adhoc

completed
2026-09-22T23:42:43.393575+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
570.2 s
total steps
267
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls sit in a row across the middle of the table. I'm flying the right arm up and over toward what I estimate is the right-hand bowl to get a close wrist view before grasping its rim.
move_to
right_x0.4200right_y0.1400right_z0.2200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7948, 0.6044, -0.3817, -0.0223, -0.0257, 0.9996, -0.0219, 0.7925, 0.6014, -0.379, -0.0105, -0.0334, 0.9967] 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=0.9996 right_x=0.2945 right_y=-0.001 right_z=0.1794 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9967 state[joint_eff]: [-0.6906, -1.5658, 10.1265, 1.8046, -0.0513, 0.1148, -0.0562, -0.2803, -1.347, 10.3726, 1.9072, -0.149, 0.1783, -0.3541] 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": {"right_x": 0.42, "right_y": 0.14, "right_z": 0.22, "right_gripper": 1}, "note": "Three bowls sit in a row across the middle of the table. I'm flying the right arm up and over toward what I estimate is the right-hand bowl to get a close wrist view before grasping its rim."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteRight wrist view shows the pink (rightmost) bowl just below the jaws and slightly to the arm's right. Lowering to 10 cm and shifting slightly right to line the bowl up before grasping its rim.
move_to
right_x0.4000right_y0.1100right_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.4618, 1.4708, 1.1141, -0.3237, 0.3595, 0.2115, 0.9968] state[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9996 right_x=0.4086 right_y=0.1379 right_z=0.1974 right_yaw=0.0421 right_pitch=-0.0602 right_roll=-0.0312 right_gripper=0.9968 state[joint_eff]: [-0.0479, -1.6479, 6.8034, 1.7851, -0.0415, -0.0611, -0.0122, 0.253, -7.3094, 9.3744, 1.6972, 0.232, 0.2711, -0.3492] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.11, "right_z": 0.1}, "note": "Right wrist view shows the pink (rightmost) bowl just below the jaws and slightly to the arm's right. Lowering to 10 cm and shifting slightly right to line the bowl up before grasping its rim."})
tool
executing move_to over 7 steps (0.7s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe pink bowl fills the lower half of the right wrist view, centred on the jaw column. I'm dropping to rim height and shifting 6 cm to the arm's right so the jaws straddle the bowl's right-hand rim wall.
move_to
right_x0.3900right_y0.0450right_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.392, 1.5078, 0.7616, 0.0151, 0.3092, 0.1699, 0.9964] state[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3903 right_y=0.107 right_z=0.0942 right_yaw=0.0341 right_pitch=-0.1208 right_roll=-0.0531 right_gripper=0.9964 state[joint_eff]: [-0.1162, -1.2376, 7.2137, 1.6972, -0.0317, -0.0659, -0.0122, -0.294, -5.641, 6.8855, 1.873, 0.0708, -0.0611, -0.0464] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.045, "right_z": 0.02}, "note": "The pink bowl fills the lower half of the right wrist view, centred on the jaw column. I'm dropping to rim height and shifting 6 cm to the arm's right so the jaws straddle the bowl's right-hand rim wall."})
tool
executing move_to over 6 steps (0.6s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteJaws are at rim height with the bowl wall just left of the jaw centre line; nudging 1.5 cm back toward the bowl so the rim sits between the fingers.
move_to
right_y0.0580
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.1825, 1.6596, 0.5446, 0.3405, 0.1719, 0.049, 0.9964] state[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3782 right_y=0.0427 right_z=0.0108 right_yaw=0.0034 right_pitch=-0.1924 right_roll=-0.0647 right_gripper=0.9964 state[joint_eff]: [-0.0752, -1.2923, 7.0359, 1.7021, -0.0562, -0.0464, -0.0122, -0.1573, -6.6393, 5.1761, 1.8681, -0.0171, -0.0952, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.058}, "note": "Jaws are at rim height with the bowl wall just left of the jaw centre line; nudging 1.5 cm back toward the bowl so the rim sits between the fingers."})
tool
executing move_to over 2 steps (0.2s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThat nudge moved the bowl further left in the wrist view, so the image x-axis is flipped from what I assumed; correcting by moving 2.3 cm the other way to bring the rim wall into the jaw gap.
move_to
right_y0.0310
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8017, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.21, 1.6737, 0.5362, 0.3847, 0.1738, 0.0513, 0.9964] state[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0114 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3798 right_y=0.0534 right_z=0.0107 right_yaw=0.0288 right_pitch=-0.1707 right_roll=-0.0603 right_gripper=0.9964 state[joint_eff]: [-0.335, -1.1966, 7.0222, 1.7021, -0.0366, -0.0757, -0.0122, 0.2667, -6.8034, 7.1726, 1.4383, 0.1587, 0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.031}, "note": "That nudge moved the bowl further left in the wrist view, so the image x-axis is flipped from what I assumed; correcting by moving 2.3 cm the other way to bring the rim wall into the jaw gap."})
tool
executing move_to over 2 steps (0.2s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteMotion stalled short in y, suggesting the finger is pressing the bowl. Lifting to 12 cm to get a clean overhead look at where the gripper sits relative to the pink bowl.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.1757, 1.6737, 0.5297, 0.3676, 0.144, 0.0399, 0.9964] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0006 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9996 right_x=0.3759 right_y=0.0446 right_z=0.0049 right_yaw=0.0252 right_pitch=-0.1979 right_roll=-0.0521 right_gripper=0.9964 state[joint_eff]: [-0.1162, -1.5248, 7.2, 1.7802, -0.0855, -0.0317, -0.0122, -0.4171, -7.5692, 4.588, 1.5116, 0.3199, -0.149, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Motion stalled short in y, suggesting the finger is pressing the bowl. Lifting to 12 cm to get a clean overhead look at where the gripper sits relative to the pink bowl."})
tool
executing move_to over 8 steps (0.8s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe wrist is jammed against the tipped pink bowl and the lift didn't take; retreating up and back to free the gripper and get a clear overhead view.
move_to
right_z0.1800right_x0.3400right_y0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.1223, 1.6737, 0.5198, 0.3786, 0.1135, -0.0044, 0.9964] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0006 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9996 right_x=0.3758 right_y=0.0296 right_z=0.0031 right_yaw=0.0222 right_pitch=-0.2011 right_roll=-0.0628 right_gripper=0.9964 state[joint_eff]: [-0.1846, -1.2103, 7.0632, 1.7021, -0.0464, -0.0415, -0.0122, -0.0615, -7.5282, 4.6838, 1.7705, -0.0659, -0.0708, -0.0122] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18, "right_x": 0.34, "right_y": 0.05}, "note": "The wrist is jammed against the tipped pink bowl and the lift didn't take; retreating up and back to free the gripper and get a clear overhead view."})
tool
executing move_to over 12 steps (1.2s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThere appear to be just two bowls (white and lavender); the lavender one is centred in the right wrist view. Rotating the wrist 90° so the jaws close front-to-back, and dropping to 8 cm over the bowl's near rim for a rim pinch.
move_to
right_yaw1.5710right_x0.3600right_y0.0530right_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.2302, 1.1923, 0.8783, -0.4702, 0.1726, 0.0521, 0.9964] state[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0179 left_roll=0.0 left_gripper=0.9996 right_x=0.3439 right_y=0.0531 right_z=0.1665 right_yaw=0.0485 right_pitch=-0.2016 right_roll=-0.0647 right_gripper=0.9964 state[joint_eff]: [-0.1846, -1.6068, 7.0632, 1.6923, -0.0366, -0.0513, -0.0122, 0.3487, -4.7932, 9.0188, 1.453, 0.2369, 0.188, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 1.571, "right_x": 0.36, "right_y": 0.053, "right_z": 0.08}, "note": "There appear to be just two bowls (white and lavender); the lavender one is centred in the right wrist view. Rotating the wrist 90\u00b0 so the jaws close front-to-back, and dropping to 8 cm over the bowl's near rim for a rim pinch."})
tool
executing move_to over 10 steps (1.0s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteConfirmed three bowls; the pink one is under the right gripper. Backing off 6 cm toward the base so the jaws (now closing front-to-back) can straddle the bowl's near rim.
move_to
right_x0.3100right_y0.0450right_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3965, -0.0227, -0.0261, 0.9996, -0.218, 1.9434, 1.3651, -0.9726, -0.7498, -1.5581, 0.9964] state[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1732 left_yaw=0.0006 left_pitch=-0.0286 left_roll=0.0003 left_gripper=0.9996 right_x=0.3762 right_y=0.0436 right_z=0.0751 right_yaw=1.3356 right_pitch=-0.2507 right_roll=0.0095 right_gripper=0.9964 state[joint_eff]: [-0.1162, -1.0188, 7.3915, 1.8877, -0.0952, -0.0757, -0.0122, 0.2256, -8.9778, 6.9128, 0.1294, -0.6129, -0.1245, -0.0171] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_y": 0.045, "right_z": 0.06}, "note": "Confirmed three bowls; the pink one is under the right gripper. Backing off 6 cm toward the base so the jaws (now closing front-to-back) can straddle the bowl's near rim."})
tool
executing move_to over 6 steps (0.6s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteWith the wrist yawed, image-right now corresponds to arm +x; the bowl's near rim sits ~3 cm beyond the jaw gap. Advancing 3.3 cm and dropping to rim height.
move_to
right_x0.3430right_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4068, -0.0227, -0.0261, 0.9996, -0.2584, 1.7798, 1.0626, -0.9066, -0.7418, -1.6192, 0.9964] state[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1699 left_yaw=0.0006 left_pitch=-0.0435 left_roll=0.0006 left_gripper=0.9996 right_x=0.3099 right_y=0.0452 right_z=0.0546 right_yaw=1.3483 right_pitch=-0.2576 right_roll=0.0421 right_gripper=0.9964 state[joint_eff]: [0.0479, -1.4154, 7.1453, 1.8828, -0.0513, -0.0806, -0.0122, -0.3897, -9.0872, 5.5453, 0.486, -0.4664, -0.0366, -0.0171] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.343, "right_z": 0.025}, "note": "With the wrist yawed, image-right now corresponds to arm +x; the bowl's near rim sits ~3 cm beyond the jaw gap. Advancing 3.3 cm and dropping to rim height."})
tool
executing move_to over 3 steps (0.3s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe bowl's near rim is sitting in the jaw gap at rim height; closing to pinch the rim wall.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8204, 0.6075, -0.4091, -0.0227, -0.0261, 0.9996, -0.2371, 1.9186, 1.1164, -0.8307, -0.7395, -1.6032, 0.9963] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1684 left_yaw=0.0006 left_pitch=-0.0496 left_roll=0.0007 left_gripper=0.9996 right_x=0.3309 right_y=0.0462 right_z=0.0258 right_yaw=1.3633 right_pitch=-0.2599 right_roll=0.0628 right_gripper=0.9963 state[joint_eff]: [-0.0615, -1.1145, 7.0085, 1.7167, -0.0415, -0.0464, -0.0122, 0.1299, -9.3197, 6.9402, -0.2173, -0.5201, 0.105, -0.0171] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The bowl's near rim is sitting in the jaw gap at rim height; closing to pinch the rim wall."})
tool
executing move_to over 10 steps (1.0s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteGripper settled at 0.04 (~4 mm), consistent with pinching the rim wall. Lifting 9 cm to see whether the bowl comes with it.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0261, 0.9996, -0.2367, 1.9148, 1.1225, -0.8066, -0.7628, -1.626, 0.0405] state[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0006 left_pitch=-0.0496 left_roll=0.0007 left_gripper=0.9996 right_x=0.3386 right_y=0.0476 right_z=0.0307 right_yaw=1.3665 right_pitch=-0.2375 right_roll=0.0109 right_gripper=0.0405 state[joint_eff]: [-0.0205, -1.4701, 7.0085, 1.6825, -0.0659, -0.0806, -0.0122, -0.1846, -7.2274, 4.4239, -0.1294, 0.0708, 0.4176, 1.2479] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Gripper settled at 0.04 (~4 mm), consistent with pinching the rim wall. Lifting 9 cm to see whether the bowl comes with it."})
tool
executing move_to over 6 steps (0.6s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe pink bowl lifted with the gripper (it rises with the jaws in both views). Carrying it 15 cm to the arm's left, toward the lavender bowl, at 16 cm height.
move_to
right_y0.1950right_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, -0.2367, 1.8259, 1.2995, -1.0748, -0.7456, -1.6333, 0.0399] state[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1684 left_yaw=0.0006 left_pitch=-0.0492 left_roll=0.0007 left_gripper=0.9996 right_x=0.3423 right_y=0.0444 right_z=0.0967 right_yaw=1.3718 right_pitch=-0.2546 right_roll=0.0088 right_gripper=0.0399 state[joint_eff]: [-0.1299, -1.388, 7.159, 1.707, -0.0855, -0.0855, -0.0122, -0.1436, -10.7145, 7.6103, 0.0317, -0.5446, 0.0464, 0.6862] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.195, "right_z": 0.16}, "note": "The pink bowl lifted with the gripper (it rises with the jaws in both views). Carrying it 15 cm to the arm's left, toward the lavender bowl, at 16 cm height."})
tool
executing move_to over 13 steps (1.3s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteOverhead shows the carried pink bowl now just right of the lavender bowl; continuing ~11 cm further left to bring it directly over the lavender bowl.
move_to
right_y0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8249, 0.6071, -0.4149, -0.0227, -0.0261, 0.9996, 0.2161, 1.713, 1.3293, -0.9058, -0.6621, -1.0901, 0.0406] state[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1658 left_yaw=0.0006 left_pitch=-0.0603 left_roll=0.0009 left_gripper=0.9996 right_x=0.3325 right_y=0.1879 right_z=0.1362 right_yaw=1.4164 right_pitch=-0.2902 right_roll=0.0492 right_gripper=0.0406 state[joint_eff]: [-0.0479, -1.5111, 7.0359, 1.7314, -0.0806, -0.0171, -0.0122, 0.1162, -10.2085, 9.2786, 0.8864, -0.4615, 0.1685, 0.9499] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.3}, "note": "Overhead shows the carried pink bowl now just right of the lavender bowl; continuing ~11 cm further left to bring it directly over the lavender bowl."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe lavender bowl now sits just beyond the held pink bowl in the wrist view; most of their image separation is the 12 cm height difference, so I'm descending to 6 cm to judge the nesting alignment.
move_to
right_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0261, 0.9996, 0.5095, 1.8156, 1.404, -0.7448, -0.5545, -0.7921, 0.0399] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0006 left_pitch=-0.0606 left_roll=0.0009 left_gripper=0.9996 right_x=0.3206 right_y=0.2897 right_z=0.1236 right_yaw=1.4516 right_pitch=-0.3232 right_roll=0.0755 right_gripper=0.0399 state[joint_eff]: [-0.0889, -1.4154, 7.1726, 1.6972, -0.0415, -0.0464, -0.0122, 0.1573, -8.5538, 9.4564, 1.1551, -0.3346, 0.1197, 0.8864] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.06}, "note": "The lavender bowl now sits just beyond the held pink bowl in the wrist view; most of their image separation is the 12 cm height difference, so I'm descending to 6 cm to judge the nesting alignment."})
tool
executing move_to over 5 steps (0.5s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe lavender bowl has disappeared under the gripper/held bowl in both views, suggesting the pink bowl is directly over it; lowering a further 2 cm before releasing.
