adhoc

completed
2026-09-22T20:15:49.938224+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
136.9 s
total steps
173
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 in a row (green left, blue middle, pink right). Plan: pinch green bowl's left rim with the left arm and drop it into the blue bowl. Moving above the estimated left rim of the green bowl.
move_to
left_x0.3700left_y-0.1500left_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3813, -0.0223, -0.0406, 0.9995, -0.0219, 0.7933, 0.6022, -0.3805, -0.017, -0.0269, 0.9965] state[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1796 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2944 right_y=0.0001 right_z=0.1792 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9965 state[joint_eff]: [-0.5265, -1.5795, 10.1402, 1.8193, -0.022, 0.2466, -0.0611, -0.5265, -1.4017, 10.2906, 1.8974, -0.0757, 0.0757, -0.3785] 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": 0.37, "left_y": -0.15, "left_z": 0.15}, "note": "Three bowls in a row (green left, blue middle, pink right). Plan: pinch green bowl's left rim with the left arm and drop it into the blue bowl. Moving above the estimated left rim of the green bowl."})
tool
executing move_to over 14 steps (1.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteWrist view shows the green bowl centred ~3 cm left of the jaws and a few cm ahead. Shifting over its left (+y) rim so jaws can pinch the wall.
move_to
left_x0.4000left_y-0.0680left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6014, 1.3811, 0.7818, -0.1295, -0.4755, -0.3786, 0.9995, -0.0219, 0.7975, 0.6003, -0.3901, -0.0166, -0.0273, 0.9961] state[eef_state]: left_x=0.3577 left_y=-0.143 left_z=0.1315 left_yaw=-0.0234 left_pitch=-0.0627 left_roll=0.0281 left_gripper=0.9995 right_x=0.2932 right_y=0.0001 right_z=0.1752 right_yaw=-0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9961 state[joint_eff]: [-0.3761, -5.7094, 9.1829, 1.6728, -0.442, 0.0562, -0.0122, -0.212, -1.5385, 7.2, 1.7851, -0.0611, -0.0659, -0.0464] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.068, "left_z": 0.12}, "note": "Wrist view shows the green bowl centred ~3 cm left of the jaws and a few cm ahead. Shifting over its left (+y) rim so jaws can pinch the wall."})
tool
executing move_to over 7 steps (0.7s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteBowl's left rim appears ~2 cm left of the jaw column; shift left and descend so the open jaws straddle the rim wall.
move_to
left_y-0.0450left_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2905, 1.4132, 0.7486, -0.0235, -0.2707, -0.207, 0.9995, -0.0219, 0.7979, 0.5999, -0.3923, -0.0166, -0.0269, 0.9961] state[eef_state]: left_x=0.3922 left_y=-0.0642 left_z=0.1164 left_yaw=0.0281 left_pitch=-0.0874 left_roll=0.0275 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1745 right_yaw=-0.0003 right_pitch=-0.0195 right_roll=0.0002 right_gripper=0.9961 state[joint_eff]: [0.294, -4.6974, 6.7487, 1.8779, 0.0513, 0.1148, -0.0122, -0.1709, -1.306, 7.0359, 1.7753, -0.0513, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.045, "left_z": 0.04}, "note": "Bowl's left rim appears ~2 cm left of the jaw column; shift left and descend so the open jaws straddle the rim wall."})
tool
executing move_to over 5 steps (0.5s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe bowl's rim wall sits between the open jaws. Closing to pinch the wall.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2256, 1.5982, 0.5648, 0.2615, -0.2314, -0.1791, 0.9995, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0273, 0.9961] state[eef_state]: left_x=0.378 left_y=-0.0415 left_z=0.0275 left_yaw=0.0484 left_pitch=-0.1761 left_roll=0.0484 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0003 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9961 state[joint_eff]: [0.4034, -6.4889, 5.2991, 2.0293, 0.0611, 0.1538, -0.0122, -0.1162, -1.3197, 6.9949, 1.7509, -0.0464, -0.0317, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The bowl's rim wall sits between the open jaws. Closing to pinch the wall."})
tool
executing move_to over 10 steps (1.0s)
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 noteJaws look closed on the rim wall (reading 0.04, consistent with a thin wall). Lifting to check the bowl comes along.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2195, 1.6119, 0.5533, 0.3809, -0.215, -0.1799, 0.04, -0.0216, 0.7986, 0.5999, -0.3935, -0.0166, -0.0273, 0.9961] state[eef_state]: left_x=0.3919 left_y=-0.0452 left_z=0.0396 left_yaw=0.0379 left_pitch=-0.088 left_roll=0.0122 left_gripper=0.04 right_x=0.2927 right_y=0.0002 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0214 right_roll=-0.0001 right_gripper=0.9961 state[joint_eff]: [0.0205, -5.9282, 5.7231, 1.1746, -0.1099, 0.2759, 1.3748, -0.0205, -1.0598, 7.0085, 1.7753, -0.0562, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_z": 0.12}, "note": "Jaws look closed on the rim wall (reading 0.04, consistent with a thin wall). Lifting to check the bowl comes along."})
tool
executing move_to over 6 steps (0.6s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteGreen bowl is lifted with the jaws. Carrying it right so its centre sits over the blue bowl (gripper offset ~5 cm from bowl centre).
move_to
left_y-0.2100left_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2199, 1.4181, 0.696, 0.028, -0.2134, -0.1833, 0.0422, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0273, 0.9961] state[eef_state]: left_x=0.3896 left_y=-0.0451 left_z=0.1009 left_yaw=0.0386 left_pitch=-0.104 left_roll=0.0128 left_gripper=0.0422 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=-0.0001 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9961 state[joint_eff]: [-0.1299, -7.4051, 9.1282, 1.6972, -0.1001, -0.0317, 0.8913, -0.0752, -1.0598, 7.0085, 1.7265, -0.0317, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.21, "left_z": 0.16}, "note": "Green bowl is lifted with the jaws. Carrying it right so its centre sits over the blue bowl (gripper offset ~5 cm from bowl centre)."})
tool
executing move_to over 15 steps (1.5s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteHeld green bowl appears slightly left of the blue bowl in the overhead view; nudging right to centre it over the blue bowl.
move_to
left_y-0.2500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7105, 1.6352, 1.1454, -0.3763, -0.5468, -0.5415, 0.0451, -0.0219, 0.7986, 0.5999, -0.3935, -0.0166, -0.0273, 0.9961] state[eef_state]: left_x=0.3841 left_y=-0.2046 left_z=0.1449 left_yaw=0.0186 left_pitch=-0.1375 left_roll=0.0246 left_gripper=0.0451 right_x=0.2927 right_y=0.0001 right_z=0.174 right_yaw=-0.0001 right_pitch=-0.0214 right_roll=-0.0001 right_gripper=0.9961 state[joint_eff]: [-0.4718, -7.6239, 9.5385, 1.37, -0.3687, 0.0122, 0.735, -0.1709, -1.2376, 7.0769, 1.7118, -0.0659, -0.0659, -0.0122] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.25}, "note": "Held green bowl appears slightly left of the blue bowl in the overhead view; nudging right to centre it over the blue bowl."})
tool
executing move_to over 5 steps (0.5s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteGreen bowl now appears aligned over the blue bowl (blue rim just visible under the green rim). Lowering it into the blue bowl.
move_to
left_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7998, 1.7523, 1.2453, -0.4515, -0.5816, -0.6193, 0.0472, -0.0216, 0.8028, 0.5983, -0.3962, -0.0166, -0.0273, 0.9961] state[eef_state]: left_x=0.3761 left_y=-0.2427 left_z=0.1272 left_yaw=0.0068 left_pitch=-0.1828 left_roll=0.0509 left_gripper=0.0472 right_x=0.2924 right_y=0.0002 right_z=0.1716 right_yaw=0.0003 right_pitch=-0.0298 right_roll=0.0001 right_gripper=0.9961 state[joint_eff]: [-0.5265, -8.7863, 9.7573, 1.3162, -0.5006, 0.0855, 0.7155, -0.1026, -1.6068, 7.1453, 1.707, -0.0122, -0.0611, -0.0122] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.07}, "note": "Green bowl now appears aligned over the blue bowl (blue rim just visible under the green rim). Lowering it into the blue bowl."})
tool
executing move_to over 4 steps (0.4s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteDescent stopped at z≈0.13, likely the green bowl resting in/on the blue bowl. Releasing it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8082, 1.7599, 1.2606, -0.4603, -0.585, -0.6296, 0.0476, -0.0219, 0.8047, 0.5957, -0.4023, -0.0166, -0.0273, 0.9961] state[eef_state]: left_x=0.3758 left_y=-0.247 left_z=0.1288 left_yaw=0.0066 left_pitch=-0.1812 left_roll=0.0461 left_gripper=0.0476 right_x=0.2913 right_y=0.0001 right_z=0.1687 right_yaw=-0.0001 right_pitch=-0.0404 right_roll=0.0004 right_gripper=0.9961 state[joint_eff]: [0.0068, -8.9778, 9.1282, 1.3162, -0.4811, -0.0513, 0.6129, -0.0889, -0.8137, 7.241, 1.7705, -0.0366, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Descent stopped at z\u22480.13, likely the green bowl resting in/on the blue bowl. Releasing it."})
tool
executing move_to over 10 steps (1.0s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
Released; green bowl appears nested in blue. Park left arm home, then get pink with right arm.
agent noteGreen bowl released and appears nested in the blue bowl. Parking the left arm at home to clear the way and the view.
move_to
left_x0.2900left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8082, 1.7599, 1.2602, -0.4599, -0.5835, -0.6369, 0.9952, -0.0219, 0.8043, 0.5953, -0.4118, -0.0166, -0.0273, 0.9961] state[eef_state]: left_x=0.3757 left_y=-0.2472 left_z=0.1286 left_yaw=0.0095 left_pitch=-0.1819 left_roll=0.0399 left_gripper=0.9952 right_x=0.2899 right_y=0.0002 right_z=0.1667 right_yaw=-0.0001 right_pitch=-0.05 right_roll=0.0006 right_gripper=0.9961 state[joint_eff]: [-0.253, -8.9094, 6.5162, 1.2772, -0.3492, 0.0513, -0.1538, -0.2393, -1.2513, 7.0222, 1.7656, -0.0562, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
Released; green bowl appears nested in blue. Park left arm home, then get pink with right arm.
move_to({"targets": {"left_x": 0.29, "left_y": 0.0, "left_z": 0.18}, "note": "Green bowl released and appears nested in the blue bowl. Parking the left arm at home to clear the way and the view."})
tool
executing move_to over 22 steps (2.2s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteGreen bowl is nested in the blue one; pink bowl remains to the right. Moving the right arm over the pink bowl's right (-y) rim.
move_to
right_x0.3600right_y0.0800right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0849, 0.9329, 0.7868, -0.6071, -0.1333, -0.1066, 0.9957, -0.0216, 0.8043, 0.5945, -0.4152, -0.0166, -0.0273, 0.9961] state[eef_state]: left_x=0.2941 left_y=0.0021 left_z=0.1802 left_yaw=0.0661 left_pitch=-0.1741 left_roll=0.0312 left_gripper=0.9957 right_x=0.2893 right_y=0.0003 right_z=0.1656 right_yaw=0.0003 right_pitch=-0.0542 right_roll=0.0007 right_gripper=0.9961 state[joint_eff]: [0.253, -2.5641, 6.6803, 1.707, 0.022, 0.149, 0.0415, -0.1299, -1.0598, 7.0632, 1.7216, -0.0757, -0.0659, -0.0122] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.08, "right_z": 0.12}, "note": "Green bowl is nested in the blue one; pink bowl remains to the right. Moving the right arm over the pink bowl's right (-y) rim."})
tool
executing move_to over 7 steps (0.7s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent notePink bowl is centred on the jaw column and a few cm ahead. Moving right onto its right rim and descending so the jaws straddle the wall.
move_to
right_x0.3850right_y0.0280right_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0853, 0.9386, 0.786, -0.6228, -0.1284, -0.1017, 0.9957, 0.3275, 1.2568, 0.593, -0.0952, 0.2234, 0.1474, 0.9961] state[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1755 left_yaw=0.0593 left_pitch=-0.1966 left_roll=0.0347 left_gripper=0.9957 right_x=0.3374 right_y=0.0771 right_z=0.0928 right_yaw=0.0498 right_pitch=-0.1653 right_roll=-0.0325 right_gripper=0.9961 state[joint_eff]: [-0.0342, -2.4821, 6.8855, 1.7021, -0.1343, -0.0659, -0.0073, 0.1573, -5.2855, 9.9487, 1.8974, 0.1197, 0.1538, -0.0171] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": 0.028, "right_z": 0.04}, "note": "Pink bowl is centred on the jaw column and a few cm ahead. Moving right onto its right rim and descending so the jaws straddle the wall."})
tool
executing move_to over 5 steps (0.5s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe pink bowl's right wall is between the open jaws. Closing to pinch it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0853, 0.9424, 0.786, -0.6254, -0.1284, -0.1017, 0.9958, 0.1024, 1.5394, 0.5674, 0.152, 0.0872, 0.0166, 0.9961] state[eef_state]: left_x=0.2915 left_y=0.0014 left_z=0.174 left_yaw=0.0595 left_pitch=-0.203 left_roll=0.0357 left_gripper=0.9958 right_x=0.3666 right_y=0.0258 right_z=0.0276 right_yaw=0.0105 right_pitch=-0.2459 right_roll=-0.0422 right_gripper=0.9961 state[joint_eff]: [-0.2393, -2.3179, 7.0222, 1.536, -0.1197, -0.0513, -0.0073, -0.3624, -6.0786, 6.4205, 1.6288, -0.1343, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The pink bowl's right wall is between the open jaws. Closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent notePink bowl rim is pinched. Lifting and carrying it left toward the green-in-blue stack; will fine-align before lowering.
move_to
right_z0.1800right_y0.2200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0853, 0.9428, 0.786, -0.625, -0.1284, -0.1013, 0.9958, 0.0849, 1.5623, 0.5686, 0.2379, 0.0307, -0.0193, 0.0392] state[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.174 left_yaw=0.0593 left_pitch=-0.203 left_roll=0.0359 left_gripper=0.9958 right_x=0.3801 right_y=0.0305 right_z=0.0344 right_yaw=0.0622 right_pitch=-0.1849 right_roll=-0.0235 right_gripper=0.0392 state[joint_eff]: [-0.1026, -2.1265, 6.8308, 1.5067, -0.105, -0.0317, -0.0171, -0.0205, -5.6684, 6.7077, 1.2918, 0.2076, 0.0904, 1.4872] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18, "right_y": 0.22}, "note": "Pink bowl rim is pinched. Lifting and carrying it left toward the green-in-blue stack; will fine-align before lowering."})
tool
executing move_to over 16 steps (1.6s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent notePink bowl appears over the green/blue stack in the overhead view. Lowering it onto the stack.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0853, 0.9447, 0.786, -0.625, -0.1284, -0.1013, 0.9957, 0.6865, 1.618, 1.2461, -0.5144, 0.416, 0.3889, 0.0431] state[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1735 left_yaw=0.0594 left_pitch=-0.2049 left_roll=0.0362 left_gripper=0.9957 right_x=0.3748 right_y=0.2195 right_z=0.1632 right_yaw=0.1087 right_pitch=-0.2175 right_roll=-0.0393 right_gripper=0.0431 state[joint_eff]: [-0.0479, -2.2222, 7.1863, 1.4969, -0.0806, -0.0317, -0.0171, 0.1162, -7.5145, 9.2513, 1.4383, 0.4322, 0.1392, 0.6862] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1}, "note": "Pink bowl appears over the green/blue stack in the overhead view. Lowering it onto the stack."})
tool
executing move_to over 5 steps (0.5s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteGreen bowl rim visible just beyond/left of the pink bowl; nudging slightly left/forward and lowering pink into the stack.
