
      "input": {
        "note": "The wrist view shows the bowl's left rim sitting just right of the jaw midline, with the right jaw over the bowl interior; raising to rim height (4.5 cm) before pinching the rim.",
        "targets": {
          "left_y": 0.038,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01F6VUC6Lr6zV3FujyS3oDyv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1013, 1.3563, 0.4007, 0.2226, 0.0002, -0.0082, 0.9988, -0.02, 0.8043, 0.5957, -0.3931, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3356 left_y=0.0377 left_z=0.0396 left_yaw=0.09 left_pitch=-0.1604 left_roll=0.0037 left_gripper=0.9988 right_x=0.2926 right_y=0.0007 right_z=0.1706 right_yaw=-0.002 right_pitch=-0.0278 right_roll=-0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -4.0684, 7.6513, 1.5458, -0.105, -0.1001, -0.0122, -0.3761, -1.2376, 7.241, 1.746, -0.0464, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ed42936717b3eb73d9802fa12a9086f15a6178a6287d604af6b6c8b0ca71a06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38e008a6fa08968b5fe704d1cf4f542241bda2ed5c7397dcab6438770ff93f73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b4362c4c68f4846b5024c4fd3a82c9e5c673bd7592547fbfc02aab6d55dba4b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 5.152 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0589, 1.1496, 0.5667, -0.1108, -0.1101, -0.0891, 0.9988, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3394 left_y=0.003 left_z=0.1112 left_yaw=0.0672 left_pitch=-0.1162 left_roll=0.0123 left_gripper=0.9988 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=-0.002 right_pitch=-0.0179 right_roll=-0.0002 right_gripper=0.9988\nstate[joint_eff]: [0.3077, -3.0974, 6.9402, 1.9902, 0.0415, 0.1978, -0.0122, -0.0752, -1.306, 7.0359, 1.7216, -0.0317, -0.0757, -0.0122]",
      "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]: [0.1177, 1.5055, 0.3584, 0.3748, 0.0051, 0.001, 0.9988, -0.02, 0.8028, 0.5961, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3324 left_y=0.042 left_z=0.0048 left_yaw=0.097 left_pitch=-0.1997 left_roll=0.0065 left_gripper=0.9988 right_x=0.2925 right_y=0.0007 right_z=0.1711 right_yaw=-0.002 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9988\nstate[joint_eff]: [0.294, -5.6, 4.6291, 1.9121, 0.0952, 0.0757, -0.0171, -0.3487, -1.6205, 7.4735, 1.6923, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1013, 1.3563, 0.4007, 0.2226, 0.0002, -0.0082, 0.9988, -0.02, 0.8043, 0.5957, -0.3931, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3356 left_y=0.0377 left_z=0.0396 left_yaw=0.09 left_pitch=-0.1604 left_roll=0.0037 left_gripper=0.9988 right_x=0.2926 right_y=0.0007 right_z=0.1706 right_yaw=-0.002 right_pitch=-0.0278 right_roll=-0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -4.0684, 7.6513, 1.5458, -0.105, -0.1001, -0.0122, -0.3761, -1.2376, 7.241, 1.746, -0.0464, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ed42936717b3eb73d9802fa12a9086f15a6178a6287d604af6b6c8b0ca71a06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38e008a6fa08968b5fe704d1cf4f542241bda2ed5c7397dcab6438770ff93f73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4362c4c68f4846b5024c4fd3a82c9e5c673bd7592547fbfc02aab6d55dba4b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkgYKjgEIEhgCKkAvfGg54v90ggi++UnR/6dKRBpEUc/tGUBt3B74H+nfUeZcCnxSTKYJqom9G5MG1KKtpfi6pehLKMr5LOfixpgmMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeq5zNUGEgx50k9pVW3wJ2WPlroaDAMQmeCPT1Zmv5ITwCIwsxSOIHiceLm+MiEucRI/0ZLBzsBitVC6GivZ+j0Klhd1wwEkUn0ZFV2QCpLMhB7GKrAEUus3UJ1NNZoVh0Xj1fP8OpyxquydPdhLtPbcRKNbOpWHgclkUhkg1x3AXkr0L3fepQMKObnmVk+USyantxBe3De2kD6a0SxDWZtOTegZOCshqNQElfgEvgqTna+C7TqEJtdH50P3J3JW2ZJXFY/9C3yY9Qfn5symlh4/aIoXtGBNDuOOVd7TQbZJq1Qmdun8gth2AKpcmNmXHbHMOR8jh8jyKyv7w4EYvkUO+H1HiB0r1kibaomFDZGADvlQnk7qC6BjMHTHkNWnyDz6vlnEB7rgMteRxr/2gB/+PljdI2tPPtrS/I+HfCzmoWMdlJOSPL2BChk79gvOV1wMwU/vXM+w0jA4ptpXRQcdd0yV9lmust1cIjCOQuj9CSXjcS441xaiinBwW7X1Q9UbNfTbuDEey+fj7BGYtTcyPSYO7y74hRKNPzOI73yfisgXRIChwvK2te9T108f6G/HnwxYsxX/k9ZRN4VXY6JBAx9tlFsQsLl5woeVi9N7KCY9pVKnnyjZh/ri82sET3Kp2tyMEZhaQLvwfp1NbOnGYqAOZLXVgqwEpGv6K+USfC58T0JNA6mBr3dv3RyVPmFGUJDxDhEdQdFW8LiWkEs3Khz86r5FipDA40qrz6TIj3pI4to8AzVbpSm8uXIGpcv5gPsAa3Yev6t/wmw8SE7308CpCv1tNibkD5Se8nb+tF9C+CDJ3KQxy4QWdCAGrqSRXpM6VwltbWdBcdFHqUgbxecHP6MYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018TUFov8XWu6jpa5CLbXH66",
      "input": {
        "note": "Gripper is straddling the bowl's left rim; closing the jaws to pinch the rim.",
        "targets": {
          "left_gripper": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018TUFov8XWu6jpa5CLbXH66",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0998, 1.3533, 0.4057, 0.2047, 0.0025, -0.0196, 0.0328, -0.02, 0.8043, 0.5953, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3346 left_y=0.0366 left_z=0.0391 left_yaw=0.0928 left_pitch=-0.1703 left_roll=-0.0065 left_gripper=0.0328 right_x=0.2925 right_y=0.0007 right_z=0.1704 right_yaw=-0.002 right_pitch=-0.0286 right_roll=-0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -4.1094, 5.3812, 1.6777, -0.0611, 0.1343, 1.0037, -0.0889, -1.265, 7.0632, 1.746, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a5c6edf8a9b86c5852dcf8dbc1cddbdfb9d1067bba0adc12592d2cbc21a3247",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1ecaf85a1257c70e0813c7eb58114556bb083ebd6129f932d23e6ef4e34fdd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:afe44a163c99698ea717fb1c33a075ed2541b34b904d277837f821c59bdaf8ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 5.884 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1177, 1.5055, 0.3584, 0.3748, 0.0051, 0.001, 0.9988, -0.02, 0.8028, 0.5961, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3324 left_y=0.042 left_z=0.0048 left_yaw=0.097 left_pitch=-0.1997 left_roll=0.0065 left_gripper=0.9988 right_x=0.2925 right_y=0.0007 right_z=0.1711 right_yaw=-0.002 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9988\nstate[joint_eff]: [0.294, -5.6, 4.6291, 1.9121, 0.0952, 0.0757, -0.0171, -0.3487, -1.6205, 7.4735, 1.6923, -0.0415, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1013, 1.3563, 0.4007, 0.2226, 0.0002, -0.0082, 0.9988, -0.02, 0.8043, 0.5957, -0.3931, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3356 left_y=0.0377 left_z=0.0396 left_yaw=0.09 left_pitch=-0.1604 left_roll=0.0037 left_gripper=0.9988 right_x=0.2926 right_y=0.0007 right_z=0.1706 right_yaw=-0.002 right_pitch=-0.0278 right_roll=-0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -4.0684, 7.6513, 1.5458, -0.105, -0.1001, -0.0122, -0.3761, -1.2376, 7.241, 1.746, -0.0464, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0998, 1.3533, 0.4057, 0.2047, 0.0025, -0.0196, 0.0328, -0.02, 0.8043, 0.5953, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3346 left_y=0.0366 left_z=0.0391 left_yaw=0.0928 left_pitch=-0.1703 left_roll=-0.0065 left_gripper=0.0328 right_x=0.2925 right_y=0.0007 right_z=0.1704 right_yaw=-0.002 right_pitch=-0.0286 right_roll=-0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -4.1094, 5.3812, 1.6777, -0.0611, 0.1343, 1.0037, -0.0889, -1.265, 7.0632, 1.746, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a5c6edf8a9b86c5852dcf8dbc1cddbdfb9d1067bba0adc12592d2cbc21a3247",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1ecaf85a1257c70e0813c7eb58114556bb083ebd6129f932d23e6ef4e34fdd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afe44a163c99698ea717fb1c33a075ed2541b34b904d277837f821c59bdaf8ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmwQKjgEIEhgCKkB+WHQ7RML3iedRJ3M911UzXlye+xskztEwAArrv1ZHoi87sIS8yCOV8sMf/o195SsRJceH/fUZZf3nvWrEzNaTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfC5zNUGEgypgJEw2o2wa7Fr0uoaDFiCgl8IESxvHGNvUyIwGP0TXuXlQ/UWGhz6AcxNQ4Xy5zF9HAOX8njgukh+wXKEpZdoywNSXDw8T+2OcGyLKrkCAw7bSiHkRuT3B31AKH8h/mUkqm7VFDCqClzzASYDkAS6silzjjYFA1WE0RoKrohpwfoj0kT0Uxy44yfAduUspZlyAIak76lQaSh5HF/7oHQqxyuXVgqMmCW34FFtAVNjOvdafnCVgj5cwyd8RhffQbGM9yheNvkvai23XvvnmiyytqppznWvH5zbBmAHAQdj8ovglo5H0RLPjruzGQP0wQ0PF5S2fhg+v3Ra3AYs5Vu6XK81pTMdIn/45yFcUMgO2bzw+qiChYjbvZcmPZG1QegoaQUQxCC79PnNJjAtJAIEM5ittpWYnhynRmApHs3TQCxZlTctj33uma2wemf2o3d2a31layXstEvdvoYjXpjhwh+Qw4h2sgUvfBK4b3C4eKbkcIaaOhhNBetZ7CVrbnbxbEloypL55hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WxCgBpR54SyTFZSc73HpLE",
      "input": {
        "note": "Jaws closed to 0.033 (about a rim thickness); lifting 11 cm to check in the overhead view whether the tan bowl came with the gripper.",
        "targets": {
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01WxCgBpR54SyTFZSc73HpLE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0998, 1.1397, 0.6968, -0.3218, 0.0002, -0.0238, 0.0347, -0.02, 0.8043, 0.5953, -0.3943, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3329 left_y=0.0369 left_z=0.1304 left_yaw=0.097 left_pitch=-0.192 left_roll=-0.0081 left_gripper=0.0347 right_x=0.2924 right_y=0.0007 right_z=0.1702 right_yaw=-0.0022 right_pitch=-0.0294 right_roll=0.0003 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, -4.9709, 9.5795, 1.619, 0.0024, 0.0122, 0.7155, -0.0615, -1.2786, 7.0359, 1.7411, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4371b2a2d86ad1b7afeec035ff077cbffa6f1043a1b908a1d9f09299bfc22b1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60eb572c9e85c03d183e9be4ff281e680254c66c01670ec2e8ef195815768ef6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b52892bdec0973a9719fe9990b5166c792ba437d50664538fffc0de19b65dd01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 15.3 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1013, 1.3563, 0.4007, 0.2226, 0.0002, -0.0082, 0.9988, -0.02, 0.8043, 0.5957, -0.3931, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3356 left_y=0.0377 left_z=0.0396 left_yaw=0.09 left_pitch=-0.1604 left_roll=0.0037 left_gripper=0.9988 right_x=0.2926 right_y=0.0007 right_z=0.1706 right_yaw=-0.002 right_pitch=-0.0278 right_roll=-0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.1846, -4.0684, 7.6513, 1.5458, -0.105, -0.1001, -0.0122, -0.3761, -1.2376, 7.241, 1.746, -0.0464, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0998, 1.3533, 0.4057, 0.2047, 0.0025, -0.0196, 0.0328, -0.02, 0.8043, 0.5953, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3346 left_y=0.0366 left_z=0.0391 left_yaw=0.0928 left_pitch=-0.1703 left_roll=-0.0065 left_gripper=0.0328 right_x=0.2925 right_y=0.0007 right_z=0.1704 right_yaw=-0.002 right_pitch=-0.0286 right_roll=-0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -4.1094, 5.3812, 1.6777, -0.0611, 0.1343, 1.0037, -0.0889, -1.265, 7.0632, 1.746, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0998, 1.1397, 0.6968, -0.3218, 0.0002, -0.0238, 0.0347, -0.02, 0.8043, 0.5953, -0.3943, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3329 left_y=0.0369 left_z=0.1304 left_yaw=0.097 left_pitch=-0.192 left_roll=-0.0081 left_gripper=0.0347 right_x=0.2924 right_y=0.0007 right_z=0.1702 right_yaw=-0.0022 right_pitch=-0.0294 right_roll=0.0003 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, -4.9709, 9.5795, 1.619, 0.0024, 0.0122, 0.7155, -0.0615, -1.2786, 7.0359, 1.7411, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4371b2a2d86ad1b7afeec035ff077cbffa6f1043a1b908a1d9f09299bfc22b1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60eb572c9e85c03d183e9be4ff281e680254c66c01670ec2e8ef195815768ef6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b52892bdec0973a9719fe9990b5166c792ba437d50664538fffc0de19b65dd01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxgUKjgEIEhgCKkD70NWRw1dnljy8PliiI9vmFxfQyfaYsZRHeeuXkKd28ZS0jeLNbDz5hzN2Ilu15IvpWER1tcnid2M+xxvtJAWXMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfe5zNUGEgwXB6g5+/fPg93mIPUaDOwJGdjPm2RZ7tV1iyIwSaZIR3LttXSamGqVUrtMRdopPzvlUDlFKzmh6L1qQ5576f+YxYYVmHleqUx9csoWKuQD1nehFfgGepU38SMyWankwiIqe1Nqs33WGwo1BhT9HBC8TYMZL2QhGy9vhBx/ltDJ5HO1zoKNpIED2pNVlIIk0DwKWX0CMVslIOeEwdgWOEJIvUoUnz4SW59X+EL1L2svXY8tv36Yqk5C10EC00+X41MCn2hMVm2534behM+sD0Z6H/ICfUbxb3MkdqulWQXzgOwygcVHOvQlRJvHbYLZKGxDfNx4mjKJbC3wiMvhicE1h/Evr6RYu1rELWx5xeH1v5mbjfD+YZQIem79RsxcJ1xLMCTEZA4a1S7ruXDEd7rCaY5SPTaP3aF28QJp0Bg7gw9b5RNlI4NsHVwpIL64/gIR4McGKVLx9ZSXrmvYpejKpwmaoYqo+gO8+ykswQwvUkpRp9kvgY0nuT3lIQirSqZrqX6H5MU5dCxQJBkIkZcMO19QyDovJ3zUqB0ZqX6WYblTq6CjruXw/ptP0wLk60n/O+yeaeTtlBTPNI2NZmuJZK06zQkeuLsxGnqu8c05FW0nRvQ/mUAFyNDABJDFqM1UlQ/dOJilAwD/oyjrZHVPuiQwgQHUmHxKOzsJw9xtVIEuzkb0YCp0R39leAa7VWT3D2ymkcKLkiYc+Fn8gPvCoSOLzZZ44rQ53kRrj19z6qOCfBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HRZjDFPdMgxxcj77NkPVnd",
      "input": {
        "note": "Overhead view suggests the tan bowl tipped toward the gripper, so it may be pinched by its rim; lifting to 24 cm to confirm it leaves the table.",
        "targets": {
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01HRZjDFPdMgxxcj77NkPVnd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0998, 1.145, 1.0866, -0.7189, 0.0002, -0.0261, 0.0373, -0.02, 0.8043, 0.5953, -0.3939, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.333 left_y=0.0369 left_z=0.2251 left_yaw=0.0983 left_pitch=-0.2046 left_roll=-0.0098 left_gripper=0.0373 right_x=0.2924 right_y=0.0007 right_z=0.1703 right_yaw=-0.002 right_pitch=-0.029 right_roll=-0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.253, -3.1521, 9.1556, 1.5458, -0.0464, -0.0317, 0.6422, -0.0615, -1.2923, 7.0085, 1.7216, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b1d47b57aa320769bf60c6eb769d60ad94f924ca315115ee8bf286ac59f3583",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40dd872a57145999d35f763cc798c2033c25192b26d5f63a0a2322185abc65d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f793f687534e3a3cf2d149f7d4da35913439eb2631b2d6eac62270e2c37585e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 15.34 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0998, 1.3533, 0.4057, 0.2047, 0.0025, -0.0196, 0.0328, -0.02, 0.8043, 0.5953, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3346 left_y=0.0366 left_z=0.0391 left_yaw=0.0928 left_pitch=-0.1703 left_roll=-0.0065 left_gripper=0.0328 right_x=0.2925 right_y=0.0007 right_z=0.1704 right_yaw=-0.002 right_pitch=-0.0286 right_roll=-0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.0068, -4.1094, 5.3812, 1.6777, -0.0611, 0.1343, 1.0037, -0.0889, -1.265, 7.0632, 1.746, -0.0415, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0998, 1.1397, 0.6968, -0.3218, 0.0002, -0.0238, 0.0347, -0.02, 0.8043, 0.5953, -0.3943, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3329 left_y=0.0369 left_z=0.1304 left_yaw=0.097 left_pitch=-0.192 left_roll=-0.0081 left_gripper=0.0347 right_x=0.2924 right_y=0.0007 right_z=0.1702 right_yaw=-0.0022 right_pitch=-0.0294 right_roll=0.0003 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, -4.9709, 9.5795, 1.619, 0.0024, 0.0122, 0.7155, -0.0615, -1.2786, 7.0359, 1.7411, -0.0415, -0.0415, -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]: [0.0998, 1.145, 1.0866, -0.7189, 0.0002, -0.0261, 0.0373, -0.02, 0.8043, 0.5953, -0.3939, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.333 left_y=0.0369 left_z=0.2251 left_yaw=0.0983 left_pitch=-0.2046 left_roll=-0.0098 left_gripper=0.0373 right_x=0.2924 right_y=0.0007 right_z=0.1703 right_yaw=-0.002 right_pitch=-0.029 right_roll=-0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.253, -3.1521, 9.1556, 1.5458, -0.0464, -0.0317, 0.6422, -0.0615, -1.2923, 7.0085, 1.7216, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b1d47b57aa320769bf60c6eb769d60ad94f924ca315115ee8bf286ac59f3583",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40dd872a57145999d35f763cc798c2033c25192b26d5f63a0a2322185abc65d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f793f687534e3a3cf2d149f7d4da35913439eb2631b2d6eac62270e2c37585e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012ABAxnXFmC2gZ2g6ofYVYu",
      "input": {
        "note": "The tan bowl has left the table — it is hanging from the gripper by its rim. Traversing right so the hanging bowl sits above the blue middle bowl.",
        "targets": {