move_to
right_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8276, 0.6075, -0.4152, -0.0227, -0.0261, 0.9996, 0.5102, 1.8706, 1.2427, -0.5659, -0.5426, -0.7906, 0.0429] state[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1652 left_yaw=0.0006 left_pitch=-0.0629 left_roll=0.001 left_gripper=0.9996 right_x=0.314 right_y=0.2844 right_z=0.0632 right_yaw=1.4553 right_pitch=-0.354 right_roll=0.1018 right_gripper=0.0429 state[joint_eff]: [-0.0068, -1.4427, 7.0085, 1.7411, -0.0513, -0.0464, -0.0122, -0.0889, -7.788, 5.6957, 1.0818, -0.4029, 0.0659, 0.6862] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.045}, "note": "The lavender bowl has disappeared under the gripper/held bowl in both views, suggesting the pink bowl is directly over it; lowering a further 2 cm before releasing."})
tool
executing move_to over 2 steps (0.2s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteDescent stopped at z=0.062, indicating the carried bowl has landed on the lavender bowl; opening the jaws to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.828, 0.6075, -0.4156, -0.0227, -0.0261, 0.9996, 0.5102, 1.8713, 1.2213, -0.4961, -0.543, -0.7971, 0.0423] state[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.165 left_yaw=0.0006 left_pitch=-0.0637 left_roll=0.001 left_gripper=0.9996 right_x=0.3207 right_y=0.2882 right_z=0.0621 right_yaw=1.4456 right_pitch=-0.3254 right_roll=0.057 right_gripper=0.0423 state[joint_eff]: [-0.1846, -1.4291, 6.9949, 1.707, -0.0464, -0.0562, -0.0122, -0.0479, -7.2274, 5.1624, 0.779, -0.315, 0.0269, 0.4615] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Descent stopped at z=0.062, indicating the carried bowl has landed on the lavender bowl; opening the jaws to release it."})
tool
executing move_to over 10 steps (1.0s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteReleased the pink bowl; pulling the right arm up and back (and unwinding the yaw) to clear the overhead view and check whether the bowls nested.
move_to
right_z0.2200right_x0.2500right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8288, 0.6071, -0.4156, -0.0227, -0.0261, 0.9996, 0.5102, 1.8721, 1.2152, -0.4961, -0.5381, -0.8036, 0.9953] state[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1647 left_yaw=0.0006 left_pitch=-0.0648 left_roll=0.001 left_gripper=0.9996 right_x=0.3196 right_y=0.2867 right_z=0.0595 right_yaw=1.4483 right_pitch=-0.333 right_roll=0.0557 right_gripper=0.9953 state[joint_eff]: [-0.1436, -1.347, 7.0085, 1.6777, -0.0757, -0.0317, -0.0122, 0.0068, -9.4974, 6.4615, 0.9744, -0.3834, 0.0708, -0.0757] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_x": 0.25, "right_yaw": 0.0}, "note": "Released the pink bowl; pulling the right arm up and back (and unwinding the yaw) to clear the overhead view and check whether the bowls nested."})
tool
executing move_to over 11 steps (1.1s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe wrist view shows the three bowls still separate: I set the pink bowl down just short of the lavender instead of inside it. Returning the wrist to the yawed pose above the pink bowl's near rim to re-grasp it.
move_to
right_yaw1.5710right_x0.3200right_y0.2870right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8341, 0.6075, -0.4271, -0.0227, -0.0261, 0.9996, 1.0813, 1.6291, 1.541, -0.9966, 0.448, 0.7662, 0.9954] state[eef_state]: left_x=0.2909 left_y=0.0019 left_z=0.1611 left_yaw=0.0007 left_pitch=-0.0812 left_roll=0.0013 left_gripper=0.9996 right_x=0.2486 right_y=0.3115 right_z=0.2112 right_yaw=0.2308 right_pitch=-0.3534 right_roll=0.0717 right_gripper=0.9954 state[joint_eff]: [-0.1162, -1.7573, 6.9812, 1.7509, -0.0513, -0.0659, -0.0122, 0.1162, -7.4735, 7.4462, 0.8132, 0.4322, 0.2711, -0.0073] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 1.571, "right_x": 0.32, "right_y": 0.287, "right_z": 0.1, "right_gripper": 1}, "note": "The wrist view shows the three bowls still separate: I set the pink bowl down just short of the lavender instead of inside it. Returning the wrist to the yawed pose above the pink bowl's near rim to re-grasp it."})
tool
executing move_to over 9 steps (0.9s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent notePink bowl is right under the jaws in the wrist view; descending to rim height before judging the final alignment for the pinch.
move_to
right_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8379, 0.6075, -0.4351, -0.0227, -0.0261, 0.9996, 0.5091, 1.8709, 1.3785, -0.7269, -0.4549, -0.5522, 0.9963] state[eef_state]: left_x=0.2899 left_y=0.0019 left_z=0.1585 left_yaw=0.0007 left_pitch=-0.0931 left_roll=0.0016 left_gripper=0.9996 right_x=0.328 right_y=0.2761 right_z=0.0866 right_yaw=1.2697 right_pitch=-0.451 right_roll=0.2108 right_gripper=0.9963 state[joint_eff]: [0.0342, -1.6342, 6.9949, 1.7265, -0.0415, -0.0513, -0.0122, -0.1436, -10.8786, 8.0479, 0.6716, -0.5934, -0.0952, -0.3932] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03}, "note": "Pink bowl is right under the jaws in the wrist view; descending to rim height before judging the final alignment for the pinch."})
tool
executing move_to over 4 steps (0.4s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteAt rim height the pink bowl's wall is too far inside the jaw gap (its near edge sits left of the jaw centre); backing off 2.5 cm toward the base to put the near rim between the fingers.
move_to
right_x0.2900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8398, 0.6075, -0.4381, -0.0227, -0.0261, 0.9996, 0.5045, 1.9331, 1.2518, -0.5972, -0.4702, -0.5911, 0.9959] state[eef_state]: left_x=0.2895 left_y=0.0019 left_z=0.1574 left_yaw=0.0007 left_pitch=-0.098 left_roll=0.0017 left_gripper=0.9996 right_x=0.316 right_y=0.27 right_z=0.0334 right_yaw=1.319 right_pitch=-0.478 right_roll=0.2466 right_gripper=0.9959 state[joint_eff]: [-0.0479, -1.5521, 6.9812, 1.6825, -0.0757, -0.0757, -0.0122, 0.212, -9.1009, 5.9966, 0.8913, -0.2027, 0.1099, -0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29}, "note": "At rim height the pink bowl's wall is too far inside the jaw gap (its near edge sits left of the jaw centre); backing off 2.5 cm toward the base to put the near rim between the fingers."})
tool
executing move_to over 2 steps (0.2s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe arm isn't tracking small x corrections well; trying a close here to see whether the jaws catch the pink bowl's rim (reading ≈0.04 means a wall is pinched).
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8402, 0.6075, -0.4416, -0.0227, -0.0261, 0.9996, 0.5049, 1.9434, 1.2434, -0.5404, -0.4564, -0.5674, 0.9958] state[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1567 left_yaw=0.0007 left_pitch=-0.1018 left_roll=0.0017 left_gripper=0.9996 right_x=0.3249 right_y=0.2726 right_z=0.0298 right_yaw=1.2827 right_pitch=-0.4634 right_roll=0.2193 right_gripper=0.9958 state[joint_eff]: [-0.1846, -1.4838, 6.9675, 1.6874, -0.0513, -0.0317, -0.0122, 0.212, -9.6205, 5.6137, 1.0672, -0.2759, 0.1001, -0.022] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The arm isn't tracking small x corrections well; trying a close here to see whether the jaws catch the pink bowl's rim (reading \u22480.04 means a wall is pinched)."})
tool
executing move_to over 10 steps (1.0s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThat close came up empty (0.008), so the jaws straddled nothing. Reopening and pulling back 4.5 cm toward the base to catch the bowl's near rim wall.
move_to
right_gripper1.0000right_x0.2800right_z0.0320
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8402, 0.6075, -0.4416, -0.0223, -0.0261, 0.9996, 0.5037, 1.9434, 1.2434, -0.5385, -0.453, -0.5606, 0.0077] state[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1566 left_yaw=0.0004 left_pitch=-0.1018 left_roll=0.0015 left_gripper=0.9996 right_x=0.3259 right_y=0.272 right_z=0.0297 right_yaw=1.2746 right_pitch=-0.4651 right_roll=0.2192 right_gripper=0.0077 state[joint_eff]: [-0.1436, -1.4974, 6.9675, 1.619, 0.0122, -0.0806, -0.0122, -0.1299, -9.853, 5.9009, 0.9158, -0.2906, -0.0269, 0.5592] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.28, "right_z": 0.032}, "note": "That close came up empty (0.008), so the jaws straddled nothing. Reopening and pulling back 4.5 cm toward the base to catch the bowl's near rim wall."})
tool
executing move_to over 10 steps (1.0s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe wrist view shows the bowl centred under the jaws rather than beyond them, so the near rim is behind the fingers; pulling back 5 cm toward the base (and 2 cm right) so the near rim falls into the jaw gap.
move_to
right_x0.2350right_y0.2500right_z0.0320
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8429, 0.6075, -0.4419, -0.0227, -0.0261, 0.9996, 0.5659, 1.8236, 1.0695, -0.469, -0.4271, -0.5076, 0.9958] state[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1559 left_yaw=0.0007 left_pitch=-0.1049 left_roll=0.0018 left_gripper=0.9996 right_x=0.2832 right_y=0.2708 right_z=0.0267 right_yaw=1.2822 right_pitch=-0.4762 right_roll=0.2178 right_gripper=0.9958 state[joint_eff]: [-0.2803, -1.4701, 7.0085, 1.6532, -0.0611, -0.0269, -0.0122, 0.6085, -9.4427, 5.094, 0.8816, -0.2564, 0.0757, -0.149] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.235, "right_y": 0.25, "right_z": 0.032}, "note": "The wrist view shows the bowl centred under the jaws rather than beyond them, so the near rim is behind the fingers; pulling back 5 cm toward the base (and 2 cm right) so the near rim falls into the jaw gap."})
tool
executing move_to over 4 steps (0.4s)
step 174
top_cam
camera top_cam step 174
assistant
agent noteI suspect the pink dome filling the right wrist camera is part of the robot, not a bowl. Parking the right arm high and out to the side to get an unobstructed overhead view of where the bowls actually are.
move_to
right_x0.2000right_y0.0500right_z0.3000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8448, 0.6071, -0.4419, -0.0227, -0.0261, 0.9996, 0.59, 1.6592, 0.8757, -0.4446, -0.4213, -0.4915, 0.9958] state[eef_state]: left_x=0.2891 left_y=0.0019 left_z=0.1552 left_yaw=0.0007 left_pitch=-0.1072 left_roll=0.0019 left_gripper=0.9996 right_x=0.2377 right_y=0.2504 right_z=0.0269 right_yaw=1.2943 right_pitch=-0.4853 right_roll=0.2259 right_gripper=0.9958 state[joint_eff]: [-0.0615, -1.3607, 7.1863, 1.7265, -0.0611, -0.0708, -0.0122, 0.5812, -7.8154, 6.147, 1.0281, -0.2125, 0.0952, -0.0171] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.2, "right_y": 0.05, "right_z": 0.3, "right_yaw": 0.0}, "note": "I suspect the pink dome filling the right wrist camera is part of the robot, not a bowl. Parking the right arm high and out to the side to get an unobstructed overhead view of where the bowls actually are."})
tool
executing move_to over 18 steps (1.8s)
step 192
assistant
agent noteClear overhead view: white, lavender and pink bowls, with the pink one nearest the bases at about right_y=0.24. Yawing the wrist 90° and hovering 12 cm over it to grab its near rim.
move_to
right_yaw1.5710right_x0.3000right_y0.2440right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8494, 0.6075, -0.4526, -0.0227, -0.0261, 0.9996, 0.2436, 1.0622, 1.5085, -1.4708, -0.0288, 0.3122, 0.9958] state[eef_state]: left_x=0.2876 left_y=0.0019 left_z=0.1521 left_yaw=0.0007 left_pitch=-0.122 left_roll=0.0022 left_gripper=0.9996 right_x=0.2063 right_y=0.0602 right_z=0.2919 right_yaw=0.0785 right_pitch=-0.4747 right_roll=0.2271 right_gripper=0.9958 state[joint_eff]: [-0.0342, -1.853, 7.159, 1.7607, -0.0415, -0.0269, -0.0122, -0.2803, -1.0051, 6.5162, 1.0818, 0.0513, 0.1294, -0.0171] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 1.571, "right_x": 0.3, "right_y": 0.244, "right_z": 0.12}, "note": "Clear overhead view: white, lavender and pink bowls, with the pink one nearest the bases at about right_y=0.24. Yawing the wrist 90\u00b0 and hovering 12 cm over it to grab its near rim."})
tool
executing move_to over 16 steps (1.6s)
step 208
assistant
agent notePink bowl is large and slightly left/above the jaw gap in the wrist view; descending to rim height where I can judge the near-rim alignment the same way as my first successful pinch.
move_to
right_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8516, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.4328, 1.8347, 1.4765, -1.084, -0.4953, -0.8536, 0.9958] state[eef_state]: left_x=0.2864 left_y=0.002 left_z=0.15 left_yaw=0.0008 left_pitch=-0.1323 left_roll=0.0024 left_gripper=0.9996 right_x=0.2975 right_y=0.2339 right_z=0.1137 right_yaw=1.4901 right_pitch=-0.5216 right_roll=0.268 right_gripper=0.9958 state[joint_eff]: [-0.1709, -1.7299, 6.9538, 1.6874, -0.0659, -0.0513, -0.0122, 0.294, -9.5248, 7.8154, 0.2466, -0.486, -0.0952, -0.0073] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03}, "note": "Pink bowl is large and slightly left/above the jaw gap in the wrist view; descending to rim height where I can judge the near-rim alignment the same way as my first successful pinch."})
tool
executing move_to over 6 steps (0.6s)
step 214
assistant
agent noteThe bowl's rim edge runs vertically right through the jaw gap, just like my first successful pinch; closing on the rim.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8532, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.4366, 1.9034, 1.2583, -0.8322, -0.495, -0.8635, 0.9958] state[eef_state]: left_x=0.2865 left_y=0.002 left_z=0.1495 left_yaw=0.0008 left_pitch=-0.1339 left_roll=0.0024 left_gripper=0.9996 right_x=0.2883 right_y=0.2311 right_z=0.0378 right_yaw=1.5177 right_pitch=-0.5374 right_roll=0.2981 right_gripper=0.9958 state[joint_eff]: [-0.1983, -1.4974, 6.9402, 1.5946, -0.0513, -0.0659, -0.0122, -0.4718, -8.2803, 5.6957, 0.6471, -0.3053, 0.0757, -0.0073] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The bowl's rim edge runs vertically right through the jaw gap, just like my first successful pinch; closing on the rim."})
tool
executing move_to over 10 steps (1.0s)
step 224
assistant
agent noteGripper settled at 2.4 mm, consistent with the thin rim being pinched. Lifting to 14 cm and moving over toward the lavender bowl's near rim in one go.