move_to
right_z0.0750right_y0.2250right_x0.3750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0853, 0.9455, 0.786, -0.625, -0.1284, -0.1013, 0.9957, 0.6891, 1.6703, 1.0615, -0.3443, 0.4065, 0.3927, 0.0463] state[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1732 left_yaw=0.0594 left_pitch=-0.2056 left_roll=0.0363 left_gripper=0.9957 right_x=0.3633 right_y=0.2134 right_z=0.0945 right_yaw=0.1074 right_pitch=-0.2774 right_roll=-0.0677 right_gripper=0.0463 state[joint_eff]: [-0.0615, -2.1675, 6.8444, 1.5507, -0.0708, -0.0317, -0.0122, -0.2803, -7.0222, 6.7077, 1.5995, 0.2418, -0.0562, 0.5739] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.075, "right_y": 0.225, "right_x": 0.375}, "note": "Green bowl rim visible just beyond/left of the pink bowl; nudging slightly left/forward and lowering pink into the stack."})
tool
executing move_to over 2 steps (0.2s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent notePink bowl is resting inside the green bowl (descent stopped at contact). Releasing.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0853, 0.9455, 0.786, -0.625, -0.1284, -0.1013, 0.9957, 0.6922, 1.7084, 1.0657, -0.276, 0.4072, 0.3859, 0.046] state[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1732 left_yaw=0.0594 left_pitch=-0.2056 left_roll=0.0363 left_gripper=0.9957 right_x=0.3728 right_y=0.2229 right_z=0.0902 right_yaw=0.1188 right_pitch=-0.2486 right_roll=-0.0536 right_gripper=0.046 state[joint_eff]: [-0.0615, -2.0991, 7.0496, 1.4921, -0.1245, -0.0464, -0.0122, 0.1299, -6.2564, 7.5009, 1.1111, 0.1538, 0.0611, 0.6716] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Pink bowl is resting inside the green bowl (descent stopped at contact). Releasing."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
Released. Raise and park the right arm to verify.
agent notePink bowl released into the stack. Moving the right arm home to clear the overhead view for checking.
move_to
right_x0.2900right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0853, 0.9485, 0.786, -0.625, -0.1284, -0.1013, 0.9958, 0.6918, 1.7317, 1.0657, -0.2871, 0.4038, 0.3782, 0.9952] state[eef_state]: left_x=0.2919 left_y=0.0013 left_z=0.1724 left_yaw=0.0595 left_pitch=-0.2087 left_roll=0.0368 left_gripper=0.9958 right_x=0.3706 right_y=0.2215 right_z=0.079 right_yaw=0.1203 right_pitch=-0.2792 right_roll=-0.0758 right_gripper=0.9952 state[joint_eff]: [-0.3214, -2.359, 6.8718, 1.5263, -0.1294, -0.0611, -0.0073, -0.1709, -10.2632, 6.4752, 1.37, 0.1685, 0.0806, -0.2271] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
Released. Raise and park the right arm to verify.
move_to({"targets": {"right_x": 0.29, "right_y": 0.0, "right_z": 0.18}, "note": "Pink bowl released into the stack. Moving the right arm home to clear the overhead view for checking."})
tool
executing move_to over 19 steps (1.9s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteI stacked all three bowls into one pile. The overhead view now shows a single stack in the middle of the table with pink on top, and no other bowls left out. I did it in two lifts: the left arm pinched the green bowl's rim and set it into the blue bowl, then the right arm pinched the pink bowl's rim and set it into the green one. Both arms are back at their home positions.
done
hindsight- **Top camera differs from the notes:** at the home pose (x≈0.29, y=0) the arms show up near the left and right edges of the image, around rows 120–140. The table surface reads about 2.4 px/cm across the image. - **Base spacing:** the "+0.65 m" rule for converting between the two arms' frames didn't match what I saw. Pixel offsets measured from each arm's own home position worked better for the right arm. - **Grasping bowls:** they are about 10–11 cm across, too wide to grip whole. What worked was pinching the side wall at the rim on the arm's ±y side, so the wall runs along x between the jaws. Set the grasp point about 5 cm from the bowl's centre, go down to z≈0.03 and close fully. - **Reading a rim grasp:** a good pinch settles at about 0.04–0.046, which is the same as an empty close. Check the grasp by lifting, not by the reading. - **Aligning:** the wrist camera is good for final alignment. The widest part of the bowl sits near the bottom of the image when the fingertips are level with the bowl's centre. - **Controller:** the readback came up 1–4 cm short of low targets, and descents stopped once the carried bowl touched the bowl below (around z≈0.09–0.13). Opening the jaws at that point dropped the bowl in cleanly.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0853, 0.9512, 0.786, -0.625, -0.128, -0.1013, 0.9957, -0.033, 1.0149, 0.8391, -0.7082, -0.0193, -0.1593, 0.9954] state[eef_state]: left_x=0.2921 left_y=0.0013 left_z=0.1717 left_yaw=0.0592 left_pitch=-0.2113 left_roll=0.0369 left_gripper=0.9957 right_x=0.2889 right_y=-0.0025 right_z=0.1618 right_yaw=0.0672 right_pitch=-0.3158 right_roll=-0.0792 right_gripper=0.9954 state[joint_eff]: [-0.1026, -2.3179, 6.9538, 1.5263, -0.0611, -0.0659, -0.0171, -0.1709, -3.3436, 10.2496, 1.4872, -0.232, -0.0757, 0.0122] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
done({"summary": "I stacked all three bowls into one pile. The overhead view now shows a single stack in the middle of the table with pink on top, and no other bowls left out. I did it in two lifts: the left arm pinched the green bowl's rim and set it into the blue bowl, then the right arm pinched the pink bowl's rim and set it into the green one. Both arms are back at their home positions.", "hindsight": "- **Top camera differs from the notes:** at the home pose (x\u22480.29, y=0) the arms show up near the left and right edges of the image, around rows 120\u2013140. The table surface reads about 2.4 px/cm across the image.\n- **Base spacing:** the \"+0.65 m\" rule for converting between the two arms' frames didn't match what I saw. Pixel offsets measured from each arm's own home position worked better for the right arm.\n- **Grasping bowls:** they are about 10\u201311 cm across, too wide to grip whole. What worked was pinching the side wall at the rim on the arm's \u00b1y side, so the wall runs along x between the jaws. Set the grasp point about 5 cm from the bowl's centre, go down to z\u22480.03 and close fully.\n- **Reading a rim grasp:** a good pinch settles at about 0.04\u20130.046, which is the same as an empty close. Check the grasp by lifting, not by the reading.\n- **Aligning:** the wrist camera is good for final alignment. The widest part of the bowl sits near the bottom of the image when the fingertips are level with the bowl's centre.\n- **Controller:** the readback came up 1\u20134 cm short of low targets, and descents stopped once the carried bowl touched the bowl below (around z\u22480.09\u20130.13). Opening the jaws at that point dropped the bowl in cleanly."})
tool
done: I stacked all three bowls into one pile. The overhead view now shows a single stack in the middle of the table with pink on top, and no other bowls left out. I did it in two lifts: the left arm pinched the green bowl's rim and set it into the blue bowl, then the right arm pinched the pink bowl's rim and set it into the green one. Both arms are back at their home positions.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 14.59 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3813, -0.0223, -0.0406, 0.9995, -0.0219, 0.7933, 0.6022, -0.3805, -0.017, -0.0269, 0.9965]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1796 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2944 right_y=0.0001 right_z=0.1792 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -1.5795, 10.1402, 1.8193, -0.022, 0.2466, -0.0611, -0.5265, -1.4017, 10.2906, 1.8974, -0.0757, 0.0757, -0.3785]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ccc696cf6a7b4a25ce0e079a2d80afa5abff690b1fef2c274ba356c902b34f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:160a77020b072399eff2817ae1738f4d8b7843da0ae879809c4a9956e606d087",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a71eb9a1240f9013ad53999d19497242a380d098d14712a94ef4081e856f4a4b",
        "media_type": "image/png",
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      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6ccc696cf6a7
wire blob 160a77020b07
wire blob a71eb9a1240f
call 1 attempt 0 · /messages · status 200 · 7.881 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3813, -0.0223, -0.0406, 0.9995, -0.0219, 0.7933, 0.6022, -0.3805, -0.017, -0.0269, 0.9965]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1796 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2944 right_y=0.0001 right_z=0.1792 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -1.5795, 10.1402, 1.8193, -0.022, 0.2466, -0.0611, -0.5265, -1.4017, 10.2906, 1.8974, -0.0757, 0.0757, -0.3785]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ccc696cf6a7b4a25ce0e079a2d80afa5abff690b1fef2c274ba356c902b34f2",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:160a77020b072399eff2817ae1738f4d8b7843da0ae879809c4a9956e606d087",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a71eb9a1240f9013ad53999d19497242a380d098d14712a94ef4081e856f4a4b",
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  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DrRqPsxYDvHPpuNoNMNFDX",
      "input": {
        "note": "Three bowls in a row (green left, blue middle, pink right). Plan: pinch green bowl's left rim with the left arm and drop it into the blue bowl. Moving above the estimated left rim of the green bowl.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.15,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01DrRqPsxYDvHPpuNoNMNFDX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6014, 1.3811, 0.7818, -0.1295, -0.4755, -0.3786, 0.9995, -0.0219, 0.7975, 0.6003, -0.3901, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3577 left_y=-0.143 left_z=0.1315 left_yaw=-0.0234 left_pitch=-0.0627 left_roll=0.0281 left_gripper=0.9995 right_x=0.2932 right_y=0.0001 right_z=0.1752 right_yaw=-0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9961\nstate[joint_eff]: [-0.3761, -5.7094, 9.1829, 1.6728, -0.442, 0.0562, -0.0122, -0.212, -1.5385, 7.2, 1.7851, -0.0611, -0.0659, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efe9e34329ac8835acc45bc806456a2ae07c4b9e5cbe78daef1b4008ba73b0a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78c8c929a84c6d0437461897cf19a9554590348498990947613491e6406b5a52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34ef6d9567e7d44cc957843bf9fe835b7ea0e001bbf826b18790b6496132c4ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob efe9e34329ac
wire blob 78c8c929a84c
wire blob 34ef6d9567e7
call 2 attempt 0 · /messages · status 200 · 8.294 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3813, -0.0223, -0.0406, 0.9995, -0.0219, 0.7933, 0.6022, -0.3805, -0.017, -0.0269, 0.9965]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1796 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2944 right_y=0.0001 right_z=0.1792 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -1.5795, 10.1402, 1.8193, -0.022, 0.2466, -0.0611, -0.5265, -1.4017, 10.2906, 1.8974, -0.0757, 0.0757, -0.3785]",
      "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]: [-0.6014, 1.3811, 0.7818, -0.1295, -0.4755, -0.3786, 0.9995, -0.0219, 0.7975, 0.6003, -0.3901, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3577 left_y=-0.143 left_z=0.1315 left_yaw=-0.0234 left_pitch=-0.0627 left_roll=0.0281 left_gripper=0.9995 right_x=0.2932 right_y=0.0001 right_z=0.1752 right_yaw=-0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9961\nstate[joint_eff]: [-0.3761, -5.7094, 9.1829, 1.6728, -0.442, 0.0562, -0.0122, -0.212, -1.5385, 7.2, 1.7851, -0.0611, -0.0659, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efe9e34329ac8835acc45bc806456a2ae07c4b9e5cbe78daef1b4008ba73b0a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78c8c929a84c6d0437461897cf19a9554590348498990947613491e6406b5a52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34ef6d9567e7d44cc957843bf9fe835b7ea0e001bbf826b18790b6496132c4ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob efe9e34329ac]