          "left_y": -0.1,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_012ABAxnXFmC2gZ2g6ofYVYu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4973, 1.2671, 1.1194, -0.7815, -0.3782, -0.4473, 0.0404, -0.02, 0.8043, 0.5945, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.325 left_y=-0.0981 left_z=0.1997 left_yaw=0.0662 left_pitch=-0.2674 left_roll=0.0164 left_gripper=0.0404 right_x=0.2924 right_y=0.0007 right_z=0.17 right_yaw=-0.002 right_pitch=-0.0294 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.3077, -4.547, 9.7162, 1.4481, -0.3736, -0.0122, 0.3053, -0.335, -1.1556, 7.0906, 1.7411, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0052d436e60140dc0295d1c3e4ee02b2b08c5539ae9ed3e960ac0656526f50e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4926d45d7e5202706991a558bfaab16d2f377730aea61cf6d4a155004f64c05e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21279ef1a69169d6edd9601ccdabb0ca446ac56268796268e7b3ef5d4ff0c962",
        "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 · 10.31 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0998, 1.1397, 0.6968, -0.3218, 0.0002, -0.0238, 0.0347, -0.02, 0.8043, 0.5953, -0.3943, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3329 left_y=0.0369 left_z=0.1304 left_yaw=0.097 left_pitch=-0.192 left_roll=-0.0081 left_gripper=0.0347 right_x=0.2924 right_y=0.0007 right_z=0.1702 right_yaw=-0.0022 right_pitch=-0.0294 right_roll=0.0003 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, -4.9709, 9.5795, 1.619, 0.0024, 0.0122, 0.7155, -0.0615, -1.2786, 7.0359, 1.7411, -0.0415, -0.0415, -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]: [0.0998, 1.145, 1.0866, -0.7189, 0.0002, -0.0261, 0.0373, -0.02, 0.8043, 0.5953, -0.3939, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.333 left_y=0.0369 left_z=0.2251 left_yaw=0.0983 left_pitch=-0.2046 left_roll=-0.0098 left_gripper=0.0373 right_x=0.2924 right_y=0.0007 right_z=0.1703 right_yaw=-0.002 right_pitch=-0.029 right_roll=-0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.253, -3.1521, 9.1556, 1.5458, -0.0464, -0.0317, 0.6422, -0.0615, -1.2923, 7.0085, 1.7216, -0.0464, -0.0513, -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]: [-0.4973, 1.2671, 1.1194, -0.7815, -0.3782, -0.4473, 0.0404, -0.02, 0.8043, 0.5945, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.325 left_y=-0.0981 left_z=0.1997 left_yaw=0.0662 left_pitch=-0.2674 left_roll=0.0164 left_gripper=0.0404 right_x=0.2924 right_y=0.0007 right_z=0.17 right_yaw=-0.002 right_pitch=-0.0294 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.3077, -4.547, 9.7162, 1.4481, -0.3736, -0.0122, 0.3053, -0.335, -1.1556, 7.0906, 1.7411, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0052d436e60140dc0295d1c3e4ee02b2b08c5539ae9ed3e960ac0656526f50e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4926d45d7e5202706991a558bfaab16d2f377730aea61cf6d4a155004f64c05e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21279ef1a69169d6edd9601ccdabb0ca446ac56268796268e7b3ef5d4ff0c962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RU2uxq5dT774T6VaCFowwm",
      "input": {
        "note": "Carrying the tan bowl above the blue bowl; lowering to ~14 cm so the hanging bowl's base is just above the blue bowl's rim before releasing.",
        "targets": {
          "left_x": 0.34,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RU2uxq5dT774T6VaCFowwm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4706, 1.3296, 0.9264, -0.6144, -0.3668, -0.4419, 0.0427, -0.02, 0.8051, 0.5945, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3239 left_y=-0.0896 left_z=0.1276 left_yaw=0.0959 left_pitch=-0.3473 left_roll=0.0613 left_gripper=0.0427 right_x=0.2924 right_y=0.0007 right_z=0.1698 right_yaw=-0.002 right_pitch=-0.0301 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [0.2393, -5.5726, 7.9385, 1.7998, -0.1538, 0.1783, 0.2222, -0.3761, -1.347, 7.2137, 1.7265, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc444ffffecb4ef6a88e067ea48ee3db6a05d774dd019a47da9145dd39f0a378",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e31e128587c69d38e4e543856bbe9fc68f3ac0818d858b2322e387636a7813c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b907779b6a6d99fd6e1fdb67dbc951683327fb1c291d0cf60718b0d58258503",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 8.924 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.0998, 1.145, 1.0866, -0.7189, 0.0002, -0.0261, 0.0373, -0.02, 0.8043, 0.5953, -0.3939, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.333 left_y=0.0369 left_z=0.2251 left_yaw=0.0983 left_pitch=-0.2046 left_roll=-0.0098 left_gripper=0.0373 right_x=0.2924 right_y=0.0007 right_z=0.1703 right_yaw=-0.002 right_pitch=-0.029 right_roll=-0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.253, -3.1521, 9.1556, 1.5458, -0.0464, -0.0317, 0.6422, -0.0615, -1.2923, 7.0085, 1.7216, -0.0464, -0.0513, -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]: [-0.4973, 1.2671, 1.1194, -0.7815, -0.3782, -0.4473, 0.0404, -0.02, 0.8043, 0.5945, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.325 left_y=-0.0981 left_z=0.1997 left_yaw=0.0662 left_pitch=-0.2674 left_roll=0.0164 left_gripper=0.0404 right_x=0.2924 right_y=0.0007 right_z=0.17 right_yaw=-0.002 right_pitch=-0.0294 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.3077, -4.547, 9.7162, 1.4481, -0.3736, -0.0122, 0.3053, -0.335, -1.1556, 7.0906, 1.7411, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4706, 1.3296, 0.9264, -0.6144, -0.3668, -0.4419, 0.0427, -0.02, 0.8051, 0.5945, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3239 left_y=-0.0896 left_z=0.1276 left_yaw=0.0959 left_pitch=-0.3473 left_roll=0.0613 left_gripper=0.0427 right_x=0.2924 right_y=0.0007 right_z=0.1698 right_yaw=-0.002 right_pitch=-0.0301 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [0.2393, -5.5726, 7.9385, 1.7998, -0.1538, 0.1783, 0.2222, -0.3761, -1.347, 7.2137, 1.7265, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc444ffffecb4ef6a88e067ea48ee3db6a05d774dd019a47da9145dd39f0a378",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e31e128587c69d38e4e543856bbe9fc68f3ac0818d858b2322e387636a7813c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b907779b6a6d99fd6e1fdb67dbc951683327fb1c291d0cf60718b0d58258503",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/QkKjgEIEhgCKkB6rHni/P+RAdCUCDRbc7knfxv2vf9ZuNL5lfeN/jvNEoKgTDcbCTPIAFJajDXQfnIya1JSnN8ZxR0cCavXn4rMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaK6zNUGEgxmGkjKnKLZIN2tKaEaDIczto4Uvl1P29XSxSIwuFgRtmuGNIGnN8edKT0V1unE6hM8UpKLTER7zyiCCRud418k/AjVwPSzeONdSB/8KpsIp0jYGrnuek54j/FZbF8WvY6nRjPHrH1hdAHzsiL8oF0RApfqjV1/8UnDganFIIIrMJegdQmfzX65U3WyG2ksIHKQFpM0C4ZzjcJpoW/EGRjRMlUFoRAZLrNZcKPxccyjS8jMj+8XijClnxQBh16Kk8EVntYCkbuAorjDtVLQc36Z/xvP3BOtcn0qrgW1KV3gB3U7nds7aXS58qqtdBgdyy2opeVPFPsfDacj2tW0LN5gkvt9obr0lKoCbICvIEI7fi/en6EpV+YCX8zyIsyxQEi7xtLqUsq2m3qtmmT08qNqahXLxNkwJIlB4IX+qoIzW74UACbiaRSM6qdsrD6KivdH7OeEKX4j9Em4cwkuvxlULb85FwsucTHiBJk1w3Eol4PIzKd4Tv38+MGXEtd6ozRfxIDWXVPZPT60XtzPp4OvkdfJECD8Aj0lTypUpbLUhidENcCilbn6aWZmpPsMAdlUpNGkXS1O2TIBBLMQ7y5NVgPFvjg+UKnfhYPd42SXS/JhboI+sqhefsM27vTOQTvvnVncNm22yLY+4NJPLGQaNdTrHlXkGjMsjxGk839RhTMfy9Jarjl5lUCFSRxKbFmHDmKjNF8zwsLSgA5Df22uqVg8YlEQhpTYJ+gDkc7CbdF4cvz0N8STOve7p19CKD2+WXyQI5DoaZTqyupFZORMit4K6KVOTHhfSrwi4mZgcksSNnP7B1M3NZkSeljFHxsQFf+iZTWN3EwvkbvKx2YYP5f2inFdJjFzdpzO6eCXjqR/uw1sW/ei4Y587R22nLeh0G66XT1RZO8lpwpTxwg8gmRxe95kelvaIcApQx8MblSIetFwOTBIcPgs5i6yEww92bRFIUsz0ktG4+swRO8eKYcFdeUlUAeVX+mCUlJ+3y+TkTlNty0kX5eVbJne694/YI6uOiwwBwdvp0dfdfJW3yBuMB3P/3KkcKre1QFZlKBwipLMAuMzKKWPpV7cjni+BvC4ZgbRiRYfIfcDZUg/hCeiEGPfG2+IqWh5vmx72JSrtEFmWnB/KeGKREDhQpb9mQqWmsGIR7ycQQK4ScncMU11+S+7eCBjfmG/dXLkA+7tndTTIjXZ7slWjzHJsX67zeKjsKJwK5uiv49QIG2412CG6idpYd1ynMPFjMx8r2nK5oxMQWqFHknO4pNoQjtqT3KtA6RHxEi7xxxv0aPJR69LO1W4ktFgvXugDkUEeQ3mDIhO3tMDCBV1VdJ84+zx2bHNBUmN+ZRgeQgPuEEPC4xgDiCCR4IpmTnfPy1qlsX1T9YPjnvw6ldf9vG+U8fGjLSSZ5RfaPS2xY3/S4r4dxCWnY05wXDg+9TkA7okvO8YwCr0kwRuuD3krxEOEJTIqSlW6FQcPHDAFt38FAIEzAyqtR59Q/0SUhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015axst1bSirzhAhVHZPieUK",
      "input": {
        "note": "The blue bowl's rim appears at the upper-right of the wrist view, so the carried bowl is still short of it; lifting for clearance and shifting 6 cm further toward the blue bowl.",
        "targets": {
          "left_y": -0.15,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015axst1bSirzhAhVHZPieUK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.654, 1.4509, 1.2015, -0.841, -0.432, -0.5987, 0.0447, -0.02, 0.8051, 0.5945, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3227 left_y=-0.1497 left_z=0.1675 left_yaw=0.0684 left_pitch=-0.3656 left_roll=0.0562 left_gripper=0.0447 right_x=0.2924 right_y=0.0007 right_z=0.1698 right_yaw=-0.002 right_pitch=-0.0301 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -5.9009, 8.759, 1.033, -0.4811, -0.0317, 0.1929, -0.0205, -1.3197, 7.3641, 1.6923, -0.0366, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba65a22cd03f10f6dec92db557274c540b6a20bef528f088955f945bbbebc8f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bf30ca753cac424319e2faca69f8425d6f8019e46429abbc6ef117975a69447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:345d58e0ad3650beddbd53771755b1017320be7a39473b6312d822e847df6fbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 6.433 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4973, 1.2671, 1.1194, -0.7815, -0.3782, -0.4473, 0.0404, -0.02, 0.8043, 0.5945, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.325 left_y=-0.0981 left_z=0.1997 left_yaw=0.0662 left_pitch=-0.2674 left_roll=0.0164 left_gripper=0.0404 right_x=0.2924 right_y=0.0007 right_z=0.17 right_yaw=-0.002 right_pitch=-0.0294 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.3077, -4.547, 9.7162, 1.4481, -0.3736, -0.0122, 0.3053, -0.335, -1.1556, 7.0906, 1.7411, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4706, 1.3296, 0.9264, -0.6144, -0.3668, -0.4419, 0.0427, -0.02, 0.8051, 0.5945, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3239 left_y=-0.0896 left_z=0.1276 left_yaw=0.0959 left_pitch=-0.3473 left_roll=0.0613 left_gripper=0.0427 right_x=0.2924 right_y=0.0007 right_z=0.1698 right_yaw=-0.002 right_pitch=-0.0301 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [0.2393, -5.5726, 7.9385, 1.7998, -0.1538, 0.1783, 0.2222, -0.3761, -1.347, 7.2137, 1.7265, -0.0415, -0.0659, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.654, 1.4509, 1.2015, -0.841, -0.432, -0.5987, 0.0447, -0.02, 0.8051, 0.5945, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3227 left_y=-0.1497 left_z=0.1675 left_yaw=0.0684 left_pitch=-0.3656 left_roll=0.0562 left_gripper=0.0447 right_x=0.2924 right_y=0.0007 right_z=0.1698 right_yaw=-0.002 right_pitch=-0.0301 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -5.9009, 8.759, 1.033, -0.4811, -0.0317, 0.1929, -0.0205, -1.3197, 7.3641, 1.6923, -0.0366, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba65a22cd03f10f6dec92db557274c540b6a20bef528f088955f945bbbebc8f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bf30ca753cac424319e2faca69f8425d6f8019e46429abbc6ef117975a69447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:345d58e0ad3650beddbd53771755b1017320be7a39473b6312d822e847df6fbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAkKjgEIEhgCKkDhutRNNKSZBGUx04czbYDnuZF6Ge1jJbLk/IWSNrlCJt+knzS4NihsbA0RaBQFJH7pd8q+31YFPM9KZwwJGzvlMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAau6zNUGEgwCPQUwVOWgkbHqFm4aDOjJI+OP4ieitjnITCIwXzIurCn5o1J3lFyxeOYPz2slR7SN4rhf0xxDqcur8Tbbw0gKE766MUdGx9g9FUGGKtIHAQ8kCpx4QKiSkSukLJqHxuvh1OBjC4QyLHWJYqqiekyXvOiIMQDU8koujk3Nzp6bboBUNwL+P8EOg1Rs9aQU+ZhOmJ2huwFJqn+2tMRXccJm8mJP1TKAldPdMZx7OmL0xhNjORT8MLaRb3u1nUaDc1PeCYd1TOnCZkQcbQjBUJX6mxzBsQJ89sFOuPWxO966wlB+NlmeZuy6j2WwCrBhNsSvkm2p+QB9NXESLTDT6/WvEqwwweNt4m4eRaGNp3kj8zzcghQFuACqykhaL5K0lvfvlz3D5lN1Z1oxyfcJl7Q9x25bXI5rEKemeGbrIzNW1sbhrymgy4CSRk9kr5jgpCktbFBz34aCx0DqDhtYR7TeepU7LNuMqtmvDZ8rjhPylAueEh2pjZE80gqsaGfWsbKktgT0TZxKmeVKxn0VI3mrnCtbkr9rte5B21kTgbZzjKqfIRMDwmSAEU461wytwrXYMbgSO/6TzGECm153ogdGwzsmXoGVF2c9FANyni8ik1ZIXHYV/ZFAY/rl9a+//jVNm2RHgYRjFTEl7CQo4x3obu7mu9x3tn3zQTmIV8gTwMKXW0S/omSBPCcXqYbjmOfb3CAMwaIs4O4+bcssBupiC9Gu5GbEz8ikfjeE4OB2eR9kJpLcpeAq4iHQ6S+8QjapBrJi3OYzbgP5QpNsnmiI/ptr5RQWm78K2KSR0j0BDIi8ef9n7KZvcjihFY+Dm5rE15d7mt0rPawIBs+4riT1d8aAHM4qr/4iLGdIqkZ1jsMRLOoId8cJIgT88/RstOWUZlSmxACMkP2q+/X2ifg3tSjH36RmtV2SkPtF9CjGHm5Jfg4w/n5OSMomNZGIUl2nViS6HQsh7WFCl9YY6eZx4hjx4B3W1dpF5FB3ol5qG257W9wSTAmFMzvmdYLr1Bw4w5bYIK4Su99vZUBIXN+mFJbk2TipcWLxbbdbaBDU1+Q1vDQjbdXqNlqELTFwCx7O/+eEoCH0+MMcdysWqF0A5znR2DDox5JL2Qc0A/ty63oiDQdero6XRt5Y1W769HXCmlW0jqlqBpZ17MukuhnsdusBRSxgw0JSC1MBwai1vgx0wqWxyQB2UQSoN1MzhDhL7uUDh9F90ScdEEEJCV61aailZAUte40QGKiXrlke98pxBWEUeLWyICZlt4yPIPC9Q3nRR121WDQrZt5sTeRYCgJA4tuGekioiTJgtiqskq+0DfqqdDCu2a+F+QCVOcaZqhvU/2NCZwLn2/GUtPNlHsIUrXScP8xbPapm/XOeKjwb+My+o3/lxlTu5MsyKCirGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RhsPM3kW1vsXonj5KxaaV8",
      "input": {
        "note": "Blue bowl now peeks just beyond the carried bowl's far-right edge; nudging 3.5 cm further right and 2 cm forward to line the carried bowl up over it.",
        "targets": {
          "left_x": 0.345,
          "left_y": -0.185
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RhsPM3kW1vsXonj5KxaaV8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6937, 1.6016, 1.3006, -0.8776, -0.4438, -0.638, 0.0462, -0.02, 0.8062, 0.5945, -0.3939, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3334 left_y=-0.174 left_z=0.1485 left_yaw=0.0849 left_pitch=-0.4208 left_roll=0.1056 left_gripper=0.0462 right_x=0.2924 right_y=0.0007 right_z=0.1694 right_yaw=-0.002 right_pitch=-0.0317 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.5128, -8.1026, 9.7026, 1.1697, -0.3297, -0.0513, 0.149, -0.3624, -1.2103, 7.0222, 1.746, -0.0806, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efc042aead26156c3109b5912a2cfcd50b4b48ce4610100a62019e96e982c8f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2928101a188230ea830c7a58da865e88a9483ce03be9051d1149150afe28e2db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d06ef5be7924ae593b9d4d4df266c5e38dfb23a531c9cb24f37fed90844bb0c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 7.397 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4706, 1.3296, 0.9264, -0.6144, -0.3668, -0.4419, 0.0427, -0.02, 0.8051, 0.5945, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3239 left_y=-0.0896 left_z=0.1276 left_yaw=0.0959 left_pitch=-0.3473 left_roll=0.0613 left_gripper=0.0427 right_x=0.2924 right_y=0.0007 right_z=0.1698 right_yaw=-0.002 right_pitch=-0.0301 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [0.2393, -5.5726, 7.9385, 1.7998, -0.1538, 0.1783, 0.2222, -0.3761, -1.347, 7.2137, 1.7265, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.654, 1.4509, 1.2015, -0.841, -0.432, -0.5987, 0.0447, -0.02, 0.8051, 0.5945, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3227 left_y=-0.1497 left_z=0.1675 left_yaw=0.0684 left_pitch=-0.3656 left_roll=0.0562 left_gripper=0.0447 right_x=0.2924 right_y=0.0007 right_z=0.1698 right_yaw=-0.002 right_pitch=-0.0301 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -5.9009, 8.759, 1.033, -0.4811, -0.0317, 0.1929, -0.0205, -1.3197, 7.3641, 1.6923, -0.0366, -0.0562, -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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6937, 1.6016, 1.3006, -0.8776, -0.4438, -0.638, 0.0462, -0.02, 0.8062, 0.5945, -0.3939, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3334 left_y=-0.174 left_z=0.1485 left_yaw=0.0849 left_pitch=-0.4208 left_roll=0.1056 left_gripper=0.0462 right_x=0.2924 right_y=0.0007 right_z=0.1694 right_yaw=-0.002 right_pitch=-0.0317 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.5128, -8.1026, 9.7026, 1.1697, -0.3297, -0.0513, 0.149, -0.3624, -1.2103, 7.0222, 1.746, -0.0806, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efc042aead26156c3109b5912a2cfcd50b4b48ce4610100a62019e96e982c8f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2928101a188230ea830c7a58da865e88a9483ce03be9051d1149150afe28e2db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d06ef5be7924ae593b9d4d4df266c5e38dfb23a531c9cb24f37fed90844bb0c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3gUKjgEIEhgCKkCp9bFBCmFP1PNpHUU29TMmOX6TjnzePP3Kgab4C8V57PJ2xC2varFMdpDzGNLftbPNJqCygVBvLI7WN/l15Wm0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbK6zNUGEgyhbcf+jz/MUceGre8aDIdAGdGmddYcsBNMuyIwJpgoAqis8FGtUM90W5tDZhIewySPLePs0jr7xEdnC/nSooEkEv7Bm7TLc0waOzmJKvwDqX9GlKNiBlYtJ9P/k3IILBXTGVjhRdDLwCkaZ5POR6Xf7K1A6yxgHxTApYNt0sb1c0f1yWM0S42/Q9ADxAN0P5qQzsA/aroHLuC56cnbypRaVCbyJs+o7N484B9QuIGWT9XPIwNsmG91y9hnhZ6bVr5qfob0z0z052OIVMISLmML+ZWT1pZ+fEeW+iWMH8F5PFaGGvb2wAr9SzDxcdR+PYh2nCqQctiFmJolG1XxcjSTkfl0lCb/Z5KJHQ3XpUVbpQCFCNBqo4zdubqpZMB3RK51wtLnTkHeFSuVGUYolx1n9zmjA8jiOKEtemv+cNQcMypFHyFES8Sd9Ge+FIoWHMP6doyWzxzTV/wR/bX5PhdKNpoa8bsatgXHAesopyLQQ0fTaME1r5S1ZJc7SMaoA1LzBzXupnoB73LsLt5wTs42cTjAlbkKe4IbfqCmYO56tt32A4oU2MKXAtBKDj4H4CXs6Zfb2axx+uQmxRL6RXkTwYyMeWSvS9JkDSlC4gKMKQAB8svO8D0qrpCU6pXkuT6HY++0h0qLzZxxd1/6RiHKa7sua77jVemPKm6uckc/2U20rANUHd1yKQbzC+KHiBsg2CaOb/a+f3MkRt+GeXrS6UnJ2B1HzSyhOei4ufdrBjIdoS3G+9FIado/KjeXd4HNquxPy5MjlMtMvhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XZpT5FhtJHYwggbquGStyM",