move_to
right_z0.1400right_x0.3300right_y0.3150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8532, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.4366, 1.9224, 1.2453, -0.8333, -0.4839, -0.8639, 0.0238] state[eef_state]: left_x=0.2865 left_y=0.002 left_z=0.1495 left_yaw=0.0008 left_pitch=-0.1339 left_roll=0.0024 left_gripper=0.9996 right_x=0.2836 right_y=0.227 right_z=0.0273 right_yaw=1.532 right_pitch=-0.5625 right_roll=0.3264 right_gripper=0.0238 state[joint_eff]: [-0.1573, -1.4838, 7.0085, 1.5897, -0.0855, -0.0122, -0.0122, -0.2256, -10.8376, 6.4342, 0.3883, -0.4615, -0.0269, 1.0818] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.14, "right_x": 0.33, "right_y": 0.315}, "note": "Gripper settled at 2.4 mm, consistent with the thin rim being pinched. Lifting to 14 cm and moving over toward the lavender bowl's near rim in one go."})
tool
executing move_to over 8 steps (0.8s)
step 232
assistant
agent noteThe pink bowl is lifted and the lavender bowl's white interior is visible further out in the wrist view, so I'm still short radially; advancing 5 cm in x to bring the carried bowl over it.
move_to
right_x0.3800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8566, 0.6075, -0.461, -0.0223, -0.0261, 0.9996, 0.5701, 2.1529, 1.9953, -1.2518, -0.4561, -0.738, 0.0266] state[eef_state]: left_x=0.2866 left_y=0.0019 left_z=0.1486 left_yaw=0.0005 left_pitch=-0.1377 left_roll=0.0022 left_gripper=0.9996 right_x=0.3375 right_y=0.3131 right_z=0.1278 right_yaw=1.5225 right_pitch=-0.5527 right_roll=0.2728 right_gripper=0.0266 state[joint_eff]: [-0.212, -1.812, 6.9402, 1.5849, -0.0366, -0.0269, -0.0122, 0.335, -11.8769, 7.5145, 0.0122, -0.442, 0.0415, 1.033] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38}, "note": "The pink bowl is lifted and the lavender bowl's white interior is visible further out in the wrist view, so I'm still short radially; advancing 5 cm in x to bring the carried bowl over it."})
tool
executing move_to over 4 steps (0.4s)
step 236
assistant
agent noteRealised the wrist image x-axis is flipped from my assumption (image-right is toward the base), so the lavender bowl is slightly nearer than the carried bowl; pulling back 2 cm and lowering to set the pink bowl down into it.
move_to
right_x0.3550right_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8589, 0.6075, -0.461, -0.0227, -0.0261, 0.9996, 0.527, 2.3501, 2.2883, -1.3884, -0.45, -0.783, 0.0273] state[eef_state]: left_x=0.2866 left_y=0.002 left_z=0.148 left_yaw=0.0008 left_pitch=-0.14 left_roll=0.0025 left_gripper=0.9996 right_x=0.3754 right_y=0.3115 right_z=0.1173 right_yaw=1.5255 right_pitch=-0.5742 right_roll=0.2857 right_gripper=0.0273 state[joint_eff]: [-0.0068, -1.5932, 7.1316, 1.6044, -0.0513, -0.0366, -0.0122, -0.3214, -13.5453, 8.4581, 0.1148, -0.4518, 0.0611, 0.9646] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.355, "right_z": 0.05}, "note": "Realised the wrist image x-axis is flipped from my assumption (image-right is toward the base), so the lavender bowl is slightly nearer than the carried bowl; pulling back 2 cm and lowering to set the pink bowl down into it."})
tool
executing move_to over 5 steps (0.5s)
step 241
assistant
agent noteThe arm stalled, likely pinned at its pitch limit; easing the pitch back and lowering the carried bowl toward the lavender bowl below it.
move_to
right_z0.0600right_pitch-0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8604, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.5217, 2.3722, 2.3226, -1.4143, -0.4503, -0.7895, 0.0306] state[eef_state]: left_x=0.2868 left_y=0.002 left_z=0.1476 left_yaw=0.0008 left_pitch=-0.1411 left_roll=0.0026 left_gripper=0.9996 right_x=0.3774 right_y=0.3098 right_z=0.1158 right_yaw=1.5319 right_pitch=-0.5803 right_roll=0.2965 right_gripper=0.0306 state[joint_eff]: [-0.0889, -1.6615, 7.0085, 1.6239, -0.0415, -0.0659, -0.0122, -0.1846, -13.3949, 8.1709, 0.4225, -0.4078, -0.0464, 0.9304] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.06, "right_pitch": -0.3}, "note": "The arm stalled, likely pinned at its pitch limit; easing the pitch back and lowering the carried bowl toward the lavender bowl below it."})
tool
executing move_to over 10 steps (1.0s)
step 251
assistant
agent noteOverhead shows the lavender bowl is farther out than the carried pink bowl, not nearer; pushing 5 cm forward to bring the pink bowl over/into the lavender one before releasing.
move_to
right_x0.4200right_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8616, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.4351, 2.2566, 1.766, -0.9894, -0.6266, -0.8276, 0.0309] state[eef_state]: left_x=0.2868 left_y=0.002 left_z=0.1473 left_yaw=0.0008 left_pitch=-0.1423 left_roll=0.0026 left_gripper=0.9996 right_x=0.3636 right_y=0.2872 right_z=0.0417 right_yaw=1.5405 right_pitch=-0.4285 right_roll=0.3893 right_gripper=0.0309 state[joint_eff]: [-0.1162, -1.7026, 6.9675, 1.663, -0.0415, -0.0464, -0.0122, 0.4718, -13.7915, 7.9521, 0.9451, -0.9158, -0.0464, 0.8571] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_z": 0.055}, "note": "Overhead shows the lavender bowl is farther out than the carried pink bowl, not nearer; pushing 5 cm forward to bring the pink bowl over/into the lavender one before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 256
assistant
agent noteOut of budget for further alignment: releasing the pink bowl where it now sits against the lavender bowl and lifting the jaws clear.
move_to
right_gripper1.0000right_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.865, 0.6075, -0.4614, -0.0227, -0.0261, 0.9996, 0.3916, 2.4859, 2.207, -1.1961, -0.6155, -0.8864, 0.0338] state[eef_state]: left_x=0.2868 left_y=0.002 left_z=0.1463 left_yaw=0.0008 left_pitch=-0.1465 left_roll=0.0027 left_gripper=0.9996 right_x=0.4234 right_y=0.289 right_z=0.0501 right_yaw=1.5244 right_pitch=-0.4253 right_roll=0.3432 right_gripper=0.0338 state[joint_eff]: [-0.1026, -1.853, 7.1043, 1.5897, -0.0659, -0.0659, -0.0122, -0.5128, -13.6, 7.2, 0.0073, -0.5641, 0.0806, 0.6911] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.09}, "note": "Out of budget for further alignment: releasing the pink bowl where it now sits against the lavender bowl and lifting the jaws clear."})
tool
executing move_to over 10 steps (1.0s)
step 266
assistant
agent noteI located three bowls, twice pinched the pink bowl's rim with the yawed right gripper and moved it next to the lavender bowl, but never got it nested — the bowls are still side by side, so the stack was not completed within the call budget.
done
hindsightKey things I wish I'd known: (1) Bowls (~11 cm across) cannot be grasped across; the only grip is a rim pinch — yaw the wrist to 1.571 so the jaws close front-to-back, put the grasp point at bowl_centre_x minus ~5.5 cm at z≈0.03, and close; a settled gripper reading of 0.02–0.04 is a real rim grip (below the usual 0.04 "empty" threshold). (2) On this rig the wrist-camera x axis is FLIPPED from the facts sheet: at yaw 0, image-left = arm +y; at yaw 1.57, image-right = -x (toward the base). Verify with one deliberate 3 cm probe before trusting it — I lost most of my budget to this sign error. (3) The pink/red robot wrist cover fills the bottom of the right wrist image and can be mistaken for a pink bowl. (4) Top-cam calibration that worked: image_x ≈ 196 − 2.4·(right_y in cm); image-y scale is strongly nonlinear (bigger near the bottom) so radial distance from the top view is unreliable — use it for lateral (y) only. (5) Near x≈0.38, y≈0.31, z≈0.12 with a yawed wrist the IK stalls at the pitch limit; relaxing pitch to −0.3 frees it. (6) Descents can stop early on the object you are carrying, so a stopped descent does not prove nesting; verify by retracting and looking.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.8661, 0.6075, -0.461, -0.0227, -0.0261, 0.9996, 0.3878, 2.5008, 2.2425, -1.2789, -0.6106, -0.8917, 0.9953] state[eef_state]: left_x=0.2869 left_y=0.002 left_z=0.146 left_yaw=0.0008 left_pitch=-0.1472 left_roll=0.0027 left_gripper=0.9996 right_x=0.4148 right_y=0.2827 right_z=0.0508 right_yaw=1.549 right_pitch=-0.4544 right_roll=0.4004 right_gripper=0.9953 state[joint_eff]: [-0.1026, -1.7026, 7.1316, 1.6044, -0.0806, -0.0415, -0.0122, -0.294, -12.8615, 8.0205, 0.3394, -0.5153, 0.0659, -0.022] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
done({"summary": "I located three bowls, twice pinched the pink bowl's rim with the yawed right gripper and moved it next to the lavender bowl, but never got it nested \u2014 the bowls are still side by side, so the stack was not completed within the call budget.", "hindsight": "Key things I wish I'd known: (1) Bowls (~11 cm across) cannot be grasped across; the only grip is a rim pinch \u2014 yaw the wrist to 1.571 so the jaws close front-to-back, put the grasp point at bowl_centre_x minus ~5.5 cm at z\u22480.03, and close; a settled gripper reading of 0.02\u20130.04 is a real rim grip (below the usual 0.04 \"empty\" threshold). (2) On this rig the wrist-camera x axis is FLIPPED from the facts sheet: at yaw 0, image-left = arm +y; at yaw 1.57, image-right = -x (toward the base). Verify with one deliberate 3 cm probe before trusting it \u2014 I lost most of my budget to this sign error. (3) The pink/red robot wrist cover fills the bottom of the right wrist image and can be mistaken for a pink bowl. (4) Top-cam calibration that worked: image_x \u2248 196 \u2212 2.4\u00b7(right_y in cm); image-y scale is strongly nonlinear (bigger near the bottom) so radial distance from the top view is unreliable \u2014 use it for lateral (y) only. (5) Near x\u22480.38, y\u22480.31, z\u22480.12 with a yawed wrist the IK stalls at the pitch limit; relaxing pitch to \u22120.3 frees it. (6) Descents can stop early on the object you are carrying, so a stopped descent does not prove nesting; verify by retracting and looking."})
tool
done: I located three bowls, twice pinched the pink bowl's rim with the yawed right gripper and moved it next to the lavender bowl, but never got it nested — the bowls are still side by side, so the stack was not completed within the call budget.
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 · 45.73 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6044, -0.3817, -0.0223, -0.0257, 0.9996, -0.0219, 0.7925, 0.6014, -0.379, -0.0105, -0.0334, 0.9967]\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=0.9996 right_x=0.2945 right_y=-0.001 right_z=0.1794 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.6906, -1.5658, 10.1265, 1.8046, -0.0513, 0.1148, -0.0562, -0.2803, -1.347, 10.3726, 1.9072, -0.149, 0.1783, -0.3541]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:749d97b1825790bee0cc609a993261186e16eff2d850d9e5410cabcc8445c46f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22183b5b4c5a856eb0e6e914e383133987fc0e105b574077e5305bccd391744f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a35e889ce8ea4f9bea12cdf2dad66a4b8be34787341bb43bcef6f77d9390f10b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 20.6 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6044, -0.3817, -0.0223, -0.0257, 0.9996, -0.0219, 0.7925, 0.6014, -0.379, -0.0105, -0.0334, 0.9967]\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=0.9996 right_x=0.2945 right_y=-0.001 right_z=0.1794 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.6906, -1.5658, 10.1265, 1.8046, -0.0513, 0.1148, -0.0562, -0.2803, -1.347, 10.3726, 1.9072, -0.149, 0.1783, -0.3541]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:749d97b1825790bee0cc609a993261186e16eff2d850d9e5410cabcc8445c46f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22183b5b4c5a856eb0e6e914e383133987fc0e105b574077e5305bccd391744f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a35e889ce8ea4f9bea12cdf2dad66a4b8be34787341bb43bcef6f77d9390f10b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KaPdGukQbs6uLxNz9nNX5g",
      "input": {
        "note": "Three bowls sit in a row across the middle of the table. I'm flying the right arm up and over toward what I estimate is the right-hand bowl to get a close wrist view before grasping its rim.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.42,
          "right_y": 0.14,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01KaPdGukQbs6uLxNz9nNX5g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.4618, 1.4708, 1.1141, -0.3237, 0.3595, 0.2115, 0.9968]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9996 right_x=0.4086 right_y=0.1379 right_z=0.1974 right_yaw=0.0421 right_pitch=-0.0602 right_roll=-0.0312 right_gripper=0.9968\nstate[joint_eff]: [-0.0479, -1.6479, 6.8034, 1.7851, -0.0415, -0.0611, -0.0122, 0.253, -7.3094, 9.3744, 1.6972, 0.232, 0.2711, -0.3492]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44ed5e5f3632565e68c8142551dd39d2907190df1f2caccf9fa717dea2c55507",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de61d550c285c5eb706c596e21ddcc6313aa8ed188ad1623706ee4a24c8084a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4fc8727664e28c0dc26029010941765cad18f56f861761a46b3fa65ef0f740f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 13.83 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6044, -0.3817, -0.0223, -0.0257, 0.9996, -0.0219, 0.7925, 0.6014, -0.379, -0.0105, -0.0334, 0.9967]\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=0.9996 right_x=0.2945 right_y=-0.001 right_z=0.1794 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.6906, -1.5658, 10.1265, 1.8046, -0.0513, 0.1148, -0.0562, -0.2803, -1.347, 10.3726, 1.9072, -0.149, 0.1783, -0.3541]",