[blob 78c8c929a84c]
[blob 34ef6d9567e7]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VsQsQog43TRPK7DvhVyscZ",
      "input": {
        "note": "Wrist view shows the green bowl centred ~3 cm left of the jaws and a few cm ahead. Shifting over its left (+y) rim so jaws can pinch the wall.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.068,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01VsQsQog43TRPK7DvhVyscZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2905, 1.4132, 0.7486, -0.0235, -0.2707, -0.207, 0.9995, -0.0219, 0.7979, 0.5999, -0.3923, -0.0166, -0.0269, 0.9961]\nstate[eef_state]: left_x=0.3922 left_y=-0.0642 left_z=0.1164 left_yaw=0.0281 left_pitch=-0.0874 left_roll=0.0275 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1745 right_yaw=-0.0003 right_pitch=-0.0195 right_roll=0.0002 right_gripper=0.9961\nstate[joint_eff]: [0.294, -4.6974, 6.7487, 1.8779, 0.0513, 0.1148, -0.0122, -0.1709, -1.306, 7.0359, 1.7753, -0.0513, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c15cef8e37db97bd065badb371637eb4cd603c3b3c688996e4524922c7cef7df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d50c6787654ae1fa5eeb5e89544849822a85216a47f976806a34bf808cee5d4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6e07d752ca3af2531b658a30014ab64f3e05e2c7fcc6d8efff8377a295fbd29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c15cef8e37db
wire blob d50c6787654a
wire blob e6e07d752ca3
call 3 attempt 0 · /messages · status 200 · 5.262 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3813, -0.0223, -0.0406, 0.9995, -0.0219, 0.7933, 0.6022, -0.3805, -0.017, -0.0269, 0.9965]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1796 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9995 right_x=0.2944 right_y=0.0001 right_z=0.1792 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9965\nstate[joint_eff]: [-0.5265, -1.5795, 10.1402, 1.8193, -0.022, 0.2466, -0.0611, -0.5265, -1.4017, 10.2906, 1.8974, -0.0757, 0.0757, -0.3785]",
      "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]: [-0.6014, 1.3811, 0.7818, -0.1295, -0.4755, -0.3786, 0.9995, -0.0219, 0.7975, 0.6003, -0.3901, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3577 left_y=-0.143 left_z=0.1315 left_yaw=-0.0234 left_pitch=-0.0627 left_roll=0.0281 left_gripper=0.9995 right_x=0.2932 right_y=0.0001 right_z=0.1752 right_yaw=-0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9961\nstate[joint_eff]: [-0.3761, -5.7094, 9.1829, 1.6728, -0.442, 0.0562, -0.0122, -0.212, -1.5385, 7.2, 1.7851, -0.0611, -0.0659, -0.0464]",
      "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]: [-0.2905, 1.4132, 0.7486, -0.0235, -0.2707, -0.207, 0.9995, -0.0219, 0.7979, 0.5999, -0.3923, -0.0166, -0.0269, 0.9961]\nstate[eef_state]: left_x=0.3922 left_y=-0.0642 left_z=0.1164 left_yaw=0.0281 left_pitch=-0.0874 left_roll=0.0275 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1745 right_yaw=-0.0003 right_pitch=-0.0195 right_roll=0.0002 right_gripper=0.9961\nstate[joint_eff]: [0.294, -4.6974, 6.7487, 1.8779, 0.0513, 0.1148, -0.0122, -0.1709, -1.306, 7.0359, 1.7753, -0.0513, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c15cef8e37db97bd065badb371637eb4cd603c3b3c688996e4524922c7cef7df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d50c6787654ae1fa5eeb5e89544849822a85216a47f976806a34bf808cee5d4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6e07d752ca3af2531b658a30014ab64f3e05e2c7fcc6d8efff8377a295fbd29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c15cef8e37db]
[blob d50c6787654a]
[blob e6e07d752ca3]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0152uVoi8hnJW26Ygy2C2bqx",
      "input": {
        "note": "Bowl's left rim appears ~2 cm left of the jaw column; shift left and descend so the open jaws straddle the rim wall.",
        "targets": {
          "left_y": -0.045,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0152uVoi8hnJW26Ygy2C2bqx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2256, 1.5982, 0.5648, 0.2615, -0.2314, -0.1791, 0.9995, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.378 left_y=-0.0415 left_z=0.0275 left_yaw=0.0484 left_pitch=-0.1761 left_roll=0.0484 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0003 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9961\nstate[joint_eff]: [0.4034, -6.4889, 5.2991, 2.0293, 0.0611, 0.1538, -0.0122, -0.1162, -1.3197, 6.9949, 1.7509, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41832880e807fdd3d9f28e690886e72781dd78cd304c329b1fa30f641a5d1add",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48d07e559639a262ff8f61fa206ed349a33b05f63d828e0689b788a7ca339ea0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:37b483c544942488a6a72f308af4c3828f6e1a7950b72a8f16072f070f44e5fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 41832880e807
wire blob 48d07e559639
wire blob 37b483c54494
call 4 attempt 0 · /messages · status 200 · 3.644 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6014, 1.3811, 0.7818, -0.1295, -0.4755, -0.3786, 0.9995, -0.0219, 0.7975, 0.6003, -0.3901, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3577 left_y=-0.143 left_z=0.1315 left_yaw=-0.0234 left_pitch=-0.0627 left_roll=0.0281 left_gripper=0.9995 right_x=0.2932 right_y=0.0001 right_z=0.1752 right_yaw=-0.0001 right_pitch=-0.0164 right_roll=-0.0002 right_gripper=0.9961\nstate[joint_eff]: [-0.3761, -5.7094, 9.1829, 1.6728, -0.442, 0.0562, -0.0122, -0.212, -1.5385, 7.2, 1.7851, -0.0611, -0.0659, -0.0464]",
      "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]: [-0.2905, 1.4132, 0.7486, -0.0235, -0.2707, -0.207, 0.9995, -0.0219, 0.7979, 0.5999, -0.3923, -0.0166, -0.0269, 0.9961]\nstate[eef_state]: left_x=0.3922 left_y=-0.0642 left_z=0.1164 left_yaw=0.0281 left_pitch=-0.0874 left_roll=0.0275 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1745 right_yaw=-0.0003 right_pitch=-0.0195 right_roll=0.0002 right_gripper=0.9961\nstate[joint_eff]: [0.294, -4.6974, 6.7487, 1.8779, 0.0513, 0.1148, -0.0122, -0.1709, -1.306, 7.0359, 1.7753, -0.0513, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2256, 1.5982, 0.5648, 0.2615, -0.2314, -0.1791, 0.9995, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.378 left_y=-0.0415 left_z=0.0275 left_yaw=0.0484 left_pitch=-0.1761 left_roll=0.0484 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0003 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9961\nstate[joint_eff]: [0.4034, -6.4889, 5.2991, 2.0293, 0.0611, 0.1538, -0.0122, -0.1162, -1.3197, 6.9949, 1.7509, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41832880e807fdd3d9f28e690886e72781dd78cd304c329b1fa30f641a5d1add",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48d07e559639a262ff8f61fa206ed349a33b05f63d828e0689b788a7ca339ea0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37b483c544942488a6a72f308af4c3828f6e1a7950b72a8f16072f070f44e5fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 41832880e807]
[blob 48d07e559639]
[blob 37b483c54494]
{
  "content": [
    {
      "signature": "CAQSggcKEAgSGAI4AUIIdGhpbmtpbmcSDO6E1MzzOZfagbw1BhoM2CxX7MvPYeKmLYAzIjDW1aG5EXJLSWYRwST3Po/SokGsaFeQr1iaAAwXiEET0IUy/HkVlrRXnJZ9cUcl6bcqnwa/T7vJF56gqNfI0Z/o7QE4G/6wmgn+tPMp0ks1UyigB1vWoZgteXILeopmR2b5gWJ5Ka8h8hx7CMClWFyof+6fiG4dH2lKMbnJHzdIxhB8abngC+B9/AkatfJLmfZ3Sk+j0Z444+pPNtrIU+6AT5oKm8U/NwkgVPSEcS7J72DbiQjzn0eThfArgxKvvao/r2niKXxR5pW/BGO9uwotWIG7EYKQn0JZ1AuXSEddRFA30bQ9rYktUdPIZlzv1wf08FE1uVTMITgWGs13HoQ1yzINixNKnUCrlRkoraRYK/Kt4l0kjPgWIj8XYysp5Q7d9AUlKzyeQ6TJkC4gbgmH+OFQy5ajAP+11uDE2G6fd/ckyRlaBhpwqwkrxbWq5cn90NOfSjCz+Q7+/lL3tQFzgs9eattn2cecQ0XVkkC2ketlAM/JlRYrMNAwzj7BBZnSLbxTBctoVjbsjE11Ftc55hadvdd01i8XeFWC4wp9J7nPj1dg8MuinmOpTj4kJHLe1Ny2aVdQDNVg59wTR1coC24+YPagXFSrd/fdaQjjoyxBPYqHOnnaa9AlqtoBgZ9FlO6XgBdfpbqpNbRY9eynubjojqJh6CvjSJLdtic/HZFZKCpOV3DQh9oDveK5rUpbCxGOCneEdBphf9lCP5MVT3hl+SHEmx/UZ1Tr14labsTa1yDNBK0QAG8ylNDXqlydSQMnEgWMUlqsyZnWATcV2jJetK7KEiD5ziaaTASZm+w3l99giYa9Iq5KAm3DD1T7CVMDDdCSeSY9Y3/NK8zd1cgnsyrQDJ7Wb34nd5PNxrNFMpWRXRGcEGjaygrJO9/4JXikTyJeZ/k0s92CVqKrU5MUcSvWgxJfVpPDg3W1rBnhIaiUMaTXuiCr2gP7YYujb6S1BQlduMuRqHtNSz6Eef7b+JkiKJj+MQcH7ZTFXwDgokRVs6Fsk0l5dsemRJRrqgyHwbagjJXfHrluALXqJllxGJdyW/rIdaVpxIpBRIsNN/Q+WVH+iRW4J1CyGyHobc20hRHm/Lg3XyIbmLPPdApoWeR1Hqt/XGR9eCntnwfnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T3oMCbWhHo4AjNPP82mM1d",
      "input": {
        "note": "The bowl's rim wall sits between the open jaws. Closing to pinch the wall.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01T3oMCbWhHo4AjNPP82mM1d",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2195, 1.6119, 0.5533, 0.3809, -0.215, -0.1799, 0.04, -0.0216, 0.7986, 0.5999, -0.3935, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3919 left_y=-0.0452 left_z=0.0396 left_yaw=0.0379 left_pitch=-0.088 left_roll=0.0122 left_gripper=0.04 right_x=0.2927 right_y=0.0002 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0214 right_roll=-0.0001 right_gripper=0.9961\nstate[joint_eff]: [0.0205, -5.9282, 5.7231, 1.1746, -0.1099, 0.2759, 1.3748, -0.0205, -1.0598, 7.0085, 1.7753, -0.0562, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e32e0eec6857cb16178e6c59ff78813c507d70c4c7ec6db22ff8a9ecfde44e89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08536c3ce43e2dce40e14cf310cb5f067bf14b85bd2f12663548becf39edf851",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:abc33cf1ea95aab5d56e5d4f49c366aa2ac8b377f344017799cd0a1fba03bbf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e32e0eec6857
wire blob 08536c3ce43e
wire blob abc33cf1ea95
call 5 attempt 0 · /messages · status 200 · 5.811 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2905, 1.4132, 0.7486, -0.0235, -0.2707, -0.207, 0.9995, -0.0219, 0.7979, 0.5999, -0.3923, -0.0166, -0.0269, 0.9961]\nstate[eef_state]: left_x=0.3922 left_y=-0.0642 left_z=0.1164 left_yaw=0.0281 left_pitch=-0.0874 left_roll=0.0275 left_gripper=0.9995 right_x=0.2928 right_y=0.0001 right_z=0.1745 right_yaw=-0.0003 right_pitch=-0.0195 right_roll=0.0002 right_gripper=0.9961\nstate[joint_eff]: [0.294, -4.6974, 6.7487, 1.8779, 0.0513, 0.1148, -0.0122, -0.1709, -1.306, 7.0359, 1.7753, -0.0513, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2256, 1.5982, 0.5648, 0.2615, -0.2314, -0.1791, 0.9995, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.378 left_y=-0.0415 left_z=0.0275 left_yaw=0.0484 left_pitch=-0.1761 left_roll=0.0484 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0003 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9961\nstate[joint_eff]: [0.4034, -6.4889, 5.2991, 2.0293, 0.0611, 0.1538, -0.0122, -0.1162, -1.3197, 6.9949, 1.7509, -0.0464, -0.0317, -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]: [-0.2195, 1.6119, 0.5533, 0.3809, -0.215, -0.1799, 0.04, -0.0216, 0.7986, 0.5999, -0.3935, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3919 left_y=-0.0452 left_z=0.0396 left_yaw=0.0379 left_pitch=-0.088 left_roll=0.0122 left_gripper=0.04 right_x=0.2927 right_y=0.0002 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0214 right_roll=-0.0001 right_gripper=0.9961\nstate[joint_eff]: [0.0205, -5.9282, 5.7231, 1.1746, -0.1099, 0.2759, 1.3748, -0.0205, -1.0598, 7.0085, 1.7753, -0.0562, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e32e0eec6857cb16178e6c59ff78813c507d70c4c7ec6db22ff8a9ecfde44e89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08536c3ce43e2dce40e14cf310cb5f067bf14b85bd2f12663548becf39edf851",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abc33cf1ea95aab5d56e5d4f49c366aa2ac8b377f344017799cd0a1fba03bbf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e32e0eec6857]
[blob 08536c3ce43e]
[blob abc33cf1ea95]
{
  "content": [
    {