      "input": {
        "note": "Overhead shows the carried white bowl nearly over the purple bowl with a sliver of purple still showing to its right; nudging 2 cm further right and lowering toward the purple bowl's rim.",
        "targets": {
          "left_y": -0.205,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01XZpT5FhtJHYwggbquGStyM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7006, 1.6138, 1.3148, -0.8757, -0.4438, -0.6483, 0.0475, -0.02, 0.8082, 0.5945, -0.3969, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3353 left_y=-0.1789 left_z=0.1492 left_yaw=0.0829 left_pitch=-0.4174 left_roll=0.0964 left_gripper=0.0475 right_x=0.2921 right_y=0.0007 right_z=0.1683 right_yaw=-0.002 right_pitch=-0.0366 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -8.1299, 9.265, 1.16, -0.398, 0.0122, 0.1245, -0.294, -1.4974, 7.0085, 1.7509, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aef30a4ec0170b1b040983e21f57aa6529d371c766a464af1ec6a4c905e012e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:543c02854c5267609d7ff28d9273433bef4c3a9d388a4b18b7598de8a1e2f076",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d59f040a6b8e83fb3d004c902884c187ec7d35af3c16567897ad1b3f2593f2b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 4.84 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.654, 1.4509, 1.2015, -0.841, -0.432, -0.5987, 0.0447, -0.02, 0.8051, 0.5945, -0.3935, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3227 left_y=-0.1497 left_z=0.1675 left_yaw=0.0684 left_pitch=-0.3656 left_roll=0.0562 left_gripper=0.0447 right_x=0.2924 right_y=0.0007 right_z=0.1698 right_yaw=-0.002 right_pitch=-0.0301 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -5.9009, 8.759, 1.033, -0.4811, -0.0317, 0.1929, -0.0205, -1.3197, 7.3641, 1.6923, -0.0366, -0.0562, -0.0122]\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]: [-0.6937, 1.6016, 1.3006, -0.8776, -0.4438, -0.638, 0.0462, -0.02, 0.8062, 0.5945, -0.3939, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3334 left_y=-0.174 left_z=0.1485 left_yaw=0.0849 left_pitch=-0.4208 left_roll=0.1056 left_gripper=0.0462 right_x=0.2924 right_y=0.0007 right_z=0.1694 right_yaw=-0.002 right_pitch=-0.0317 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.5128, -8.1026, 9.7026, 1.1697, -0.3297, -0.0513, 0.149, -0.3624, -1.2103, 7.0222, 1.746, -0.0806, -0.0611, -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]: [-0.7006, 1.6138, 1.3148, -0.8757, -0.4438, -0.6483, 0.0475, -0.02, 0.8082, 0.5945, -0.3969, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3353 left_y=-0.1789 left_z=0.1492 left_yaw=0.0829 left_pitch=-0.4174 left_roll=0.0964 left_gripper=0.0475 right_x=0.2921 right_y=0.0007 right_z=0.1683 right_yaw=-0.002 right_pitch=-0.0366 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -8.1299, 9.265, 1.16, -0.398, 0.0122, 0.1245, -0.294, -1.4974, 7.0085, 1.7509, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aef30a4ec0170b1b040983e21f57aa6529d371c766a464af1ec6a4c905e012e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:543c02854c5267609d7ff28d9273433bef4c3a9d388a4b18b7598de8a1e2f076",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d59f040a6b8e83fb3d004c902884c187ec7d35af3c16567897ad1b3f2593f2b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISzAYKjgEIEhgCKkBVgVxCE1YJRKA4Hg3mPx0IYa3X7PP8CRRL2HcaOAgj0LZJzCbS/YG5wh0wuhe6phM5xrUsS1OUbGM6Rtz64JizMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbm6zNUGEgwMd8dKOhRX+PegAAYaDMyUmjV6Fob+YXJF1CIw8UDkMnI8tFIDGxmZajD6fAR4FJ2gdr22UC65pbmKEdm7zBL6pzH0nmKKKIeO5/DNKuoEa/KoGOYTwrOIMb3iLbSGsXNNH2Fz9MIXXzpWOivk/r96YfWXOmIL03Wmf3677QT2nURYhBlE9vy2sKPoapgi6UtRTswYPHNguatGICVUvTJNDMY0ETyKR+BCObtWxZ2+jMTz37Wve8cBZJNyBXMsA88MNP8+0tmeBC4+CJpZhhZe5EChi8+8pp5AxXbzcM2D5v01xRmTdjDAt3YUTZwkFW9NjFUANAIANeYCI2pMMt0EFMoakCMwmb9CEjZqFDJtLJgzHmm9WRTrMfP9cSbAW1DG/JBFN34SpDirIvq7MSme0qn8BMsuxtvjVvWgvBaao5/2jrCcvX0yRLZNH1F8Zi2ZaZW3+jL1VCc1dsftugoWBREqz9XH7fbYdNuKhjInOoJssWbG5Rm6IXjmhB0b+G7CrahcfJ/NS/r7wYjNTWCLjkSxfSsd2yHBcaP5MoVcsewoca+1nEJGRvdhgRGNZMwxLCsfrbfvrPC5owssIwHPuIv9EvFohLcbfFEQYyQ0xM6wgk13HFaX0uBb5B5sUpdr4HDR7zwYGTgoxHN+l4KLqOx8fivIZf/DTHqabSHZSm2d+qte5T+atSJH9jmz19UWxDGVjUmLssjvx08OiIR3uMZBn9u/w4TzHlsNhGC1OUfunwjBYEkCaE/k7jSI/PpnD4FITHRJzAcGLrTjsS0cy3msV4QjDSA+wK5chHIh2lh7zMK0/YJU8hrnLhjzS5k2EFgLTF1oOOxDsNwcubI3SeQtDvzdoOILDlMvbrM84IRXtna1mYGDld1YssllLoUJN5TGAVhL5uu08XRaYZDZoHWMFk8flgSgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mx3g79FfcpN6uaoAihkVzi",
      "input": {
        "note": "The arm did not track the last small command, so I re-issue a slightly larger move: lift 2 cm and shift 3.5 cm further right to get the carried bowl centred over the purple bowl.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.215,
          "left_z": 0.165
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Mx3g79FfcpN6uaoAihkVzi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7006, 1.6138, 1.3155, -0.8761, -0.4438, -0.6483, 0.0482, -0.02, 0.8082, 0.5945, -0.3977, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3354 left_y=-0.1789 left_z=0.1494 left_yaw=0.0828 left_pitch=-0.4172 left_roll=0.0961 left_gripper=0.0482 right_x=0.292 right_y=0.0007 right_z=0.1681 right_yaw=-0.002 right_pitch=-0.0374 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.294, -8.1436, 9.3744, 1.1697, -0.3932, -0.0269, 0.0659, -0.0479, -1.2923, 7.0222, 1.7411, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:375f7261d66deb5bc89a5c0f07326a9291ac05f4ea3fb6c50f522d1d0d714ef8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34555ebea0e2251425b4d86ee475042676d0d931f0d35647421705f5f2cc3bd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f84ff468c563f9dc2e90b41c4b812480a7e8933a510d82e0e6caf23737516ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /messages · status 200 · 12.44 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6937, 1.6016, 1.3006, -0.8776, -0.4438, -0.638, 0.0462, -0.02, 0.8062, 0.5945, -0.3939, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3334 left_y=-0.174 left_z=0.1485 left_yaw=0.0849 left_pitch=-0.4208 left_roll=0.1056 left_gripper=0.0462 right_x=0.2924 right_y=0.0007 right_z=0.1694 right_yaw=-0.002 right_pitch=-0.0317 right_roll=0.0 right_gripper=0.9988\nstate[joint_eff]: [-0.5128, -8.1026, 9.7026, 1.1697, -0.3297, -0.0513, 0.149, -0.3624, -1.2103, 7.0222, 1.746, -0.0806, -0.0611, -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]: [-0.7006, 1.6138, 1.3148, -0.8757, -0.4438, -0.6483, 0.0475, -0.02, 0.8082, 0.5945, -0.3969, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3353 left_y=-0.1789 left_z=0.1492 left_yaw=0.0829 left_pitch=-0.4174 left_roll=0.0964 left_gripper=0.0475 right_x=0.2921 right_y=0.0007 right_z=0.1683 right_yaw=-0.002 right_pitch=-0.0366 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -8.1299, 9.265, 1.16, -0.398, 0.0122, 0.1245, -0.294, -1.4974, 7.0085, 1.7509, -0.0464, -0.0562, -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]: [-0.7006, 1.6138, 1.3155, -0.8761, -0.4438, -0.6483, 0.0482, -0.02, 0.8082, 0.5945, -0.3977, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3354 left_y=-0.1789 left_z=0.1494 left_yaw=0.0828 left_pitch=-0.4172 left_roll=0.0961 left_gripper=0.0482 right_x=0.292 right_y=0.0007 right_z=0.1681 right_yaw=-0.002 right_pitch=-0.0374 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.294, -8.1436, 9.3744, 1.1697, -0.3932, -0.0269, 0.0659, -0.0479, -1.2923, 7.0222, 1.7411, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:375f7261d66deb5bc89a5c0f07326a9291ac05f4ea3fb6c50f522d1d0d714ef8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34555ebea0e2251425b4d86ee475042676d0d931f0d35647421705f5f2cc3bd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f84ff468c563f9dc2e90b41c4b812480a7e8933a510d82e0e6caf23737516ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpgQKjgEIEhgCKkDE2U4oSLQSt0nEsN6jTUstK+rRnxisawH0Uwmyx3iQl0w4ESbUMu21eHXtSpdKMP0gLADOk078FfelSJrvZfy6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb+6zNUGEgx7MH1ggTZIce1VfTIaDD984CFvWh25+7y3HiIwuGXJa5HIGwuRrl/RUayJGlGShxFAJsh/5sUwuKdfDhFJL4EzF+adWctZl39CvewnKsQCiClxqsqD6YL2r6G6EqMP2qdS8Lag0QrZgcoVz3lP6aegWeG6GBIM8sZ02qkTmqpYXuRsSaFoPuzMS8+p/Gy6R9RUVkgQ5tn/vd2217NNAtcZhtO2mN7egEwsvBqs/wZ19hwe/TP5sXFal4L8z/o8lAqMbOG2Xb7y3QZEFY25Q/2/NChjdicM+TNScevkfP6eQQbVbrMa0UcJRXcBv6uTJai61GswMVxxCiYfguFYadD4PRfzwvO0Uqyl+dA+okFcKBO0XFPa5BeamkqZ0MCBzsIjMyybFCwlYkHKhW4EP272mghe2pXgEVWBujkuUUq5wRX0Y+qI47lxx27q68fQkbNLT8hYlKPTvy4qtgDpCqwFWe4TKoIuZ7blafNDhexXB6f1nYYWCbinUEMGDRhFfI1wFFm3j/kom6/T5ktY8pxYf96ZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Eo9zfybZBTYKwT3tZBuMgX",
      "input": {
        "note": "The arm is frozen at the same pose despite new targets; commanding a large pure lift to 26 cm to break out of the stalled configuration.",
        "targets": {
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Eo9zfybZBTYKwT3tZBuMgX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7002, 1.6703, 1.8, -1.2346, -0.437, -0.6556, 0.0498, -0.02, 0.8101, 0.5945, -0.4118, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3447 left_y=-0.188 left_z=0.2604 left_yaw=0.0625 left_pitch=-0.3715 left_roll=0.0343 left_gripper=0.0498 right_x=0.2901 right_y=0.0007 right_z=0.1648 right_yaw=-0.002 right_pitch=-0.0534 right_roll=0.0004 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -6.2291, 7.4598, 0.9109, -0.3101, 0.0415, 0.1441, -0.1709, -1.4564, 6.9949, 1.8388, -0.0708, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca8869eaf305cce6b6fea72c8b2e4974517acf5918e5894943a7f2f34dedb0b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:347bfbe4dce98e7b36a381434736707f2f4cef89fa5d90c270dc4675562e42b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:095912895abea2e7b96eb45a79ca58b53d803239aa50ad143923ac58ef80185e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 17.22 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7006, 1.6138, 1.3148, -0.8757, -0.4438, -0.6483, 0.0475, -0.02, 0.8082, 0.5945, -0.3969, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3353 left_y=-0.1789 left_z=0.1492 left_yaw=0.0829 left_pitch=-0.4174 left_roll=0.0964 left_gripper=0.0475 right_x=0.2921 right_y=0.0007 right_z=0.1683 right_yaw=-0.002 right_pitch=-0.0366 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -8.1299, 9.265, 1.16, -0.398, 0.0122, 0.1245, -0.294, -1.4974, 7.0085, 1.7509, -0.0464, -0.0562, -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]: [-0.7006, 1.6138, 1.3155, -0.8761, -0.4438, -0.6483, 0.0482, -0.02, 0.8082, 0.5945, -0.3977, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3354 left_y=-0.1789 left_z=0.1494 left_yaw=0.0828 left_pitch=-0.4172 left_roll=0.0961 left_gripper=0.0482 right_x=0.292 right_y=0.0007 right_z=0.1681 right_yaw=-0.002 right_pitch=-0.0374 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.294, -8.1436, 9.3744, 1.1697, -0.3932, -0.0269, 0.0659, -0.0479, -1.2923, 7.0222, 1.7411, -0.0513, -0.0513, -0.0122]",
      "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]: [-0.7002, 1.6703, 1.8, -1.2346, -0.437, -0.6556, 0.0498, -0.02, 0.8101, 0.5945, -0.4118, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3447 left_y=-0.188 left_z=0.2604 left_yaw=0.0625 left_pitch=-0.3715 left_roll=0.0343 left_gripper=0.0498 right_x=0.2901 right_y=0.0007 right_z=0.1648 right_yaw=-0.002 right_pitch=-0.0534 right_roll=0.0004 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -6.2291, 7.4598, 0.9109, -0.3101, 0.0415, 0.1441, -0.1709, -1.4564, 6.9949, 1.8388, -0.0708, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca8869eaf305cce6b6fea72c8b2e4974517acf5918e5894943a7f2f34dedb0b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:347bfbe4dce98e7b36a381434736707f2f4cef89fa5d90c270dc4675562e42b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:095912895abea2e7b96eb45a79ca58b53d803239aa50ad143923ac58ef80185e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8A0KjgEIEhgCKkBoR7THCFi0qAtwY47HyPzh+xurOmR4SRBY3RZA7eSQPCaJmuG3/p++OZWT5+GibfJaSlpTZNFoEbhrwNf4YJ93Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcy6zNUGEgyogVN/tYxNwsBbGlgaDL4VmYGIAPMdJf0lSCIwBRxZTsihzWjbjYxkGJto6aHJyNo2TxZ6tv6XtYiNtKFBHTyw1uWRILfMaEvawSpEKo4MSPSt8fjZOgwnC7MxjSVT1vqmjACnMnGybm7xgBdQ30QakgKH91gDtJPlvAi8GGoXqskr/SvNBkeBmPjjmS2oGRvt5JXTPoQXjZ5WmlNipJ5TfwYgPkWW3LosGJw305Q6u+DEQOrWRI2e8IDkSOi2typac824lDtLbq0CPrEoOYnq7D3YzJlefv6lnzvSA62Xdda662oB/psfvva7Uot/hrCurDBv2wVd7wj/GeARJT504FsCEksGt2Nn+cufjBGCmvPmxcjdwuPML2o5ilO+jNQrlYlWDx6AyWHsTCnnRXm+XNCjoZj/+h4umj0GB9D4n/BesADgcB9B43WEG1uRY/RgSR1G3SK8LtfS3J4cOVOP7vbkX90mj67TuBMi3xh63p1gM53Nq+TWKdXGDemDkqOI/m1VFvXZf48opTQW2OvB4RBXh3TxEuEDjWBk0jdaonD8hhKNT4PB9JmEVaBp8jQB2gWTXUYh8Qj8wlobgfyuBwiIQuxwgThlikB4HZQ5bhFkyFVAmWvpyJhbgLPo+FX55W+CwUeunvpeSeUOaYIfXbEbQ50UUTuL5jSXOvUm/G8LlAVS45fEySwRJIQNldN3cLEAWDpGjvhq9iSg3hyUvsrSxCN3iheyE17P98w+kcY4hShZvvL9witmnToAdb2+ZD76f9KQNvgYtUJwMsJGEEf1q/f8eokZAGSiZa5mro938pS1Ks3pq/f5YnRNrzHWxT2lNJ9WG32Px5OQgANMppvA/GIzFlcx4Hg/vJ2ukiialyJZ2z0WJNMYGEibgtj/fv5EzvgpWGOYrBRl5to1kbqRqTPpO4jdLDG7EHJzVozVDKV5TsdDeV7C4HDR6ufkyxvKVfBik32IGwZ77ys7Oaf1IrrVsVo9eLxYcT3J4B+V532RAmf5B+YJGHi+bADJEWbMD+rj+AOcFfIY/5EVRfBPB6IJHjlxwttMAB+9Ix4XSnc+pmwAjeB2ijXOIrdYiSFBqvzvyXCQLis/cSkO8Cr9xZXuf1B+Yc/GWCr3x7jVLGvSg9fF8SgJuD/ZIGSyVyyxgYxjFJYqU4ya97EuuESK9G0RSjp8FaheDm1BRtY6eEyrE9pRNagIjjnwgcBwD7poQ0ZrpNaSbj6Qr6VFBV0dngz0e9oXcfwMd2EWjv3EdOkTrBpJ3lzXzSg0drkATDEHNou97pO3zpPSAa8RdPQyxxdfTxfVEJlPGgxdKsfvZThAQ4J+8UDbJFZ7NU4OTbzfpboP580OZqtRYlhKUuBoZxiTQ0vA19LgfWtTX9IP0fQ/DkCmSnZs5MQ2tLm7GXQlkR2QQYDaezLP2yNFFxa02Y0BBhBeNWDNK3e3vExk8r1wYv+8sTuZg+YB3QE8nwRrn0zniWe6Wq9PLdH3hxIDx/m4zsSJendCXIYTUByWFSvLN/BPbxwYbvRqughNjVk8CkWbHnhk007u1uP85kDKR74+z4VV2aOnMnkWoertw8eNDR/tnZvPJVXJqevquh89NXYm/sznxTHp21ZNG40x+4UF5i9+zSsoaXzZdSs8zAeenT1GrJXbVzyW9n0jmeysp2vOWAzdQ90tLcIJRTli5Y6Ll6n+l/LzAjDZs9LbPvh8EiJ3jZX9Sp6bQYAEtKlac1fAoRBd76LDMxOXJRckzKrn2zdXVf+b4eiksgGDFduq0ybpDPT9jldfn858x777n/EXzCVItVLQNl7nrygcH7DlqQzFyqQdUjgAv+q7GTTMH3KVZfE4m4wEZxvP3J4WuGx9Ix1FgH3KYPoC9Rwuq3YX1iHL/koodr2Uz7TEnHcNyGs90Tnmeg2HJ+lQim+g1Yrkwit5k6TY/evxEcRH0UcviyZHZXZksduEq+ZGKk3aa9Zv6XBpEfAtGZC0yUwT5ufO7mniB09ZnnZVz6nk+93gImLxviUgHooGa6W0GCPuIb97dX+rV1vqf9bQRi+m8CC86JIKpfzA2DiDMJsv0c1E2JF4mPKrCnuFfkG4Kx2hEiTTrSI1/IIgYgCEQAlps2Y66IR4eFq9nxHdJVD2qpSP7+ycDxDtDxWXqOe7pSSR1XNXG1Gn0moYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019XZLkiB5JfSUBRo5JeQLxv",
      "input": {
        "note": "Lowering back to 19 cm and 1 cm further right to judge from the wrist view how the carried bowl lines up with the purple bowl before releasing.",
        "targets": {
          "left_y": -0.2,