      "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]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.4618, 1.4708, 1.1141, -0.3237, 0.3595, 0.2115, 0.9968]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9996 right_x=0.4086 right_y=0.1379 right_z=0.1974 right_yaw=0.0421 right_pitch=-0.0602 right_roll=-0.0312 right_gripper=0.9968\nstate[joint_eff]: [-0.0479, -1.6479, 6.8034, 1.7851, -0.0415, -0.0611, -0.0122, 0.253, -7.3094, 9.3744, 1.6972, 0.232, 0.2711, -0.3492]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44ed5e5f3632565e68c8142551dd39d2907190df1f2caccf9fa717dea2c55507",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de61d550c285c5eb706c596e21ddcc6313aa8ed188ad1623706ee4a24c8084a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fc8727664e28c0dc26029010941765cad18f56f861761a46b3fa65ef0f740f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015sNwBLqKfeXDHzDKHDfGhp",
      "input": {
        "note": "Right wrist view shows the pink (rightmost) bowl just below the jaws and slightly to the arm's right. Lowering to 10 cm and shifting slightly right to line the bowl up before grasping its rim.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.11,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015sNwBLqKfeXDHzDKHDfGhp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.392, 1.5078, 0.7616, 0.0151, 0.3092, 0.1699, 0.9964]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3903 right_y=0.107 right_z=0.0942 right_yaw=0.0341 right_pitch=-0.1208 right_roll=-0.0531 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.2376, 7.2137, 1.6972, -0.0317, -0.0659, -0.0122, -0.294, -5.641, 6.8855, 1.873, 0.0708, -0.0611, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ead890971a5525d150720d0bd463eb820b2b8663bc2ed1d969bf7ca031ee7f58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27a883bf6bf39e34add38c879559384cd8cad8ba2b00eb16454d0551c8020e9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec62814f630e547ea293d387a873d1771c4636f7aae612d080b9ab723d446625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 14.77 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7948, 0.6044, -0.3817, -0.0223, -0.0257, 0.9996, -0.0219, 0.7925, 0.6014, -0.379, -0.0105, -0.0334, 0.9967]\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=0.9996 right_x=0.2945 right_y=-0.001 right_z=0.1794 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9967\nstate[joint_eff]: [-0.6906, -1.5658, 10.1265, 1.8046, -0.0513, 0.1148, -0.0562, -0.2803, -1.347, 10.3726, 1.9072, -0.149, 0.1783, -0.3541]",
      "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]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.4618, 1.4708, 1.1141, -0.3237, 0.3595, 0.2115, 0.9968]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9996 right_x=0.4086 right_y=0.1379 right_z=0.1974 right_yaw=0.0421 right_pitch=-0.0602 right_roll=-0.0312 right_gripper=0.9968\nstate[joint_eff]: [-0.0479, -1.6479, 6.8034, 1.7851, -0.0415, -0.0611, -0.0122, 0.253, -7.3094, 9.3744, 1.6972, 0.232, 0.2711, -0.3492]",
      "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]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.392, 1.5078, 0.7616, 0.0151, 0.3092, 0.1699, 0.9964]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3903 right_y=0.107 right_z=0.0942 right_yaw=0.0341 right_pitch=-0.1208 right_roll=-0.0531 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.2376, 7.2137, 1.6972, -0.0317, -0.0659, -0.0122, -0.294, -5.641, 6.8855, 1.873, 0.0708, -0.0611, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ead890971a5525d150720d0bd463eb820b2b8663bc2ed1d969bf7ca031ee7f58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27a883bf6bf39e34add38c879559384cd8cad8ba2b00eb16454d0551c8020e9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec62814f630e547ea293d387a873d1771c4636f7aae612d080b9ab723d446625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VgtbT8StFMWYedLJXMkqqS",
      "input": {
        "note": "The pink bowl fills the lower half of the right wrist view, centred on the jaw column. I'm dropping to rim height and shifting 6 cm to the arm's right so the jaws straddle the bowl's right-hand rim wall.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.045,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VgtbT8StFMWYedLJXMkqqS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.1825, 1.6596, 0.5446, 0.3405, 0.1719, 0.049, 0.9964]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3782 right_y=0.0427 right_z=0.0108 right_yaw=0.0034 right_pitch=-0.1924 right_roll=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.2923, 7.0359, 1.7021, -0.0562, -0.0464, -0.0122, -0.1573, -6.6393, 5.1761, 1.8681, -0.0171, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40e32cbb3bbc966d5f921c988e88e8a736030638fe54872d3f74d50162121be0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a885e15d04089d361e8aeba63d6a39008457742edc69df2fbe5163f500ce053",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c21be947e1d9be44ee6ab735f42880717dc5c29445383ea438fa7e51298a7bc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 12.61 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.4618, 1.4708, 1.1141, -0.3237, 0.3595, 0.2115, 0.9968]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9996 right_x=0.4086 right_y=0.1379 right_z=0.1974 right_yaw=0.0421 right_pitch=-0.0602 right_roll=-0.0312 right_gripper=0.9968\nstate[joint_eff]: [-0.0479, -1.6479, 6.8034, 1.7851, -0.0415, -0.0611, -0.0122, 0.253, -7.3094, 9.3744, 1.6972, 0.232, 0.2711, -0.3492]",
      "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]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.392, 1.5078, 0.7616, 0.0151, 0.3092, 0.1699, 0.9964]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3903 right_y=0.107 right_z=0.0942 right_yaw=0.0341 right_pitch=-0.1208 right_roll=-0.0531 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.2376, 7.2137, 1.6972, -0.0317, -0.0659, -0.0122, -0.294, -5.641, 6.8855, 1.873, 0.0708, -0.0611, -0.0464]\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]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.1825, 1.6596, 0.5446, 0.3405, 0.1719, 0.049, 0.9964]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3782 right_y=0.0427 right_z=0.0108 right_yaw=0.0034 right_pitch=-0.1924 right_roll=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.2923, 7.0359, 1.7021, -0.0562, -0.0464, -0.0122, -0.1573, -6.6393, 5.1761, 1.8681, -0.0171, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40e32cbb3bbc966d5f921c988e88e8a736030638fe54872d3f74d50162121be0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a885e15d04089d361e8aeba63d6a39008457742edc69df2fbe5163f500ce053",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c21be947e1d9be44ee6ab735f42880717dc5c29445383ea438fa7e51298a7bc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mzy6bF5QBNumCTqtKe1B3N",
      "input": {
        "note": "Jaws are at rim height with the bowl wall just left of the jaw centre line; nudging 1.5 cm back toward the bowl so the rim sits between the fingers.",
        "targets": {
          "right_y": 0.058
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Mzy6bF5QBNumCTqtKe1B3N",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8017, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.21, 1.6737, 0.5362, 0.3847, 0.1738, 0.0513, 0.9964]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0114 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3798 right_y=0.0534 right_z=0.0107 right_yaw=0.0288 right_pitch=-0.1707 right_roll=-0.0603 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.1966, 7.0222, 1.7021, -0.0366, -0.0757, -0.0122, 0.2667, -6.8034, 7.1726, 1.4383, 0.1587, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40f34bcdbdba136380b28604355c9302539b149b3913c2098ad525403c1133a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1d45120a1eb980acd896fdaa0cb2f3795e9fba4ed827641c9994abcf6111bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0eed024b816fc5c4342fc7f46dd668577faca30ea59799be886720a4e3156bac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 16.1 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.392, 1.5078, 0.7616, 0.0151, 0.3092, 0.1699, 0.9964]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3903 right_y=0.107 right_z=0.0942 right_yaw=0.0341 right_pitch=-0.1208 right_roll=-0.0531 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.2376, 7.2137, 1.6972, -0.0317, -0.0659, -0.0122, -0.294, -5.641, 6.8855, 1.873, 0.0708, -0.0611, -0.0464]\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]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.1825, 1.6596, 0.5446, 0.3405, 0.1719, 0.049, 0.9964]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3782 right_y=0.0427 right_z=0.0108 right_yaw=0.0034 right_pitch=-0.1924 right_roll=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.2923, 7.0359, 1.7021, -0.0562, -0.0464, -0.0122, -0.1573, -6.6393, 5.1761, 1.8681, -0.0171, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8017, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.21, 1.6737, 0.5362, 0.3847, 0.1738, 0.0513, 0.9964]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0114 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3798 right_y=0.0534 right_z=0.0107 right_yaw=0.0288 right_pitch=-0.1707 right_roll=-0.0603 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.1966, 7.0222, 1.7021, -0.0366, -0.0757, -0.0122, 0.2667, -6.8034, 7.1726, 1.4383, 0.1587, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40f34bcdbdba136380b28604355c9302539b149b3913c2098ad525403c1133a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1d45120a1eb980acd896fdaa0cb2f3795e9fba4ed827641c9994abcf6111bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eed024b816fc5c4342fc7f46dd668577faca30ea59799be886720a4e3156bac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NunKLZBoEnn7uAFQSC44i1",
      "input": {
        "note": "That nudge moved the bowl further left in the wrist view, so the image x-axis is flipped from what I assumed; correcting by moving 2.3 cm the other way to bring the rim wall into the jaw gap.",
        "targets": {
          "right_y": 0.031
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01NunKLZBoEnn7uAFQSC44i1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.1757, 1.6737, 0.5297, 0.3676, 0.144, 0.0399, 0.9964]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0006 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9996 right_x=0.3759 right_y=0.0446 right_z=0.0049 right_yaw=0.0252 right_pitch=-0.1979 right_roll=-0.0521 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.5248, 7.2, 1.7802, -0.0855, -0.0317, -0.0122, -0.4171, -7.5692, 4.588, 1.5116, 0.3199, -0.149, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a01133ee9139985243aa1bd5ec6ff1c4eded3d4a7a98a7dd84a1f0dd1cf42f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3750847838e1eb5385a13a92327b9725e82333be8d4b187892b6523410f6f88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6bb296333f3eaeebb00cb804fd0ab2dc768b0778ab9b176b3c2b1ff8c21feb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 6.922 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.1825, 1.6596, 0.5446, 0.3405, 0.1719, 0.049, 0.9964]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=0.0006 left_pitch=-0.0099 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3782 right_y=0.0427 right_z=0.0108 right_yaw=0.0034 right_pitch=-0.1924 right_roll=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.0752, -1.2923, 7.0359, 1.7021, -0.0562, -0.0464, -0.0122, -0.1573, -6.6393, 5.1761, 1.8681, -0.0171, -0.0952, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8017, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.21, 1.6737, 0.5362, 0.3847, 0.1738, 0.0513, 0.9964]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0114 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3798 right_y=0.0534 right_z=0.0107 right_yaw=0.0288 right_pitch=-0.1707 right_roll=-0.0603 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.1966, 7.0222, 1.7021, -0.0366, -0.0757, -0.0122, 0.2667, -6.8034, 7.1726, 1.4383, 0.1587, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.1757, 1.6737, 0.5297, 0.3676, 0.144, 0.0399, 0.9964]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0006 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9996 right_x=0.3759 right_y=0.0446 right_z=0.0049 right_yaw=0.0252 right_pitch=-0.1979 right_roll=-0.0521 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.5248, 7.2, 1.7802, -0.0855, -0.0317, -0.0122, -0.4171, -7.5692, 4.588, 1.5116, 0.3199, -0.149, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a01133ee9139985243aa1bd5ec6ff1c4eded3d4a7a98a7dd84a1f0dd1cf42f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3750847838e1eb5385a13a92327b9725e82333be8d4b187892b6523410f6f88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6bb296333f3eaeebb00cb804fd0ab2dc768b0778ab9b176b3c2b1ff8c21feb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FE6boP3oYfArNbx38VPYaP",