      "signature": "CAQShAcKEAgSGAI4AUIIdGhpbmtpbmcSDMIjy+FnC9zyNbiQIxoMa51Pv878GRqFdOOtIjCtLydpHaMhFBxlHpCJm+CusfYMEFD4p4xR9c13gD4O6dolQDp2dV+iBqjtlqxSBSsqoQa11H6OHEpHpw1VzphM8JSMBYjDJJXxXMqbWv2PksCx9mFr3dnrfLL/n3zJa2lmqVxgk25xllCzQOAunY9p+EiuvmChtiQ8lJ9wKN1ldXPtgoKrxkLUFfXWsXfZ628n4wqIZ4oBa4kYLcR8v7Ak0zCV9uEKHkHCLh6Ufposq/IzkAyUczi9bXnE7dTFCms1Mf8MqB/TnVSDlUkkyoXtDaYbeX2PqZ8u8jfx5zON1TlKEHqcvMbYuB6bPRyCxdccbQ8GppthsU2xSzkUYM+lb0nSeAS9xX29PNpFfbRfsjmRfvpvXit2di6Eq9iO4/BgIvj8GEG75SixNn5KfRAz+DUi1vkVLxodTXrwh94UKn0uFqwSiqDrW0275CitxEg1oysMVeP5ylF5J9NqrmxAFTb8sbNxEENYlfJvgaHZecbALyayw/U8Ucxx6B/bnzpSI63sYlauRZ5fFDdsDY+s1MWr9cqG4JhsrYE2/GIW/mL75DLKwDyyWFutr/eceiBwk4TaryTWsy/3hbXf388Bth0mFxW4S8kgC8ACCFuELHER8qJeOInmSCcARO0gunUIln/pE1f1p3EKfmDIKsz06syojfTFC50sQqTqMyYqym9YjaMEjUYiEuuv5yOtjUZKIcYPDRlNkIotBv8ABqpCTx7nMMRHthzDH/TkQ7/PEsrMbI3Tv6r9TPckEormRXF1UOfViVcCPKggE8Tw2JGgktyqt/ouRYUKpkqEl/G1su1YUnYAbmclpy+R2CbX2zjpL2bGTuicdhVIOefhozRWHFSfQ3dQR0eDB+2ApnVTCQr4F09oM4+C9P0sUYEy1mflFXe/D/Plj3zGygbI0jy5WVx1aCyfIUkE0NTLz8i3YHWvXYk4KNjlQSTmdbt5+M+4Az5AKSLIw824nBevi3QNL2pzo5kWnYPGQwCj5sRHBJwGtL7vUltvydCvdL1fFdTcozZKHcotAIzM6mtw4rDwydiNJkFZY1BocEg+DHdTw1AbPPqN7gApjLb1AI3yrbpdGX+60malBf9dR178KqW0HRqy0dDFBscQTKARHMc2NLLntdkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sp2Eoyzcf1JKUPAHjg45Xh",
      "input": {
        "note": "Jaws look closed on the rim wall (reading 0.04, consistent with a thin wall). Lifting to check the bowl comes along.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Sp2Eoyzcf1JKUPAHjg45Xh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2199, 1.4181, 0.696, 0.028, -0.2134, -0.1833, 0.0422, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3896 left_y=-0.0451 left_z=0.1009 left_yaw=0.0386 left_pitch=-0.104 left_roll=0.0128 left_gripper=0.0422 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=-0.0001 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -7.4051, 9.1282, 1.6972, -0.1001, -0.0317, 0.8913, -0.0752, -1.0598, 7.0085, 1.7265, -0.0317, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb16f14096254965d37ce514135ec12c8585e18f2267ad3e58632ad3051acbdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e57405f6e20ca9292f24b7a60489df9cb92425e7de9eec42ec3c9b5ee3dfafc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ed2156cf0d83da87af1af8d5dfe3313b2d20168830f846c275510b5e4da6308e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob fb16f1409625
wire blob e57405f6e20c
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 4.984 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2256, 1.5982, 0.5648, 0.2615, -0.2314, -0.1791, 0.9995, -0.0216, 0.7986, 0.5999, -0.3931, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.378 left_y=-0.0415 left_z=0.0275 left_yaw=0.0484 left_pitch=-0.1761 left_roll=0.0484 left_gripper=0.9995 right_x=0.2928 right_y=0.0002 right_z=0.1741 right_yaw=0.0003 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9961\nstate[joint_eff]: [0.4034, -6.4889, 5.2991, 2.0293, 0.0611, 0.1538, -0.0122, -0.1162, -1.3197, 6.9949, 1.7509, -0.0464, -0.0317, -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]: [-0.2195, 1.6119, 0.5533, 0.3809, -0.215, -0.1799, 0.04, -0.0216, 0.7986, 0.5999, -0.3935, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3919 left_y=-0.0452 left_z=0.0396 left_yaw=0.0379 left_pitch=-0.088 left_roll=0.0122 left_gripper=0.04 right_x=0.2927 right_y=0.0002 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0214 right_roll=-0.0001 right_gripper=0.9961\nstate[joint_eff]: [0.0205, -5.9282, 5.7231, 1.1746, -0.1099, 0.2759, 1.3748, -0.0205, -1.0598, 7.0085, 1.7753, -0.0562, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2199, 1.4181, 0.696, 0.028, -0.2134, -0.1833, 0.0422, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3896 left_y=-0.0451 left_z=0.1009 left_yaw=0.0386 left_pitch=-0.104 left_roll=0.0128 left_gripper=0.0422 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=-0.0001 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -7.4051, 9.1282, 1.6972, -0.1001, -0.0317, 0.8913, -0.0752, -1.0598, 7.0085, 1.7265, -0.0317, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb16f14096254965d37ce514135ec12c8585e18f2267ad3e58632ad3051acbdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e57405f6e20ca9292f24b7a60489df9cb92425e7de9eec42ec3c9b5ee3dfafc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed2156cf0d83da87af1af8d5dfe3313b2d20168830f846c275510b5e4da6308e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob fb16f1409625]
[blob e57405f6e20c]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgoKEAgSGAI4AUIIdGhpbmtpbmcSDJOm7FBZmfJPIU5y8RoM+Pto/zCwv1dH+dwFIjCwJ/Jg70V1LB5kucXZZW3zgT1Y6hkj9UsA6c74FbJccoSBSB/z58BxfD2ysSwCqw0qswkaukDgxWr5kgDNMA2TZ+hMTL4EV3zlO4/GJFwcEFBbSQEXZGXcnOPxfHIujRXcsnMC3HIpzn3zBTkT87wmyvuC/VWGh2eUiSKFRlLRzW1HLDTAmazW7gGopDsi5e3UTyPctyZSdZt+rqASugeGyr9a5EXhYP16G8oMptatWTh13CMEKuavLQfbtap4hZiTWUXJCZbo2rP5OPNKv+LtyVAZkLO34xqckrVLN/zON1EZNiG3P6xmVDnFYOpdqnOdgVPWAGJaXSczWK3gDKdd/g0eqgK/vKvxgsw431dmAaJh5uMee+q0itwI0yDhZfelDIxgnp1p5a9wFOG4fZtIPtwAPFwZiPsczJinxNdxBMgR6tE+qMZH7lozj4Vb3K9xPQb6kMa6Rmp04OP/GlWu2iq409R9Rm2W19Ez2b8gDpY3BztsxZ2JHVWAIcPE1wvam3MLdvHyiSpyq2ctLWgSeytBzUJL9sYBimBtddzQdWsIzlJ5bgUUu/CrWRozY+NvqBf9dJ/yCmjdvGbUFo1YgEcaHCw4RBi6vHoQH4U9QhLc0NYYaiCebbiTechKHWRguR+qpEplrdRRjv+a1LEAE8pUNqbS3h1JjLYECcByzNmO3s5ifcgeimLy2xD7mlsloQ2RDhBKqg4o15+tGGlPkaYZf5eJWfRMpkXGeoiewqMIKaxkA95zEk6KYxyNgpWioFZFCKeCO2iX82AvsJiIlm3zrsfOvgIdRV8IfXqGhLE1bCEH+VppTlacHGgtNN7F5ffXQvlhk43tAMTK2rGsgBN+4tUrk/KeHXT50EeIOC99sH9aBDZpjTaOGxMhLWqICbTKYfBR+ZXFzfC4xHls6j5MNjH5Y4XDeRLiptpXBu280rwWdh36GZsbqCzSkuo7BUMqOqe06CghLYwEWVz71N8sG68z084AjwG5YsuzS1A6dH+j7Kzq1nXqIwBG95fG0sGv3YtzdDHGbGi3Uk2mRM/5AM9rPn2I+Q4CsC596sSsnAzV5EaqmRNJztT64iFFf1SeXDcR4aLmPHE9MU1vxvXr97UT0gkKyqIi6JMZd38ysYCeaqbLdmMJzQZlwnrnxqq3oXVFLYbmvLQCmdetftYuhnltdtfsQTTDE7jLApaorVo9TRW3So9tw1RcQ4rs7uPJ2pu0nnkJrD2cRRNlEiqIXZyaOEYfNkZOasDlVXvw7bL5O1uOfHBWRmBVC1ICwxBTsJ1RTxn34ivaCRz3X/0MjNHluFQzfnuYbGoDvo7v6ODyvJxf6BVTQ8PVFZeLivWvfvjiSB2ueyKxOeJWEVVaj0UuGNzDSw2+yrep0vtJhBJSnaa9vqsWIHqDnnAqRa5gC3Mo7uckGB9VgNK8k7mDQDWGE6pzDfk/z+RMWz2p5C51KkFR2V4YgKcRU+XjdIn++Xv4apmokkolVOiRMgNa5/pzG8Xxs7xnOCcAcU6TBWeSRanRDWCJK+e2hjPtT8DSrllrY004i4d86HcRdYfk+WcE3UUppD+z/mSZ6PD/KGS50n1ZTvBEV9qpSXeNbCC6vD/Nr17VCKoDVbHTEYFWZe/n7VlQDUuVxVVQNXlxiuy7poNUgDv5Z0xwUcBP6LDpP+sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NE1FFjAfHk2gctSHz1TncH",
      "input": {
        "note": "Green bowl is lifted with the jaws. Carrying it right so its centre sits over the blue bowl (gripper offset ~5 cm from bowl centre).",
        "targets": {
          "left_y": -0.21,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01NE1FFjAfHk2gctSHz1TncH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7105, 1.6352, 1.1454, -0.3763, -0.5468, -0.5415, 0.0451, -0.0219, 0.7986, 0.5999, -0.3935, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3841 left_y=-0.2046 left_z=0.1449 left_yaw=0.0186 left_pitch=-0.1375 left_roll=0.0246 left_gripper=0.0451 right_x=0.2927 right_y=0.0001 right_z=0.174 right_yaw=-0.0001 right_pitch=-0.0214 right_roll=-0.0001 right_gripper=0.9961\nstate[joint_eff]: [-0.4718, -7.6239, 9.5385, 1.37, -0.3687, 0.0122, 0.735, -0.1709, -1.2376, 7.0769, 1.7118, -0.0659, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:708861c63b7d9e6b73b843e3fdc3f520456c88f77670147e459aa07cb543ebde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a0db6ed78627007f7c128f13b8d7e3224d1e5a1637e181fdea4a65483c018da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3da390083da085a9c5b017f9dc09a4c85bdcf71f28cbfdbab0fb922daf79827a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 5.903 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2195, 1.6119, 0.5533, 0.3809, -0.215, -0.1799, 0.04, -0.0216, 0.7986, 0.5999, -0.3935, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3919 left_y=-0.0452 left_z=0.0396 left_yaw=0.0379 left_pitch=-0.088 left_roll=0.0122 left_gripper=0.04 right_x=0.2927 right_y=0.0002 right_z=0.174 right_yaw=0.0003 right_pitch=-0.0214 right_roll=-0.0001 right_gripper=0.9961\nstate[joint_eff]: [0.0205, -5.9282, 5.7231, 1.1746, -0.1099, 0.2759, 1.3748, -0.0205, -1.0598, 7.0085, 1.7753, -0.0562, -0.0562, -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]: [-0.2199, 1.4181, 0.696, 0.028, -0.2134, -0.1833, 0.0422, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3896 left_y=-0.0451 left_z=0.1009 left_yaw=0.0386 left_pitch=-0.104 left_roll=0.0128 left_gripper=0.0422 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=-0.0001 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -7.4051, 9.1282, 1.6972, -0.1001, -0.0317, 0.8913, -0.0752, -1.0598, 7.0085, 1.7265, -0.0317, -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]: [-0.7105, 1.6352, 1.1454, -0.3763, -0.5468, -0.5415, 0.0451, -0.0219, 0.7986, 0.5999, -0.3935, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3841 left_y=-0.2046 left_z=0.1449 left_yaw=0.0186 left_pitch=-0.1375 left_roll=0.0246 left_gripper=0.0451 right_x=0.2927 right_y=0.0001 right_z=0.174 right_yaw=-0.0001 right_pitch=-0.0214 right_roll=-0.0001 right_gripper=0.9961\nstate[joint_eff]: [-0.4718, -7.6239, 9.5385, 1.37, -0.3687, 0.0122, 0.735, -0.1709, -1.2376, 7.0769, 1.7118, -0.0659, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:708861c63b7d9e6b73b843e3fdc3f520456c88f77670147e459aa07cb543ebde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a0db6ed78627007f7c128f13b8d7e3224d1e5a1637e181fdea4a65483c018da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3da390083da085a9c5b017f9dc09a4c85bdcf71f28cbfdbab0fb922daf79827a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QgKEAgSGAI4AUIIdGhpbmtpbmcSDJd6thYXqLc8liIs9BoM2g6es6kMzT0YqJFUIjA2yUgpraBz5eJBwosvkIjvNZS2/cnBomjKFC1KOkCYCjVdjwbq164BHavkjQe8iCgqjghw0RPPVgacewhYilbfH9faElvSTyJgC5PtFVcjX82WW5VPDpoSPCetNOn7N/jWxb53DsPi9Vk5na47O4iZzBfkifLT5ne6OXD7+VSP8Bjt3CRi6yXNTYjSZXjiC9tuXjC8Sj+zbj6SNRkDfE3UWSnHbD38euN6rzlc8mc3adg4rYPmjixPAi9HcULAnRLC72E1Z60RHPCbvxJTLXm+qK9v6xYwvtNDVDAAR3H0+IpG7pjkxY/g5uJqcRnc1xdQZCiWsz8NCtKERCp2BapI8SVvPKHb9qR14vKT7WNrZRjyMLJ/Fjky+8Ud9an9Dy5dd7mEXXe/bNb1eRCQFrez1xmrzUcFEvrG7gNIKkCIJgRgEaZHE7Z9Gi2mIClg3vhgalmo/9Oz3nVJIGKWn02/lAivVP3m+iHtNF0+L9q7lTc/9TtuTrqwr33DUuYKvrxlwdBtbgtUraAssw0rYYUk182Axo2z8oh+P6v0Q6yWT9ndIXv+Ue+Tvwt2iKNhyoyzje6I+LuVZyzBi08p6acxedOdsnv6BAbtDJqoRmlfbqY3wONmetX4u+lAkhblMd66eym4hSdP3wxh/Wy33fldNm0uXkd8sdazwUC8/PtXshsFlnPPJ3FFvMg/ZPGBpzYiwjtVARLqaoL5Pdm7Q6WPiBgSl2pc43TR9dsFvpQ34sGUl3l7Yjp9omt9XqwUStFG8VSd1Opm1LxwcQo9P2eoGIzhW51b78Qzlbk18fEp7P+3KYPinWXxr4Kjc67Ti/rJZrrtsw9tUxdmJKOc0XnBWAPDNgWm7OZdcw+gz1ermmI9rSU4yYbwM6WRnN7PYxtv6zPDMVuuLgpZlUHVMIyo2q5Yhx/ZxV4vDGtAYk9/f7N6p29Co3e5Sast5tcsNg8UycKFKXmzV1f797sSRE8ub/SHqCc29J2hyHGRz20dGNFjMCeSrY2dEbn8GsXm+9ty3mSTArrGBho47PvD8tFVnqlIRnUPB+Ld0mDtsGaYUTcs64BI8RvZgNuQOc71iMv0/fyS5ScBjufPQEpBJWLwuPnCLAsC96VeG1oRasTgs4dtVxno5SGdGyEkPoCZ6gTQiGAFXTtjDCW6kyUoABrWJRNhS/xl7plCQerog62H3NaqL0iq2XUaLKZYrp2Ox/XUEmK0elWwQXaWMs7eo3Yqjma8lnZJzPFJCcPFYibmmzecl1PPhCmVWL9yXViTJdcf0n7PbhMZPMIL+ftfKjNXyCnkKWpWzMq+h1dRCy5rpSccA/zcWEu/NsX1xgVxQAznjtzWnEiYF3ZzpGW28EOHIn7Nhmb2gJLmI80SGZ//f44iAk+b8G1TYAorn9PKzuvmUxPRX6QhqNnwiETkKGHRALwyEBGycD/WLra37ajWBGsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Uic8AGSMdkEdtZPhVJbpXN",
      "input": {
        "note": "Held green bowl appears slightly left of the blue bowl in the overhead view; nudging right to centre it over the blue bowl.",
        "targets": {