          "left_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_019XZLkiB5JfSUBRo5JeQLxv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.725, 1.6569, 1.4948, -1.0416, -0.44, -0.672, 0.0512, -0.02, 0.8101, 0.5945, -0.4152, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3342 left_y=-0.1907 left_z=0.1802 left_yaw=0.0794 left_pitch=-0.4389 left_roll=0.1024 left_gripper=0.0512 right_x=0.2896 right_y=0.0007 right_z=0.1641 right_yaw=-0.002 right_pitch=-0.0568 right_roll=0.0005 right_gripper=0.9988\nstate[joint_eff]: [-0.5538, -8.6906, 7.0085, 1.16, -0.3736, -0.1392, 0.1343, -0.1573, -1.3197, 6.9812, 1.6972, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04c376438952cfee5cf73c6642eb084249156f349720e061bf1fddfe0e5ad2cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52e24f8893d17f6750b5492c9e53ae838a1c422422f64adf9c0d48e1bd5b34a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e4574e13a6cfb61eb1b1119c6c98d0f4649e18ba17db6549e7d1d4119b71023",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 14.34 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7006, 1.6138, 1.3155, -0.8761, -0.4438, -0.6483, 0.0482, -0.02, 0.8082, 0.5945, -0.3977, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3354 left_y=-0.1789 left_z=0.1494 left_yaw=0.0828 left_pitch=-0.4172 left_roll=0.0961 left_gripper=0.0482 right_x=0.292 right_y=0.0007 right_z=0.1681 right_yaw=-0.002 right_pitch=-0.0374 right_roll=0.0001 right_gripper=0.9988\nstate[joint_eff]: [-0.294, -8.1436, 9.3744, 1.1697, -0.3932, -0.0269, 0.0659, -0.0479, -1.2923, 7.0222, 1.7411, -0.0513, -0.0513, -0.0122]",
      "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]: [-0.7002, 1.6703, 1.8, -1.2346, -0.437, -0.6556, 0.0498, -0.02, 0.8101, 0.5945, -0.4118, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3447 left_y=-0.188 left_z=0.2604 left_yaw=0.0625 left_pitch=-0.3715 left_roll=0.0343 left_gripper=0.0498 right_x=0.2901 right_y=0.0007 right_z=0.1648 right_yaw=-0.002 right_pitch=-0.0534 right_roll=0.0004 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -6.2291, 7.4598, 0.9109, -0.3101, 0.0415, 0.1441, -0.1709, -1.4564, 6.9949, 1.8388, -0.0708, -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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.725, 1.6569, 1.4948, -1.0416, -0.44, -0.672, 0.0512, -0.02, 0.8101, 0.5945, -0.4152, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3342 left_y=-0.1907 left_z=0.1802 left_yaw=0.0794 left_pitch=-0.4389 left_roll=0.1024 left_gripper=0.0512 right_x=0.2896 right_y=0.0007 right_z=0.1641 right_yaw=-0.002 right_pitch=-0.0568 right_roll=0.0005 right_gripper=0.9988\nstate[joint_eff]: [-0.5538, -8.6906, 7.0085, 1.16, -0.3736, -0.1392, 0.1343, -0.1573, -1.3197, 6.9812, 1.6972, -0.0269, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04c376438952cfee5cf73c6642eb084249156f349720e061bf1fddfe0e5ad2cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52e24f8893d17f6750b5492c9e53ae838a1c422422f64adf9c0d48e1bd5b34a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e4574e13a6cfb61eb1b1119c6c98d0f4649e18ba17db6549e7d1d4119b71023",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SPwPPWQWdV4JxT8oMk7aGc",
      "input": {
        "note": "Wrist view shows the purple bowl up and to the left of the carried bowl, meaning it is farther out and more toward +y than I thought; repositioning 7 cm back in +y and 3 cm forward.",
        "targets": {
          "left_x": 0.365,
          "left_y": -0.12,
          "left_z": 0.185
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01SPwPPWQWdV4JxT8oMk7aGc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.498, 1.6127, 1.4273, -0.9787, -0.3538, -0.485, 0.052, -0.02, 0.8116, 0.5945, -0.416, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3614 left_y=-0.1228 left_z=0.1732 left_yaw=0.1193 left_pitch=-0.4731 left_roll=0.1139 left_gripper=0.052 right_x=0.2895 right_y=0.0007 right_z=0.1635 right_yaw=-0.002 right_pitch=-0.0591 right_roll=0.0005 right_gripper=0.9988\nstate[joint_eff]: [0.2803, -9.4838, 6.3111, 1.2674, -0.1929, 0.2906, 0.0708, -0.253, -1.4838, 6.9949, 1.663, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b372d35d1a76e9dec0418a5eb7da1c5b7e10457e152a17e7217b0362fe3c45e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:715cdffce95ddf9e11b1503221b897581645d25a403f39560a3be61c3c3f2674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a3b1db0c273a59f860e079301afbeaa908e0929cd3856cafb950e2564284469",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 8.863 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7002, 1.6703, 1.8, -1.2346, -0.437, -0.6556, 0.0498, -0.02, 0.8101, 0.5945, -0.4118, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3447 left_y=-0.188 left_z=0.2604 left_yaw=0.0625 left_pitch=-0.3715 left_roll=0.0343 left_gripper=0.0498 right_x=0.2901 right_y=0.0007 right_z=0.1648 right_yaw=-0.002 right_pitch=-0.0534 right_roll=0.0004 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -6.2291, 7.4598, 0.9109, -0.3101, 0.0415, 0.1441, -0.1709, -1.4564, 6.9949, 1.8388, -0.0708, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.725, 1.6569, 1.4948, -1.0416, -0.44, -0.672, 0.0512, -0.02, 0.8101, 0.5945, -0.4152, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3342 left_y=-0.1907 left_z=0.1802 left_yaw=0.0794 left_pitch=-0.4389 left_roll=0.1024 left_gripper=0.0512 right_x=0.2896 right_y=0.0007 right_z=0.1641 right_yaw=-0.002 right_pitch=-0.0568 right_roll=0.0005 right_gripper=0.9988\nstate[joint_eff]: [-0.5538, -8.6906, 7.0085, 1.16, -0.3736, -0.1392, 0.1343, -0.1573, -1.3197, 6.9812, 1.6972, -0.0269, -0.0659, -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]: [-0.498, 1.6127, 1.4273, -0.9787, -0.3538, -0.485, 0.052, -0.02, 0.8116, 0.5945, -0.416, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3614 left_y=-0.1228 left_z=0.1732 left_yaw=0.1193 left_pitch=-0.4731 left_roll=0.1139 left_gripper=0.052 right_x=0.2895 right_y=0.0007 right_z=0.1635 right_yaw=-0.002 right_pitch=-0.0591 right_roll=0.0005 right_gripper=0.9988\nstate[joint_eff]: [0.2803, -9.4838, 6.3111, 1.2674, -0.1929, 0.2906, 0.0708, -0.253, -1.4838, 6.9949, 1.663, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b372d35d1a76e9dec0418a5eb7da1c5b7e10457e152a17e7217b0362fe3c45e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:715cdffce95ddf9e11b1503221b897581645d25a403f39560a3be61c3c3f2674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a3b1db0c273a59f860e079301afbeaa908e0929cd3856cafb950e2564284469",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N5PVdBRJ3jCbf2SPKnzQVs",
      "input": {
        "note": "Top view now shows the purple bowl just right of the carried bowl (I overshot back), so I split the difference at y=-0.155 and lower to 13.5 cm, ready to drop the tan bowl into the purple one.",
        "targets": {
          "left_x": 0.355,
          "left_y": -0.155,
          "left_z": 0.135
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01N5PVdBRJ3jCbf2SPKnzQVs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5838, 1.6489, 1.3479, -0.9112, -0.3668, -0.5327, 0.0526, -0.02, 0.8116, 0.5945, -0.416, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3496 left_y=-0.1507 left_z=0.14 left_yaw=0.0877 left_pitch=-0.5009 left_roll=0.1309 left_gripper=0.0526 right_x=0.2895 right_y=0.0007 right_z=0.1635 right_yaw=-0.002 right_pitch=-0.0591 right_roll=0.0005 right_gripper=0.9988\nstate[joint_eff]: [1.0735, -7.5009, 6.8444, 1.1404, -0.4664, -0.0952, 0.0464, -0.3214, -1.3607, 6.9812, 1.6435, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f667273d683db0643d00e794a551117c8c43f456e65dd047c13eb1fe9f1eca7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0adf23bb06ef40e4c157225ac0e78c0b35aba3e167156e08bf6879d7f03570e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:054077d050c09b5162fd70d0a6a6fb7034dc5485c996cf59413d6406832b3667",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 12.1 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.725, 1.6569, 1.4948, -1.0416, -0.44, -0.672, 0.0512, -0.02, 0.8101, 0.5945, -0.4152, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3342 left_y=-0.1907 left_z=0.1802 left_yaw=0.0794 left_pitch=-0.4389 left_roll=0.1024 left_gripper=0.0512 right_x=0.2896 right_y=0.0007 right_z=0.1641 right_yaw=-0.002 right_pitch=-0.0568 right_roll=0.0005 right_gripper=0.9988\nstate[joint_eff]: [-0.5538, -8.6906, 7.0085, 1.16, -0.3736, -0.1392, 0.1343, -0.1573, -1.3197, 6.9812, 1.6972, -0.0269, -0.0659, -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]: [-0.498, 1.6127, 1.4273, -0.9787, -0.3538, -0.485, 0.052, -0.02, 0.8116, 0.5945, -0.416, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3614 left_y=-0.1228 left_z=0.1732 left_yaw=0.1193 left_pitch=-0.4731 left_roll=0.1139 left_gripper=0.052 right_x=0.2895 right_y=0.0007 right_z=0.1635 right_yaw=-0.002 right_pitch=-0.0591 right_roll=0.0005 right_gripper=0.9988\nstate[joint_eff]: [0.2803, -9.4838, 6.3111, 1.2674, -0.1929, 0.2906, 0.0708, -0.253, -1.4838, 6.9949, 1.663, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5838, 1.6489, 1.3479, -0.9112, -0.3668, -0.5327, 0.0526, -0.02, 0.8116, 0.5945, -0.416, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3496 left_y=-0.1507 left_z=0.14 left_yaw=0.0877 left_pitch=-0.5009 left_roll=0.1309 left_gripper=0.0526 right_x=0.2895 right_y=0.0007 right_z=0.1635 right_yaw=-0.002 right_pitch=-0.0591 right_roll=0.0005 right_gripper=0.9988\nstate[joint_eff]: [1.0735, -7.5009, 6.8444, 1.1404, -0.4664, -0.0952, 0.0464, -0.3214, -1.3607, 6.9812, 1.6435, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f667273d683db0643d00e794a551117c8c43f456e65dd047c13eb1fe9f1eca7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0adf23bb06ef40e4c157225ac0e78c0b35aba3e167156e08bf6879d7f03570e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:054077d050c09b5162fd70d0a6a6fb7034dc5485c996cf59413d6406832b3667",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISuAcKjgEIEhgCKkBoPQIFd94XtSdszKqO0k8ykhQecO3B3tFiwG0sDJvZRjDpCOwxmk75qSUAKx0UDnqLE8V/gqMx+CXx/MrXfodLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfa6zNUGEgwz5dL1I/mc60DMEAwaDN3+wEfEobnTxrgblyIw9WKwwKxEYmOG+kaM9BIn4vwRj6ZK4QA1lhXH8T+TMU1G+otFRL32U1f9fHKniyxxKtYF5awPKcT14/L3Vxg4UH8kHB4j0vumrk/B5HNs0qhEy87UZoiOYU1BjMVIw6+ZK+/wI/BQOz3Kgv+AL9et/3xfBl14r3ULsPYBTr55VNMYzldXD8g4ZR91wNs3Jio0dTGuZKYPWS92Bqr4STTzslsBmIzrHwMOUkc6n2iLLH559dMYA+q1frFyTpS6FamgmVoagEJAYqBc65DNBEcJq4l4iZvF7aHu+MKoDRPbVW2q2YQMKtMA8QGSoo5JLjAaJAhrk4MtU+OVvFJIvVb7pnBKIOyd/CAK0GNfSW0IK0Sd3XQ7eHkLQzJ63WFxpjLd/2MpSVW9+phl6fHUrObc+7gTMMJSgjYxQ7Azcw0PLsMFeiQk7MAUR2TprlrKnGl0+4KDvCIXHXbfIIi9MbolVEkeolsNDq9ddNBVAtH0cUGWzEY+7njUf8AGHnh3T3/YEtNEtJZaNVtSTU6sckvGlroKcn17Il/kBsbn5BmkYAj12oCai1943/fnwD+CtD0/eSnIQ9eEzkWTXSB8Xuo0t4jnDVXxECqHHcJH3lhLQkr2qltY+mLJEgaWnRNs8eA1dLXWdDQWnaDKkUsT1RFjMQ3KkEzcgX4dt7BoDvZPV+OiDQpQwskO5LHi+feqdpleFQgFerjveR6hK3gtyP8RK/pX2JP6G8Opc3j1EK4qwTODwFmH1Yz05DVfW78QhOVrsaEd2zY6ycd0Ml6Wa+SJ5FQTHB2G91rQ6vqwB+cc+2TlsHBK4edSr2dLQpis4kgVUEvmlqWsTgdn+OupOY2a1HAq+fINeEJyaMUZUWUSeXsUb+whWfyo0w3WCSDc4T44W2aTjcwTTmd/a8ei5dwOwjYWuxwruoL6cj+xEDV3jCk5AU3/YPvgpRHsd/UXaV3SX9klfcvgcdWlZdBzXqOHkZZ40o/rHokxgNyLpFhsvPnLFXzszwrb6UsJjJZkoOQSTT7ecBJPUoRkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CRY7ysZW9YDKAGw5WWxhaE",
      "input": {
        "note": "Purple bowl still peeks just right and behind the carried bowl; nudging 2 cm right and 1 cm forward at a safe height to centre the carried bowl over it.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.175,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01CRY7ysZW9YDKAGw5WWxhaE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5976, 1.6806, 1.3628, -0.9268, -0.3672, -0.5716, 0.0527, -0.02, 0.8154, 0.5945, -0.4221, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3482 left_y=-0.1559 left_z=0.1324 left_yaw=0.1098 left_pitch=-0.5226 left_roll=0.1339 left_gripper=0.0527 right_x=0.2888 right_y=0.0007 right_z=0.1613 right_yaw=-0.002 right_pitch=-0.069 right_roll=0.0007 right_gripper=0.9988\nstate[joint_eff]: [-0.294, -8.2256, 8.7726, 0.9402, -0.2662, 0.2125, -0.0024, -0.3624, -1.6615, 6.9949, 1.7021, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d17a61a6c769b59ee5c649f469cfc8394369371a4459b6d3e58e07e59739f64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f21a9d7e4c8c3ecd495e57261a83a0e48c2a9f19693f78e7c27d617c7609a028",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b7d87a3b0bc7ba1f11d51fd4afe659ab3551464928cba2f458d73d1aa7931ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 4.954 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.498, 1.6127, 1.4273, -0.9787, -0.3538, -0.485, 0.052, -0.02, 0.8116, 0.5945, -0.416, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3614 left_y=-0.1228 left_z=0.1732 left_yaw=0.1193 left_pitch=-0.4731 left_roll=0.1139 left_gripper=0.052 right_x=0.2895 right_y=0.0007 right_z=0.1635 right_yaw=-0.002 right_pitch=-0.0591 right_roll=0.0005 right_gripper=0.9988\nstate[joint_eff]: [0.2803, -9.4838, 6.3111, 1.2674, -0.1929, 0.2906, 0.0708, -0.253, -1.4838, 6.9949, 1.663, -0.0464, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5838, 1.6489, 1.3479, -0.9112, -0.3668, -0.5327, 0.0526, -0.02, 0.8116, 0.5945, -0.416, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3496 left_y=-0.1507 left_z=0.14 left_yaw=0.0877 left_pitch=-0.5009 left_roll=0.1309 left_gripper=0.0526 right_x=0.2895 right_y=0.0007 right_z=0.1635 right_yaw=-0.002 right_pitch=-0.0591 right_roll=0.0005 right_gripper=0.9988\nstate[joint_eff]: [1.0735, -7.5009, 6.8444, 1.1404, -0.4664, -0.0952, 0.0464, -0.3214, -1.3607, 6.9812, 1.6435, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5976, 1.6806, 1.3628, -0.9268, -0.3672, -0.5716, 0.0527, -0.02, 0.8154, 0.5945, -0.4221, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3482 left_y=-0.1559 left_z=0.1324 left_yaw=0.1098 left_pitch=-0.5226 left_roll=0.1339 left_gripper=0.0527 right_x=0.2888 right_y=0.0007 right_z=0.1613 right_yaw=-0.002 right_pitch=-0.069 right_roll=0.0007 right_gripper=0.9988\nstate[joint_eff]: [-0.294, -8.2256, 8.7726, 0.9402, -0.2662, 0.2125, -0.0024, -0.3624, -1.6615, 6.9949, 1.7021, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d17a61a6c769b59ee5c649f469cfc8394369371a4459b6d3e58e07e59739f64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f21a9d7e4c8c3ecd495e57261a83a0e48c2a9f19693f78e7c27d617c7609a028",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b7d87a3b0bc7ba1f11d51fd4afe659ab3551464928cba2f458d73d1aa7931ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmQoKjgEIEhgCKkBjJVMSRCuPSbTE5qqloqt2jZXICYBhv0FRvUKxiEOZg1tmqDc1OqRk51g4wZ0HlI3RvUPg/bZ6RE7f+PCxg9ZAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYG7zNUGEgwHftFevOpKch8PEgAaDCHEHIrPdqXQBCGe9SIwvqepdJx4WKb72VlAAamWG3axgBk3PCyVZ1sXJ5/oFMgf4Tq2heySw8MP907fuQRZKrcIXgY6qrbdJE86FvUT447cGlWiMAmMfufAA0RxcIn4wouqHTxOw6NKuaEgHHU2oU7kO3Gz32Xx5PuI4PO9KyFyJB+shwMw07k4Z8K54PS0AObv+6Zu3H6i3dzTMoqW73AJtpgcCj+t6g72JeZa+RkecGFDB2JxjcZgqW4202PjzXFgfZ1GumQUhixc/KRVLPNuBqtU4ADjkns8FLoEq2XYvmnemDYWDqtabN2fpZYOeScd5mK3ERxs8jly+v5lzHZ0xQgchtFwN6MVonzDAJgxPrLPfQN7kdFoDozWlUPfhsKsSg0/ltXLe1/p4dOyifuJvvwKPJXPcWVk+cSlhwQocfD6dOhdY9k0nXA/Hl6jeWwFQmX8TQeqqQtKHSRfiCTfuXa6ALNNZA4G3qhOD4oTQBl+e7v++g4exJoueEYyw/L0/Zx3MB5fyUu203ke8OuUq7HwVmj9Gf4tA4+K/2AnuhvYIQAtmGlJrZva1l4ns/G7VhqaAkykjqAzJO8cOAZh2l4lOgrYgfdh0NRHBikqMWvAdBaYcg8r37DgRzvlq58XVtXgFopD5tjsA2ZKlW2vWctg+FgfLR3st+AOmGL38dX+KBaM+Vdg2rN1z6Ysm1xFyPA1NToUsTc7ejgLsgkAnfJj4GUcelIHe8dddHh772UzKeyiViKq8yxF2AfpNJDq/LaJflM9YxqdUvxevUYcPJ5MEn7taTKOCJ6hP1QHDW/LiFoum/JEH74Q0sLaY0I1dDZFHllErANLOjVicFvcpgcYnBjHqkQ0BqInJ6UdBIW2aMlMoM0I+8j+Yh7RGtuV5eGlVdaB2HpHCDVB/abJKWyzvDs49xv79YdmVPuABM0Eidl17khAoCXQEOiB3z1eFVrrytHh1RwG8XjAEulwcfIY8yzaaP11NhtFBRWPucnFc9F33jUb9BN44OAhZrh0jjxSRanKhzhN5Fz2pMAawrzkMzptiGpcisgfVfw42FQ/RDWeNp7pncPZnaoybA12bcV5FCUh09qF+zaxAJmqegRbhGORrHT4E0716VBWaEuEORUeMfROdHGYKKhK3ksPM+hq8WCyg7Vsn2Szn8PTYNXMCIzk76/4I+nzJozER/gMNnE9E6JEp5duJztkoVFEpqYQkxtKTz3FdRR2GDqsb3PTGqjmapOS3cVmbdq63+H5/wcPD//jZOvboZm1V/9NNob6P/AJxA+fg5LbRkpMPfsAKKdUMA2+Aj94Txfrbz2EFTlAzSaMhXH7l2X9pGqcIJ27NII2bshJjikUstXSSF7tbzeAFlp+F1E4UcEIGnPggCd8ttcCXai5E7bny6dFuj3+DTy/iClakT1fRbGbZVPgUrFgptEjLQvs/HA4ATcfEWUjwx02kz7XcfNDplBX4wIZ8vqif5WI81AMhQiCn7QsAR8ZcYGy1YOVhKtnO5hYCXw34IAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y62WefsUaCLFiTCWkrhsYX",
      "input": {