      "input": {
        "note": "Motion stalled short in y, suggesting the finger is pressing the bowl. Lifting to 12 cm to get a clean overhead look at where the gripper sits relative to the pink bowl.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01FE6boP3oYfArNbx38VPYaP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.1223, 1.6737, 0.5198, 0.3786, 0.1135, -0.0044, 0.9964]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0006 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9996 right_x=0.3758 right_y=0.0296 right_z=0.0031 right_yaw=0.0222 right_pitch=-0.2011 right_roll=-0.0628 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -1.2103, 7.0632, 1.7021, -0.0464, -0.0415, -0.0122, -0.0615, -7.5282, 4.6838, 1.7705, -0.0659, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dc6cd172293021877e0a63bf932e490238c41e6e4dbf1360a7de5369343b8ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a73a8b412fcdf724449444f965f86509ed098e131a5456953d4ce21c0fc22272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:acb9d640e7f406aa62cd1dadafe954bc8f78ce1fa6fb0e30259cbe2dd59919e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 23.02 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8017, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.21, 1.6737, 0.5362, 0.3847, 0.1738, 0.0513, 0.9964]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1775 left_yaw=0.0006 left_pitch=-0.0114 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3798 right_y=0.0534 right_z=0.0107 right_yaw=0.0288 right_pitch=-0.1707 right_roll=-0.0603 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.1966, 7.0222, 1.7021, -0.0366, -0.0757, -0.0122, 0.2667, -6.8034, 7.1726, 1.4383, 0.1587, 0.0366, -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]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.1757, 1.6737, 0.5297, 0.3676, 0.144, 0.0399, 0.9964]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0006 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9996 right_x=0.3759 right_y=0.0446 right_z=0.0049 right_yaw=0.0252 right_pitch=-0.1979 right_roll=-0.0521 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.5248, 7.2, 1.7802, -0.0855, -0.0317, -0.0122, -0.4171, -7.5692, 4.588, 1.5116, 0.3199, -0.149, -0.0122]",
      "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]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.1223, 1.6737, 0.5198, 0.3786, 0.1135, -0.0044, 0.9964]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0006 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9996 right_x=0.3758 right_y=0.0296 right_z=0.0031 right_yaw=0.0222 right_pitch=-0.2011 right_roll=-0.0628 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -1.2103, 7.0632, 1.7021, -0.0464, -0.0415, -0.0122, -0.0615, -7.5282, 4.6838, 1.7705, -0.0659, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dc6cd172293021877e0a63bf932e490238c41e6e4dbf1360a7de5369343b8ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a73a8b412fcdf724449444f965f86509ed098e131a5456953d4ce21c0fc22272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acb9d640e7f406aa62cd1dadafe954bc8f78ce1fa6fb0e30259cbe2dd59919e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmQYKjgEIEhgCKkCk1f1C1PVkXJBAuwY1SX/CHqwJWB7ePdpxqeekmIU3RqYpnc0C2RdfSywFY99L8yyd/ZgtTM1Plk3uy7Jqdda8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYSmzNUGEgw9AyzgfOUlg+T6r/YaDFQACTc66c2uu9Ha+SIwjYz7CNIVH7bpGMWT4F2oYVWoqIeOxiW5qI+E7a6sgdQTMJribL5xVAKecU1U4SCMKrcEcmB4OuhfG3arMnrx5PYjhyXy1jjTpWlXGQwE32QwHTnvyltTYHsP06FJIxxqxg1rzW06xFyhUh5gGcYRLDlMK1wDPW1d/tM1FprNQAS8NhYsMEJlWwuiuXtDnkbA6J7+j46aZE6J23NX/8AVeZ/WUrAKJUhYk6/Cp59cysa5uNSYdWzh5azFgurhmPn/kFgSOLhs1cEBMvdtBhJJVKj+xynkeW2TlesipfF6yZckOxZuyxg55IPVGGxb6sTvjVyFQAUrCkZ/oc/2lYImYo6nAVeripOqRtfemXMAhw4ebcr23MBbfM5WXAgscf4whY1EqUqIZTePTJCa5LU3FsU952tOTLIUSSEMfqPpM4pq7o7eu6qyQibjFquZme6ppqsgz3h97cZ6qRHhDIiZph7qB/pnTdEygrxA7nh9ASz35EO4SipelxitlcACtm4hnLLMosvk+n6ES+DDhaBlXsQGZkhnk6w0KQhmHJ/Oa9sI18rU+6i/nzoNRU1h0MrD3Rdhu0COoSxhlX3d3tlE4MYTDIGFCluRuDXFXKE7gZlggVXzJM0sNSWRbLdH9MPxDGNKh4wzXdae1ECgp7ssWPoAsCD3Do486m2hi2YGuMMAefaRqcMS+BwR21T5HJ7EQogYeJ4SxbTsE1DDbqMyD50S+ICQ7Ya4MVElfA3F2orFmr255EmhCFeRlvrCKdvZR8vhbjQvd0JtuyfVrC0ENjA7McjWWAs+smA57fHHT4fXTgsGUkR2/4hvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014UA3T9t4GnYhWSKj8LHDuo",
      "input": {
        "note": "The wrist is jammed against the tipped pink bowl and the lift didn't take; retreating up and back to free the gripper and get a clear overhead view.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.05,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_014UA3T9t4GnYhWSKj8LHDuo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.2302, 1.1923, 0.8783, -0.4702, 0.1726, 0.0521, 0.9964]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0179 left_roll=0.0 left_gripper=0.9996 right_x=0.3439 right_y=0.0531 right_z=0.1665 right_yaw=0.0485 right_pitch=-0.2016 right_roll=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -1.6068, 7.0632, 1.6923, -0.0366, -0.0513, -0.0122, 0.3487, -4.7932, 9.0188, 1.453, 0.2369, 0.188, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3871be605d19e2b7b37d08efb73b2362fabd97c88810152908b7f1e8b32d35a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54763727f59d5147414bbf6dc2602ac458da74b4df192157ebc896e577235944",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f18ac40405c75fef4981798f9fd0b9715f1d6ea6b20aab636fb2afb196338959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 13.7 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.1757, 1.6737, 0.5297, 0.3676, 0.144, 0.0399, 0.9964]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0006 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9996 right_x=0.3759 right_y=0.0446 right_z=0.0049 right_yaw=0.0252 right_pitch=-0.1979 right_roll=-0.0521 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.5248, 7.2, 1.7802, -0.0855, -0.0317, -0.0122, -0.4171, -7.5692, 4.588, 1.5116, 0.3199, -0.149, -0.0122]",
      "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]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.1223, 1.6737, 0.5198, 0.3786, 0.1135, -0.0044, 0.9964]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0006 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9996 right_x=0.3758 right_y=0.0296 right_z=0.0031 right_yaw=0.0222 right_pitch=-0.2011 right_roll=-0.0628 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -1.2103, 7.0632, 1.7021, -0.0464, -0.0415, -0.0122, -0.0615, -7.5282, 4.6838, 1.7705, -0.0659, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.2302, 1.1923, 0.8783, -0.4702, 0.1726, 0.0521, 0.9964]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0179 left_roll=0.0 left_gripper=0.9996 right_x=0.3439 right_y=0.0531 right_z=0.1665 right_yaw=0.0485 right_pitch=-0.2016 right_roll=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -1.6068, 7.0632, 1.6923, -0.0366, -0.0513, -0.0122, 0.3487, -4.7932, 9.0188, 1.453, 0.2369, 0.188, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3871be605d19e2b7b37d08efb73b2362fabd97c88810152908b7f1e8b32d35a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54763727f59d5147414bbf6dc2602ac458da74b4df192157ebc896e577235944",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f18ac40405c75fef4981798f9fd0b9715f1d6ea6b20aab636fb2afb196338959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9RkKjgEIEhgCKkA4OMBI557VYzKZFpI1Y/m0h+/X4RxewiY/O4iquEbMiQHVyBHGvqtsfecggiaV13iLGYV5PMn+UbbotW4nG2N8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZymzNUGEgwbJrn6oCvlJeR2N+UaDFx1rg1hqvGB39xmviIwVtdKw7kGOUQkSM7tE5q4y1W1mb56NRMJYyWqRifjg7DRwG9PolJnJ2pz696yE2xEKpMYPuqB/iKPKfiloi3le+dzvdcM9d1f3aW981I5Z5fBtE0Z8DbkDi0RWPuYMpAN8/3ptOvkadtE9L2qxe/z4J8NZgJNwWD8jW2EwWAs32zF0/hDKNQRImudZxre+kSXg3+T1fkFTihcHU3LfLjL1cQqSQAiPCDjUXYOkkyWsjtz6M0oQhiK8MzlX7jgrHtqUSwk4LSPNPT21bX0UIVaL3UzegAfNlthKfDq3FnGWHv3AliVBLLhriX+V2zQbjI/994/ASIwb5MiqOXeYycWS1TrnWKjJyTg9VGqPqfT+rRf0IhqBbB95vecKuXSto+KXNBzObDd0dP8TfcRKCBuBIoHV7ujD3np5JowLdPAzyibpFflU45Nn/Xz2s1AJUXYGQSgOP8osGLOO07bRlNZ9jRVE1/sWsM1BmdFuR0qYEy9rp88HQMjv/xL3To4doui+jOXDMxAIW1fVlAjyQbafEKTRGFLs7PNKu+Qsoa+FC1wi2wfO2LqhcQReaxWBSLPWcew/zNwudnn78tXNjSZOJxx32ykIkvZOooiyw3jfbnqnzTrs7OdJFzqPTf0acs4Hb8xc0S+2DQxnWNkEIeJZGPPLne6dZeuc6XBrArIaOKBbJs2e7I6aSPnC+7NxkfeIv1hpctgHgTIUXomF7ThP828NEgdXpS5tyB1Kl+F5T3GOuHChXpTDp53zGrjn86Nc0eVDXAtB7tF5uBC6NwYiRzdCvyTvdT9IxCE/ytXYI0Haj7kNigllfqtMnYdDTNdES8/qbxICia0Q7aNLI5L3eYIMd6hduHWtsaG1smp/sPcRYsVWYVYj4OWS3kqAqKqvaK9WX/WdXmkw3T0zFW1iGyHBAo955oaCDEEk5ZeyG679FFTvlJZNQKyj5aAh1Tjm1Tu8/eAsJ8bpy8WPYOJySVXUst+qTgvVW4ih9XDJj9zryDFcRSkIYuNgUryH0riiDy5yqBCMcfVDzN2xrjZpgLKcGGDR7co4uKtuli+a9BKDmc+bJA4ZXOuunWcD/U4abCH/vcx4g/YzZYm3O6uBiNRKLdqVu39bEjvFDcNdXjRwXCx3+xLQieauDACWTsUwF42EfwY4tPi/wpM0Ic2TzxKtw1DRuTYQj0840+C0qKkUmWvi29lASgrOuXyfuEhym7v0JRe6zhn88JZMB/bgiEkpbuOUVPDGvgLknwdofuOP3LRnn4yaeY2gY8AhlAvsu3JKAjE9eCxOGAkYqbnIw80ZG/5+py3z4nEcYBK0KF09jpXaNnmHQCqHGYLXK7KL/qwztJTLaiQ29hdHsY0vBv+6pwzesHBGpt26Xt9pLQkggYIYrbymNUZB1meX2V+1dHLZd7wHDx3G1RmnRIZ4oAHLFMkC5iYzxTepDuN/klFKepGUyvLlQiRkWfZkMNJJnd1soy8kPvtNEw/4WlFjJar0kCdNNnMhMM7jezdmFHovNOVd7SmH59dv8mwXKenPdWwrUYmcSEHCkpSrgmj04feKZT3heUT8LSY/ynZILShuhi79w69xZbGKTA/xRM6tMtEUBnj5rD4x2OSHxwxujzh0W5PKnxvSqaceQO+LnBy+cCh4uJ+jKmZ6SAFhikMig2OwtYcP3/TZ9ahUesVUO0r7MtRYSu/hQa8RWqQpeHZnaQ+UGaR4ckYdlCVBT2ObRnbHLPh5IkL4HLqMvHTDJn7XNjzvLTqnPQRSbhC2sZuWr5UKytzHskIx/rsjgHfTeHh9TcdQgiYzsXyq/Dvk6lKYbLIIZpDSUHX2gGn9hEOlmHlcEeOIyNZ0UAPzz/H7DKhNdfZXuNrIBcB3u7Mq6pN0MAiBHy1PCpu1Pjq68CfzyPOhrlpJy3FJuVg0Sj2i6/pRPru5tntNwnvXU0qQsvq0OHGjVkL3MXDsJ6QixSuNouqAKVwIERmygOlvJzyBvTnu5d6Wh0l2vLNPMCrU+AP2BcZQPVuaHfcamOGnRzkPAHsVxkBRVABEelIBMfQY9XK/FUuHm2vBSREZvWotzhhdw2RgV7ZCFjbN00NdVAHlwIUWfo6IGg4AJ4GtFzntv1dViE4f0mO/dRVv4sHkRXVXDJB9JWWy5qzRFPpR1I0u7XxhtVeL4n5QE6T84zLq8MGQ7KNUcg1QJIXWddg/cyfN2RzgrxIa/QLwgfFYtLbMv9sY7P4A+j80r9lVM3z9oiq0Mq73pK6Wl6I26vdvLRLyKlFpOBPc1RsJKerpTLe9Ie6wnQlIYv0KMwtgyP3UdsVhThRr1VRV6MYtTFmcah/ujpaVCgF9+K1U52xsjsnlFOr5wcoMfQyfDmHCl13Si6adoGj6ife5dIlN9Gh3QLc8CywTLQAmPZkDI4VG50aW663Bu7inCCrkIJrQA+PSQjXrAMfSE0tKN01m/i/sJE0WA7Hpq8FZbQwEBQS2ISATZKYM9wwtcM4rQKM4F/U1Un50szVzSHht26BUj/40LNNzX6dn+nx/U6wJAGlu6mmUnCqeKWrQjtwLwbs+km3vNmmvPYFXfZ8fHaqrf1WrqvCjQYeV4z8siXoedUztv0f/lE/Xq/PZfgK+uRWjW5JgHmKnF4yME3Tdlmnsay+n+ZnTn5ziVMMRQFwocjY4+kJGJFfKSH1QAKVjBfnOBNgvg8uQDBh1B6FUtCRTi3ekvPcPC+FhfkIlWQ1cHxjoFK1IhPSTnAfthrS5L/4HcmFQvk45yO53sFmz3FvRw3kQiBvIX1UyxrlPuY72S9txElhEnHKctNg1IYY1LelGRPA9sb3PZzumzFwrsK9CSQT2fS/ek/yZPviVzT/czeDGklRP1+QEDz4xSG9aD/8iHUUW50OReqLEz22pNn7J12uQ12apM1LR5YIpWFc/vsu46/8j3dNksZpQv/fzASArhrANsD9Q2og2K1zydaoX5P2Hy1HJRaHDLXI+YzvPCFwE5NcUj6j/eImrXlHpmMEvFHJ4oeLTRnpRitXS5ZRJNCacGikKHM8ra9isokRMVNbR/d0Q++o1ZDyWzldqax2YH88MvlKPdBOCKvOoAKRJ9zBFR3iLG8oR8Q74jojqjehEuEqeR6dZF/D8TiNICCf4oqkOin+T4HdI71zVXc63t5htSVmCNp01a3DFS0YmBc5xMVOhs0g4i9EJX3fzgXiQGn7VV8GZBxdcTd1jDR34YrfHvUZXKPJ9Gj3XPNPdRv3A0HAR5btavYFt89hqGI1z2hwNqF9Nk93d871LOGdFS9EpdH+X1RWrlxXFI91CJV7C13x2oSbWdiIm99yLEatxYcAhQzUasxBCvCInWqtnP/7q3b3Bc6RbzbUmyKYsnh7AGjiO6UCLJNstT4Xxy/lgtzjfTHwRyYZ4RWoNRfinVGFZxw+Arayhfd34yitrHRNvFBpdO4rb7iKqv9FfqjbJJYp2BxrPJdRfwCvD6TjdTBE2SfHTZwTUwG6F4XI+dLnbDji3zaDmEGre+Kf9kCv+t3+RxhZ/M+OKn9sUaJLFo6YZf0hQsv9D05vb+l4FJIm3QOBpHIqc8zTiA11GdTeIucZhQd2xKEHk/TtAHpY2VhyiOZKiCM+FWWzl6mEKVsv+z97S+N8BUliOFwFvGBiIjT3h5FPFdu+Olb51/7xypur5e/BOj6g6JwvMGah1Gpp2YIV/t9G178fwV5FAEPamxCfnaYEiXc89pMn2BnUzfOdcFXBPFM2pHqe4EGVX4PbqGAu+KTld9B0LBLkLWa9vBuzwus0cJfJCqazbTQSjaXpL9mkzB54NrbMIPG+JXiwLU0f0PgXGQ1VUSMijVFdSnM8dh/GZf21ecJwnGsobeiBU1OKidp/bUP2ug6PFARUzUtI2HayvYiAqT8z/3RuGbp2Cn3FkDaKBpifvlCBSatrPXD145IFK+NQbmeTOhXU5lqmK4cgCEHNF8UmRDNf/i3dgRdHtb9xVZE3z9zWBrzHvqIeb838r/tX6UbJ7KUIEX1vvCMi13stsmanHa/ua9TsW1ikbHsWwiUvgcBiRssbuAUV3BeGYhULNKINnQgO8WFyx2uzO8+dXbljm1bct7s/E/ls9+AQgcN7uTwZqXdxy6uGHLTiaFZqBnLxyH7Bik5i26FY/Zcjkjou+pKg1eRKM8z05XLHaxeVUkTgaW34wnhRO+3S3RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EFGygBSvxwqt1YsBX1kLZA",
      "input": {
        "note": "There appear to be just two bowls (white and lavender); the lavender one is centred in the right wrist view. Rotating the wrist 90° so the jaws close front-to-back, and dropping to 8 cm over the bowl's near rim for a rim pinch.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.053,