          "left_y": -0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Uic8AGSMdkEdtZPhVJbpXN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7998, 1.7523, 1.2453, -0.4515, -0.5816, -0.6193, 0.0472, -0.0216, 0.8028, 0.5983, -0.3962, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3761 left_y=-0.2427 left_z=0.1272 left_yaw=0.0068 left_pitch=-0.1828 left_roll=0.0509 left_gripper=0.0472 right_x=0.2924 right_y=0.0002 right_z=0.1716 right_yaw=0.0003 right_pitch=-0.0298 right_roll=0.0001 right_gripper=0.9961\nstate[joint_eff]: [-0.5265, -8.7863, 9.7573, 1.3162, -0.5006, 0.0855, 0.7155, -0.1026, -1.6068, 7.1453, 1.707, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e0b65cb18c5f57fd6200bbce8a148a34c38410891a526faab5e24fa18a54ba2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4aa818cac0f4a0ef74344e584488c7f249e4cc28365a9e387fa7e248edb4a0f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c9864b19441aa79456d3acaf0fe91ffa960e0bfd1a743741c0abdc47314fd8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 5.355 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2199, 1.4181, 0.696, 0.028, -0.2134, -0.1833, 0.0422, -0.0219, 0.7986, 0.5999, -0.3931, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3896 left_y=-0.0451 left_z=0.1009 left_yaw=0.0386 left_pitch=-0.104 left_roll=0.0128 left_gripper=0.0422 right_x=0.2928 right_y=0.0001 right_z=0.1741 right_yaw=-0.0001 right_pitch=-0.021 right_roll=-0.0001 right_gripper=0.9961\nstate[joint_eff]: [-0.1299, -7.4051, 9.1282, 1.6972, -0.1001, -0.0317, 0.8913, -0.0752, -1.0598, 7.0085, 1.7265, -0.0317, -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]: [-0.7105, 1.6352, 1.1454, -0.3763, -0.5468, -0.5415, 0.0451, -0.0219, 0.7986, 0.5999, -0.3935, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3841 left_y=-0.2046 left_z=0.1449 left_yaw=0.0186 left_pitch=-0.1375 left_roll=0.0246 left_gripper=0.0451 right_x=0.2927 right_y=0.0001 right_z=0.174 right_yaw=-0.0001 right_pitch=-0.0214 right_roll=-0.0001 right_gripper=0.9961\nstate[joint_eff]: [-0.4718, -7.6239, 9.5385, 1.37, -0.3687, 0.0122, 0.735, -0.1709, -1.2376, 7.0769, 1.7118, -0.0659, -0.0659, -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]: [-0.7998, 1.7523, 1.2453, -0.4515, -0.5816, -0.6193, 0.0472, -0.0216, 0.8028, 0.5983, -0.3962, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3761 left_y=-0.2427 left_z=0.1272 left_yaw=0.0068 left_pitch=-0.1828 left_roll=0.0509 left_gripper=0.0472 right_x=0.2924 right_y=0.0002 right_z=0.1716 right_yaw=0.0003 right_pitch=-0.0298 right_roll=0.0001 right_gripper=0.9961\nstate[joint_eff]: [-0.5265, -8.7863, 9.7573, 1.3162, -0.5006, 0.0855, 0.7155, -0.1026, -1.6068, 7.1453, 1.707, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e0b65cb18c5f57fd6200bbce8a148a34c38410891a526faab5e24fa18a54ba2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4aa818cac0f4a0ef74344e584488c7f249e4cc28365a9e387fa7e248edb4a0f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c9864b19441aa79456d3acaf0fe91ffa960e0bfd1a743741c0abdc47314fd8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQcKEAgSGAI4AUIIdGhpbmtpbmcSDC2Gux9iK1i46XrM1hoMeDPON9qFL5+/nXqhIjDx8obM2XHvjw4/id8oZ/HcwJhTPxC2sbsJD9hkXztVBN06VPKUd7gQZQIRB17S5Ksq0gZwfwxGyizyghUzJUENY+tMdjlHd07r+T6lkOW7LmN2jDMiMuYu3d2FMGwTPOzaCa7Zlw3D/xzgD42MrXWMXXlYaTVjbSn6XUAMGPj4uXW73ZZYb7TrhvKnGBx6CZ3BL9ycVS4wEbBhEmpS5MeF+JSV+F8aDAvvxJH5DNHnHpDbyWye5L8XSta5YwjwpXDU5XYrPHRY/9ikDOSn2aGkhXdLKkBW6O5ZUtFHeNfyPTQqOg7EpaiOUfvlahby8brve47FlwyphrdjHt9UCyP3t9jCJjGSgz8+pIKT1YBIsCHuK27CNb2BiyANu+Q/wSeIiGMVvQoTL0OiT4RHVGrX9eNiwM9ElYhZb5Y0K9qkhhuHXa2lUoTdkstbkLY/HB6MIIchpF4HwpxerIMEvYEOGXMumxf789sbR9+MyxBmwV6lG/ZMUNvm4tVZXsu+Upa1uQ7syzWZH1ZCRTnH+JxbcP23/HnGpF1i8LSau4YW6z98hmgKxBAQfxmgOGyxRlyibrq7owhySq2BHLCDYcGvCgkQqdDxtII1ykkEoSuhdyHQRlSnh0mO2BUtxhRo3vYzaM+ZOZsesYDHs3pOkzwsoOkayFsxhZllrGPc4V8L5SyYYtBaHPSzy9NBIsceyBozkJR8SFmAENmNuOgD/EAKbbTIOf1Z4ox/gQxKj+kG8HJDOBY3Q+uSv1ngiSRe+39UPQSX9GPQiHkjuPb2BbDYzEySAIUi5FdYDf3UAZK9X9J8R6XD8pRD2UQKvh2cy4LZjV+kdGssuHd1RN1mi53i8wb3HRUBntAhE8fv46m4CeWKaq9/Xd+etrQ/rU7kzsgOzpehV9bSTBMF8kIdnr98ythV2QQfx5kZjfP+Hk1Z12eip4C2hHfdIQwhy2iUQ5BiAzKvJc1atseIZQZ6S5LDjzdD3Ig825NnKw/HoQ9VsG+1aDdAIBAJetVfFMdwRfkxQds6DdUVFl6oXb6761f2/FSXlaPyowklXa6jIAS2ll6BaYZ44rbxa8HbxdKOKKq9xYMaHhPBfzmXE+RonWleivVvUEwcmAtLJLu0PWluQrePXuLR7q3vrdav2bJ3IKAV4mePLHS7F66kYN89tx0fE7ovzmd55ndC4lEJqxz10U0HwMi1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V71EUFxiTE69ufykaNamD5",
      "input": {
        "note": "Green bowl now appears aligned over the blue bowl (blue rim just visible under the green rim). Lowering it into the blue bowl.",
        "targets": {
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01V71EUFxiTE69ufykaNamD5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8082, 1.7599, 1.2606, -0.4603, -0.585, -0.6296, 0.0476, -0.0219, 0.8047, 0.5957, -0.4023, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3758 left_y=-0.247 left_z=0.1288 left_yaw=0.0066 left_pitch=-0.1812 left_roll=0.0461 left_gripper=0.0476 right_x=0.2913 right_y=0.0001 right_z=0.1687 right_yaw=-0.0001 right_pitch=-0.0404 right_roll=0.0004 right_gripper=0.9961\nstate[joint_eff]: [0.0068, -8.9778, 9.1282, 1.3162, -0.4811, -0.0513, 0.6129, -0.0889, -0.8137, 7.241, 1.7705, -0.0366, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f050f56cc21e1c5d898bbc146802e09e7e402715b42b3293abe9b6dbbfa410f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09e92db1dd94835d2fb11afc4a977699ae4715aeaee331febe3873937e59a9d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0a4edb36c546d1b721dd47910f498283f4b1288af21e50349f09f7aee4e15e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 4.223 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7105, 1.6352, 1.1454, -0.3763, -0.5468, -0.5415, 0.0451, -0.0219, 0.7986, 0.5999, -0.3935, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3841 left_y=-0.2046 left_z=0.1449 left_yaw=0.0186 left_pitch=-0.1375 left_roll=0.0246 left_gripper=0.0451 right_x=0.2927 right_y=0.0001 right_z=0.174 right_yaw=-0.0001 right_pitch=-0.0214 right_roll=-0.0001 right_gripper=0.9961\nstate[joint_eff]: [-0.4718, -7.6239, 9.5385, 1.37, -0.3687, 0.0122, 0.735, -0.1709, -1.2376, 7.0769, 1.7118, -0.0659, -0.0659, -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]: [-0.7998, 1.7523, 1.2453, -0.4515, -0.5816, -0.6193, 0.0472, -0.0216, 0.8028, 0.5983, -0.3962, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3761 left_y=-0.2427 left_z=0.1272 left_yaw=0.0068 left_pitch=-0.1828 left_roll=0.0509 left_gripper=0.0472 right_x=0.2924 right_y=0.0002 right_z=0.1716 right_yaw=0.0003 right_pitch=-0.0298 right_roll=0.0001 right_gripper=0.9961\nstate[joint_eff]: [-0.5265, -8.7863, 9.7573, 1.3162, -0.5006, 0.0855, 0.7155, -0.1026, -1.6068, 7.1453, 1.707, -0.0122, -0.0611, -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]: [-0.8082, 1.7599, 1.2606, -0.4603, -0.585, -0.6296, 0.0476, -0.0219, 0.8047, 0.5957, -0.4023, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3758 left_y=-0.247 left_z=0.1288 left_yaw=0.0066 left_pitch=-0.1812 left_roll=0.0461 left_gripper=0.0476 right_x=0.2913 right_y=0.0001 right_z=0.1687 right_yaw=-0.0001 right_pitch=-0.0404 right_roll=0.0004 right_gripper=0.9961\nstate[joint_eff]: [0.0068, -8.9778, 9.1282, 1.3162, -0.4811, -0.0513, 0.6129, -0.0889, -0.8137, 7.241, 1.7705, -0.0366, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f050f56cc21e1c5d898bbc146802e09e7e402715b42b3293abe9b6dbbfa410f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09e92db1dd94835d2fb11afc4a977699ae4715aeaee331febe3873937e59a9d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0a4edb36c546d1b721dd47910f498283f4b1288af21e50349f09f7aee4e15e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/AgKEAgSGAI4AUIIdGhpbmtpbmcSDEP5VS5y40XepNLBARoMWOJnCAaqac7zmve4IjD0gqZ0bdhDD9KpF6AIX2Tv/MiZ9d9sqX11cOXg1Lv7iiehk06u5FSISvSkKSeIGzMqmQjOoAaMeBf26U51TyEpeqgebpYw7gSmhdApTRul0t6xX9ZVrNkeKe5CBN3+gm9x7J9liUb91jBZucJR0PX9puUZgqKdrH/mJo4SXinUo6gZRlgbjIOY2vffVwQUfazXNQ+OEeDoxumwDJwmUJtc0crzz9ELhHFycWVuzB/dgTsBRw2/gRGXj3CYtI9/xVR9DNddym4E57KiYe5ObTyf5j8trH1iGQPFjnJmXxctH71RLPZ6xJKvl4/GLjM6UkYbhmcGZbWY7gicNj9TKFG+CSmI3gPZmXUEAhLAUwW1/46hpTibSifjLfQi+iSOZ8w5YpPIy5G54gq/gFuBa2JlaMUP0b8HAwYPr2WDry6tViiX7TWk4bEyEZSs3+mFueyR6tSsNkpgtvfNlGUNluyv10IN41WLT3vSdADpelf6+E8UTRxtSYgH6XFwhOmV7Xg4OBSRUhduulxr5Z+LYFls6MVil//4dH4svlhtxYFqE1HtNS46R+MeO2D5oTnBxrfoys43TcByHqW1UztIJxsIJ3hAh7RDLtFAZNSot9Zqgthikc6Pr1r/kpEHEXG55zo4C63Yevqo59SuZ8n1y9gqFodBFgn2QOvL+WyK6+5dWeFPJ0RS3m1xPxesCW9G29qJ0jFysq7i25w6LlS6A5WHFaUtsS/hENyXt4WV4LkP+0yXkGlHHvLefn9iN78QiaUfhqMfkqHWV/lhIz2JvGGP/6mO7C3jcws/zOBJAjTS6lGg7KSi9LVcb0+uiazTXUZB7gTrlrROOY7cJoSRBS0Wd1IBLEMLF/MoFjtF8YY7Xdtr58gHoWG7ve30s+6omAJ5I6moU+6Wh8o9ldylxrGj62IukD3U4TB7SPIIY13w8hADWrAWTTo0mpbpyYBbjEitUYNEu0YC8OTMDQQ5/wNkbn+fCUq2eMGJy63wEnF+QiZJ0rRWccckA5hSmCmKJz+EfA1s9+irinq1/Rd0//sKQQK8AyAaXtGkiULxLIcfZ+kTtBe5BtQkei9VIbCfAzpxZBZKt8jhewjNWf4lDLRAwg+ZMc0ACFFgI8B8DqI57JMpU4QXRwf6w+VZCMjEUfajl+0hrd9hDFR5PDV8CS3WrdHzwcRfhTjU/4IdwTuAQHms8pNF8s3pOsZBT+Q+F3uEHtugC/EqM3oHS9SqcmszYM2MmlsW3lVj9ObAdiLh8uPA/aPoiO1wSjSAgJTb4R8eu+0ukGGtnyOBmPAzTKA0goK18gA4wUavTANEa3SQ2rvxm3SnUPmC2PVHG0lAj6a1ZBVO5DogSVnocVabfheeVimCGpmOIvu+K/nbGmU88FFM0YgLxhWboc+JEgHfoClQkswHVLF2o4WxbOXcbgSGjzNBQdS77PjARRQKGEJHnVJFu51JalRDZ5wGqRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0115iYSBuUbrtgKBTsmKKLP2",
      "input": {
        "note": "Descent stopped at z≈0.13, likely the green bowl resting in/on the blue bowl. Releasing it.",
        "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_0115iYSBuUbrtgKBTsmKKLP2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8082, 1.7599, 1.2602, -0.4599, -0.5835, -0.6369, 0.9952, -0.0219, 0.8043, 0.5953, -0.4118, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3757 left_y=-0.2472 left_z=0.1286 left_yaw=0.0095 left_pitch=-0.1819 left_roll=0.0399 left_gripper=0.9952 right_x=0.2899 right_y=0.0002 right_z=0.1667 right_yaw=-0.0001 right_pitch=-0.05 right_roll=0.0006 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -8.9094, 6.5162, 1.2772, -0.3492, 0.0513, -0.1538, -0.2393, -1.2513, 7.0222, 1.7656, -0.0562, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:058e8a940ce13a222fcee5dfc729327d4d6f98faf60e72a0cf3bc35eabc1841e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acedfcd68c67fa51317e183342d68e4fb0bd628fe7b9ab45d1d15aa32b944c0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd8349cc42f68349955be7f01fa7507d22c11acf280243f4c955eb2db3421b45",
        "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 · 5.689 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7998, 1.7523, 1.2453, -0.4515, -0.5816, -0.6193, 0.0472, -0.0216, 0.8028, 0.5983, -0.3962, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3761 left_y=-0.2427 left_z=0.1272 left_yaw=0.0068 left_pitch=-0.1828 left_roll=0.0509 left_gripper=0.0472 right_x=0.2924 right_y=0.0002 right_z=0.1716 right_yaw=0.0003 right_pitch=-0.0298 right_roll=0.0001 right_gripper=0.9961\nstate[joint_eff]: [-0.5265, -8.7863, 9.7573, 1.3162, -0.5006, 0.0855, 0.7155, -0.1026, -1.6068, 7.1453, 1.707, -0.0122, -0.0611, -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]: [-0.8082, 1.7599, 1.2606, -0.4603, -0.585, -0.6296, 0.0476, -0.0219, 0.8047, 0.5957, -0.4023, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3758 left_y=-0.247 left_z=0.1288 left_yaw=0.0066 left_pitch=-0.1812 left_roll=0.0461 left_gripper=0.0476 right_x=0.2913 right_y=0.0001 right_z=0.1687 right_yaw=-0.0001 right_pitch=-0.0404 right_roll=0.0004 right_gripper=0.9961\nstate[joint_eff]: [0.0068, -8.9778, 9.1282, 1.3162, -0.4811, -0.0513, 0.6129, -0.0889, -0.8137, 7.241, 1.7705, -0.0366, -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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8082, 1.7599, 1.2602, -0.4599, -0.5835, -0.6369, 0.9952, -0.0219, 0.8043, 0.5953, -0.4118, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3757 left_y=-0.2472 left_z=0.1286 left_yaw=0.0095 left_pitch=-0.1819 left_roll=0.0399 left_gripper=0.9952 right_x=0.2899 right_y=0.0002 right_z=0.1667 right_yaw=-0.0001 right_pitch=-0.05 right_roll=0.0006 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -8.9094, 6.5162, 1.2772, -0.3492, 0.0513, -0.1538, -0.2393, -1.2513, 7.0222, 1.7656, -0.0562, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:058e8a940ce13a222fcee5dfc729327d4d6f98faf60e72a0cf3bc35eabc1841e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acedfcd68c67fa51317e183342d68e4fb0bd628fe7b9ab45d1d15aa32b944c0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd8349cc42f68349955be7f01fa7507d22c11acf280243f4c955eb2db3421b45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Released; green bowl appears nested in blue. Park left arm home, then get pink with right arm.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012EnANax7hMiazncgEjB1T6",
      "input": {
        "note": "Green bowl released and appears nested in the blue bowl. Parking the left arm at home to clear the way and the view.",
        "targets": {
          "left_x": 0.29,