        "note": "The arm stalls trying to move sideways at this low height, so I lift to 22 cm where it tracks well and shift to y=-0.20 to get the carried bowl over the purple bowl.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.2,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Y62WefsUaCLFiTCWkrhsYX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5976, 1.6806, 1.3651, -0.9379, -0.3668, -0.5655, 0.0527, -0.02, 0.8165, 0.5945, -0.4225, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3466 left_y=-0.1549 left_z=0.1323 left_yaw=0.109 left_pitch=-0.53 left_roll=0.1434 left_gripper=0.0527 right_x=0.2888 right_y=0.0007 right_z=0.1609 right_yaw=-0.002 right_pitch=-0.0706 right_roll=0.0007 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -7.9521, 8.4444, 0.906, -0.2711, 0.1148, -0.0122, -0.1709, -1.1829, 7.0769, 1.6484, -0.0806, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1136fa8d5e1904ff378ef21109a73543967ecc37715f94cb8530ece9ab4fb66f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4a8ef8b6588794c9818f3c71d62bf392873b2a90f207434b2cc86d40da8e55e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af828d9b57acaa6e8d9738d137e95c1cdffa317e06d29be45f83a48911a22e48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 10.23 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5838, 1.6489, 1.3479, -0.9112, -0.3668, -0.5327, 0.0526, -0.02, 0.8116, 0.5945, -0.416, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3496 left_y=-0.1507 left_z=0.14 left_yaw=0.0877 left_pitch=-0.5009 left_roll=0.1309 left_gripper=0.0526 right_x=0.2895 right_y=0.0007 right_z=0.1635 right_yaw=-0.002 right_pitch=-0.0591 right_roll=0.0005 right_gripper=0.9988\nstate[joint_eff]: [1.0735, -7.5009, 6.8444, 1.1404, -0.4664, -0.0952, 0.0464, -0.3214, -1.3607, 6.9812, 1.6435, -0.0513, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5976, 1.6806, 1.3628, -0.9268, -0.3672, -0.5716, 0.0527, -0.02, 0.8154, 0.5945, -0.4221, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3482 left_y=-0.1559 left_z=0.1324 left_yaw=0.1098 left_pitch=-0.5226 left_roll=0.1339 left_gripper=0.0527 right_x=0.2888 right_y=0.0007 right_z=0.1613 right_yaw=-0.002 right_pitch=-0.069 right_roll=0.0007 right_gripper=0.9988\nstate[joint_eff]: [-0.294, -8.2256, 8.7726, 0.9402, -0.2662, 0.2125, -0.0024, -0.3624, -1.6615, 6.9949, 1.7021, -0.0317, -0.0366, -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]: [-0.5976, 1.6806, 1.3651, -0.9379, -0.3668, -0.5655, 0.0527, -0.02, 0.8165, 0.5945, -0.4225, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3466 left_y=-0.1549 left_z=0.1323 left_yaw=0.109 left_pitch=-0.53 left_roll=0.1434 left_gripper=0.0527 right_x=0.2888 right_y=0.0007 right_z=0.1609 right_yaw=-0.002 right_pitch=-0.0706 right_roll=0.0007 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -7.9521, 8.4444, 0.906, -0.2711, 0.1148, -0.0122, -0.1709, -1.1829, 7.0769, 1.6484, -0.0806, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1136fa8d5e1904ff378ef21109a73543967ecc37715f94cb8530ece9ab4fb66f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4a8ef8b6588794c9818f3c71d62bf392873b2a90f207434b2cc86d40da8e55e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af828d9b57acaa6e8d9738d137e95c1cdffa317e06d29be45f83a48911a22e48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsAQKjgEIEhgCKkAWdoLCCJgOSkLs3x9F6A30CMNSuA9gEiHD901JiDzhwG0k3Pc7CeZ0/SaxWE2WHtC/b9fHxTNFBS2Nkz0LZx6NMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYi7zNUGEgxs4rGcwxfi4OM9V3EaDE1/8pnGYPVWNIZ6viIwXCmzLIAMNWp0gzH4kGqZaFn06UZBkrOEmOyaUxOhsR6Mo0UXRkHsPEeYcSUt0brEKs4Cd9J3oOH9jj7nHuY3krSq2kywMgxh+6BdhHRW/3bYD6Om0WXDwqzqNEpZ7VYnNG9tpmabWEBfcUfAlLEzZzOVADD/4jIjTsaa+PJtANOVL1WyDlYLpFZ034iKfcliB6D+KXSDKtPRSQdeMUFG+R4HsugXfJsbtv5Xks7uKd05B7imMg8Peq9me7oogdgYbbNO2AzAiPeVAxoU3TqUMByTXynciKj6kaBU+EJve5m6i5lybOFtiJN57QoiLFKm5E1036sGFjKLk5/W+DERFX8a5VnucDAfMWbv7iVHah5X6J+Bq42fUvf+bBnR7SrYiUodmVzJh57+aL2sKIkB92y4UjHrK3zI6WJ4H0BqX7rFQ0TzcuSuhD85aRSgPNQjz3VAk0a+Stek57qccxVTyfMN07oyBIlVP6HHELxp/5paSsRJV+rexPcBoAz3wmnL3RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PZTbC1EayBrLWxCYVntsiP",
      "input": {
        "note": "The arm is frozen; commanding a retreat toward the base and upward to unstick it.",
        "targets": {
          "left_x": 0.3,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01PZTbC1EayBrLWxCYVntsiP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6804, 1.6291, 1.7245, -1.3651, -0.3679, -0.6533, 0.0529, -0.02, 0.8181, 0.5945, -0.4225, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3089 left_y=-0.1637 left_z=0.2344 left_yaw=0.0882 left_pitch=-0.5349 left_roll=0.1112 left_gripper=0.0529 right_x=0.2889 right_y=0.0007 right_z=0.1605 right_yaw=-0.002 right_pitch=-0.0721 right_roll=0.0008 right_gripper=0.9988\nstate[joint_eff]: [-0.7179, -7.2547, 8.5675, 0.7643, -0.486, 0.0659, 0.0122, -0.0615, -1.3197, 7.2821, 1.6386, -0.0757, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:624f033b828fffa50480403d679f01c961478f88c2611b4f50d56f11d045ea0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c21e2c4f60fde23d6ed6e225d0ebf0a0d7e30bbb5d5532024bdaae6e0a359190",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:acadb337851d35a6168ebb4fb7b521195b28099ba65616a60bd48187f45a4dec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 22.44 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5976, 1.6806, 1.3628, -0.9268, -0.3672, -0.5716, 0.0527, -0.02, 0.8154, 0.5945, -0.4221, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3482 left_y=-0.1559 left_z=0.1324 left_yaw=0.1098 left_pitch=-0.5226 left_roll=0.1339 left_gripper=0.0527 right_x=0.2888 right_y=0.0007 right_z=0.1613 right_yaw=-0.002 right_pitch=-0.069 right_roll=0.0007 right_gripper=0.9988\nstate[joint_eff]: [-0.294, -8.2256, 8.7726, 0.9402, -0.2662, 0.2125, -0.0024, -0.3624, -1.6615, 6.9949, 1.7021, -0.0317, -0.0366, -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]: [-0.5976, 1.6806, 1.3651, -0.9379, -0.3668, -0.5655, 0.0527, -0.02, 0.8165, 0.5945, -0.4225, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3466 left_y=-0.1549 left_z=0.1323 left_yaw=0.109 left_pitch=-0.53 left_roll=0.1434 left_gripper=0.0527 right_x=0.2888 right_y=0.0007 right_z=0.1609 right_yaw=-0.002 right_pitch=-0.0706 right_roll=0.0007 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -7.9521, 8.4444, 0.906, -0.2711, 0.1148, -0.0122, -0.1709, -1.1829, 7.0769, 1.6484, -0.0806, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6804, 1.6291, 1.7245, -1.3651, -0.3679, -0.6533, 0.0529, -0.02, 0.8181, 0.5945, -0.4225, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3089 left_y=-0.1637 left_z=0.2344 left_yaw=0.0882 left_pitch=-0.5349 left_roll=0.1112 left_gripper=0.0529 right_x=0.2889 right_y=0.0007 right_z=0.1605 right_yaw=-0.002 right_pitch=-0.0721 right_roll=0.0008 right_gripper=0.9988\nstate[joint_eff]: [-0.7179, -7.2547, 8.5675, 0.7643, -0.486, 0.0659, 0.0122, -0.0615, -1.3197, 7.2821, 1.6386, -0.0757, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:624f033b828fffa50480403d679f01c961478f88c2611b4f50d56f11d045ea0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c21e2c4f60fde23d6ed6e225d0ebf0a0d7e30bbb5d5532024bdaae6e0a359190",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acadb337851d35a6168ebb4fb7b521195b28099ba65616a60bd48187f45a4dec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISjgsKjgEIEhgCKkCJ8DeB/RTuDVMhDnyl1FU8FgEHgdjz9jSp8VtPJJTTA8+cCyskdXhSB6NtnBIZ0jQ8S7OtWmBrOTKKlTh33EQLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZK7zNUGEgzeLy5qMeYbmk1pkjcaDM3JIsyRf4xsxkqrISIw/hNDhb3H/nCVEIqnxXYn0XKKlG5SEy5CSzz9vsWeWy/dO7eDoIVJmzYxf+UyyHCRKqwJxVbCrwxdgnz3ZFqZ+F/6wXTEv2NuSrz/lCZLdmUcSQFWMhWayFmFIw33xB/mbIOT4Ayg1aef3tJnYf20/FATlXq8J3WwXMwns/CL6rd4wJ2bsQvuZVCo/gmCwywnhR3aE+lVFOMGa7dAdxpiTBYUjoXpIlZo2DrLdodEtc88lMgHiXicOOX5ZjcSe37YPiNI2itI+uS1YSwlfvi+E5Cma7bQhNUdHsoPcin5k4ywElNmsNiP7dRl2g4fzQihbvavfdYaT4ZHG7mX7ffEWrmdON+R7XJ97gYymNLluICZr/oAFzB4Tw7lz4yR0kdGZNRDpepMgLYC8LVtRI+HdjYu5XGrXVeduZwkH/x0CkIeI95bkvQJW0e6ScnbyVAAhtI25AmHcHyghLam0eGRawuLqpUxE9Y86zH5QSEj4J+EEWbiuw0dDrIdwWtSPim3vNSxVkYqYPxlL2uRAVL0jZ8uBTYmEp95FNFS7NYKH9K3lQIofrMk4QoglL09sq4YX3ppq0/Hya064sTyNOP7ZDcyGd+6uzvJ//5VbyiVu2xOTJyZElVmB4Lt2sjnreWFou9RQB28oVgE19RuQT5v+fj6zLkiVFU6aGYkIPLGc7+dgsskLQGD+R5gEl/gKCM+z3Yx9CpAT7N7H1AzZ3bYSzJj1zMzDW/lnXnYI1KMtqb8EvFP0KD39Kj7LqAKDXEyLvfcL+zDSQlx9uRIftIZF5KUfBClvG3XrY9RxGakxS/lKO4JGALdpbMt1xZp9LZ0gCZVJ6K5QyFMpcHz3q08BU0L0yd5iS3L2QUVI6YnC+CD/7kVIskZgFJIaapMdrHOtM7rziaiTnTTz7jaGPBWeY9Lx1hKuXklLUe/xzfu5nnP/+CW0mEHqVjQ9+Wxl9rZkAgrrEm2EsIT2weV6otajW7/4AVb07c+/vA5ktKT0XDVlKuNVnLPUOjNeEO1UNbFfsBCh6U81HpcfpIuFFo5wRFbGjTpJIZlX6xJnIAGNQYYjQp95YukT98mH09t8Oqq7fLX1K8duSb8k36n8xQjjyRGSyn8/XgjnXT4ObSs46zaDLXt/wAfXURui8qlQT3fpw5m05c7Xoj3Rt+r80PX66TrTVfDAhD3viWP6LSBVUw265fZYkWgU/c+u49NEk3kgk4iB+mN/uqFUNjrWgLFLc7OWOHc8o3ih1nDo/pnOLV3+90ZaEaPkvCSn5pk/afVBhms6X+CQW2O5WbGsxZO0lGRGKB9fr8O4FD06zmwuCr4MhEjY79JrjJcHJA25ZZWIQijELGOU77N6SI+3bv9uzwJDzQtLoWL0VCOHti+fKv9nGOV3Kq5MWmRFm69oroS2Qp9bDmYupANB2UrDcj8VOrgJ2C3QHwHqbUt9/jpcnBCNIVXMVdalJ5Jvvq/5Ad5CS0NsJ9gnbMJJUTBJzGEG+8rS0ycAYMdn0KKmom6f7IjuWB7aY+503U/D0d2xPxQGGdXOkoL+u/Weh0v12GesptZ7gGJcimXVOi6r9Fo3ocLEEzMZwwQpM0AJQ/rb993f03ZxDgWCUO9IaFBTWFcFqbJ8RQurohRSRuLgJOoyhnBJ3LQcbQrPkj+lnAn0t4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014urnzy5MPcy47DgMLeQG26",
      "input": {
        "note": "The arm moves freely when pulled back; shifting 5 cm toward the purple bowl at this retracted, higher pose before reaching forward again.",
        "targets": {
          "left_x": 0.31,
          "left_y": -0.215,
          "left_z": 0.235
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014urnzy5MPcy47DgMLeQG26",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7925, 1.7813, 1.8584, -1.4368, -0.3752, -0.7544, 0.0532, -0.02, 0.8185, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3041 left_y=-0.2111 left_z=0.2198 left_yaw=0.0863 left_pitch=-0.5834 left_roll=0.1437 left_gripper=0.0532 right_x=0.2889 right_y=0.0007 right_z=0.1603 right_yaw=-0.002 right_pitch=-0.0729 right_roll=0.0008 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, -8.5265, 8.9504, 0.5836, -0.5299, -0.0464, 0.0317, -0.1983, -1.3744, 6.9949, 1.6386, -0.0464, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51c06c1d507fe675f14a27d4b0879bd37e519407c4244f677ca4ebfbb52e4017",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31fff323b32365b005ad28a95cd4ab991f6526fdf9524fd3d6b5ed29e1ad2255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb54815f16088a5af49583ea62ae4ac485f54c50f128839f517589522a7f2767",
        "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 · 6.299 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5976, 1.6806, 1.3651, -0.9379, -0.3668, -0.5655, 0.0527, -0.02, 0.8165, 0.5945, -0.4225, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3466 left_y=-0.1549 left_z=0.1323 left_yaw=0.109 left_pitch=-0.53 left_roll=0.1434 left_gripper=0.0527 right_x=0.2888 right_y=0.0007 right_z=0.1609 right_yaw=-0.002 right_pitch=-0.0706 right_roll=0.0007 right_gripper=0.9988\nstate[joint_eff]: [-0.1983, -7.9521, 8.4444, 0.906, -0.2711, 0.1148, -0.0122, -0.1709, -1.1829, 7.0769, 1.6484, -0.0806, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6804, 1.6291, 1.7245, -1.3651, -0.3679, -0.6533, 0.0529, -0.02, 0.8181, 0.5945, -0.4225, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3089 left_y=-0.1637 left_z=0.2344 left_yaw=0.0882 left_pitch=-0.5349 left_roll=0.1112 left_gripper=0.0529 right_x=0.2889 right_y=0.0007 right_z=0.1605 right_yaw=-0.002 right_pitch=-0.0721 right_roll=0.0008 right_gripper=0.9988\nstate[joint_eff]: [-0.7179, -7.2547, 8.5675, 0.7643, -0.486, 0.0659, 0.0122, -0.0615, -1.3197, 7.2821, 1.6386, -0.0757, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7925, 1.7813, 1.8584, -1.4368, -0.3752, -0.7544, 0.0532, -0.02, 0.8185, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3041 left_y=-0.2111 left_z=0.2198 left_yaw=0.0863 left_pitch=-0.5834 left_roll=0.1437 left_gripper=0.0532 right_x=0.2889 right_y=0.0007 right_z=0.1603 right_yaw=-0.002 right_pitch=-0.0729 right_roll=0.0008 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, -8.5265, 8.9504, 0.5836, -0.5299, -0.0464, 0.0317, -0.1983, -1.3744, 6.9949, 1.6386, -0.0464, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51c06c1d507fe675f14a27d4b0879bd37e519407c4244f677ca4ebfbb52e4017",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31fff323b32365b005ad28a95cd4ab991f6526fdf9524fd3d6b5ed29e1ad2255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb54815f16088a5af49583ea62ae4ac485f54c50f128839f517589522a7f2767",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018sQgkXkCetVZ5d3a3vTXLS",
      "input": {
        "note": "Wrist view now shows the purple bowl to the left of the carried bowl, so I went too far; moving back to y=-0.14 and forward to x=0.355 to hover the carried bowl over the purple one.",
        "targets": {
          "left_x": 0.355,
          "left_y": -0.14,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_018sQgkXkCetVZ5d3a3vTXLS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8005, 1.7882, 1.8805, -1.4406, -0.3756, -0.7757, 0.0533, -0.02, 0.8185, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3046 left_y=-0.2158 left_z=0.2236 left_yaw=0.0865 left_pitch=-0.5742 left_roll=0.123 left_gripper=0.0533 right_x=0.2889 right_y=0.0007 right_z=0.1603 right_yaw=-0.002 right_pitch=-0.0729 right_roll=0.0008 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -8.6632, 8.2256, 0.6374, -0.4811, -0.0171, -0.0073, -0.1846, -1.3333, 7.0632, 1.6435, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33fbf512d0ace75f95be798fa2e4a7d1127ec069540150c5a60d53e0f783b08c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2deef63160011e0f55fb5face0be4a34d8b793fe4d39597ce8a66f299d5ed914",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd6b4c31416124061392d4ec28916c3929cb97cb4c50635d3e76d4fd7004e087",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 15.34 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6804, 1.6291, 1.7245, -1.3651, -0.3679, -0.6533, 0.0529, -0.02, 0.8181, 0.5945, -0.4225, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3089 left_y=-0.1637 left_z=0.2344 left_yaw=0.0882 left_pitch=-0.5349 left_roll=0.1112 left_gripper=0.0529 right_x=0.2889 right_y=0.0007 right_z=0.1605 right_yaw=-0.002 right_pitch=-0.0721 right_roll=0.0008 right_gripper=0.9988\nstate[joint_eff]: [-0.7179, -7.2547, 8.5675, 0.7643, -0.486, 0.0659, 0.0122, -0.0615, -1.3197, 7.2821, 1.6386, -0.0757, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.7925, 1.7813, 1.8584, -1.4368, -0.3752, -0.7544, 0.0532, -0.02, 0.8185, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3041 left_y=-0.2111 left_z=0.2198 left_yaw=0.0863 left_pitch=-0.5834 left_roll=0.1437 left_gripper=0.0532 right_x=0.2889 right_y=0.0007 right_z=0.1603 right_yaw=-0.002 right_pitch=-0.0729 right_roll=0.0008 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, -8.5265, 8.9504, 0.5836, -0.5299, -0.0464, 0.0317, -0.1983, -1.3744, 6.9949, 1.6386, -0.0464, -0.0611, -0.0073]",
      "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]: [-0.8005, 1.7882, 1.8805, -1.4406, -0.3756, -0.7757, 0.0533, -0.02, 0.8185, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3046 left_y=-0.2158 left_z=0.2236 left_yaw=0.0865 left_pitch=-0.5742 left_roll=0.123 left_gripper=0.0533 right_x=0.2889 right_y=0.0007 right_z=0.1603 right_yaw=-0.002 right_pitch=-0.0729 right_roll=0.0008 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -8.6632, 8.2256, 0.6374, -0.4811, -0.0171, -0.0073, -0.1846, -1.3333, 7.0632, 1.6435, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33fbf512d0ace75f95be798fa2e4a7d1127ec069540150c5a60d53e0f783b08c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2deef63160011e0f55fb5face0be4a34d8b793fe4d39597ce8a66f299d5ed914",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd6b4c31416124061392d4ec28916c3929cb97cb4c50635d3e76d4fd7004e087",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvAYKjgEIEhgCKkDFjiHg8YvmkoG8WgCXeufNv7j4Z08TAg7bsqubwXwxoqqJsA/VJlbfcpewIOy2Naih3/JKN1OupNAp0W4DzzkpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbC7zNUGEgxysPuQpdCZ/d9LoHEaDO17X7nqFovLh4NrIyIwDm3+9AhRQ2p9gnZ5duR5tO7cw99gLBIwKH5gZyDQ1/BBpRsrsc8WIvsWsn2J6xHlKtoEA/jlyc4GQ/vOX/AfUhfyBh+/EDjhErnTaiiXEI8ug0uDK4RETzlWG4OHz+e+PqSiK/5MzMTcu5aMQVH6WIoEjVFpL6elPIMxhWoXx8FCjk4Z6wfYbEllB/Zkgkc69js31wNSK2wRvoKQ9duIhjgSB3nylFbijT7NN2Lrm/hwxq6DebYKT4fhR4iHk2GvKdiV18UvNw8trUoFkdLJzJXFZHE1v96A8LxWDu62w7f4Zm5UAbO8BA6w3s92U8PNPqvh/g1C/9/ywAHTm+hPCnWAn02hecfddEAV4HbXqFUpBGF+6XrbBD+d0TDGWrjcCAaHbO0YWb+xY0J20P/dC8fvP8DgcZRKwHYjzZrcyPV/Gtl+MCwmbOCZK2pvqIlVVZW1k/l9lEs6uSx1QKcXvzLvaDuPwtyypapy6CmAJiaDG7ff2QA221U7FU6zy9cEczSEDZrBVl4WEW+E2ObiOV/1HdYVyx83jLbCPN60cMnrPpNLd+v1ZSyN4BG3mblhWDq5YHISjtUe03hebW4OG8CK92+FoXpZ2K65rOJHbJUWanAHZtSo2Qk5vJlIMBzkYREImffrC8QarAnz85JhQHwd3OX64CaYJp1LPpTI11i92B44beq/9TOaj9HETpH32LFY+x2WqJ7JumRkRGH0oOn6Arv2bo/TdNcMLBFKAUsyJFG41ulLUkAUpyKLFMRROf3ZOzdnXFJNushS8vNlrjwb+DkA5T4gUeQkmULjqfJGVPz39If5/YVSQWDkRVqUCIjLIxe24x/97FHneLe+QoJNVDUN+si8w9+wXiEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NYmSqkSZD1Qq8enUZ5wSDK",