          "right_yaw": 1.571,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EFGygBSvxwqt1YsBX1kLZA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3965, -0.0227, -0.0261, 0.9996, -0.218, 1.9434, 1.3651, -0.9726, -0.7498, -1.5581, 0.9964]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1732 left_yaw=0.0006 left_pitch=-0.0286 left_roll=0.0003 left_gripper=0.9996 right_x=0.3762 right_y=0.0436 right_z=0.0751 right_yaw=1.3356 right_pitch=-0.2507 right_roll=0.0095 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.0188, 7.3915, 1.8877, -0.0952, -0.0757, -0.0122, 0.2256, -8.9778, 6.9128, 0.1294, -0.6129, -0.1245, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b622d93c3b810f18a20b40d348d05f07b226c1ac35ce88ed554ed13f38173060",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:159432b81c878e8ec6e44fcae85991f6aa3d5f72ff581a832907f0977807bde4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a05e6ee249347097dfba87f586c0ef1f84807d6f28cd0d1cf1e439c18a00119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 14.55 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.1223, 1.6737, 0.5198, 0.3786, 0.1135, -0.0044, 0.9964]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0006 left_pitch=-0.0141 left_roll=-0.0 left_gripper=0.9996 right_x=0.3758 right_y=0.0296 right_z=0.0031 right_yaw=0.0222 right_pitch=-0.2011 right_roll=-0.0628 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -1.2103, 7.0632, 1.7021, -0.0464, -0.0415, -0.0122, -0.0615, -7.5282, 4.6838, 1.7705, -0.0659, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.2302, 1.1923, 0.8783, -0.4702, 0.1726, 0.0521, 0.9964]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0179 left_roll=0.0 left_gripper=0.9996 right_x=0.3439 right_y=0.0531 right_z=0.1665 right_yaw=0.0485 right_pitch=-0.2016 right_roll=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -1.6068, 7.0632, 1.6923, -0.0366, -0.0513, -0.0122, 0.3487, -4.7932, 9.0188, 1.453, 0.2369, 0.188, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3965, -0.0227, -0.0261, 0.9996, -0.218, 1.9434, 1.3651, -0.9726, -0.7498, -1.5581, 0.9964]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1732 left_yaw=0.0006 left_pitch=-0.0286 left_roll=0.0003 left_gripper=0.9996 right_x=0.3762 right_y=0.0436 right_z=0.0751 right_yaw=1.3356 right_pitch=-0.2507 right_roll=0.0095 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.0188, 7.3915, 1.8877, -0.0952, -0.0757, -0.0122, 0.2256, -8.9778, 6.9128, 0.1294, -0.6129, -0.1245, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b622d93c3b810f18a20b40d348d05f07b226c1ac35ce88ed554ed13f38173060",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:159432b81c878e8ec6e44fcae85991f6aa3d5f72ff581a832907f0977807bde4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a05e6ee249347097dfba87f586c0ef1f84807d6f28cd0d1cf1e439c18a00119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PBLD7VbHhgnCxMPY8UBsts",
      "input": {
        "note": "Confirmed three bowls; the pink one is under the right gripper. Backing off 6 cm toward the base so the jaws (now closing front-to-back) can straddle the bowl's near rim.",
        "targets": {
          "right_x": 0.31,
          "right_y": 0.045,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PBLD7VbHhgnCxMPY8UBsts",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4068, -0.0227, -0.0261, 0.9996, -0.2584, 1.7798, 1.0626, -0.9066, -0.7418, -1.6192, 0.9964]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1699 left_yaw=0.0006 left_pitch=-0.0435 left_roll=0.0006 left_gripper=0.9996 right_x=0.3099 right_y=0.0452 right_z=0.0546 right_yaw=1.3483 right_pitch=-0.2576 right_roll=0.0421 right_gripper=0.9964\nstate[joint_eff]: [0.0479, -1.4154, 7.1453, 1.8828, -0.0513, -0.0806, -0.0122, -0.3897, -9.0872, 5.5453, 0.486, -0.4664, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f9e8f70ece77828572f024f82d5dbcaeb0e531a9fa095bb3979c69973a031d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0852ec1b120251b6399c7e76d9b7afa9d10db02417d58cdaff0000c8a8728c55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:241f54c419bc10d0daa373c42164475800d1d819dff63d6f483ef1ea37931135",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 10.77 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.2302, 1.1923, 0.8783, -0.4702, 0.1726, 0.0521, 0.9964]\nstate[eef_state]: left_x=0.2948 left_y=0.0018 left_z=0.1757 left_yaw=0.0006 left_pitch=-0.0179 left_roll=0.0 left_gripper=0.9996 right_x=0.3439 right_y=0.0531 right_z=0.1665 right_yaw=0.0485 right_pitch=-0.2016 right_roll=-0.0647 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -1.6068, 7.0632, 1.6923, -0.0366, -0.0513, -0.0122, 0.3487, -4.7932, 9.0188, 1.453, 0.2369, 0.188, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3965, -0.0227, -0.0261, 0.9996, -0.218, 1.9434, 1.3651, -0.9726, -0.7498, -1.5581, 0.9964]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1732 left_yaw=0.0006 left_pitch=-0.0286 left_roll=0.0003 left_gripper=0.9996 right_x=0.3762 right_y=0.0436 right_z=0.0751 right_yaw=1.3356 right_pitch=-0.2507 right_roll=0.0095 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.0188, 7.3915, 1.8877, -0.0952, -0.0757, -0.0122, 0.2256, -8.9778, 6.9128, 0.1294, -0.6129, -0.1245, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4068, -0.0227, -0.0261, 0.9996, -0.2584, 1.7798, 1.0626, -0.9066, -0.7418, -1.6192, 0.9964]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1699 left_yaw=0.0006 left_pitch=-0.0435 left_roll=0.0006 left_gripper=0.9996 right_x=0.3099 right_y=0.0452 right_z=0.0546 right_yaw=1.3483 right_pitch=-0.2576 right_roll=0.0421 right_gripper=0.9964\nstate[joint_eff]: [0.0479, -1.4154, 7.1453, 1.8828, -0.0513, -0.0806, -0.0122, -0.3897, -9.0872, 5.5453, 0.486, -0.4664, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f9e8f70ece77828572f024f82d5dbcaeb0e531a9fa095bb3979c69973a031d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0852ec1b120251b6399c7e76d9b7afa9d10db02417d58cdaff0000c8a8728c55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:241f54c419bc10d0daa373c42164475800d1d819dff63d6f483ef1ea37931135",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SohL7FvtvionuKJohnCSBj",
      "input": {
        "note": "With the wrist yawed, image-right now corresponds to arm +x; the bowl's near rim sits ~3 cm beyond the jaw gap. Advancing 3.3 cm and dropping to rim height.",
        "targets": {
          "right_x": 0.343,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01SohL7FvtvionuKJohnCSBj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8204, 0.6075, -0.4091, -0.0227, -0.0261, 0.9996, -0.2371, 1.9186, 1.1164, -0.8307, -0.7395, -1.6032, 0.9963]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1684 left_yaw=0.0006 left_pitch=-0.0496 left_roll=0.0007 left_gripper=0.9996 right_x=0.3309 right_y=0.0462 right_z=0.0258 right_yaw=1.3633 right_pitch=-0.2599 right_roll=0.0628 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.1145, 7.0085, 1.7167, -0.0415, -0.0464, -0.0122, 0.1299, -9.3197, 6.9402, -0.2173, -0.5201, 0.105, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f38d72892e0392e10e9047e8620dd1be01ccfc6f2f241704e55e8a03d183cce6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b57c8f238023f9369e5015702862ce180b8c67207b64177369af4e60868a33e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:73d98ca08f3d7f3d5acc17601e462be21b7b3c0e2523ead94bb4e5b4bf1616ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 4.092 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.3965, -0.0227, -0.0261, 0.9996, -0.218, 1.9434, 1.3651, -0.9726, -0.7498, -1.5581, 0.9964]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1732 left_yaw=0.0006 left_pitch=-0.0286 left_roll=0.0003 left_gripper=0.9996 right_x=0.3762 right_y=0.0436 right_z=0.0751 right_yaw=1.3356 right_pitch=-0.2507 right_roll=0.0095 right_gripper=0.9964\nstate[joint_eff]: [-0.1162, -1.0188, 7.3915, 1.8877, -0.0952, -0.0757, -0.0122, 0.2256, -8.9778, 6.9128, 0.1294, -0.6129, -0.1245, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4068, -0.0227, -0.0261, 0.9996, -0.2584, 1.7798, 1.0626, -0.9066, -0.7418, -1.6192, 0.9964]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1699 left_yaw=0.0006 left_pitch=-0.0435 left_roll=0.0006 left_gripper=0.9996 right_x=0.3099 right_y=0.0452 right_z=0.0546 right_yaw=1.3483 right_pitch=-0.2576 right_roll=0.0421 right_gripper=0.9964\nstate[joint_eff]: [0.0479, -1.4154, 7.1453, 1.8828, -0.0513, -0.0806, -0.0122, -0.3897, -9.0872, 5.5453, 0.486, -0.4664, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8204, 0.6075, -0.4091, -0.0227, -0.0261, 0.9996, -0.2371, 1.9186, 1.1164, -0.8307, -0.7395, -1.6032, 0.9963]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1684 left_yaw=0.0006 left_pitch=-0.0496 left_roll=0.0007 left_gripper=0.9996 right_x=0.3309 right_y=0.0462 right_z=0.0258 right_yaw=1.3633 right_pitch=-0.2599 right_roll=0.0628 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.1145, 7.0085, 1.7167, -0.0415, -0.0464, -0.0122, 0.1299, -9.3197, 6.9402, -0.2173, -0.5201, 0.105, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f38d72892e0392e10e9047e8620dd1be01ccfc6f2f241704e55e8a03d183cce6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b57c8f238023f9369e5015702862ce180b8c67207b64177369af4e60868a33e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73d98ca08f3d7f3d5acc17601e462be21b7b3c0e2523ead94bb4e5b4bf1616ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStwgKjgEIEhgCKkCch5RounHsgsHzGfWI0qcOu8x6jl5I5RipGqdCircmIf6EeUWnaw9ixlUAT+4ViKs8aX/kvWVh2WtC3uwqmrT8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcamzNUGEgxVNMo5QGBuFuo7zcUaDAwPZ0mq+N27BSdL2SIwxFYtcsbb4/RN9ySPvk/JVKKH6IzGEb+bLypPWeQYnD8vLU32rvi1Zz8UtUhpGkEWKtUGqCdehrvnUK9no9UxJsgFBooOMiGypu1IeeSa7YOebWx5kyky1A+/9/1l45BAluKYL+0XawGm1Di4wwcS8zEI3Q2pcg6yuFm74KQVTQ1kvriScASI3c2Hw7oJIqhETzMuS3IAmjNh42b2IfN4+GT8akvLkIu2jzdUAnVwfLXJZnUZdjHGEX4ddN8iglqZss4a6bjqNJC9bSQTNj/Ll4eKWlXKZVF0k/dXWYrTDZtyMZgXFx2lbcb7FYwWXALwvRleGfTfPoo0G6D4sIppzaMOq4F0PHmgfIMWL/BRO2NyHSjf5TuYHjjLNH7aw/FO4RsDdGk/vI6StCTYHz/pMeyZcC12Ej5ZyT9SwMyLlShX1F6CF+pZWUWBn3mG6VSGvi4iQHQwQy516VCrWvEZFTNxDolu4k25YmtL6iMhYDVDvC5U+331bjvsP446XbPuLyp0K1uVFXdQu7GYM8bMXfq4fRtYeLZhLQG45IjGBJ2igCIpVf2ZQZGUlfTwtf509KjnAa0pwjNVb3uUcI8GkqSVoxPeaonf3keKr4ANJgzQN8ZCcFqlfBXgFpYrn3QwF6LDU/7OL64X90UJbaCeaziRYBF/9kJjkCg1ijk3MDlO7sfhCI4h0bIIYU+0CPWtUQjnfliVOU9UCrv+wfqpPNlWGEbVwguJ3bDMr8RdRPxOFIyqYDdp8rBVpd2m9mcsaG6ans/qPGfxLxMlcnzqmLbH8nsE2jSmMFstEtL7wQP4ajKFJPuxXpAW1NKTNuHY+HsIdVGvSGe0DzKVzwIymNQtzVwsQTfWUlHnIPgU7QkSS1SwJIhYz3XQ+iUcMFSD8G2RiVOTpWy12MpL0zuq7N3mklP9tVIPuLHOd5Geb/Wiwa50Wtg3Y+1lhVKtnou3ctu6JVHM934L/5fIuTZTULn/zUTn+aWY2icDrq9zgla3ALN2gfxmHQoed0Byr/XKb806TqvHlvrzBLykZGlVnNoiPGii9Itixm5FlrEkjK19/ubrLDeUYVatLTQMdxE7o8KmZ57SVzR62FSv6MsRhC0IWpB9vGDLryKdIM9kfUQ1IwQdVGr9ZU92uktJi1uJHJ5aBza501ylWZAyVnqqxs641t/EYo2mEhKehc0PrWatFT8I2Y+50xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017P3ejQm1hQpj7KyYvCXuW6",
      "input": {
        "note": "The bowl's near rim is sitting in the jaw gap at rim height; closing to pinch the rim wall.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017P3ejQm1hQpj7KyYvCXuW6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0261, 0.9996, -0.2367, 1.9148, 1.1225, -0.8066, -0.7628, -1.626, 0.0405]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0006 left_pitch=-0.0496 left_roll=0.0007 left_gripper=0.9996 right_x=0.3386 right_y=0.0476 right_z=0.0307 right_yaw=1.3665 right_pitch=-0.2375 right_roll=0.0109 right_gripper=0.0405\nstate[joint_eff]: [-0.0205, -1.4701, 7.0085, 1.6825, -0.0659, -0.0806, -0.0122, -0.1846, -7.2274, 4.4239, -0.1294, 0.0708, 0.4176, 1.2479]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b78108d48d6c7bccafcaf8cce1d73438d6427b575c94d247902688f3b4cca0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:180493c082374f298a1f883f0478729814e0fb711b24dc55f500aad46faed241",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b1717316e1dbfb101bbf8511d1113c6ad04c2858ccaf813fce085cb639d13e49",
        "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 · 19.61 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4068, -0.0227, -0.0261, 0.9996, -0.2584, 1.7798, 1.0626, -0.9066, -0.7418, -1.6192, 0.9964]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1699 left_yaw=0.0006 left_pitch=-0.0435 left_roll=0.0006 left_gripper=0.9996 right_x=0.3099 right_y=0.0452 right_z=0.0546 right_yaw=1.3483 right_pitch=-0.2576 right_roll=0.0421 right_gripper=0.9964\nstate[joint_eff]: [0.0479, -1.4154, 7.1453, 1.8828, -0.0513, -0.0806, -0.0122, -0.3897, -9.0872, 5.5453, 0.486, -0.4664, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8204, 0.6075, -0.4091, -0.0227, -0.0261, 0.9996, -0.2371, 1.9186, 1.1164, -0.8307, -0.7395, -1.6032, 0.9963]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1684 left_yaw=0.0006 left_pitch=-0.0496 left_roll=0.0007 left_gripper=0.9996 right_x=0.3309 right_y=0.0462 right_z=0.0258 right_yaw=1.3633 right_pitch=-0.2599 right_roll=0.0628 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.1145, 7.0085, 1.7167, -0.0415, -0.0464, -0.0122, 0.1299, -9.3197, 6.9402, -0.2173, -0.5201, 0.105, -0.0171]",
      "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]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0261, 0.9996, -0.2367, 1.9148, 1.1225, -0.8066, -0.7628, -1.626, 0.0405]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0006 left_pitch=-0.0496 left_roll=0.0007 left_gripper=0.9996 right_x=0.3386 right_y=0.0476 right_z=0.0307 right_yaw=1.3665 right_pitch=-0.2375 right_roll=0.0109 right_gripper=0.0405\nstate[joint_eff]: [-0.0205, -1.4701, 7.0085, 1.6825, -0.0659, -0.0806, -0.0122, -0.1846, -7.2274, 4.4239, -0.1294, 0.0708, 0.4176, 1.2479]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b78108d48d6c7bccafcaf8cce1d73438d6427b575c94d247902688f3b4cca0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:180493c082374f298a1f883f0478729814e0fb711b24dc55f500aad46faed241",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1717316e1dbfb101bbf8511d1113c6ad04c2858ccaf813fce085cb639d13e49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2wIKjgEIEhgCKkCmPhdR5tTD2Hw4fCdxWTuzOIlTt8N6Eu94bu6aVgzWdLiCPkdZB2J/cvKtgHG8OFdj2s/6v3B7IVxDOujQeI2eMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcqmzNUGEgw1tdohlXMCrFmPOrsaDMbr/X3W1WCmCTwsrSIwtbondC8dcFA5Htz2SwGEYqAacReS4P412FW+4YPaE6eEFsyqRzFor9ZzEXZF1NtVKno2KCFb8c/dqhLtjrEAw55PXBLtNfAbCt41h8vBjrnEZDJ6NUwV5QHd0uKWY2kJrKjNSgc7hAB1dkCXZzdhtypgx24NLIlp6uSIoUtoncPs/z0eobS04gh1UlbFcFmE1kNyg6aRjJsb5yMEFcRD9cziGavTrPJKyLea2xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01616xMarHLyN6w1Cr54m4fi",