          "left_y": 0.0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_012EnANax7hMiazncgEjB1T6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0849, 0.9329, 0.7868, -0.6071, -0.1333, -0.1066, 0.9957, -0.0216, 0.8043, 0.5945, -0.4152, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.2941 left_y=0.0021 left_z=0.1802 left_yaw=0.0661 left_pitch=-0.1741 left_roll=0.0312 left_gripper=0.9957 right_x=0.2893 right_y=0.0003 right_z=0.1656 right_yaw=0.0003 right_pitch=-0.0542 right_roll=0.0007 right_gripper=0.9961\nstate[joint_eff]: [0.253, -2.5641, 6.6803, 1.707, 0.022, 0.149, 0.0415, -0.1299, -1.0598, 7.0632, 1.7216, -0.0757, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd477f8d66316eeed9c858b3cd0501e670e609c91e8ec9d9db62f41626809a86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d99202f703dc519b592d9f6c2e9bfd1283d5a607ac43237a57943f00ccbe29fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69b71ef170affacb64ce87ae5dacca070f6797e332c7dd26e08bb5a1c722647e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 6.176 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8082, 1.7599, 1.2606, -0.4603, -0.585, -0.6296, 0.0476, -0.0219, 0.8047, 0.5957, -0.4023, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3758 left_y=-0.247 left_z=0.1288 left_yaw=0.0066 left_pitch=-0.1812 left_roll=0.0461 left_gripper=0.0476 right_x=0.2913 right_y=0.0001 right_z=0.1687 right_yaw=-0.0001 right_pitch=-0.0404 right_roll=0.0004 right_gripper=0.9961\nstate[joint_eff]: [0.0068, -8.9778, 9.1282, 1.3162, -0.4811, -0.0513, 0.6129, -0.0889, -0.8137, 7.241, 1.7705, -0.0366, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8082, 1.7599, 1.2602, -0.4599, -0.5835, -0.6369, 0.9952, -0.0219, 0.8043, 0.5953, -0.4118, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3757 left_y=-0.2472 left_z=0.1286 left_yaw=0.0095 left_pitch=-0.1819 left_roll=0.0399 left_gripper=0.9952 right_x=0.2899 right_y=0.0002 right_z=0.1667 right_yaw=-0.0001 right_pitch=-0.05 right_roll=0.0006 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -8.9094, 6.5162, 1.2772, -0.3492, 0.0513, -0.1538, -0.2393, -1.2513, 7.0222, 1.7656, -0.0562, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0849, 0.9329, 0.7868, -0.6071, -0.1333, -0.1066, 0.9957, -0.0216, 0.8043, 0.5945, -0.4152, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.2941 left_y=0.0021 left_z=0.1802 left_yaw=0.0661 left_pitch=-0.1741 left_roll=0.0312 left_gripper=0.9957 right_x=0.2893 right_y=0.0003 right_z=0.1656 right_yaw=0.0003 right_pitch=-0.0542 right_roll=0.0007 right_gripper=0.9961\nstate[joint_eff]: [0.253, -2.5641, 6.6803, 1.707, 0.022, 0.149, 0.0415, -0.1299, -1.0598, 7.0632, 1.7216, -0.0757, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd477f8d66316eeed9c858b3cd0501e670e609c91e8ec9d9db62f41626809a86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d99202f703dc519b592d9f6c2e9bfd1283d5a607ac43237a57943f00ccbe29fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69b71ef170affacb64ce87ae5dacca070f6797e332c7dd26e08bb5a1c722647e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1QoKEAgSGAI4AUIIdGhpbmtpbmcSDE3NQn4mVgKqaoXmMBoMNA5ZpN0fZjSf8JOCIjAWcdiIDE+S3zOZ097K6PULyEH2VPooCSy0TLKiWuyzF2PnqOGU+kWlFhs1ju0t184q8gn1dFWIgBeXvb78NDQHkUXeE/s80+kt5nORl6ZlgwS9yn9PXutNZoDYGl3hPKlBvQSQQEnGot0kinris1ybWEHi0fdcXszgQdHE1c9qgix290vltFfVdtWL1H721ajiB/RtNOK8d4Vm4dW+usClFNUeMNHnlnDdgjCFUYgnhiMDIG3OaJytM0FfbKkAtE4FBd687JgLoR3tC8/rs+ls6r0K1bXBJC/j1pwjm4QI0ynNgdlNB89bq5pWJ2vJnmHGMKH6IMgAt2B+7lp6apkNKwPr+ZS6xWGXtggkwyQlbFXsIAA8dsv/9EmXfFGt4ki4F1kEMHhn1JHUL1hnyBVIdgzso3De+I+XUTxLRIJLjHlzQi9OIq/SbI469DvL1WD01MNPdOjthZtD6cwJoKmtoJOzRZKsOupoMrKRMr8FRGhKXt+FUEvrIkz5ImH3e3k3oG+uQg9sJUSDuuIDcPfcgBJYQx3i3RfxcujnZFTk/d1MW8mNldjBfDuXOO8K27aAMkiNr3qG26fB2TtYhYSorju/p88g0DSsFU3o3leZm/1P1EAocO9FdKBT3oZO1s3S3VrmdpMimNpitimceiWuURTvCX0POfRsGwd4T/C7nVr1fxLfqFcpKQF0FWWphywAkVIvMzrCcyHdD99P2bd69Z/mNySUFa04R4pGzJV7v5f0UkSZXbaGaNeiXYbitp5Um/q6iT59muBS08i0x+ZPzg1qVwi3VUdQj83hygPzD98zua6E2tBJS6HlFqImBUkKlGGPqOPHvNlxc51XpWGAK5/ZRNB0VJfYbo+3WxS6pbptiZAxatRVdh6wsQLKya5NoSaZiMU0KyjdunIlShXNzNg9jIUSsuKaD44H/dzKW4xd8zrhvlBjlnQ1g7s7iyRlVuaFR5hyzBfe1ou2pX1V6a5aUum5ZPkCexUeHGhwO0UHfGGlv9Ril9Wue/FpJlDbUeQ5ClL3HbX/ris1DFYpjrCmkPVX2YkoAs5Szp4wtj97dwhiSuYUdA0c5IOfXwfFIj5FNg6x/JyVHHxT0Muj0FqsL+Xb+DucFZxPZBRcqm7f01Am4oCqrtCS00q9YfcBDyTS29abF5QGtLPY6alRA7rS/wQ3/CTe3EHpHX0Gl8CKtjOpb7mezCzJY6U/AX1JgXTP86uAxBmo5Nmu10kpb5P3wR2mXHTadlWV53YZuIf+jyRfc1BfDSdWu73Uw10sud5NvYe2ItXKBf8/XfbOeAEud0fFjZZ13rYjFnEStQLLa8cV9frNe9dj+F6tnzW0M1x1gmyojnebDxze3CqEV0edHCNAMiao5mm72whR4rePkqEewqvVNN7ByvA1Ihc3JPnwFfCA87CWdV3YsLQn79rSuBq+kwBdNf3yOVt5++BiaBiEnNt+2I5+f5tcDXpwTiub61g5hGjYTY3kFkD0bUYAnO6q89uR4FRzle2nqWI3yBlY953sqX4Y5e5ScYs9m0swOLtsTYtFFcRgMHgN7SdCQukHqZy78P82jRUUSjwNJuEv2c95uuJy4Rk53gZ/B3MYavIxCbRsj/RoiFHL/9QBlHeKrNhgmAq+HQf/+xRA3CAJICjGcCphG4LGiNff+49BTutslyT5tauZDuFqni0NpazJBwotWI7ODCveht0Qp4Tco/KfIfnItKdju/c00U7rWbw033mK7GyOcMP9oH2IfwsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RNvNfcWPsG4gMJRhTCuA4s",
      "input": {
        "note": "Green bowl is nested in the blue one; pink bowl remains to the right. Moving the right arm over the pink bowl's right (-y) rim.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.08,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01RNvNfcWPsG4gMJRhTCuA4s",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0853, 0.9386, 0.786, -0.6228, -0.1284, -0.1017, 0.9957, 0.3275, 1.2568, 0.593, -0.0952, 0.2234, 0.1474, 0.9961]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1755 left_yaw=0.0593 left_pitch=-0.1966 left_roll=0.0347 left_gripper=0.9957 right_x=0.3374 right_y=0.0771 right_z=0.0928 right_yaw=0.0498 right_pitch=-0.1653 right_roll=-0.0325 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -2.4821, 6.8855, 1.7021, -0.1343, -0.0659, -0.0073, 0.1573, -5.2855, 9.9487, 1.8974, 0.1197, 0.1538, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3688259b700111646eb7abdf90041650583b5ea895ba690cf91e16348b56ac27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7042b15e737e6c4ccc760219d1fd03b6842eeeb829d4ee22d0dcfb2a2ab128a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:983e2b0d4b54a4417568134bfeb9dfa2e34693608b3420b5f8599b6623223601",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.092 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8082, 1.7599, 1.2602, -0.4599, -0.5835, -0.6369, 0.9952, -0.0219, 0.8043, 0.5953, -0.4118, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.3757 left_y=-0.2472 left_z=0.1286 left_yaw=0.0095 left_pitch=-0.1819 left_roll=0.0399 left_gripper=0.9952 right_x=0.2899 right_y=0.0002 right_z=0.1667 right_yaw=-0.0001 right_pitch=-0.05 right_roll=0.0006 right_gripper=0.9961\nstate[joint_eff]: [-0.253, -8.9094, 6.5162, 1.2772, -0.3492, 0.0513, -0.1538, -0.2393, -1.2513, 7.0222, 1.7656, -0.0562, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0849, 0.9329, 0.7868, -0.6071, -0.1333, -0.1066, 0.9957, -0.0216, 0.8043, 0.5945, -0.4152, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.2941 left_y=0.0021 left_z=0.1802 left_yaw=0.0661 left_pitch=-0.1741 left_roll=0.0312 left_gripper=0.9957 right_x=0.2893 right_y=0.0003 right_z=0.1656 right_yaw=0.0003 right_pitch=-0.0542 right_roll=0.0007 right_gripper=0.9961\nstate[joint_eff]: [0.253, -2.5641, 6.6803, 1.707, 0.022, 0.149, 0.0415, -0.1299, -1.0598, 7.0632, 1.7216, -0.0757, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0853, 0.9386, 0.786, -0.6228, -0.1284, -0.1017, 0.9957, 0.3275, 1.2568, 0.593, -0.0952, 0.2234, 0.1474, 0.9961]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1755 left_yaw=0.0593 left_pitch=-0.1966 left_roll=0.0347 left_gripper=0.9957 right_x=0.3374 right_y=0.0771 right_z=0.0928 right_yaw=0.0498 right_pitch=-0.1653 right_roll=-0.0325 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -2.4821, 6.8855, 1.7021, -0.1343, -0.0659, -0.0073, 0.1573, -5.2855, 9.9487, 1.8974, 0.1197, 0.1538, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3688259b700111646eb7abdf90041650583b5ea895ba690cf91e16348b56ac27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7042b15e737e6c4ccc760219d1fd03b6842eeeb829d4ee22d0dcfb2a2ab128a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:983e2b0d4b54a4417568134bfeb9dfa2e34693608b3420b5f8599b6623223601",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpQoKEAgSGAI4AUIIdGhpbmtpbmcSDAdk9AT/aIeaLCQ5YBoMdfMYHDt0/CFheFOvIjD5JkC+DwmS1lRctvpZYYFuAbETpHEpMsO67Gpc52QR8Shxf3Z6bvXoWqY2tImIZXwqwgnLJELin+zoXxmyOsFDVoJ7tfY4shOyLs/mh5CLi+gNN/Ny18CmHjpeWjLwjzn0eSqoB3xp1L+LiJOrhO1ad82Dl1IwNJ8uFlRYO0AM09Qh2asLdnwibtmGDms9O4bVegNqN92QpowSlSd5pJlkH/AVUohS232VFpx9Cw2pFmsJ8hN8AN/iKujS0+uHs6mK7GthgGfIQDNO7uMIOjZ0PV08qbPzlj3jhhtTo0t6waaOiJSaTiS5mnCL9xJPD5gfFhEGlUV5Ziu4qgKIKTeNZDFbwr8zPyQyaRhCObinFLrSxm7MZN7Uqd2RgFky0LpS2Wh70ZNMQT3BiUj92yNXLzA5p9aM6c4vqdjsoivZkiLRQsj/Bz1wTSerFF7k0lFxaCFDdgt35Z3kN9UxFAZNb0vw2hGBQ7TGrJeNmIkFt3q8+9Wzt4GkIDU8zLWZcU96W+TzsbCagcRJjy87r8LZBQauAMlpOJZS/qqSkeqUQXZh1W+ReJnN33CK3HYMkak3grhTG6l8b2qFaOuAJ/8U6T5x0lZzzva1EVtadNBAUJ+yYLajjOO+sPJf+38rKpC7fv1lsjsGtnPgxfQ/Ml/IM9kPWItFYmXTI9lJN3Ik8IaMcrPUws1zZcyA9ICAiobaFkiJO+mppZeNxByKPFWBnwPOC7fwzOVBsEbOt8WSSdM8gWMaaAYrTovCGmpVm4203Cs5/gDw4HFMgVa62Gh1GfFo8Nk1KUtBVGuJtDxrf9a0jqePTh2wrvQYgPoy+378fgAJ+6ZbelYjsDxetku0SkQCJV8z+tTaXWal00aOfLk/NOIO1Eltt7BZgcm5v+/tHfX2940C8zCIcbG15XecvtSwUR6lt/p0WrdoDE6doXgUiU4CF/Y7YeV/1RlcHQNiV4hr09DLgYkd6ZpjnGEwfyI46cW/VnJWkxxJlWomizcxoMgB6mEJiFbv1r3iRRWpxp/QtX0DK34AphslUnMEtoXKCTrmm0w1WsudG/WyepOu8PqgPdKXGUKTerYlFXffw4SAVrFCkjMD0XvCJKBeg/TllpH155Sh+YVOEodFwICV+sKjzsF8sqpREK8dvAphxMSaQow79vq6qusXBdLK04wY6KQ70NsoGOUAy9cWkvToO5diwhtaqIwTlPlC0xrRSv98lJhwxPgbg0YYS4/rDdmaSGCqsvXm1RSI9RVNeUnhpp9eHIArjzq0R1YP4Z7CiLwEGQRVWYOwr6esNA5n/W9h+AU/OSlYiDdRbjh8pqsiyuN05XUsoL5++L1yDziV3q39XuY+FZP2lkU9Xl2hEJ9vt8PKuc0mg7xQ/F0RH7YBCXlarPvF2NjalGS61MrcDbDmVYX3syOu1wH/uEbTVNjMTxl7U5+Ys4xEFP2PKI6AmC4pNtt1QHnO4m5pdhZAHMSkFgdGZOVBOGlPdhDyjQYdHDzOh6XaiBcLF77xlfclfeJG2XSroBChnqB1Azj/jzAR10Qltn80D9wThvZtY8CKqk2ptofPg9EHKjM6DFBIieBzuUBdoe06p6DFKFBQ26cUylb5H2cbSaC5Ro3TjxpbnQIi6xQNMSMzRzywzuuC26eXAC21R7D4rAvlmQTblpbQPnuARrECWb76/vutVHty60oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WcKNYkVQYjCTK4aH89MFKq",
      "input": {
        "note": "Pink bowl is centred on the jaw column and a few cm ahead. Moving right onto its right rim and descending so the jaws straddle the wall.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.028,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01WcKNYkVQYjCTK4aH89MFKq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0853, 0.9424, 0.786, -0.6254, -0.1284, -0.1017, 0.9958, 0.1024, 1.5394, 0.5674, 0.152, 0.0872, 0.0166, 0.9961]\nstate[eef_state]: left_x=0.2915 left_y=0.0014 left_z=0.174 left_yaw=0.0595 left_pitch=-0.203 left_roll=0.0357 left_gripper=0.9958 right_x=0.3666 right_y=0.0258 right_z=0.0276 right_yaw=0.0105 right_pitch=-0.2459 right_roll=-0.0422 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -2.3179, 7.0222, 1.536, -0.1197, -0.0513, -0.0073, -0.3624, -6.0786, 6.4205, 1.6288, -0.1343, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59edaba7c9d880835814f632199c43e41906172328c06c740d493757d48305e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2520a3565a19f0c76199f6dc5f4c7c7790b028ca32f33e5ddbdcf8df4172f3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ee398d7dfd841f72f1f21a35dc57971a687d8c9fe01d76cbc11d8728b3c33b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 7.607 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0849, 0.9329, 0.7868, -0.6071, -0.1333, -0.1066, 0.9957, -0.0216, 0.8043, 0.5945, -0.4152, -0.0166, -0.0273, 0.9961]\nstate[eef_state]: left_x=0.2941 left_y=0.0021 left_z=0.1802 left_yaw=0.0661 left_pitch=-0.1741 left_roll=0.0312 left_gripper=0.9957 right_x=0.2893 right_y=0.0003 right_z=0.1656 right_yaw=0.0003 right_pitch=-0.0542 right_roll=0.0007 right_gripper=0.9961\nstate[joint_eff]: [0.253, -2.5641, 6.6803, 1.707, 0.022, 0.149, 0.0415, -0.1299, -1.0598, 7.0632, 1.7216, -0.0757, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0853, 0.9386, 0.786, -0.6228, -0.1284, -0.1017, 0.9957, 0.3275, 1.2568, 0.593, -0.0952, 0.2234, 0.1474, 0.9961]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1755 left_yaw=0.0593 left_pitch=-0.1966 left_roll=0.0347 left_gripper=0.9957 right_x=0.3374 right_y=0.0771 right_z=0.0928 right_yaw=0.0498 right_pitch=-0.1653 right_roll=-0.0325 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -2.4821, 6.8855, 1.7021, -0.1343, -0.0659, -0.0073, 0.1573, -5.2855, 9.9487, 1.8974, 0.1197, 0.1538, -0.0171]",