      "input": {
        "note": "The arm is frozen with its wrist pitch pinned near the -0.6 limit; commanding a less extreme pitch together with a small sideways move to free the IK.",
        "targets": {
          "left_pitch": -0.3,
          "left_y": -0.18,
          "left_z": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NYmSqkSZD1Qq8enUZ5wSDK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8196, 1.5372, 1.4036, -1.1042, -0.5419, -0.7433, 0.0534, -0.02, 0.8192, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.2973 left_y=-0.1797 left_z=0.1936 left_yaw=0.1 left_pitch=-0.3828 left_roll=0.1551 left_gripper=0.0534 right_x=0.2889 right_y=0.0007 right_z=0.1601 right_yaw=-0.002 right_pitch=-0.0736 right_roll=0.0008 right_gripper=0.9988\nstate[joint_eff]: [-0.4718, -8.4444, 6.8308, 1.1551, -0.5739, 0.1245, -0.0024, -0.212, -1.4564, 6.9812, 1.7167, -0.0415, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0f1f79cf1d4b2a56d3fa941c182ba58d37952171ef9ad26e3bc7da23e3ac6d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98cace994549dd869f2ac9618460082831ecb8eb30419905f9aed3e80ef225ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f9a71ae5771fe90669db05860e0dd746686c45f0bc4598f7c478fc5725d59e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 6.255 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7925, 1.7813, 1.8584, -1.4368, -0.3752, -0.7544, 0.0532, -0.02, 0.8185, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3041 left_y=-0.2111 left_z=0.2198 left_yaw=0.0863 left_pitch=-0.5834 left_roll=0.1437 left_gripper=0.0532 right_x=0.2889 right_y=0.0007 right_z=0.1603 right_yaw=-0.002 right_pitch=-0.0729 right_roll=0.0008 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, -8.5265, 8.9504, 0.5836, -0.5299, -0.0464, 0.0317, -0.1983, -1.3744, 6.9949, 1.6386, -0.0464, -0.0611, -0.0073]",
      "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]: [-0.8005, 1.7882, 1.8805, -1.4406, -0.3756, -0.7757, 0.0533, -0.02, 0.8185, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3046 left_y=-0.2158 left_z=0.2236 left_yaw=0.0865 left_pitch=-0.5742 left_roll=0.123 left_gripper=0.0533 right_x=0.2889 right_y=0.0007 right_z=0.1603 right_yaw=-0.002 right_pitch=-0.0729 right_roll=0.0008 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -8.6632, 8.2256, 0.6374, -0.4811, -0.0171, -0.0073, -0.1846, -1.3333, 7.0632, 1.6435, -0.0464, -0.0464, -0.0122]",
      "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]: [-0.8196, 1.5372, 1.4036, -1.1042, -0.5419, -0.7433, 0.0534, -0.02, 0.8192, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.2973 left_y=-0.1797 left_z=0.1936 left_yaw=0.1 left_pitch=-0.3828 left_roll=0.1551 left_gripper=0.0534 right_x=0.2889 right_y=0.0007 right_z=0.1601 right_yaw=-0.002 right_pitch=-0.0736 right_roll=0.0008 right_gripper=0.9988\nstate[joint_eff]: [-0.4718, -8.4444, 6.8308, 1.1551, -0.5739, 0.1245, -0.0024, -0.212, -1.4564, 6.9812, 1.7167, -0.0415, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0f1f79cf1d4b2a56d3fa941c182ba58d37952171ef9ad26e3bc7da23e3ac6d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98cace994549dd869f2ac9618460082831ecb8eb30419905f9aed3e80ef225ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f9a71ae5771fe90669db05860e0dd746686c45f0bc4598f7c478fc5725d59e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FPEQB6XpCLabtxf6TcMn2G",
      "input": {
        "note": "Using the measured wrist-view scale (535 px per metre of y), the purple bowl lines up with the carried bowl at y≈-0.136; moving there and forward to x=0.355 while holding pitch at -0.3 so the IK keeps tracking.",
        "targets": {
          "left_pitch": -0.3,
          "left_x": 0.355,
          "left_y": -0.136,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FPEQB6XpCLabtxf6TcMn2G",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6178, 1.523, 1.28, -0.8921, -0.5114, -0.556, 0.0534, -0.02, 0.823, 0.5945, -0.4232, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3409 left_y=-0.1318 left_z=0.1719 left_yaw=0.1463 left_pitch=-0.3531 left_roll=0.1717 left_gripper=0.0534 right_x=0.289 right_y=0.0007 right_z=0.159 right_yaw=-0.002 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [0.2803, -7.0222, 6.5846, 1.243, -0.3199, 0.1929, -0.0073, -0.0889, -1.6889, 6.9812, 1.6386, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f74996cc6d35d0bbb66ec40d9f615eb881d5173142b04a488abb918df349fa74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6cb6377529201ede2ba957b46c1fb0e0fcefbaded39d212a6d8f6b404f73df4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1cfc16d9571e7ba100b0d5b2866c71020753b8c6845850f1cf8699a5c056d9b",
        "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 · 7.215 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8005, 1.7882, 1.8805, -1.4406, -0.3756, -0.7757, 0.0533, -0.02, 0.8185, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3046 left_y=-0.2158 left_z=0.2236 left_yaw=0.0865 left_pitch=-0.5742 left_roll=0.123 left_gripper=0.0533 right_x=0.2889 right_y=0.0007 right_z=0.1603 right_yaw=-0.002 right_pitch=-0.0729 right_roll=0.0008 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -8.6632, 8.2256, 0.6374, -0.4811, -0.0171, -0.0073, -0.1846, -1.3333, 7.0632, 1.6435, -0.0464, -0.0464, -0.0122]",
      "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]: [-0.8196, 1.5372, 1.4036, -1.1042, -0.5419, -0.7433, 0.0534, -0.02, 0.8192, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.2973 left_y=-0.1797 left_z=0.1936 left_yaw=0.1 left_pitch=-0.3828 left_roll=0.1551 left_gripper=0.0534 right_x=0.2889 right_y=0.0007 right_z=0.1601 right_yaw=-0.002 right_pitch=-0.0736 right_roll=0.0008 right_gripper=0.9988\nstate[joint_eff]: [-0.4718, -8.4444, 6.8308, 1.1551, -0.5739, 0.1245, -0.0024, -0.212, -1.4564, 6.9812, 1.7167, -0.0415, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6178, 1.523, 1.28, -0.8921, -0.5114, -0.556, 0.0534, -0.02, 0.823, 0.5945, -0.4232, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3409 left_y=-0.1318 left_z=0.1719 left_yaw=0.1463 left_pitch=-0.3531 left_roll=0.1717 left_gripper=0.0534 right_x=0.289 right_y=0.0007 right_z=0.159 right_yaw=-0.002 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [0.2803, -7.0222, 6.5846, 1.243, -0.3199, 0.1929, -0.0073, -0.0889, -1.6889, 6.9812, 1.6386, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f74996cc6d35d0bbb66ec40d9f615eb881d5173142b04a488abb918df349fa74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6cb6377529201ede2ba957b46c1fb0e0fcefbaded39d212a6d8f6b404f73df4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1cfc16d9571e7ba100b0d5b2866c71020753b8c6845850f1cf8699a5c056d9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AYKjgEIEhgCKkBkW68LbtEl5AtH+vyx9BGrqevLbBm4LcaRxB1ILNBAe06JahYGZSTVlIJ1z6jFnqxiPtmxyt9uwpsqPzL+bGP/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAce7zNUGEgyN7tTEa1uNqXfjQHMaDHkJ78nhS4huousIAiIwu/OlkeoSi8qQUgRCmiWdq/MFa0ErymiLjlwFR0fib8eWS725WyKBv8laXoXOIY74Ku4EaqqCH1BOYCdA+cb/oClwvS5jfjf1ljp4Nyv2k0ZwrsrIL9MvxxWb7VDvF7IVmHJygE2O1EQ90B4yE+BRr3gvrWzBd9xWFwpPiZDbxYsysRk9a2E18A2E6/+DUkE7ENrRtgT3oVPLU6VllBOv+9SuauTb+8RZ/MVIzC+AUphowWWsFJXBsAE4D9mVh6BLZJ5S4hAd1QdQZGXVXuuD9+abGUHZ/M7hEG39la8UXGZDaE6Z9d7pTxteSAXCNik64SCwDA634fd/KBRiXMGvk5tvgKYmATpHt6xWF/mNks6OBsP7aGxGw7H/IZgpkaCo5/fkf7kfnUKsaYc0MBAo9UDtpdIM6uYzsYG/4NpRFmK0df7R4COZ50Dq/aLNs+LL87VGRfZ0jkpMy6ct9pF5WsXQvY/m6+cNTt5iQAV8P5Y1xgqQp4ZXoeoSxmpS3S8RVZCycSH9tnTY5FXfeyTWDKgTp+AZYX19grH2O2YfPudoNPbPVdpjnAsxja9CiM4FxYG9zVhrz/T/hBYN/8vw28Kk0b1yGSQBJGSXl5FW7FkbrqTdf6JcDOerAw48eMt1k4yj6cKF6UBbws1/c9A0GfoLi26J2Nuz+tO98X3YZE+Lz5ehshTJoMTidsNWHDPOYdW5OLwrOCl6zUFeYL1+46Sf6aTmlOIOmZhQm9GCEDJiFpc1OLyXpFV51FZku48Zlw8t0UZJlmvT7vCWvWyk1hs4QLLH+73Jfzn0sBkV7qFiUW1idARENm7C4EEJQlYGEbLrO6zAmDqRwzlUjwjgkdpLbw6sgod0ll0W5ReWXpqtqSpVTf2zlCAKPLzoyZj99hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018WfnohPqyMtDKcjDAviW4w",
      "input": {
        "note": "The purple bowl is now hidden right behind the carried bowl, so y is aligned but the purple sits farther out; reaching 5 cm forward to bring the carried bowl over it.",
        "targets": {
          "left_pitch": -0.3,
          "left_x": 0.39,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018WfnohPqyMtDKcjDAviW4w",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5529, 1.6363, 1.309, -0.8124, -0.498, -0.4953, 0.0535, -0.02, 0.8242, 0.5945, -0.4232, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3718 left_y=-0.1261 left_z=0.149 left_yaw=0.1688 left_pitch=-0.3712 left_roll=0.2043 left_gripper=0.0535 right_x=0.2891 right_y=0.0007 right_z=0.1587 right_yaw=-0.002 right_pitch=-0.079 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [0.3624, -8.1709, 10.3043, 1.1893, -0.3736, 0.0904, -0.0073, -0.3624, -1.4838, 6.9949, 1.6337, -0.0611, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77f5fd287c124b2deba050e5b4f8eb655a4e558ba30af495a3c2f953b9738326",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6d89c9e4ee5eec98ac383e36f534b88b7b7a4ec454e89924c71457b3fe3e65a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:45458539062b02ff551c15e5f5eb28e59ad376967df10bef9ea31cf2964f0345",
        "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 · 4.045 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8196, 1.5372, 1.4036, -1.1042, -0.5419, -0.7433, 0.0534, -0.02, 0.8192, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.2973 left_y=-0.1797 left_z=0.1936 left_yaw=0.1 left_pitch=-0.3828 left_roll=0.1551 left_gripper=0.0534 right_x=0.2889 right_y=0.0007 right_z=0.1601 right_yaw=-0.002 right_pitch=-0.0736 right_roll=0.0008 right_gripper=0.9988\nstate[joint_eff]: [-0.4718, -8.4444, 6.8308, 1.1551, -0.5739, 0.1245, -0.0024, -0.212, -1.4564, 6.9812, 1.7167, -0.0415, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.6178, 1.523, 1.28, -0.8921, -0.5114, -0.556, 0.0534, -0.02, 0.823, 0.5945, -0.4232, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3409 left_y=-0.1318 left_z=0.1719 left_yaw=0.1463 left_pitch=-0.3531 left_roll=0.1717 left_gripper=0.0534 right_x=0.289 right_y=0.0007 right_z=0.159 right_yaw=-0.002 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [0.2803, -7.0222, 6.5846, 1.243, -0.3199, 0.1929, -0.0073, -0.0889, -1.6889, 6.9812, 1.6386, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5529, 1.6363, 1.309, -0.8124, -0.498, -0.4953, 0.0535, -0.02, 0.8242, 0.5945, -0.4232, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3718 left_y=-0.1261 left_z=0.149 left_yaw=0.1688 left_pitch=-0.3712 left_roll=0.2043 left_gripper=0.0535 right_x=0.2891 right_y=0.0007 right_z=0.1587 right_yaw=-0.002 right_pitch=-0.079 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [0.3624, -8.1709, 10.3043, 1.1893, -0.3736, 0.0904, -0.0073, -0.3624, -1.4838, 6.9949, 1.6337, -0.0611, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77f5fd287c124b2deba050e5b4f8eb655a4e558ba30af495a3c2f953b9738326",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6d89c9e4ee5eec98ac383e36f534b88b7b7a4ec454e89924c71457b3fe3e65a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45458539062b02ff551c15e5f5eb28e59ad376967df10bef9ea31cf2964f0345",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShgcKjgEIEhgCKkDA0jGeMfSz8jThVxzNA/unhATgKIHTkuZ6wLI4IpnxlXyDQiWgAPhaylqPEsQQjtB/4MP5duDEjTMuitkxelBDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc+7zNUGEgxijlxi9j2g56JM0rIaDHbPIkFh7xLkYhOLDiIwiaUPsoWC7gz7NUGImSJ06iqrIHz1qNz/t0MgLFaRHkOP5WpNLQfkMVcrETOyZDg1KqQFLBp+pNtMJ49OJ8tPaHDOvoAwBQwr03dq8iz2PtHjEWyHLKOBlTkXx8pPXU80XAoBtkt+mxo56/g3NxgIcwGR468ZiUEYrEaCcteFjGddLJkHFn62/XJECL8sxkGsgylc5FqBuh7RW7WWvxh4jSaMQhgxvUaYOTj6GKCYyKGPQkhmUv8oqwVoia1J1hZTHU6o+OsiXDWc+X61ze3EBoCGkDmo8J13w2DCY1QAR/rz/0kPdPyZh0xMQuvxUSbg1f9jC5sMS/mi271igRkhRBfiQJWKmE0evufzgOAyLJFJ/GXGiecvGqvFjTh6RUAcE7AMmg4esVVQzXWi/UN//W4UoUPVwhxgYL/DdsqbDcne6SII1rWlymKC1Uo1Li+0Wf+MBRc/F+cBsxHlP+zZgubakdE/ScGyCLFTLc9u9i80LW/+ZnaUpQe+1JAAphIGmfggDUu48yJL6uzvYK+hZUTcyvMIjFMg6BEdN5Cs3EaSO4NBiIxV0WZ4vn+DdCn1n34Mnjw9RToG4wwN/7xu73P7YiKbOMQLdRHaby+P1as85ZrHuBxlXXUZGKJbH+sCWqs0/hL6okz6jfzjvdYWzy0HpP/v855k9BWpVGcEK8HZllMxQh5YbTUyL5CMJwuneYcmbdJiOPuYhVwzSMaKFwiwEw3kvnpLm1oVYzl3hsWS5/GlsI5Jpjakl1XEuVeNjX9V8uUJpkQw9mscuyuoAV98MMa4RCDuIAA3OWquCICafiM61/leQbPsRdPl6JVFXIQ69LDM0P46jsyHvyHHpc84Po3MEyM3jnh/5xiLuye9L5fnGCCzd9n4fyUm1pwdD/D2NHrSdOMoDZr3I4ILYFuJ/GX557wZWh+fULInkOvT9TVO6hgPutdBSDhNGdAHwhvyvdBJzxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VpcLEfDFaydX7jWJahJFfY",
      "input": {
        "note": "Purple bowl is fully hidden behind the carried bowl, so they are aligned; lowering the carried bowl to just above the purple bowl's rim before releasing.",
        "targets": {
          "left_pitch": -0.3,
          "left_z": 0.115
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VpcLEfDFaydX7jWJahJFfY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.543, 1.6463, 1.3167, -0.7948, -0.4984, -0.4862, 0.0534, -0.02, 0.8242, 0.5945, -0.4229, -0.0162, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.378 left_y=-0.1253 left_z=0.1497 left_yaw=0.17 left_pitch=-0.3605 left_roll=0.1997 left_gripper=0.0534 right_x=0.2891 right_y=0.0007 right_z=0.1588 right_yaw=-0.0023 right_pitch=-0.0786 right_roll=0.0007 right_gripper=0.9988\nstate[joint_eff]: [-0.5402, -8.1436, 9.5932, 1.2772, -0.4176, 0.1636, -0.0171, -0.1162, -1.2376, 6.9812, 1.7167, -0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b121ff90a047065077a2afe07008374637151f98201e2a04a9a4c59262bbcc1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fad71c2be7d3935ae14bc447a1d5bb18cf7ccc1b8a2608533ecfc6285e441c3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:205a683d11ac21e86b2935fde6cea661ebf43a772ab8975df02cdbde77c18a43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 29.19 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6178, 1.523, 1.28, -0.8921, -0.5114, -0.556, 0.0534, -0.02, 0.823, 0.5945, -0.4232, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3409 left_y=-0.1318 left_z=0.1719 left_yaw=0.1463 left_pitch=-0.3531 left_roll=0.1717 left_gripper=0.0534 right_x=0.289 right_y=0.0007 right_z=0.159 right_yaw=-0.002 right_pitch=-0.0778 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [0.2803, -7.0222, 6.5846, 1.243, -0.3199, 0.1929, -0.0073, -0.0889, -1.6889, 6.9812, 1.6386, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5529, 1.6363, 1.309, -0.8124, -0.498, -0.4953, 0.0535, -0.02, 0.8242, 0.5945, -0.4232, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3718 left_y=-0.1261 left_z=0.149 left_yaw=0.1688 left_pitch=-0.3712 left_roll=0.2043 left_gripper=0.0535 right_x=0.2891 right_y=0.0007 right_z=0.1587 right_yaw=-0.002 right_pitch=-0.079 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [0.3624, -8.1709, 10.3043, 1.1893, -0.3736, 0.0904, -0.0073, -0.3624, -1.4838, 6.9949, 1.6337, -0.0611, -0.0317, -0.0073]",