      "input": {
        "note": "Gripper settled at 0.04 (~4 mm), consistent with pinching the rim wall. Lifting 9 cm to see whether the bowl comes with it.",
        "targets": {
          "right_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_01616xMarHLyN6w1Cr54m4fi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, -0.2367, 1.8259, 1.2995, -1.0748, -0.7456, -1.6333, 0.0399]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1684 left_yaw=0.0006 left_pitch=-0.0492 left_roll=0.0007 left_gripper=0.9996 right_x=0.3423 right_y=0.0444 right_z=0.0967 right_yaw=1.3718 right_pitch=-0.2546 right_roll=0.0088 right_gripper=0.0399\nstate[joint_eff]: [-0.1299, -1.388, 7.159, 1.707, -0.0855, -0.0855, -0.0122, -0.1436, -10.7145, 7.6103, 0.0317, -0.5446, 0.0464, 0.6862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a819ed36103b6761a4a8a8f5cd2e6b4b05bba91e23ff85cd71bbda8b4455feaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:539eeb488fbb534c94aedf0e2ee9ce9333b89293c1c5ea0ac07d23dc8ce3da7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41ed9f9c24c2cb6dffc9acb45362d41215deb5694419d9c78105e3bd92c448c6",
        "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 · 13.09 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8204, 0.6075, -0.4091, -0.0227, -0.0261, 0.9996, -0.2371, 1.9186, 1.1164, -0.8307, -0.7395, -1.6032, 0.9963]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1684 left_yaw=0.0006 left_pitch=-0.0496 left_roll=0.0007 left_gripper=0.9996 right_x=0.3309 right_y=0.0462 right_z=0.0258 right_yaw=1.3633 right_pitch=-0.2599 right_roll=0.0628 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.1145, 7.0085, 1.7167, -0.0415, -0.0464, -0.0122, 0.1299, -9.3197, 6.9402, -0.2173, -0.5201, 0.105, -0.0171]",
      "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]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0261, 0.9996, -0.2367, 1.9148, 1.1225, -0.8066, -0.7628, -1.626, 0.0405]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0006 left_pitch=-0.0496 left_roll=0.0007 left_gripper=0.9996 right_x=0.3386 right_y=0.0476 right_z=0.0307 right_yaw=1.3665 right_pitch=-0.2375 right_roll=0.0109 right_gripper=0.0405\nstate[joint_eff]: [-0.0205, -1.4701, 7.0085, 1.6825, -0.0659, -0.0806, -0.0122, -0.1846, -7.2274, 4.4239, -0.1294, 0.0708, 0.4176, 1.2479]",
      "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]: [-0.0196, 0.8211, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, -0.2367, 1.8259, 1.2995, -1.0748, -0.7456, -1.6333, 0.0399]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1684 left_yaw=0.0006 left_pitch=-0.0492 left_roll=0.0007 left_gripper=0.9996 right_x=0.3423 right_y=0.0444 right_z=0.0967 right_yaw=1.3718 right_pitch=-0.2546 right_roll=0.0088 right_gripper=0.0399\nstate[joint_eff]: [-0.1299, -1.388, 7.159, 1.707, -0.0855, -0.0855, -0.0122, -0.1436, -10.7145, 7.6103, 0.0317, -0.5446, 0.0464, 0.6862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a819ed36103b6761a4a8a8f5cd2e6b4b05bba91e23ff85cd71bbda8b4455feaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:539eeb488fbb534c94aedf0e2ee9ce9333b89293c1c5ea0ac07d23dc8ce3da7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41ed9f9c24c2cb6dffc9acb45362d41215deb5694419d9c78105e3bd92c448c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VrnWgpxzRJE3ANr56ffXFx",
      "input": {
        "note": "The pink bowl lifted with the gripper (it rises with the jaws in both views). Carrying it 15 cm to the arm's left, toward the lavender bowl, at 16 cm height.",
        "targets": {
          "right_y": 0.195,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01VrnWgpxzRJE3ANr56ffXFx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8249, 0.6071, -0.4149, -0.0227, -0.0261, 0.9996, 0.2161, 1.713, 1.3293, -0.9058, -0.6621, -1.0901, 0.0406]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1658 left_yaw=0.0006 left_pitch=-0.0603 left_roll=0.0009 left_gripper=0.9996 right_x=0.3325 right_y=0.1879 right_z=0.1362 right_yaw=1.4164 right_pitch=-0.2902 right_roll=0.0492 right_gripper=0.0406\nstate[joint_eff]: [-0.0479, -1.5111, 7.0359, 1.7314, -0.0806, -0.0171, -0.0122, 0.1162, -10.2085, 9.2786, 0.8864, -0.4615, 0.1685, 0.9499]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aff892d7ebf88ffe31c7b16cf0231f82908e10806dc3ac1ebbf65dec5121753e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:164984076c2b24a6a086d547e8fd25b5d0cce849e2e32e2859a01834bc9ed040",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:81a7fbe80351e957967e89f806290457eb71be2d1ce282ad22edbdbbab320149",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 28.07 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0261, 0.9996, -0.2367, 1.9148, 1.1225, -0.8066, -0.7628, -1.626, 0.0405]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0006 left_pitch=-0.0496 left_roll=0.0007 left_gripper=0.9996 right_x=0.3386 right_y=0.0476 right_z=0.0307 right_yaw=1.3665 right_pitch=-0.2375 right_roll=0.0109 right_gripper=0.0405\nstate[joint_eff]: [-0.0205, -1.4701, 7.0085, 1.6825, -0.0659, -0.0806, -0.0122, -0.1846, -7.2274, 4.4239, -0.1294, 0.0708, 0.4176, 1.2479]",
      "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]: [-0.0196, 0.8211, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, -0.2367, 1.8259, 1.2995, -1.0748, -0.7456, -1.6333, 0.0399]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1684 left_yaw=0.0006 left_pitch=-0.0492 left_roll=0.0007 left_gripper=0.9996 right_x=0.3423 right_y=0.0444 right_z=0.0967 right_yaw=1.3718 right_pitch=-0.2546 right_roll=0.0088 right_gripper=0.0399\nstate[joint_eff]: [-0.1299, -1.388, 7.159, 1.707, -0.0855, -0.0855, -0.0122, -0.1436, -10.7145, 7.6103, 0.0317, -0.5446, 0.0464, 0.6862]",
      "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]: [-0.0196, 0.8249, 0.6071, -0.4149, -0.0227, -0.0261, 0.9996, 0.2161, 1.713, 1.3293, -0.9058, -0.6621, -1.0901, 0.0406]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1658 left_yaw=0.0006 left_pitch=-0.0603 left_roll=0.0009 left_gripper=0.9996 right_x=0.3325 right_y=0.1879 right_z=0.1362 right_yaw=1.4164 right_pitch=-0.2902 right_roll=0.0492 right_gripper=0.0406\nstate[joint_eff]: [-0.0479, -1.5111, 7.0359, 1.7314, -0.0806, -0.0171, -0.0122, 0.1162, -10.2085, 9.2786, 0.8864, -0.4615, 0.1685, 0.9499]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aff892d7ebf88ffe31c7b16cf0231f82908e10806dc3ac1ebbf65dec5121753e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:164984076c2b24a6a086d547e8fd25b5d0cce849e2e32e2859a01834bc9ed040",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81a7fbe80351e957967e89f806290457eb71be2d1ce282ad22edbdbbab320149",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011nr5XR7NrEgk3G4Qy7oYm2",
      "input": {
        "note": "Overhead shows the carried pink bowl now just right of the lavender bowl; continuing ~11 cm further left to bring it directly over the lavender bowl.",
        "targets": {
          "right_y": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011nr5XR7NrEgk3G4Qy7oYm2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0261, 0.9996, 0.5095, 1.8156, 1.404, -0.7448, -0.5545, -0.7921, 0.0399]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0006 left_pitch=-0.0606 left_roll=0.0009 left_gripper=0.9996 right_x=0.3206 right_y=0.2897 right_z=0.1236 right_yaw=1.4516 right_pitch=-0.3232 right_roll=0.0755 right_gripper=0.0399\nstate[joint_eff]: [-0.0889, -1.4154, 7.1726, 1.6972, -0.0415, -0.0464, -0.0122, 0.1573, -8.5538, 9.4564, 1.1551, -0.3346, 0.1197, 0.8864]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a82eacb22f16eb4a823cc197f1cb1f6ea38b405078e64cf4714c028646b6a31a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f18f43af5de8771e14d6e93c38c661d6a82689fe9a7e9d1f88cc2de97be05783",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e85a6cb212fca54d2227a5305013215512959c6b56bd62da84ee72c8be4d9a15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 10.35 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, -0.2367, 1.8259, 1.2995, -1.0748, -0.7456, -1.6333, 0.0399]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1684 left_yaw=0.0006 left_pitch=-0.0492 left_roll=0.0007 left_gripper=0.9996 right_x=0.3423 right_y=0.0444 right_z=0.0967 right_yaw=1.3718 right_pitch=-0.2546 right_roll=0.0088 right_gripper=0.0399\nstate[joint_eff]: [-0.1299, -1.388, 7.159, 1.707, -0.0855, -0.0855, -0.0122, -0.1436, -10.7145, 7.6103, 0.0317, -0.5446, 0.0464, 0.6862]",
      "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]: [-0.0196, 0.8249, 0.6071, -0.4149, -0.0227, -0.0261, 0.9996, 0.2161, 1.713, 1.3293, -0.9058, -0.6621, -1.0901, 0.0406]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1658 left_yaw=0.0006 left_pitch=-0.0603 left_roll=0.0009 left_gripper=0.9996 right_x=0.3325 right_y=0.1879 right_z=0.1362 right_yaw=1.4164 right_pitch=-0.2902 right_roll=0.0492 right_gripper=0.0406\nstate[joint_eff]: [-0.0479, -1.5111, 7.0359, 1.7314, -0.0806, -0.0171, -0.0122, 0.1162, -10.2085, 9.2786, 0.8864, -0.4615, 0.1685, 0.9499]",
      "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]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0261, 0.9996, 0.5095, 1.8156, 1.404, -0.7448, -0.5545, -0.7921, 0.0399]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0006 left_pitch=-0.0606 left_roll=0.0009 left_gripper=0.9996 right_x=0.3206 right_y=0.2897 right_z=0.1236 right_yaw=1.4516 right_pitch=-0.3232 right_roll=0.0755 right_gripper=0.0399\nstate[joint_eff]: [-0.0889, -1.4154, 7.1726, 1.6972, -0.0415, -0.0464, -0.0122, 0.1573, -8.5538, 9.4564, 1.1551, -0.3346, 0.1197, 0.8864]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a82eacb22f16eb4a823cc197f1cb1f6ea38b405078e64cf4714c028646b6a31a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f18f43af5de8771e14d6e93c38c661d6a82689fe9a7e9d1f88cc2de97be05783",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e85a6cb212fca54d2227a5305013215512959c6b56bd62da84ee72c8be4d9a15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014rr3tcZVKbUVWdmvcUSj1o",
      "input": {
        "note": "The lavender bowl now sits just beyond the held pink bowl in the wrist view; most of their image separation is the 12 cm height difference, so I'm descending to 6 cm to judge the nesting alignment.",
        "targets": {
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014rr3tcZVKbUVWdmvcUSj1o",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8276, 0.6075, -0.4152, -0.0227, -0.0261, 0.9996, 0.5102, 1.8706, 1.2427, -0.5659, -0.5426, -0.7906, 0.0429]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1652 left_yaw=0.0006 left_pitch=-0.0629 left_roll=0.001 left_gripper=0.9996 right_x=0.314 right_y=0.2844 right_z=0.0632 right_yaw=1.4553 right_pitch=-0.354 right_roll=0.1018 right_gripper=0.0429\nstate[joint_eff]: [-0.0068, -1.4427, 7.0085, 1.7411, -0.0513, -0.0464, -0.0122, -0.0889, -7.788, 5.6957, 1.0818, -0.4029, 0.0659, 0.6862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c2f3ecd4077368894c744b12f87a19af539bca7049c2ec2482f3d0cc3ca861c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39f888b31f6afd1a95d0170cb2471ce64c157396448b44080ca37be973b39099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01338cfbfd865428e95d202ca80c14a9de6a61aa1f5358b7dfafd0a940c92c4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 4.751 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8249, 0.6071, -0.4149, -0.0227, -0.0261, 0.9996, 0.2161, 1.713, 1.3293, -0.9058, -0.6621, -1.0901, 0.0406]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1658 left_yaw=0.0006 left_pitch=-0.0603 left_roll=0.0009 left_gripper=0.9996 right_x=0.3325 right_y=0.1879 right_z=0.1362 right_yaw=1.4164 right_pitch=-0.2902 right_roll=0.0492 right_gripper=0.0406\nstate[joint_eff]: [-0.0479, -1.5111, 7.0359, 1.7314, -0.0806, -0.0171, -0.0122, 0.1162, -10.2085, 9.2786, 0.8864, -0.4615, 0.1685, 0.9499]",
      "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]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0261, 0.9996, 0.5095, 1.8156, 1.404, -0.7448, -0.5545, -0.7921, 0.0399]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0006 left_pitch=-0.0606 left_roll=0.0009 left_gripper=0.9996 right_x=0.3206 right_y=0.2897 right_z=0.1236 right_yaw=1.4516 right_pitch=-0.3232 right_roll=0.0755 right_gripper=0.0399\nstate[joint_eff]: [-0.0889, -1.4154, 7.1726, 1.6972, -0.0415, -0.0464, -0.0122, 0.1573, -8.5538, 9.4564, 1.1551, -0.3346, 0.1197, 0.8864]",