      "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]: [-0.0853, 0.9424, 0.786, -0.6254, -0.1284, -0.1017, 0.9958, 0.1024, 1.5394, 0.5674, 0.152, 0.0872, 0.0166, 0.9961]\nstate[eef_state]: left_x=0.2915 left_y=0.0014 left_z=0.174 left_yaw=0.0595 left_pitch=-0.203 left_roll=0.0357 left_gripper=0.9958 right_x=0.3666 right_y=0.0258 right_z=0.0276 right_yaw=0.0105 right_pitch=-0.2459 right_roll=-0.0422 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -2.3179, 7.0222, 1.536, -0.1197, -0.0513, -0.0073, -0.3624, -6.0786, 6.4205, 1.6288, -0.1343, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59edaba7c9d880835814f632199c43e41906172328c06c740d493757d48305e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2520a3565a19f0c76199f6dc5f4c7c7790b028ca32f33e5ddbdcf8df4172f3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ee398d7dfd841f72f1f21a35dc57971a687d8c9fe01d76cbc11d8728b3c33b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwgKEAgSGAI4AUIIdGhpbmtpbmcSDDS2TxDUYKeRRl2ERxoMzUAJ5+5lwy4HUyuoIjAMq6u3+v83VgVY4g4WLHj6l93Rp8UtCldb9AQ7PvGMQBEo2oXQv0VSusAr8RCMhZkqpAdMFG1oIXBW73xHPRDI2Iod4bBB2CUVvs+IDZxdr671hnqChJlUpS67NyT9FVsLVO1lA443/HPVlnboYvskUoSc+bhQu7ct38svTc/Yr6H+i0fpD1nUNmrv3xLJB+nfvkhHSmEhIvlpDXABqiYjO4FKMtwV051Vkuyb9ckwEpju1WBE3N+r9NPs9tsGPoUdwkNq4GFJ90fEQi4cDvrKwQJkMjjQTgRplvFeNeKe9BcePe8L6j2AK7mrC6jDsj4AyOn5fGCQioWbL0r9pj+YC0DI5NuRHYsebwsTGgd4kGh3R3QhgeIeqoAxh/p+o6Ge2QwvfBT9ujlDX7S8QMf0jJT8S4iQ13yo3d0llYHG05cZRZbC9uFFrsBfIfBO0xrexAs2LyolB4cPy5K1k7lQlH82zyHe1+nVLENE9UO0lZrTLeOkXJr2fSeT0EaS+zk4wPhSjywPH9GSCdicqZDPXc/k4/HHsK7E5dtkz4297YcmsMr09qxTBQpPb7930y7D98JQqslA6GgVxyajLcjZmKe2HLr4Yc7m17xcmOqD7rZFP6FeadM8TvTjYwnxWclUAWh8WvRuMDpbGOGJas/7iymS5qvcX5g1lrWozo9vWCVpsNxpvKzi0NoQylfbczfsUTZmnJXui9xFyeN3RNnJ+1wdP3ppjoGUy28s0UvyKv2+uUfkyH1Y3aWLCezdZGl71UTHY5TE9jGvB4cLdkWGRmUCL9/NizHsW2cXaVxG/HAdyyRVDdGbCpqDLAPu8B3VJHfaVaVSldC+NB9pHw2QHr2aPZD2cGoMOUOCjvSVRXcaEcNU1fO+1sSOaySqlGjgIemxNyZ2Z4zwt6ffnQQWY1mEjJP1c/jAGG5TO3iQxXPo0CGj5PvRNenSKx7pHVGTYSfPfZB8wvUk3bDv5dVDDKeO6r9F+fEl6+Oh8zDe8h59PwEt2Vy0nGwbpIKJPMo6Rz1vzWGxeDgiuhetR6zfGN44zAF+yj5GLqiRCRBvLAtILo5CkVa6PAs5aLuN/481MseBY0bY1EPr0bQrtvpRC6XxxPj2MWjckPOBYeLS2pJmRzvxKbWSf8AS/26Dqefclq6XYqxgxrbr3JJzur5g5xiVi8MR36kqmGTTg+OqcrNEFfMs90EuE8wfZBVEHH8o5jIpQem009R3d0WXmLsHe/XBtmnZS2TP/dqKsKbVD9eYUvicDf/ZBTafNlGkKpGN9JnNwLJZoQ/JPedj7cSKsOv3oXbLYhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MPxutiVJ6F3wy4Dq8qN4Mq",
      "input": {
        "note": "The pink bowl's right wall is between the open jaws. Closing to pinch it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MPxutiVJ6F3wy4Dq8qN4Mq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0853, 0.9428, 0.786, -0.625, -0.1284, -0.1013, 0.9958, 0.0849, 1.5623, 0.5686, 0.2379, 0.0307, -0.0193, 0.0392]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.174 left_yaw=0.0593 left_pitch=-0.203 left_roll=0.0359 left_gripper=0.9958 right_x=0.3801 right_y=0.0305 right_z=0.0344 right_yaw=0.0622 right_pitch=-0.1849 right_roll=-0.0235 right_gripper=0.0392\nstate[joint_eff]: [-0.1026, -2.1265, 6.8308, 1.5067, -0.105, -0.0317, -0.0171, -0.0205, -5.6684, 6.7077, 1.2918, 0.2076, 0.0904, 1.4872]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf70a0836a578fb58898b50b84cf3e24f452e942e3ab19e7815d8147ec4a3299",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75b4ac7718255412d66bc36aadf08ac17e10bcd81f3ac5d95bfad69fe58ae5e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b22721363b391a7bc28578b87ac4060e0c715ccf76267deca9ff1d3bbd4e492",
        "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 · 3.585 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0853, 0.9386, 0.786, -0.6228, -0.1284, -0.1017, 0.9957, 0.3275, 1.2568, 0.593, -0.0952, 0.2234, 0.1474, 0.9961]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1755 left_yaw=0.0593 left_pitch=-0.1966 left_roll=0.0347 left_gripper=0.9957 right_x=0.3374 right_y=0.0771 right_z=0.0928 right_yaw=0.0498 right_pitch=-0.1653 right_roll=-0.0325 right_gripper=0.9961\nstate[joint_eff]: [-0.0342, -2.4821, 6.8855, 1.7021, -0.1343, -0.0659, -0.0073, 0.1573, -5.2855, 9.9487, 1.8974, 0.1197, 0.1538, -0.0171]",
      "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]: [-0.0853, 0.9424, 0.786, -0.6254, -0.1284, -0.1017, 0.9958, 0.1024, 1.5394, 0.5674, 0.152, 0.0872, 0.0166, 0.9961]\nstate[eef_state]: left_x=0.2915 left_y=0.0014 left_z=0.174 left_yaw=0.0595 left_pitch=-0.203 left_roll=0.0357 left_gripper=0.9958 right_x=0.3666 right_y=0.0258 right_z=0.0276 right_yaw=0.0105 right_pitch=-0.2459 right_roll=-0.0422 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -2.3179, 7.0222, 1.536, -0.1197, -0.0513, -0.0073, -0.3624, -6.0786, 6.4205, 1.6288, -0.1343, -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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0853, 0.9428, 0.786, -0.625, -0.1284, -0.1013, 0.9958, 0.0849, 1.5623, 0.5686, 0.2379, 0.0307, -0.0193, 0.0392]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.174 left_yaw=0.0593 left_pitch=-0.203 left_roll=0.0359 left_gripper=0.9958 right_x=0.3801 right_y=0.0305 right_z=0.0344 right_yaw=0.0622 right_pitch=-0.1849 right_roll=-0.0235 right_gripper=0.0392\nstate[joint_eff]: [-0.1026, -2.1265, 6.8308, 1.5067, -0.105, -0.0317, -0.0171, -0.0205, -5.6684, 6.7077, 1.2918, 0.2076, 0.0904, 1.4872]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf70a0836a578fb58898b50b84cf3e24f452e942e3ab19e7815d8147ec4a3299",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75b4ac7718255412d66bc36aadf08ac17e10bcd81f3ac5d95bfad69fe58ae5e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b22721363b391a7bc28578b87ac4060e0c715ccf76267deca9ff1d3bbd4e492",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SsVGhDy9f37eWjyh1fiNwU",
      "input": {
        "note": "Pink bowl rim is pinched. Lifting and carrying it left toward the green-in-blue stack; will fine-align before lowering.",
        "targets": {
          "right_y": 0.22,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01SsVGhDy9f37eWjyh1fiNwU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0853, 0.9447, 0.786, -0.625, -0.1284, -0.1013, 0.9957, 0.6865, 1.618, 1.2461, -0.5144, 0.416, 0.3889, 0.0431]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1735 left_yaw=0.0594 left_pitch=-0.2049 left_roll=0.0362 left_gripper=0.9957 right_x=0.3748 right_y=0.2195 right_z=0.1632 right_yaw=0.1087 right_pitch=-0.2175 right_roll=-0.0393 right_gripper=0.0431\nstate[joint_eff]: [-0.0479, -2.2222, 7.1863, 1.4969, -0.0806, -0.0317, -0.0171, 0.1162, -7.5145, 9.2513, 1.4383, 0.4322, 0.1392, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73fcbacd4edac801b9a445481bd4af1d3589dbef8794e3cd8401c119757ab3d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b47839eb50eece0aebbb64454a222cbd9dbdd803162647ca9aeac7263096d320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6b5c0b7718cfe60f5d005ad35034b3aac3ecae8ae8ad7ee47a7b2d41e2e4fad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 4.042 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0853, 0.9424, 0.786, -0.6254, -0.1284, -0.1017, 0.9958, 0.1024, 1.5394, 0.5674, 0.152, 0.0872, 0.0166, 0.9961]\nstate[eef_state]: left_x=0.2915 left_y=0.0014 left_z=0.174 left_yaw=0.0595 left_pitch=-0.203 left_roll=0.0357 left_gripper=0.9958 right_x=0.3666 right_y=0.0258 right_z=0.0276 right_yaw=0.0105 right_pitch=-0.2459 right_roll=-0.0422 right_gripper=0.9961\nstate[joint_eff]: [-0.2393, -2.3179, 7.0222, 1.536, -0.1197, -0.0513, -0.0073, -0.3624, -6.0786, 6.4205, 1.6288, -0.1343, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0853, 0.9428, 0.786, -0.625, -0.1284, -0.1013, 0.9958, 0.0849, 1.5623, 0.5686, 0.2379, 0.0307, -0.0193, 0.0392]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.174 left_yaw=0.0593 left_pitch=-0.203 left_roll=0.0359 left_gripper=0.9958 right_x=0.3801 right_y=0.0305 right_z=0.0344 right_yaw=0.0622 right_pitch=-0.1849 right_roll=-0.0235 right_gripper=0.0392\nstate[joint_eff]: [-0.1026, -2.1265, 6.8308, 1.5067, -0.105, -0.0317, -0.0171, -0.0205, -5.6684, 6.7077, 1.2918, 0.2076, 0.0904, 1.4872]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0853, 0.9447, 0.786, -0.625, -0.1284, -0.1013, 0.9957, 0.6865, 1.618, 1.2461, -0.5144, 0.416, 0.3889, 0.0431]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1735 left_yaw=0.0594 left_pitch=-0.2049 left_roll=0.0362 left_gripper=0.9957 right_x=0.3748 right_y=0.2195 right_z=0.1632 right_yaw=0.1087 right_pitch=-0.2175 right_roll=-0.0393 right_gripper=0.0431\nstate[joint_eff]: [-0.0479, -2.2222, 7.1863, 1.4969, -0.0806, -0.0317, -0.0171, 0.1162, -7.5145, 9.2513, 1.4383, 0.4322, 0.1392, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73fcbacd4edac801b9a445481bd4af1d3589dbef8794e3cd8401c119757ab3d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b47839eb50eece0aebbb64454a222cbd9dbdd803162647ca9aeac7263096d320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6b5c0b7718cfe60f5d005ad35034b3aac3ecae8ae8ad7ee47a7b2d41e2e4fad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQcKEAgSGAI4AUIIdGhpbmtpbmcSDBjcX+WP39NQ8NKd2xoM4fY73uFSpapea9WGIjCbV2R0ykWKvvO0F79pAI4Zqw021bZrbK+ch7q9C7cEXF9+yjhrh3YGxRnNoL2HJCYq4gYnKuE7DEM/lrYaByQefAUo9A/FpDKow6DPz8g6d3D5Go2zYhUbBwMf7HVfASgn9LBjmJycokH7yrWdziSRbnfdxt6ovpXCD/Wgttj9UPfVmYlT++Kv6VvcRs4Wd7TMgYeN67Z/z6U/WXzq3/i4V4pa1sWcT3f90hJ80mVqZZ70xdDa2AhAX0SpIH8FWtSLjnK5qjR0wd+IEcEL13a6LtT2z727xikvdI5ZnjohhdrqDL84ANLIMVzOGlKeW3r2NYfvtKpf3NAUmpcjKuGibINV/et3qHsRtLNCy0sgeYdcX51n2y2yy4BlarPVy04NkvtzkgoZ6ZCNCu6ojoahXK/oeNIi2hh4QCFb1IimTdMAh9kAV+D93jRIb82pPeN7UocIlQWUKijQiFqoBoRc80dzOyVAbu/Nh4iDXz1lhQlaUz332z3Mka7ajJrc9bbNP7i9qqpbODj2h8MEQ4ZM8yo5qu2Y6jrepo+oWRI6DsK41T+LF+6VNXM8J/LiI8Vu5ptkgr25BmFPRGBfv/M61taPB8yIdorKy4f78BlHm34/zzuZgw0EcqH2NVACQi8mKxD8hHGvvf3UBdzd8k7MVkaJkV67yoFICOXL0lHrfhv3/NgUlMEuDRFPTTDKPm9ZZ2CSjw323kmxF5EZ8bfhRdpOP5MoTjmBzPB6RvDlcUQMWUzyDx8qjCKzm4mWU+j4SQYIq8IVrUpYJ2TcroTHFQv6Tn6AsUyhQvkU9+B8EY9qKIFICU2XPrzEaVsnJzdr3V4QsOhGcfDAhzyIe6+XMKj10OFFaxqGiRZ7Sut8g82/ty8e09+fQgJtTWTx2aUNwh7rvoG20Q8zVOb8o0mtxVbx1Jjvv4OtC010ojLYhXijQQzI3p/dKFL0R93RCKo2bCPzUdbVL7ikxI+a8Cdf3N9cqb3K0ihRvgi7kGPqiQV3Ia1gdm2JKhK9uObSOnI+kFeS91oJtTExvhbHdQOPrYbaV8cPj9uEKLgPBCXL2CSFGfCT3eCKSigHF3Ov7hIWdzId2i+/mdCYaGW9OeWEuqgdmv/dL/SEep1QLb/dK6Ia8H+OAV3WZTFcxFqWZH80sQ4oNknf+YSpxVdWqrpBxiAXPJNUdkP9tVyzLoQ3VKOjd5/8PNur6NWyRIl7nIpwOSN2PRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011hRFjgx7JokUGDRajiHvvr",
      "input": {
        "note": "Pink bowl appears over the green/blue stack in the overhead view. Lowering it onto the stack.",
        "targets": {