      "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]: [-0.543, 1.6463, 1.3167, -0.7948, -0.4984, -0.4862, 0.0534, -0.02, 0.8242, 0.5945, -0.4229, -0.0162, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.378 left_y=-0.1253 left_z=0.1497 left_yaw=0.17 left_pitch=-0.3605 left_roll=0.1997 left_gripper=0.0534 right_x=0.2891 right_y=0.0007 right_z=0.1588 right_yaw=-0.0023 right_pitch=-0.0786 right_roll=0.0007 right_gripper=0.9988\nstate[joint_eff]: [-0.5402, -8.1436, 9.5932, 1.2772, -0.4176, 0.1636, -0.0171, -0.1162, -1.2376, 6.9812, 1.7167, -0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b121ff90a047065077a2afe07008374637151f98201e2a04a9a4c59262bbcc1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fad71c2be7d3935ae14bc447a1d5bb18cf7ccc1b8a2608533ecfc6285e441c3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:205a683d11ac21e86b2935fde6cea661ebf43a772ab8975df02cdbde77c18a43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4wMKjgEIEhgCKkBZOYw9NvYpTk2QpX4BZPF5BntmeLfvrKdg7Ts2UXcKat7Rlbx7fxYl2D129Q0eSnubip5AqlLYInyuYjlr95xrMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdO7zNUGEgzfOFYGd/G2g9FjzlwaDE9+AoZrDh+SoTK1BSIw9JJr2lp0hMX6yEuiY6zaBid41Br9+n4xfEeMlu2toGQ4zQ73z/rRubHn1VitApidKoECxgRml7ntDuirtzrtQOHzDDwotCZMiEF4Zn0o7nMthndWDO3MBwNoBS75wgXYdN07ZGYUyPb6MCXhxkuCzEW2kryUOUPwrWb4GTFk8knendKC1lxyDkJZj+LAovn14hssoEt42VIXGppV93Rhc7hIkKetLQvof+AYgUFevsCoSPzqMugggQmtnorjd5ZPFkF25Yod5fNLpEDDdvbisj55hu5HcN8LFV2m/rssEKqwqp+jPefWA8uIINpsEWhshJZC2VoSF2lRO7Ey6yoZT/k73bhFhcEOWvbfLBYe+dL8olAl/3A1gzmNZtL5xxBGrVDYUyGBN9OOuZcI9Beo1Lt0ljMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QNoqufBPeJ4VCD6mW9HuBd",
      "input": {
        "note": "The descent stopped short, suggesting the carried bowl is resting on the purple bowl; opening the jaws to release it into the purple 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_01QNoqufBPeJ4VCD6mW9HuBd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.543, 1.6463, 1.3163, -0.7956, -0.495, -0.4854, 0.9946, -0.02, 0.8242, 0.5945, -0.4232, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3776 left_y=-0.1257 left_z=0.1492 left_yaw=0.1675 left_pitch=-0.3635 left_roll=0.1984 left_gripper=0.9946 right_x=0.2891 right_y=0.0007 right_z=0.1587 right_yaw=-0.002 right_pitch=-0.079 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -7.7333, 6.4342, 1.0574, -0.3199, 0.0659, 0.0464, -0.212, -1.388, 6.9949, 1.6337, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:401c6fe3a88982570989c17bd49511541ca1cada03607e6cc2c0c5a0eba29e27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cda8b0f111febfeced49e55b92a41f0b3ea8389a3c57a39a5b8b43f9c3e720bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2de3bba7e4c7d5a2ac33c643ea1b9f7ba4e1d3327c4ddb4356a5ce212c8cd43f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 10.71 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5529, 1.6363, 1.309, -0.8124, -0.498, -0.4953, 0.0535, -0.02, 0.8242, 0.5945, -0.4232, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3718 left_y=-0.1261 left_z=0.149 left_yaw=0.1688 left_pitch=-0.3712 left_roll=0.2043 left_gripper=0.0535 right_x=0.2891 right_y=0.0007 right_z=0.1587 right_yaw=-0.002 right_pitch=-0.079 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [0.3624, -8.1709, 10.3043, 1.1893, -0.3736, 0.0904, -0.0073, -0.3624, -1.4838, 6.9949, 1.6337, -0.0611, -0.0317, -0.0073]",
      "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]: [-0.543, 1.6463, 1.3167, -0.7948, -0.4984, -0.4862, 0.0534, -0.02, 0.8242, 0.5945, -0.4229, -0.0162, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.378 left_y=-0.1253 left_z=0.1497 left_yaw=0.17 left_pitch=-0.3605 left_roll=0.1997 left_gripper=0.0534 right_x=0.2891 right_y=0.0007 right_z=0.1588 right_yaw=-0.0023 right_pitch=-0.0786 right_roll=0.0007 right_gripper=0.9988\nstate[joint_eff]: [-0.5402, -8.1436, 9.5932, 1.2772, -0.4176, 0.1636, -0.0171, -0.1162, -1.2376, 6.9812, 1.7167, -0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.543, 1.6463, 1.3163, -0.7956, -0.495, -0.4854, 0.9946, -0.02, 0.8242, 0.5945, -0.4232, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3776 left_y=-0.1257 left_z=0.1492 left_yaw=0.1675 left_pitch=-0.3635 left_roll=0.1984 left_gripper=0.9946 right_x=0.2891 right_y=0.0007 right_z=0.1587 right_yaw=-0.002 right_pitch=-0.079 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -7.7333, 6.4342, 1.0574, -0.3199, 0.0659, 0.0464, -0.212, -1.388, 6.9949, 1.6337, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:401c6fe3a88982570989c17bd49511541ca1cada03607e6cc2c0c5a0eba29e27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cda8b0f111febfeced49e55b92a41f0b3ea8389a3c57a39a5b8b43f9c3e720bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2de3bba7e4c7d5a2ac33c643ea1b9f7ba4e1d3327c4ddb4356a5ce212c8cd43f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014UMgQ1rZUSmMqd3fhrtdtZ",
      "input": {
        "note": "The white bowl was released beside the purple bowl rather than inside it; going back to pinch its left rim again (it now sits slightly right of where it started).",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.33,
          "left_y": -0.005,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_014UMgQ1rZUSmMqd3fhrtdtZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.289, 1.356, 0.3191, 0.2729, -0.4969, -0.16, 0.9982, -0.02, 0.8268, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3153 left_y=-0.0022 left_z=0.0338 left_yaw=0.1951 left_pitch=-0.0999 left_roll=0.2241 left_gripper=0.9982 right_x=0.2893 right_y=0.0007 right_z=0.1581 right_yaw=-0.002 right_pitch=-0.0812 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [0.3214, -3.5214, 6.0786, 1.8926, -0.2027, 0.0513, -0.1929, -0.1709, -1.6342, 6.9812, 1.6581, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:973a554f5008da0d4f866693c5568f283dc626224122178f4ee02fc586ef9288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1971dc1ab11710acd086d78a3afb96c969af1aa86dea93ada0c6d7c1433bc055",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9645810ae8c6ca508205ca30a903bb8899cee01987929bc0cc47e31d286c6b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 5.119 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.543, 1.6463, 1.3167, -0.7948, -0.4984, -0.4862, 0.0534, -0.02, 0.8242, 0.5945, -0.4229, -0.0162, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.378 left_y=-0.1253 left_z=0.1497 left_yaw=0.17 left_pitch=-0.3605 left_roll=0.1997 left_gripper=0.0534 right_x=0.2891 right_y=0.0007 right_z=0.1588 right_yaw=-0.0023 right_pitch=-0.0786 right_roll=0.0007 right_gripper=0.9988\nstate[joint_eff]: [-0.5402, -8.1436, 9.5932, 1.2772, -0.4176, 0.1636, -0.0171, -0.1162, -1.2376, 6.9812, 1.7167, -0.0122, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.543, 1.6463, 1.3163, -0.7956, -0.495, -0.4854, 0.9946, -0.02, 0.8242, 0.5945, -0.4232, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3776 left_y=-0.1257 left_z=0.1492 left_yaw=0.1675 left_pitch=-0.3635 left_roll=0.1984 left_gripper=0.9946 right_x=0.2891 right_y=0.0007 right_z=0.1587 right_yaw=-0.002 right_pitch=-0.079 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -7.7333, 6.4342, 1.0574, -0.3199, 0.0659, 0.0464, -0.212, -1.388, 6.9949, 1.6337, -0.0464, -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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.289, 1.356, 0.3191, 0.2729, -0.4969, -0.16, 0.9982, -0.02, 0.8268, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3153 left_y=-0.0022 left_z=0.0338 left_yaw=0.1951 left_pitch=-0.0999 left_roll=0.2241 left_gripper=0.9982 right_x=0.2893 right_y=0.0007 right_z=0.1581 right_yaw=-0.002 right_pitch=-0.0812 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [0.3214, -3.5214, 6.0786, 1.8926, -0.2027, 0.0513, -0.1929, -0.1709, -1.6342, 6.9812, 1.6581, -0.022, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:973a554f5008da0d4f866693c5568f283dc626224122178f4ee02fc586ef9288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1971dc1ab11710acd086d78a3afb96c969af1aa86dea93ada0c6d7c1433bc055",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9645810ae8c6ca508205ca30a903bb8899cee01987929bc0cc47e31d286c6b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISjwgKjgEIEhgCKkANRqhTe/40+ooV0P7f+9n7dLtxLN3Rmf/sicc6CNDBL+ZvoWoCuJ8Vt7ErDTti7UepDhjvh+0egBZdQgFQj6OvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf27zNUGEgwZMQbmB20J0dptNq4aDAyxq9aoAKjl5N3iSiIwvUe1g2YubYN0XGqGdglSHeX8Fn08LVEt2CThTM+AHSH+d8ZxXggoKNZ+PFSsGxVeKq0GeyqqHWjTRRNY9gMMjDbfMrHBsyl92E2IGziZ5/STVbdj8AgzrqhWyVf23rtK8wD13odjY5QlN4Sd9JMOaXGxL13YX2wJ3vI0F3zBpZxB4jZiXh8qgBjFp+HVgilI317oa/a/hwimPpMeEMle6DumhDlGheyZx62L52FGNm5pzbLQsToOCevawUXqEVhO6LMxReR8eyNb2f1n4LRqVLqyj01GyqnuknMlyJnA2DdYuXzaOjGhpmNRlA0Vf+NFrtZbAaAlglw4fybrgKaVIRhaxqMYrKj8nv2gwic/qK3SrT0ivTuDo94kwNRLkdEkx1MslOZLOdh+f7jUWrx16PSSKna4PGAJsur7UEdbkkycfVMlqmzJnCDg1YPpwKkmHJYXRoPgJ5SqlOFRh9vxsOGeTbIsYBoTdfKhEdEAZc1NHf74/MQFWPbyheAax+7c3tTergE0dHIUOBsm+hWJylg+0T1d6t+N9xa9AwB6k7EMe1QO4cYzgBWo3VKU5btM+UXCi1k8HwSSiSmm06NGHPI6Fa+5f/qLAaljZnNzJnKDQekGsv/kjKo7U2oHxLx1SsL2DmQywI21B7FQKzaJCDmoio5WXJ4u7cTbeY17GvfYUnWAlobZOfdAW+uXLfKyoAiLL9pfnF0GpBP8GlK32GQ6XPZkQZP9hT/siz662plwV+EKb5GDC4M2O8Wt//xLS7colF+MgdVOCqDbAMLxF2cVOBCKluJVE0B80/rgemhw3x4rOgX7GK5wZM9ntEg0Rvi1OoBY5Y4QLS88xdPvjRBNhzCktwFi+KL02fC9uR/lCKAKtoZdNn5x/OFOVfX7WbFyB59AWuPUESOxbFMWeqnDtQrMSzhbK8cxkfgVBYOJ44CczgKFICIGyVoOBD/zJIeiUvShvjMj+zIPoya/RIH0PXj9jwENWx17fvnQZHhwqGpla/HZIKfNRt14dBII/EZaRoNli0h5CJfFj8L8zyOtudslIopwUnOWjg+un3rzAMEZpk7Oi8VXsGSOkNCBQiwo1oJnvDRDOajRWfGEz6vhXmpu1QK3z+0MPDJJM3tQV1tCS3TdG6x3JHVgD3zfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018P6d9MtPLnfyu4aCVkxUfr",
      "input": {
        "note": "The white bowl's rim appears well to the right in the wrist view, so I shift ~6 cm in -y to bring its left rim onto the jaw column.",
        "targets": {
          "left_pitch": 0.0,
          "left_y": -0.06,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_018P6d9MtPLnfyu4aCVkxUfr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5659, 1.4342, 0.347, 0.2672, -0.6884, -0.3218, 0.9981, -0.02, 0.8272, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3086 left_y=-0.0588 left_z=0.0337 left_yaw=0.1491 left_pitch=-0.0479 left_roll=0.2389 left_gripper=0.9981 right_x=0.2893 right_y=0.0007 right_z=0.158 right_yaw=-0.002 right_pitch=-0.0816 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -3.9453, 7.4051, 1.4921, -0.4762, -0.0317, -0.0269, -0.212, -1.388, 6.9949, 1.6728, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c2562fe26fddf07bf42e560c57bbd8ab492b70577e4e631b8fa6d18b07d0119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:143dc75bbf70d8ce4094a6c69cdf7220515e078d171e0a91a48aa034ce18eff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:80386680c59d7621a678b3d792ebdc4dfea5b83f991f12aaf2583d41be7c590a",
        "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 · 9.016 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.543, 1.6463, 1.3163, -0.7956, -0.495, -0.4854, 0.9946, -0.02, 0.8242, 0.5945, -0.4232, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3776 left_y=-0.1257 left_z=0.1492 left_yaw=0.1675 left_pitch=-0.3635 left_roll=0.1984 left_gripper=0.9946 right_x=0.2891 right_y=0.0007 right_z=0.1587 right_yaw=-0.002 right_pitch=-0.079 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [-0.1436, -7.7333, 6.4342, 1.0574, -0.3199, 0.0659, 0.0464, -0.212, -1.388, 6.9949, 1.6337, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.289, 1.356, 0.3191, 0.2729, -0.4969, -0.16, 0.9982, -0.02, 0.8268, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3153 left_y=-0.0022 left_z=0.0338 left_yaw=0.1951 left_pitch=-0.0999 left_roll=0.2241 left_gripper=0.9982 right_x=0.2893 right_y=0.0007 right_z=0.1581 right_yaw=-0.002 right_pitch=-0.0812 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [0.3214, -3.5214, 6.0786, 1.8926, -0.2027, 0.0513, -0.1929, -0.1709, -1.6342, 6.9812, 1.6581, -0.022, -0.0513, -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]: [-0.5659, 1.4342, 0.347, 0.2672, -0.6884, -0.3218, 0.9981, -0.02, 0.8272, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3086 left_y=-0.0588 left_z=0.0337 left_yaw=0.1491 left_pitch=-0.0479 left_roll=0.2389 left_gripper=0.9981 right_x=0.2893 right_y=0.0007 right_z=0.158 right_yaw=-0.002 right_pitch=-0.0816 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -3.9453, 7.4051, 1.4921, -0.4762, -0.0317, -0.0269, -0.212, -1.388, 6.9949, 1.6728, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c2562fe26fddf07bf42e560c57bbd8ab492b70577e4e631b8fa6d18b07d0119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:143dc75bbf70d8ce4094a6c69cdf7220515e078d171e0a91a48aa034ce18eff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80386680c59d7621a678b3d792ebdc4dfea5b83f991f12aaf2583d41be7c590a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7QQKjgEIEhgCKkCvFJ6v2kpQtCRok6oO+zD2NzbNiSCX/k7F6NCQWGGcQd6dMOXZ5A9+z2lf2dWj55o7ZJ55KqO3tz+3h7h/eaZMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYO8zNUGEgz2fqxgnTi8Ql59SbcaDFFLOQ8nKC3SjD8uMCIwuK3mQlpVlA4NW+6FPbTxwMP1pVifdqGsZXzq6dGEPCPVPWZOOfhieJuXe7xUeZNSKosDueL6rQPXXGw8Yq3iaST0lKCHPe6JfikmMEuOM2IJNnIjRFdj3i4wmk9zrbXra2r3F85xIubk54likhmfRP0aS/3G6QUdwpn3Ip6E7OLH2Ex0/kGAWP2TwQz83GQb6N7Vte2sGgzGabOaZAFjWoniRbtiPe8ytvlqAiScf2b0CoC4rxQVQ2yJ+JGPshWqlxnBuFP8iMyZNlH7bVPtNFauJur3in6gZx4PnBD6K5mVolkCm31Ri8+RAqojJq2JqaswYA1Xm9SoeTS4ZHR3sl7PC0kAiWpqBaynYbMPDjAETDZLxTUzpV9Dgps1oqk+TrS9DP9N1ubZfTQOP9htoOHNc10iVbCI7uAx50X8kWsDlWu57xUPmTAnjIw5+GNRdxofn39uh0L6fOlP2HgMW93hYPhsSlgi/NPjPrmOjIrzczYnNDcGdlG0d41zCDToZYc9uFQbLK7eK64iKJRn6lnC2liVvcrjPVE189uGCb5eZsCdxnOLXKJ14troIZ5t0vlZbMeT2H95O58IbuUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013enBHHsURXL6BkpCt2svPT",
      "input": {
        "note": "The bowl's left rim now runs between the open jaws in the wrist view; closing to pinch the rim.",
        "targets": {
          "left_gripper": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013enBHHsURXL6BkpCt2svPT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.4303, 0.3515, 0.3031, -0.6918, -0.3416, 0.0395, -0.02, 0.8307, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3145 left_y=-0.063 left_z=0.0416 left_yaw=0.1585 left_pitch=-0.0106 left_roll=0.1952 left_gripper=0.0395 right_x=0.2894 right_y=0.0007 right_z=0.157 right_yaw=-0.002 right_pitch=-0.0851 right_roll=0.001 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -3.2889, 4.9436, 0.6325, -0.2662, 0.1636, 0.7155, -0.1162, -1.6068, 6.9675, 1.6435, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f19da8e6556dd0dd75dc82df8a5ef2d9620461ea4381f3292c3252c34f482a38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02b0dabc5a7a3d79fedaa1d5d58ad9cb4d61c5e6c27036e67b38659329b97695",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91c1a3993698ead54dfc5b3b9334de17250ab78e11cb68cf79fdd99f848d1977",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 7.929 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.289, 1.356, 0.3191, 0.2729, -0.4969, -0.16, 0.9982, -0.02, 0.8268, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3153 left_y=-0.0022 left_z=0.0338 left_yaw=0.1951 left_pitch=-0.0999 left_roll=0.2241 left_gripper=0.9982 right_x=0.2893 right_y=0.0007 right_z=0.1581 right_yaw=-0.002 right_pitch=-0.0812 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [0.3214, -3.5214, 6.0786, 1.8926, -0.2027, 0.0513, -0.1929, -0.1709, -1.6342, 6.9812, 1.6581, -0.022, -0.0513, -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]: [-0.5659, 1.4342, 0.347, 0.2672, -0.6884, -0.3218, 0.9981, -0.02, 0.8272, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3086 left_y=-0.0588 left_z=0.0337 left_yaw=0.1491 left_pitch=-0.0479 left_roll=0.2389 left_gripper=0.9981 right_x=0.2893 right_y=0.0007 right_z=0.158 right_yaw=-0.002 right_pitch=-0.0816 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -3.9453, 7.4051, 1.4921, -0.4762, -0.0317, -0.0269, -0.212, -1.388, 6.9949, 1.6728, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.4303, 0.3515, 0.3031, -0.6918, -0.3416, 0.0395, -0.02, 0.8307, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3145 left_y=-0.063 left_z=0.0416 left_yaw=0.1585 left_pitch=-0.0106 left_roll=0.1952 left_gripper=0.0395 right_x=0.2894 right_y=0.0007 right_z=0.157 right_yaw=-0.002 right_pitch=-0.0851 right_roll=0.001 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -3.2889, 4.9436, 0.6325, -0.2662, 0.1636, 0.7155, -0.1162, -1.6068, 6.9675, 1.6435, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f19da8e6556dd0dd75dc82df8a5ef2d9620461ea4381f3292c3252c34f482a38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02b0dabc5a7a3d79fedaa1d5d58ad9cb4d61c5e6c27036e67b38659329b97695",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91c1a3993698ead54dfc5b3b9334de17250ab78e11cb68cf79fdd99f848d1977",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0QgKjgEIEhgCKkAZ23mpDAamRlC+keRXQm63D+Q5PIopgstxtJWCGFyCELliO7f50+H8RqjVboNDD4z1nbr880Vu/ZsBc0eHRkVMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYy8zNUGEgxnwG8Vs2MQXlKm/RUaDFqOYyfa8yzhSQwrWyIwWlwuFb9xItNX65O9/lIRMHKulfk6Fi3l2IlZv85bEWDKKKvy4Ul5tL8s0FUvklweKu8GyiGSqs9GHGDUPE9rJ9OkpV9E6OT2UU5jxqvCfSmN//lKCyGXDlx/RRXn7PT0Fo9SPpsG550EpmziQrih6qw+Wd2lwL7mK02xX/9xC4RBv/YsvMiTU1QZj+3gy209Z+8PwJhzljidQmEA14+JfEq2g1rpNTQ3xVq9GgzwCMSf6BhjIrWtaWgFCRfAtwEcfQbIpBElrDmbmsYXanK6rcr+VbDTjQP4fcmKODyMSjSsiry/V3/KWTClpAC8+4wsjkG2l8rroUB9GxtF0TGYR8QqN+j4fwdcMcmZr+5Kjh6MfotyOj0TOTWYlpzw7ome9fPv0UdsNGkEU6RNM9IdpDwplzmGoI2b2K6yj+muIU/al9j0lZKvpeZ694hNZWMLUUFPd3BdQMZNmdZk5k/gRc40qK1xkLuuiCTE20F/UF5ow3ZkBZGBVv/QsHkM1wSCKL04vR1yj9zn24ZegGW8Pc6B0eD+0AwgSsw5zUAIgHJ7DuL7fNMYNM333t2SS24cEDF1JQgToeip7UYZ5RQIZj1ueELQuebalfrzqL6Eu4n4VzcY+gA1S3eNzKt0LVPo/k1dTGL2VyZDk7OeFV6wA855q+/edhfwWOCMoi3wCGQB4B+I8BpvFgJlqDglKSirP3tDX3be//BDVoRiaTIlObj+lT2rLas+Dt50lO1P8KF23hB8NKjMlzGU28o2hJTuBzx1j3mDH2oMvsr7Q6k+r8NFdcz0awLQwniMPoL4HxlHdToQ1BiadcC90C+X0pOjqRzSI+JsrpFQg/htFSSlArAx4uJCxyvqVS9qMrM7UdcbzUYLVaNxaPu2fpRlYDQk9c+UnpvSNPI39GLp0NS1lkYyW/HCtBv4Qa4AtSGeOh1kftmF1SlD+FY5fuzovoJBC1LjR9CKCp1n8XI9H3+TKjQTN637XZQbBakBTzTVhgxcYkkUR2fG01oCm2PigFzGnasoURo19+YeXmZbGAWvFkwNZinj853WYcGADMb8vX2fCfx8A9ythzupEDONjs8RLtpocSUulQqmXZorr8ftuTk/C0lCQDiM/qNiSAcYuN8009rOOGFFOFi5k0RkOw5I55ZhWUrV+vQw4NUVkaP4n7O1yRKer5tczZcHzcSuqggUhoLYYbRY1XKmii4x5gQGtiC5q08F1D7bAmQpTRWdR+sFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QYK4V349KfdPBcZGQ8DAU3",
      "input": {
        "note": "Bowl rim pinched again; carrying it over the purple bowl, this time aiming ~11 cm further in -y than last release since the bowl landed that far short before.",
        "targets": {
          "left_pitch": -0.3,
          "left_x": 0.375,
          "left_y": -0.23,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01QYK4V349KfdPBcZGQ8DAU3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7929, 1.8717, 1.7233, -1.0206, -0.635, -0.7235, 0.0422, -0.02, 0.8314, 0.5945, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3806 left_y=-0.232 left_z=0.192 left_yaw=0.1479 left_pitch=-0.274 left_roll=0.165 left_gripper=0.0422 right_x=0.2895 right_y=0.0007 right_z=0.1568 right_yaw=-0.0022 right_pitch=-0.0858 right_roll=0.0013 right_gripper=0.9988\nstate[joint_eff]: [-0.6769, -10.0034, 7.7744, 0.5592, -0.3443, 0.0024, 0.7595, -0.2393, -1.4427, 7.3778, 1.6239, -0.0513, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4740d81f3a9019ddb9e32c63470c396b4ac378df7816fe9a1dc4172cc7d91d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74221d8e0cc4fbb0ed5066f39dbb097d4117d3d5bbc5a9fdbf8c3d59fe62feee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:013db9a51c3c5ee263c0bf21b1d16f4f816de39db176a3f4a096847891ab11f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 6.542 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5659, 1.4342, 0.347, 0.2672, -0.6884, -0.3218, 0.9981, -0.02, 0.8272, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3086 left_y=-0.0588 left_z=0.0337 left_yaw=0.1491 left_pitch=-0.0479 left_roll=0.2389 left_gripper=0.9981 right_x=0.2893 right_y=0.0007 right_z=0.158 right_yaw=-0.002 right_pitch=-0.0816 right_roll=0.0009 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -3.9453, 7.4051, 1.4921, -0.4762, -0.0317, -0.0269, -0.212, -1.388, 6.9949, 1.6728, -0.0171, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.4303, 0.3515, 0.3031, -0.6918, -0.3416, 0.0395, -0.02, 0.8307, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3145 left_y=-0.063 left_z=0.0416 left_yaw=0.1585 left_pitch=-0.0106 left_roll=0.1952 left_gripper=0.0395 right_x=0.2894 right_y=0.0007 right_z=0.157 right_yaw=-0.002 right_pitch=-0.0851 right_roll=0.001 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -3.2889, 4.9436, 0.6325, -0.2662, 0.1636, 0.7155, -0.1162, -1.6068, 6.9675, 1.6435, -0.0415, -0.0611, -0.0122]",
      "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]: [-0.7929, 1.8717, 1.7233, -1.0206, -0.635, -0.7235, 0.0422, -0.02, 0.8314, 0.5945, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3806 left_y=-0.232 left_z=0.192 left_yaw=0.1479 left_pitch=-0.274 left_roll=0.165 left_gripper=0.0422 right_x=0.2895 right_y=0.0007 right_z=0.1568 right_yaw=-0.0022 right_pitch=-0.0858 right_roll=0.0013 right_gripper=0.9988\nstate[joint_eff]: [-0.6769, -10.0034, 7.7744, 0.5592, -0.3443, 0.0024, 0.7595, -0.2393, -1.4427, 7.3778, 1.6239, -0.0513, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4740d81f3a9019ddb9e32c63470c396b4ac378df7816fe9a1dc4172cc7d91d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74221d8e0cc4fbb0ed5066f39dbb097d4117d3d5bbc5a9fdbf8c3d59fe62feee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:013db9a51c3c5ee263c0bf21b1d16f4f816de39db176a3f4a096847891ab11f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6QgKjgEIEhgCKkDtTKc/eBBt44wjGBE9tbE05BtVu8e1QVctgn/bBilJa3sc8bNt93hxmTx9Qyf+uk1UAj0rX1IP6TmtQQInW2s7Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZa8zNUGEgwIhMCbZuQtoqNWXsoaDLRuK7xYwiQxleEaLiIwaejeSOpXdi/EdmebMMXZhB3Ik2JjmcaQFemKvP5kuuTvcZoCXmHjXLhQGLeBih4HKocHv4j4biFLGZep5Rb0SorR63n5O93orv/rcLoN5mJCUdSo53fqjHCAkkdP+w1TP4puvUDEIwWxMS3ok1JseObRchV8lWpgo4996DLnVj5qrthSdGsBuBcpONwfbQJyx6HkFEReYEbpveE3EWCiR3G7azD3Uf8PaVWC0vC8jxsT0kBmTQSysVFWsQ+Nf9Xird2kHqrmm0HBE+u8tSCKg+PZa656/OBskw/7pqISq/VLNsyPa8w+rqC/23BEMNI5jZzgBDa8bPdwFCm9vdMm5GQyeJxuAYLdgkljDdmWNj89YuUBvylq/erHHrvBVNrpKf6ZghJI4f7jyNAnl+hfmfh+riMQB8X1Ig7vNueiwNrPVy2dA71dmQ5VP8VL2KN+mliJkKGOWrfxZgYTYAlcEikRkqwSo7A2bY5/NmMme/PE+nUV2VZz1UhtKGqv3YSKN/xz4pfw7S+10SpCYYQowf53Z2UAQukmya6RlhZGFcidAdAUWr+HrELmi5z3rq0thytW8Et+3L8BhtryUZDSgsREMuDKCk85S4aO5XsaB1+FrzXajxNj6Cdt8DF8WWmvRfvgE3yE9TcxfozYfa+4ragndnrqB6PsVFEh1L+PAVCGkoATlt2zvcyVEm+Vd0f1xjfG+zkGwFYvOnfxq67D7GA33XCHdWJK0fje6fwsYaauyJ/f8/nL9ZYoYOh5TgwOhpPzctLJBCHUfLNN+oAr/yaJMLLbuNcaagwiOycNWG1QM80pmhBP53VYDUdjdMJM+SJGBN/FzXeax7zHFj7jbgn2tV7XTfPij0Yy7PoQ62+3Rv5i3vt+8DStNMntEUVWpAhn2aWIBT4YTobR1XrHB0bWS1l/9E4PbT3d8w0D9qTbY7cUVSy19+LNUmUuBW3VjHOyXzB3EWMYyzrS6ncwJLfBXnBDztyuOwjsLtQ0YHlNHdndJcNSyzv/bBZ0S0vMnNgNlOB7NkOcS5CKd6HCu162GFUGYSNNUSsqo3/+KXucblz8KVgL32EBGuUTOPmQhEZiZadtjbktwp0JcskjzOVuXpzYlVfWtN7Alq9B+zIMLbJ6J1SVBBsqVj47bDaqp1N2XuBAvH7oy3IcvHzzVOFKpp1Kbb+ndFijatLMN/Y1tBkTpC/0MIW/4O08YBA5x0Wv/pNKlfHDHFXfaoIxYXy7+WVpJw63lFmzdxgSFAMF8YAqZg6DVLkLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LxSkABC9VoGW14oDmzqvb3",
      "input": {
        "note": "The carried bowl now hides the purple bowl in the overhead view, so they are aligned; lowering it onto the purple bowl before releasing.",
        "targets": {
          "left_pitch": -0.3,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LxSkABC9VoGW14oDmzqvb3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.791, 1.8881, 1.5257, -0.8768, -0.6136, -0.73, 0.0452, -0.02, 0.8314, 0.5945, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3719 left_y=-0.2264 left_z=0.1294 left_yaw=0.1599 left_pitch=-0.3306 left_roll=0.208 left_gripper=0.0452 right_x=0.2895 right_y=0.0007 right_z=0.1568 right_yaw=-0.0022 right_pitch=-0.0858 right_roll=0.0013 right_gripper=0.9988\nstate[joint_eff]: [0.6222, -9.388, 6.3111, 0.9499, -0.3687, 0.0073, 0.6178, -0.0615, -1.4291, 7.0085, 1.6239, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fef8cf58e848a7956deeb7906714d27854c2b8eeb73cf9603d5413262f617cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a7302c23a08eff29cab79937105812e2ec760ea92757aaeb4b24a7b4439d979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:584ab25b57789bad80772dfbdbfd94cec33618fd8cb3935fc9e491c477cbab23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 5.055 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5686, 1.4303, 0.3515, 0.3031, -0.6918, -0.3416, 0.0395, -0.02, 0.8307, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.3145 left_y=-0.063 left_z=0.0416 left_yaw=0.1585 left_pitch=-0.0106 left_roll=0.1952 left_gripper=0.0395 right_x=0.2894 right_y=0.0007 right_z=0.157 right_yaw=-0.002 right_pitch=-0.0851 right_roll=0.001 right_gripper=0.9988\nstate[joint_eff]: [-0.0205, -3.2889, 4.9436, 0.6325, -0.2662, 0.1636, 0.7155, -0.1162, -1.6068, 6.9675, 1.6435, -0.0415, -0.0611, -0.0122]",
      "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]: [-0.7929, 1.8717, 1.7233, -1.0206, -0.635, -0.7235, 0.0422, -0.02, 0.8314, 0.5945, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3806 left_y=-0.232 left_z=0.192 left_yaw=0.1479 left_pitch=-0.274 left_roll=0.165 left_gripper=0.0422 right_x=0.2895 right_y=0.0007 right_z=0.1568 right_yaw=-0.0022 right_pitch=-0.0858 right_roll=0.0013 right_gripper=0.9988\nstate[joint_eff]: [-0.6769, -10.0034, 7.7744, 0.5592, -0.3443, 0.0024, 0.7595, -0.2393, -1.4427, 7.3778, 1.6239, -0.0513, 0.0073, -0.0122]",
      "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]: [-0.791, 1.8881, 1.5257, -0.8768, -0.6136, -0.73, 0.0452, -0.02, 0.8314, 0.5945, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3719 left_y=-0.2264 left_z=0.1294 left_yaw=0.1599 left_pitch=-0.3306 left_roll=0.208 left_gripper=0.0452 right_x=0.2895 right_y=0.0007 right_z=0.1568 right_yaw=-0.0022 right_pitch=-0.0858 right_roll=0.0013 right_gripper=0.9988\nstate[joint_eff]: [0.6222, -9.388, 6.3111, 0.9499, -0.3687, 0.0073, 0.6178, -0.0615, -1.4291, 7.0085, 1.6239, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fef8cf58e848a7956deeb7906714d27854c2b8eeb73cf9603d5413262f617cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a7302c23a08eff29cab79937105812e2ec760ea92757aaeb4b24a7b4439d979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:584ab25b57789bad80772dfbdbfd94cec33618fd8cb3935fc9e491c477cbab23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlAUKjgEIEhgCKkDcDe5JyJjRpeYJU11LbzdyHBgvsbVka9IZxis97C1t4VLWpA6jfckYVBQRJhvoeXyslC2gK16hP1TUStuFdPViMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ28zNUGEgxXE3uSx/mZv7rr7vgaDEFAz3wreUJDnaFsXCIwvorDkWdKB5BhvTZW3pnVAuVjd2JkQAeuOARqkkCbqPB2KkGfro7iXVqDLwyKXpU4KrIDUcnNHd3WsSD5X0HT5bItfld58KiCVAPcoGfyYCKJcjHkyHFNodS67vYgxzEuqUmvhyL+6HfKf02hBIN+9ausRJx18X204+Vat6mNKkjC8B5Phipf/cOBNkJLgsHaKqiEq4vu8BWfJlglwF5yy2w1XeJd8szyAWDdCnMfSxXmVF4L7X+iwhgKKemaZoZpfRaQPVLZ/C1LGeUrlDK8aq2jOc+KVEanMXCi/orT+AU+EFxJNfQICFXQq8JJdQsz/IHQbT5wGInOmbZMnXhqJZhR1/YXi4pb2wyB7SVRwgoYDhnUDV4xFR8RN0yy6QWqD3qnDOwo8//728f4daa8vkvCkYHZW2aLX2uRS2N4AOGhUJ+2vbnJxUt28qE+Tv+HT5jKP03ComKLmHlqoBDQavLfbhHekYwGAfxn+7t1Kyp6tq8oEUIVUvelzXLlEqeD/VQCxLQeYYg0q9odUzcVDeOkSlWMpHSoEjPE0cqwg5YN/8djxHFQL3a8SCAyPV07c4v8KsYQRBnatfXynFl9apRMqkEWKgeCHaModkycBBf8mAA44RpW2xBXe4kQzAYxDlp8+X0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GPuczCeGRM34FznhE4sQn3",
      "input": {
        "note": "The purple rim is snug against the carried bowl in the wrist view; opening the jaws to drop the white bowl into the purple 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_01GPuczCeGRM34FznhE4sQn3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7895, 1.8915, 1.5127, -0.8776, -0.5991, -0.7311, 0.995, -0.02, 0.8326, 0.5945, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3689 left_y=-0.2253 left_z=0.1224 left_yaw=0.1595 left_pitch=-0.3516 left_roll=0.2136 left_gripper=0.995 right_x=0.2895 right_y=0.0007 right_z=0.1565 right_yaw=-0.0022 right_pitch=-0.087 right_roll=0.0013 right_gripper=0.9988\nstate[joint_eff]: [-0.1573, -9.9077, 7.2274, 0.8816, -0.4615, -0.0073, -0.1392, -0.1846, -1.1692, 7.0769, 1.6288, -0.0269, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88c6a2d34700aa5edd4dcd4255235904b62ff0583af7b74f1ca262bfd054239c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcf62e478512a4de088cced43f7fa697401b8ff5cf2c1af9d2db6f2ca5db3a49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e043c72206e2af805649a932eb546cf3460beeb16b166da80c38debf958e0728",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 12.93 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7929, 1.8717, 1.7233, -1.0206, -0.635, -0.7235, 0.0422, -0.02, 0.8314, 0.5945, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3806 left_y=-0.232 left_z=0.192 left_yaw=0.1479 left_pitch=-0.274 left_roll=0.165 left_gripper=0.0422 right_x=0.2895 right_y=0.0007 right_z=0.1568 right_yaw=-0.0022 right_pitch=-0.0858 right_roll=0.0013 right_gripper=0.9988\nstate[joint_eff]: [-0.6769, -10.0034, 7.7744, 0.5592, -0.3443, 0.0024, 0.7595, -0.2393, -1.4427, 7.3778, 1.6239, -0.0513, 0.0073, -0.0122]",
      "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]: [-0.791, 1.8881, 1.5257, -0.8768, -0.6136, -0.73, 0.0452, -0.02, 0.8314, 0.5945, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3719 left_y=-0.2264 left_z=0.1294 left_yaw=0.1599 left_pitch=-0.3306 left_roll=0.208 left_gripper=0.0452 right_x=0.2895 right_y=0.0007 right_z=0.1568 right_yaw=-0.0022 right_pitch=-0.0858 right_roll=0.0013 right_gripper=0.9988\nstate[joint_eff]: [0.6222, -9.388, 6.3111, 0.9499, -0.3687, 0.0073, 0.6178, -0.0615, -1.4291, 7.0085, 1.6239, -0.0415, -0.0415, -0.0122]",
      "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]: [-0.7895, 1.8915, 1.5127, -0.8776, -0.5991, -0.7311, 0.995, -0.02, 0.8326, 0.5945, -0.4229, -0.0166, -0.02, 0.9988]\nstate[eef_state]: left_x=0.3689 left_y=-0.2253 left_z=0.1224 left_yaw=0.1595 left_pitch=-0.3516 left_roll=0.2136 left_gripper=0.995 right_x=0.2895 right_y=0.0007 right_z=0.1565 right_yaw=-0.0022 right_pitch=-0.087 right_roll=0.0013 right_gripper=0.9988\nstate[joint_eff]: [-0.1573, -9.9077, 7.2274, 0.8816, -0.4615, -0.0073, -0.1392, -0.1846, -1.1692, 7.0769, 1.6288, -0.0269, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88c6a2d34700aa5edd4dcd4255235904b62ff0583af7b74f1ca262bfd054239c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcf62e478512a4de088cced43f7fa697401b8ff5cf2c1af9d2db6f2ca5db3a49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e043c72206e2af805649a932eb546cf3460beeb16b166da80c38debf958e0728",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISpQUKjgEIEhgCKkBWwCLstEL85RHXsnFTXQJsY47Nj7mJmZqESqP6faXlOXd5Fe0+EUof0M7lb6oVOYyj3AqG5P8jw2tKFZPvg4MEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaO8zNUGEgxM/WccKPL2FZThRioaDDUG1NQrzZxu+yNjsCIw8zNagnsQwJREEqo9EE5yC3jfwPPzrltS7srF6gt7ufbX8PKSfZY0olEbRKGXhwtRKsMDJzqP55anzH6GB8rlev3NP9BmaFJcaJEZhNBBV4+i/7exuz+Qs4kBx/6BIGg5JXiipQ4kPekKatahw1jrgME6OuLbCZhxpeXSU76GwAlxeBGViDQAVwGexJS6VLKDrVO9NZhqkxOW4lE9YchBw2cEZoqlh4HAMRRtbNoOQrL5krqydDSiCBl4Dn1R1dLkXYmKRRUJlVebwyoAV5Kah0nMThUuqOL5dnJh/F5pePP85zOOaxXKg4KI8wMZli8s+DoqoNIpYD2eSbyK6Nsnmp/BSiddA2/vo5W8P9wsYFvztCZWo5+D5S4/RygrK0fo0ExEWmbPeCQzPVIna1Hi/eZ5uj7IeZNRN0EBytURbfEIyFG7WNJTPS0qNH3h+U1TOyyyAIVW+XlZYTWD1P6uzGklrgaRZxQJ791I2jB3m889LTb1Yksay+NDgWyBRkItd3usHJvLnHcbdHELdjRAkJosz7Thm2J3YB/r9K7IHAPPDpS0Gge6irG9Etn0c8P9pTMHrxAZz6Y924/VIhjw5DayCfUP/XsEcuhRUpidw7dGxW8hcgwt2buJ6Q6OliFN8lGVEVIsUqMuk79b5cVav2nmWywK0BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AyAUDshmybFATQjmnB6kd1",
      "input": {
        "note": "Bowl released; pulling the left arm back out of the way to verify in the overhead view whether the white bowl nested into the purple one.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.25,
          "left_y": 0.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01AyAUDshmybFATQjmnB6kd1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4473, 0.7811, 0.907, -0.8417, -0.627, -0.2714, 0.9963, -0.02, 0.836, 0.5945, -0.4229, -0.0166, -0.0204, 0.9988]\nstate[eef_state]: left_x=0.2528 left_y=-0.0024 left_z=0.2484 left_yaw=0.1945 left_pitch=0.0004 left_roll=0.182 left_gripper=0.9963 right_x=0.2897 right_y=0.0007 right_z=0.1556 right_yaw=-0.0019 right_pitch=-0.0904 right_roll=0.0011 right_gripper=0.9988\nstate[joint_eff]: [0.2393, -0.4991, 6.106, 1.5165, -0.3248, 0.1441, 0.1245, -0.3761, -1.7709, 7.1726, 1.6874, -0.0659, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9ebe17726d26a8891b1c8d48ba84659f73886bdc99258b5f4af0c43f373dfa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ce26101b93897b98cd1f8941d95c1fa54850a816f15e717300e741394fc6cbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0003b01cbba93b927a87389e9a5d6c21b9769b72f70f383e190a48c2e3d2bbb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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