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_011hRFjgx7JokUGDRajiHvvr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0853, 0.9455, 0.786, -0.625, -0.1284, -0.1013, 0.9957, 0.6891, 1.6703, 1.0615, -0.3443, 0.4065, 0.3927, 0.0463]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1732 left_yaw=0.0594 left_pitch=-0.2056 left_roll=0.0363 left_gripper=0.9957 right_x=0.3633 right_y=0.2134 right_z=0.0945 right_yaw=0.1074 right_pitch=-0.2774 right_roll=-0.0677 right_gripper=0.0463\nstate[joint_eff]: [-0.0615, -2.1675, 6.8444, 1.5507, -0.0708, -0.0317, -0.0122, -0.2803, -7.0222, 6.7077, 1.5995, 0.2418, -0.0562, 0.5739]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da79c96cad739cd9648ff9dff6556f54ad260eeabe5252093e25bf2508486ce9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09925a84b135a7b4be9c4a6777c65526aa6790fc7003ea4a48dd966af2a59f5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:583bf3d7498c4f4c0ffff0d4da444cab76aa30eb3a5d1324429a95ac73eae1b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 3.183 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0853, 0.9428, 0.786, -0.625, -0.1284, -0.1013, 0.9958, 0.0849, 1.5623, 0.5686, 0.2379, 0.0307, -0.0193, 0.0392]\nstate[eef_state]: left_x=0.2916 left_y=0.0014 left_z=0.174 left_yaw=0.0593 left_pitch=-0.203 left_roll=0.0359 left_gripper=0.9958 right_x=0.3801 right_y=0.0305 right_z=0.0344 right_yaw=0.0622 right_pitch=-0.1849 right_roll=-0.0235 right_gripper=0.0392\nstate[joint_eff]: [-0.1026, -2.1265, 6.8308, 1.5067, -0.105, -0.0317, -0.0171, -0.0205, -5.6684, 6.7077, 1.2918, 0.2076, 0.0904, 1.4872]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0853, 0.9447, 0.786, -0.625, -0.1284, -0.1013, 0.9957, 0.6865, 1.618, 1.2461, -0.5144, 0.416, 0.3889, 0.0431]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1735 left_yaw=0.0594 left_pitch=-0.2049 left_roll=0.0362 left_gripper=0.9957 right_x=0.3748 right_y=0.2195 right_z=0.1632 right_yaw=0.1087 right_pitch=-0.2175 right_roll=-0.0393 right_gripper=0.0431\nstate[joint_eff]: [-0.0479, -2.2222, 7.1863, 1.4969, -0.0806, -0.0317, -0.0171, 0.1162, -7.5145, 9.2513, 1.4383, 0.4322, 0.1392, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0853, 0.9455, 0.786, -0.625, -0.1284, -0.1013, 0.9957, 0.6891, 1.6703, 1.0615, -0.3443, 0.4065, 0.3927, 0.0463]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1732 left_yaw=0.0594 left_pitch=-0.2056 left_roll=0.0363 left_gripper=0.9957 right_x=0.3633 right_y=0.2134 right_z=0.0945 right_yaw=0.1074 right_pitch=-0.2774 right_roll=-0.0677 right_gripper=0.0463\nstate[joint_eff]: [-0.0615, -2.1675, 6.8444, 1.5507, -0.0708, -0.0317, -0.0122, -0.2803, -7.0222, 6.7077, 1.5995, 0.2418, -0.0562, 0.5739]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da79c96cad739cd9648ff9dff6556f54ad260eeabe5252093e25bf2508486ce9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09925a84b135a7b4be9c4a6777c65526aa6790fc7003ea4a48dd966af2a59f5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:583bf3d7498c4f4c0ffff0d4da444cab76aa30eb3a5d1324429a95ac73eae1b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrAgKEAgSGAI4AUIIdGhpbmtpbmcSDOo1cHQFiQvf7pv0MhoMlPcIzNrfGsCWpUlLIjBjRk6686g1QBDznH10+CSCPi55UHIF7NOZ9hCS0LN/PQoYUkIr0VcsEvlTBF7bTuMqyQczJvH5UuqTCa8rUpymHQwgWd2GzGKBRneYusH2bKP6WAMYk+loZftK2QyBjeGl/GfgIr3yInBHPsSctHYHs/kjM1alKefKyl2lIx27MN//tG+3UKyC2sTRex9WUpn81dYnDMBJT1kw3R31vEgxbMGeyakyY4RTpGb6f5nD3FfGPdu3syAE6U1d6qAMJsgKERDKQY25efWc+aekYZUMkO+U0iI1xT7mDo4mAHDoTgxZZXf6DSZhQyq6NK4BgR7tKhQ3w2bajtzpPqUKDWbiIeUIbtzwoAMk+vvve9fBzMvjTQyyTvOPXS/vIaBTeXzA9268eYwKsATNVs1cFTHKNvvuj9J6ZMupxQP4dJteBryhvLzlKKZZtFzGzG1uLoy3xkpmzHvmzo1Ix680Cbtm8Kt0z3Z9vnrIL4vGCBA+IQ7+u0AsAfql01Cisv3FVmMLuCDDrKGdj53PkyRBSKj+kQcZOH7Fx43AXFWL+WsdJZ95N0ZIkHG30HHKyeMUMh4Hvs8M6KuT4wEFo0LZbZu+tdGVTdRlIPeSDyZlAQnt4wmKMF7rcLeW6kLhtkGF4/HGBtbLRcqBWrx7WQaSK21Rq/Eu3WISnpzicB4k0Y/vDlOZi7Mn2eT7dWTZO+K4fwsuzVXCkjb0qkssa2J9HYL5x62tXnOo3NIuwywA+yEBRzZhQBFYQMUAv+i2jwgj4PtEAtdOO9zE44uVwh5UtBzrpAG6ecCQTrKvTnKXZY/BcNiACnK2dRZqhowBvmzLJLtMgT39L3T04Vaa+SqTx+cDTuI5hdEhd9mmqamimB5aGIBasmSGuPrgGYOvNskospehFZOjV/jOlwIlsylI53LNi8KuV1QUBy15vsdxoCnMiSkUYiSjvR9DpACPgPxvC0aSVcoYJGfZrmd2YxZLNXFwQDeyH3FTr7ZykL/6OfKOVKcZqpW/rQDvVF3Ncvgrlc/2Kmk7HBaZEVjAfBd/v6ePgWlwuy2ssgnpkCTCPJ5MaTkvQY7VNeWMjzCkOxWG9Jz/N/S/s1kvtQXOKOkMvixjxGJd7kJ3hmm1B3AbQDlId6RuvRfTQ+nEUtkY+r2srXc54KgFWjrFDkz9HCC6eWNdq+PI/+ukIittsrVhcBg2tPIpUENH+Km/zC2khntZhNnS6/HDDpRJcydJiAmx0xszp/DE6uS6CkOaAMknud/4MVCodf3/99iJp6ejOcyCSet3htgEvQ3VdC1JtO96Mi0pFSOkeJ0igWHDoe1iP9k+oE8A1h/yhm5vLiexBau5fi8TJ9tmOsCOhKkoLMUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012jk8RMgABTU86mBLPVtkPe",
      "input": {
        "note": "Green bowl rim visible just beyond/left of the pink bowl; nudging slightly left/forward and lowering pink into the stack.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.225,
          "right_z": 0.075
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_012jk8RMgABTU86mBLPVtkPe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0853, 0.9455, 0.786, -0.625, -0.1284, -0.1013, 0.9957, 0.6922, 1.7084, 1.0657, -0.276, 0.4072, 0.3859, 0.046]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1732 left_yaw=0.0594 left_pitch=-0.2056 left_roll=0.0363 left_gripper=0.9957 right_x=0.3728 right_y=0.2229 right_z=0.0902 right_yaw=0.1188 right_pitch=-0.2486 right_roll=-0.0536 right_gripper=0.046\nstate[joint_eff]: [-0.0615, -2.0991, 7.0496, 1.4921, -0.1245, -0.0464, -0.0122, 0.1299, -6.2564, 7.5009, 1.1111, 0.1538, 0.0611, 0.6716]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab557b5e93268fa6be2b1fbf3d31ff24591206b45d056740a68904a0e8c2acb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f59d90332963db278a027fb3228f60c0b6aa6574fb8ce17d2168531ff238cb6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d156ee9ed601272862f0746e9fcedbddb7ec62b1ff923d3b8b3308e1347b2202",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 3.28 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0853, 0.9447, 0.786, -0.625, -0.1284, -0.1013, 0.9957, 0.6865, 1.618, 1.2461, -0.5144, 0.416, 0.3889, 0.0431]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1735 left_yaw=0.0594 left_pitch=-0.2049 left_roll=0.0362 left_gripper=0.9957 right_x=0.3748 right_y=0.2195 right_z=0.1632 right_yaw=0.1087 right_pitch=-0.2175 right_roll=-0.0393 right_gripper=0.0431\nstate[joint_eff]: [-0.0479, -2.2222, 7.1863, 1.4969, -0.0806, -0.0317, -0.0171, 0.1162, -7.5145, 9.2513, 1.4383, 0.4322, 0.1392, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0853, 0.9455, 0.786, -0.625, -0.1284, -0.1013, 0.9957, 0.6891, 1.6703, 1.0615, -0.3443, 0.4065, 0.3927, 0.0463]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1732 left_yaw=0.0594 left_pitch=-0.2056 left_roll=0.0363 left_gripper=0.9957 right_x=0.3633 right_y=0.2134 right_z=0.0945 right_yaw=0.1074 right_pitch=-0.2774 right_roll=-0.0677 right_gripper=0.0463\nstate[joint_eff]: [-0.0615, -2.1675, 6.8444, 1.5507, -0.0708, -0.0317, -0.0122, -0.2803, -7.0222, 6.7077, 1.5995, 0.2418, -0.0562, 0.5739]",
      "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]: [-0.0853, 0.9455, 0.786, -0.625, -0.1284, -0.1013, 0.9957, 0.6922, 1.7084, 1.0657, -0.276, 0.4072, 0.3859, 0.046]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1732 left_yaw=0.0594 left_pitch=-0.2056 left_roll=0.0363 left_gripper=0.9957 right_x=0.3728 right_y=0.2229 right_z=0.0902 right_yaw=0.1188 right_pitch=-0.2486 right_roll=-0.0536 right_gripper=0.046\nstate[joint_eff]: [-0.0615, -2.0991, 7.0496, 1.4921, -0.1245, -0.0464, -0.0122, 0.1299, -6.2564, 7.5009, 1.1111, 0.1538, 0.0611, 0.6716]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab557b5e93268fa6be2b1fbf3d31ff24591206b45d056740a68904a0e8c2acb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f59d90332963db278a027fb3228f60c0b6aa6574fb8ce17d2168531ff238cb6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d156ee9ed601272862f0746e9fcedbddb7ec62b1ff923d3b8b3308e1347b2202",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS4QYKEAgSGAI4AUIIdGhpbmtpbmcSDOQysIA5NlAwpj1e1BoMDEM9Hl1bw6Myq5ZmIjCt2NqAJjfb0M1cMQR0I16l9SKhLKo3yq+zKOLyfJ8YG1jOCI+Zm6jfvcvER2u3Ohgq/gUqlXjpqCt4eir6tom/yTkDLqqzawnCKM5JH0kKuQRreHLE6NcX93YTYlMKIOgvvrL+OHaOnqjF6Lg0eBzD7LNOSeTiThmFQHHF8P1MX3qtTXqiMqhFNQMZtmVQgJ9q1vMGYsvtJP1vOWEMniY86cbk+4OvFwjBf//ggeDlD6IHQuYvaiBT/FIOnG4mbH2WXyOfjlNhFbeqqiY+iV1Yz+AcVnm8JsxPla8agUG04KqnjoVopVJGg+obVk7/vdpyJLbxv7U49Bl2kYbEy8lyrRT1WrDQwc6/x5pKO3fmEXXTN98zWFrpViljZvYk2YewC9vHLDbWMdz5KyaqZGrqw3ubveJG8M/75K28jR75vpB3rD/4VOLoTQbbUI7wUOs7FoGR1HAs+YO7mJkKsKqV1qEGbFzncCj2pSL7PVObdamJrxspK09/TFUeBADCcQbacDJy3EDH7thu+ki1OlnDN0DHpFyokAo4V76vzdETL9v9ySpMdi/yJ2jb8L40xIc3MeDwsj9ZwLxT+3YtRKnIfTZge+u99FdLUUjV+UmPFbY8wDupFcynePXTdQDfy9niylzvI/1sYjbeh/GJKLrhEWeLZM3uznL96kvmWQRJd0h5H1seOLTVrbIiqy9SqqIG9RmPuLG02a7lHjxb+b56DLqVj4CjzaSaEpTt9FfVcwE5gqu+9zLN+nZjpP1Odnywzx28iNQN5vw30Z6ypsvkalfa7NZiSEdvfbZUiCdI+mpKEC39c3ODoH5h6Vq8SuWAwjrIci2KvbKSwd1S8J30hxOLVUl/LqUCV7BsnofPu8gHPw2EOdbPGMUrRBfdbbdLvlD+LfYCTA6r474SHgTcdQPvhx0ubzDyueJ2kI9aIOzCrwZ1W1bdhd2OuYaKnhkfpmWqekRDld+mPlFwYtpt4Di98mFSdO9w/JBHKxq9WjbuRaz/lEzFNtRlXH1JnCN4192ot0Y6zuuRTkLmSqgl1/HBbfQepRaiwHN1N4pPa/d14by6yuAk6/sj4s6BnwSuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QCVPapzMFHV3Z4Qifnr6p5",
      "input": {
        "note": "Pink bowl is resting inside the green bowl (descent stopped at contact). Releasing.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QCVPapzMFHV3Z4Qifnr6p5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0853, 0.9485, 0.786, -0.625, -0.1284, -0.1013, 0.9958, 0.6918, 1.7317, 1.0657, -0.2871, 0.4038, 0.3782, 0.9952]\nstate[eef_state]: left_x=0.2919 left_y=0.0013 left_z=0.1724 left_yaw=0.0595 left_pitch=-0.2087 left_roll=0.0368 left_gripper=0.9958 right_x=0.3706 right_y=0.2215 right_z=0.079 right_yaw=0.1203 right_pitch=-0.2792 right_roll=-0.0758 right_gripper=0.9952\nstate[joint_eff]: [-0.3214, -2.359, 6.8718, 1.5263, -0.1294, -0.0611, -0.0073, -0.1709, -10.2632, 6.4752, 1.37, 0.1685, 0.0806, -0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7358d48faf8c1075a0709b17a1291a2c77aa27a0bcbd808d64fad104ec83f68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b28f60c73482be8a9d26f427f105d2453eeb29c13a561ff6f88410df08aa5e8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e0d127d0ff78ebe310f0ce0a672b70747aa769d4941af5ae199c5716db5cebb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 9.65 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0853, 0.9455, 0.786, -0.625, -0.1284, -0.1013, 0.9957, 0.6891, 1.6703, 1.0615, -0.3443, 0.4065, 0.3927, 0.0463]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1732 left_yaw=0.0594 left_pitch=-0.2056 left_roll=0.0363 left_gripper=0.9957 right_x=0.3633 right_y=0.2134 right_z=0.0945 right_yaw=0.1074 right_pitch=-0.2774 right_roll=-0.0677 right_gripper=0.0463\nstate[joint_eff]: [-0.0615, -2.1675, 6.8444, 1.5507, -0.0708, -0.0317, -0.0122, -0.2803, -7.0222, 6.7077, 1.5995, 0.2418, -0.0562, 0.5739]",
      "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]: [-0.0853, 0.9455, 0.786, -0.625, -0.1284, -0.1013, 0.9957, 0.6922, 1.7084, 1.0657, -0.276, 0.4072, 0.3859, 0.046]\nstate[eef_state]: left_x=0.2917 left_y=0.0014 left_z=0.1732 left_yaw=0.0594 left_pitch=-0.2056 left_roll=0.0363 left_gripper=0.9957 right_x=0.3728 right_y=0.2229 right_z=0.0902 right_yaw=0.1188 right_pitch=-0.2486 right_roll=-0.0536 right_gripper=0.046\nstate[joint_eff]: [-0.0615, -2.0991, 7.0496, 1.4921, -0.1245, -0.0464, -0.0122, 0.1299, -6.2564, 7.5009, 1.1111, 0.1538, 0.0611, 0.6716]",
      "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]: [-0.0853, 0.9485, 0.786, -0.625, -0.1284, -0.1013, 0.9958, 0.6918, 1.7317, 1.0657, -0.2871, 0.4038, 0.3782, 0.9952]\nstate[eef_state]: left_x=0.2919 left_y=0.0013 left_z=0.1724 left_yaw=0.0595 left_pitch=-0.2087 left_roll=0.0368 left_gripper=0.9958 right_x=0.3706 right_y=0.2215 right_z=0.079 right_yaw=0.1203 right_pitch=-0.2792 right_roll=-0.0758 right_gripper=0.9952\nstate[joint_eff]: [-0.3214, -2.359, 6.8718, 1.5263, -0.1294, -0.0611, -0.0073, -0.1709, -10.2632, 6.4752, 1.37, 0.1685, 0.0806, -0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7358d48faf8c1075a0709b17a1291a2c77aa27a0bcbd808d64fad104ec83f68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b28f60c73482be8a9d26f427f105d2453eeb29c13a561ff6f88410df08aa5e8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e0d127d0ff78ebe310f0ce0a672b70747aa769d4941af5ae199c5716db5cebb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "text": "Released. Raise and park the right arm to verify.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nt3eM6XiWBqpSACDVFxsC6",
      "input": {
        "note": "Pink bowl released into the stack. Moving the right arm home to clear the overhead view for checking.",
        "targets": {
          "right_x": 0.29,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01Nt3eM6XiWBqpSACDVFxsC6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0853, 0.9512, 0.786, -0.625, -0.128, -0.1013, 0.9957, -0.033, 1.0149, 0.8391, -0.7082, -0.0193, -0.1593, 0.9954]\nstate[eef_state]: left_x=0.2921 left_y=0.0013 left_z=0.1717 left_yaw=0.0592 left_pitch=-0.2113 left_roll=0.0369 left_gripper=0.9957 right_x=0.2889 right_y=-0.0025 right_z=0.1618 right_yaw=0.0672 right_pitch=-0.3158 right_roll=-0.0792 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -2.3179, 6.9538, 1.5263, -0.0611, -0.0659, -0.0171, -0.1709, -3.3436, 10.2496, 1.4872, -0.232, -0.0757, 0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d629dac43fbcb3201db0b6e43628df4c94cf985ffd17e2e3f4f44f5f63a59eec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ddf474667671ef2e176cad5cb45ea35d885c6c5cf58e55538e09639a8b4780b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:15280f2805f1635cd2bed7a5f7a3e9381c5ffb621751c285426b0cd3909443cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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