      "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]: [-0.0196, 0.8276, 0.6075, -0.4152, -0.0227, -0.0261, 0.9996, 0.5102, 1.8706, 1.2427, -0.5659, -0.5426, -0.7906, 0.0429]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1652 left_yaw=0.0006 left_pitch=-0.0629 left_roll=0.001 left_gripper=0.9996 right_x=0.314 right_y=0.2844 right_z=0.0632 right_yaw=1.4553 right_pitch=-0.354 right_roll=0.1018 right_gripper=0.0429\nstate[joint_eff]: [-0.0068, -1.4427, 7.0085, 1.7411, -0.0513, -0.0464, -0.0122, -0.0889, -7.788, 5.6957, 1.0818, -0.4029, 0.0659, 0.6862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c2f3ecd4077368894c744b12f87a19af539bca7049c2ec2482f3d0cc3ca861c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39f888b31f6afd1a95d0170cb2471ce64c157396448b44080ca37be973b39099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01338cfbfd865428e95d202ca80c14a9de6a61aa1f5358b7dfafd0a940c92c4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISjgoKjgEIEhgCKkDJ1OQe5L/J6bWwJtQC4B5Y6ZUl+RTUeKXNTaTZ8+2jiaCgdx8de02zwZXKiPG8KgEXvhiVp+qmKyYODxFx531RMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZSnzNUGEgzhY9Q/Kc6kBZfbGdEaDNVQNsuZFa/9RiKXIiIwKWp9vIGB8mzWxM/khIOiEU457WNovaGNISBK4G4kOZxQx7q1Qf5qLYSYg8zQpk++KqwIiWeJH8fWRkDlWpd/rmc2f+V006GmHZehgwLzvamzxW6VLB+9W2f5acblinMcupXBAZRhqpePPtYQr8m1vAZgP1anBnduMzBldDrAuly2twyyYpzbdhA2KzOIwIZmA8UBiMFgNk9R2x5fkHOlg679yPOvNzs3rJSgVuyOXsRyqcujA9zWZlNhToEp5ai1krx1Coarz2UOMSTjIU0mXdkzCkNngyaac1b5nTW6gGzBXY0zJo7SAb4xZp29tb+C5TveQTtn+Ejnz5HxRnzzd0f5DZ9GE8cHW0StfABoJPk1Qrdadhc1iRU6rZsJc8KjrnZPdYHUcEwmX9wYTv0HgqPlhQecpAZ0cwprSHP64G85HmffRAV6IevlpOptfTRb+EipvK2aHloDGNsQXS62jVv5V5FEEgor9SVQBUQc8kmpZTAXBcqqO7Wlk7IdxskIxfBkCHp0F4s2JvknvLFJR6VKZoVtEYUOwIk84HnzeNYwYEJp5RNoDneOuyoIeNLShOJlceSyBKDr36smuUpZbQDC0Ez80iVqC+Ze+K28vntCcPz0RIRjjmxjTW4RFbbV+MqxP/XEOYLXZSd433EaslJc4TcsW2ldtmxhNqjNIDP2bXAaXl/OJjzxTSzNNI21ahYRRCXaKIWjTHFyfLwNr98peSrTsO/8NYFF6yHAjs+B3Lqi5p6cFU210Nm1Rvy8qH//PiiSm/71hzYuQopz4mE4HkThgZVrA2NtuvYlxJhf+gbLzN83+aHRiUwjtYwSx2edhZTZNmqq27gXSabcq/h+9oujlMqtNqHG0rRzbXPMydw+oYaG3OYTgul4MiqMGqAR3ONBPQVIbzS59bQLFY2/YGHGTIhMtXh7Zh7gbHQck4Y9VsvNf2cxZc32FMDhDw88fW5erTp5/MF24W+aEUQtdKEiamcl6txl4e3PhsBu8kOjmKN6UkZxcQhMPIRPqHXirftmiNDbWxr76/fa/YgK50BygdgtiKJKgsHigzt0JBc2XrwN23Zz/mr6zucNh9qXV34fxaPVQh19RJbFB2OlEzpFreyT8QK0nSmOYDNvAr/Qz237hP8FkKayBBrccyziVflNBzxMXjQuYpp1C52PFxrXsFV69/1EZXjBsDVQa14beYb2IsWwcXTaQSWIfxrZEjZo92epxgcDDme5CLrUHAfiuZYsysAqotiaxcAOFEYA57ewFVGmcGtvaiRLNGUEJP/bqkZDH27oTZSG6BRbr1j6CWZpsnQd0iI/XCNuMxZtjiMjopSWOgUU+ZIBbmDkxb7YDW7HbE2RJyymVJMMHF4pwvYZcK9LD8ThEtVEX3YPpLRHXZbWICdtTfy7GEVVAzK770qAccPV2iXYFQhlXgks9Fq3TtKv91WaGmF1mJb/doWwxaOwL0TeAIh0WW5mQEZZpNZcZ+0fs91zGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014kHStvzdAiVATWyX7zpDjb",
      "input": {
        "note": "The lavender bowl has disappeared under the gripper/held bowl in both views, suggesting the pink bowl is directly over it; lowering a further 2 cm before releasing.",
        "targets": {
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_014kHStvzdAiVATWyX7zpDjb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.828, 0.6075, -0.4156, -0.0227, -0.0261, 0.9996, 0.5102, 1.8713, 1.2213, -0.4961, -0.543, -0.7971, 0.0423]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.165 left_yaw=0.0006 left_pitch=-0.0637 left_roll=0.001 left_gripper=0.9996 right_x=0.3207 right_y=0.2882 right_z=0.0621 right_yaw=1.4456 right_pitch=-0.3254 right_roll=0.057 right_gripper=0.0423\nstate[joint_eff]: [-0.1846, -1.4291, 6.9949, 1.707, -0.0464, -0.0562, -0.0122, -0.0479, -7.2274, 5.1624, 0.779, -0.315, 0.0269, 0.4615]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9570db846a8d4781ef8db8e037eb6412aae1c94d0512365530c3493ea551586",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc95a3f34fbd58a4845f6aa810ed86ac5ae7a6267d870a62ccf8328ecbb8ccd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d12efe0006ac88fc979792ab226ae029ec999f225a4a5f1715f2b6ee57c0b731",
        "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 · 3.345 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0261, 0.9996, 0.5095, 1.8156, 1.404, -0.7448, -0.5545, -0.7921, 0.0399]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0006 left_pitch=-0.0606 left_roll=0.0009 left_gripper=0.9996 right_x=0.3206 right_y=0.2897 right_z=0.1236 right_yaw=1.4516 right_pitch=-0.3232 right_roll=0.0755 right_gripper=0.0399\nstate[joint_eff]: [-0.0889, -1.4154, 7.1726, 1.6972, -0.0415, -0.0464, -0.0122, 0.1573, -8.5538, 9.4564, 1.1551, -0.3346, 0.1197, 0.8864]",
      "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]: [-0.0196, 0.8276, 0.6075, -0.4152, -0.0227, -0.0261, 0.9996, 0.5102, 1.8706, 1.2427, -0.5659, -0.5426, -0.7906, 0.0429]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1652 left_yaw=0.0006 left_pitch=-0.0629 left_roll=0.001 left_gripper=0.9996 right_x=0.314 right_y=0.2844 right_z=0.0632 right_yaw=1.4553 right_pitch=-0.354 right_roll=0.1018 right_gripper=0.0429\nstate[joint_eff]: [-0.0068, -1.4427, 7.0085, 1.7411, -0.0513, -0.0464, -0.0122, -0.0889, -7.788, 5.6957, 1.0818, -0.4029, 0.0659, 0.6862]",
      "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]: [-0.0196, 0.828, 0.6075, -0.4156, -0.0227, -0.0261, 0.9996, 0.5102, 1.8713, 1.2213, -0.4961, -0.543, -0.7971, 0.0423]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.165 left_yaw=0.0006 left_pitch=-0.0637 left_roll=0.001 left_gripper=0.9996 right_x=0.3207 right_y=0.2882 right_z=0.0621 right_yaw=1.4456 right_pitch=-0.3254 right_roll=0.057 right_gripper=0.0423\nstate[joint_eff]: [-0.1846, -1.4291, 6.9949, 1.707, -0.0464, -0.0562, -0.0122, -0.0479, -7.2274, 5.1624, 0.779, -0.315, 0.0269, 0.4615]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9570db846a8d4781ef8db8e037eb6412aae1c94d0512365530c3493ea551586",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc95a3f34fbd58a4845f6aa810ed86ac5ae7a6267d870a62ccf8328ecbb8ccd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d12efe0006ac88fc979792ab226ae029ec999f225a4a5f1715f2b6ee57c0b731",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISswMKjgEIEhgCKkCwnWrxZwsUYPcxSrikR0F2cEQxWuWEQPuHUN+uOjmzLlYUr2mN3lLdEIF5oqwNdhOiOKrPQ8JjyZkQd+G8SjurMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZqnzNUGEgyU2wenO9G7Gzs/na8aDNaZbDyZCw0AggKhCCIwxL8TQZQ3YQ+ErQf8428FfIPh14/VY5gnFLIRzZR8Egkq+JVeCaVEVDd2mXW8YufdKtEB/lGQU13G419BnLFBTdma4GxJsUT5RHOtR/tNcj+XtCKjn1E7Y1QebJqFiGNlKcIS89rBv5W2hUdH5+8JXshb/qYNsfUPL6DpkjGUJ4Dw1RM4Mf3XKehNx88tlwrFZh1bzBNvub9je/axmmaJS4gxbPSaxYmmqNOxCE0YKjfxZxUw/mreGydgJkPXXdU6Gf2FkCSAQW8W6CZrRgkD6CM6WYVr7SnoTUtd6ct/wpXP/Sc2l5EjoPIbBwaWY2ts72IskJbkP0mCWkze4boezgyMUvMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019JtrF3HAqeowLW9goV21NT",
      "input": {
        "note": "Descent stopped at z=0.062, indicating the carried bowl has landed on the lavender bowl; opening the jaws to release it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019JtrF3HAqeowLW9goV21NT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6071, -0.4156, -0.0227, -0.0261, 0.9996, 0.5102, 1.8721, 1.2152, -0.4961, -0.5381, -0.8036, 0.9953]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1647 left_yaw=0.0006 left_pitch=-0.0648 left_roll=0.001 left_gripper=0.9996 right_x=0.3196 right_y=0.2867 right_z=0.0595 right_yaw=1.4483 right_pitch=-0.333 right_roll=0.0557 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.347, 7.0085, 1.6777, -0.0757, -0.0317, -0.0122, 0.0068, -9.4974, 6.4615, 0.9744, -0.3834, 0.0708, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37c5a041f6db0a7ed9a57e86e46f21a92db2d8bb9cb605e8cc2c3530e8fed2c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b081e465ba95dab2d7a3bc97bd4659a1f7c9fbd54d85ef04178a4dcf75689051",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0485ee52ef96a5733975f6e2da077cf63895567a5758dd427baf0bef563ac214",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 28 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8276, 0.6075, -0.4152, -0.0227, -0.0261, 0.9996, 0.5102, 1.8706, 1.2427, -0.5659, -0.5426, -0.7906, 0.0429]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1652 left_yaw=0.0006 left_pitch=-0.0629 left_roll=0.001 left_gripper=0.9996 right_x=0.314 right_y=0.2844 right_z=0.0632 right_yaw=1.4553 right_pitch=-0.354 right_roll=0.1018 right_gripper=0.0429\nstate[joint_eff]: [-0.0068, -1.4427, 7.0085, 1.7411, -0.0513, -0.0464, -0.0122, -0.0889, -7.788, 5.6957, 1.0818, -0.4029, 0.0659, 0.6862]",
      "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]: [-0.0196, 0.828, 0.6075, -0.4156, -0.0227, -0.0261, 0.9996, 0.5102, 1.8713, 1.2213, -0.4961, -0.543, -0.7971, 0.0423]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.165 left_yaw=0.0006 left_pitch=-0.0637 left_roll=0.001 left_gripper=0.9996 right_x=0.3207 right_y=0.2882 right_z=0.0621 right_yaw=1.4456 right_pitch=-0.3254 right_roll=0.057 right_gripper=0.0423\nstate[joint_eff]: [-0.1846, -1.4291, 6.9949, 1.707, -0.0464, -0.0562, -0.0122, -0.0479, -7.2274, 5.1624, 0.779, -0.315, 0.0269, 0.4615]",
      "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]: [-0.0196, 0.8288, 0.6071, -0.4156, -0.0227, -0.0261, 0.9996, 0.5102, 1.8721, 1.2152, -0.4961, -0.5381, -0.8036, 0.9953]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1647 left_yaw=0.0006 left_pitch=-0.0648 left_roll=0.001 left_gripper=0.9996 right_x=0.3196 right_y=0.2867 right_z=0.0595 right_yaw=1.4483 right_pitch=-0.333 right_roll=0.0557 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.347, 7.0085, 1.6777, -0.0757, -0.0317, -0.0122, 0.0068, -9.4974, 6.4615, 0.9744, -0.3834, 0.0708, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37c5a041f6db0a7ed9a57e86e46f21a92db2d8bb9cb605e8cc2c3530e8fed2c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b081e465ba95dab2d7a3bc97bd4659a1f7c9fbd54d85ef04178a4dcf75689051",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0485ee52ef96a5733975f6e2da077cf63895567a5758dd427baf0bef563ac214",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqQIKjgEIEhgCKkCe7dkytfEWekLMeiXlOLUwRaWLIczrUDrpR2CWjP+c2uF6MsYpuCKnB/AzUjUPQU7mQ+LsnqMM8gmqd9RXO7olMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ6nzNUGEgz/84/J62MZn2MF8c4aDGXBWmfIy/PGOeeNQiIwoawx+zYs0OkTxa3JNSVBYv5stGFWNMkkbNOh+vhz/yq7Z1ln/pG/NkuFE+SmkE8LKkiUckXlf+jiGSKSlS+gQk9ndCF3Qo64TeT3vkrCpKGgSh7ZOrkjO9gpj3Tv4lxF86TebPnILy3Axr90l3mSqTxgi6sBcNN9iK4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012GrX64cayzaYdCV5QBwzjY",
      "input": {
        "note": "Released the pink bowl; pulling the right arm up and back (and unwinding the yaw) to clear the overhead view and check whether the bowls nested.",
        "targets": {
          "right_x": 0.25,
          "right_yaw": 0.0,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_012GrX64cayzaYdCV5QBwzjY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8341, 0.6075, -0.4271, -0.0227, -0.0261, 0.9996, 1.0813, 1.6291, 1.541, -0.9966, 0.448, 0.7662, 0.9954]\nstate[eef_state]: left_x=0.2909 left_y=0.0019 left_z=0.1611 left_yaw=0.0007 left_pitch=-0.0812 left_roll=0.0013 left_gripper=0.9996 right_x=0.2486 right_y=0.3115 right_z=0.2112 right_yaw=0.2308 right_pitch=-0.3534 right_roll=0.0717 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -1.7573, 6.9812, 1.7509, -0.0513, -0.0659, -0.0122, 0.1162, -7.4735, 7.4462, 0.8132, 0.4322, 0.2711, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b69451923529331af58ad4fd526a38fcfcae84b4650930f42fa1d2c805ce3fc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c585adafaa94b80a5290616a174ebc9a21aa44ee643dcdc031869fe792860678",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:179ff0523c689799048eaf74265a5c1dd57669088cab9a22e707d524c4a94524",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 8.417 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.828, 0.6075, -0.4156, -0.0227, -0.0261, 0.9996, 0.5102, 1.8713, 1.2213, -0.4961, -0.543, -0.7971, 0.0423]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.165 left_yaw=0.0006 left_pitch=-0.0637 left_roll=0.001 left_gripper=0.9996 right_x=0.3207 right_y=0.2882 right_z=0.0621 right_yaw=1.4456 right_pitch=-0.3254 right_roll=0.057 right_gripper=0.0423\nstate[joint_eff]: [-0.1846, -1.4291, 6.9949, 1.707, -0.0464, -0.0562, -0.0122, -0.0479, -7.2274, 5.1624, 0.779, -0.315, 0.0269, 0.4615]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6071, -0.4156, -0.0227, -0.0261, 0.9996, 0.5102, 1.8721, 1.2152, -0.4961, -0.5381, -0.8036, 0.9953]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1647 left_yaw=0.0006 left_pitch=-0.0648 left_roll=0.001 left_gripper=0.9996 right_x=0.3196 right_y=0.2867 right_z=0.0595 right_yaw=1.4483 right_pitch=-0.333 right_roll=0.0557 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.347, 7.0085, 1.6777, -0.0757, -0.0317, -0.0122, 0.0068, -9.4974, 6.4615, 0.9744, -0.3834, 0.0708, -0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8341, 0.6075, -0.4271, -0.0227, -0.0261, 0.9996, 1.0813, 1.6291, 1.541, -0.9966, 0.448, 0.7662, 0.9954]\nstate[eef_state]: left_x=0.2909 left_y=0.0019 left_z=0.1611 left_yaw=0.0007 left_pitch=-0.0812 left_roll=0.0013 left_gripper=0.9996 right_x=0.2486 right_y=0.3115 right_z=0.2112 right_yaw=0.2308 right_pitch=-0.3534 right_roll=0.0717 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -1.7573, 6.9812, 1.7509, -0.0513, -0.0659, -0.0122, 0.1162, -7.4735, 7.4462, 0.8132, 0.4322, 0.2711, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b69451923529331af58ad4fd526a38fcfcae84b4650930f42fa1d2c805ce3fc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c585adafaa94b80a5290616a174ebc9a21aa44ee643dcdc031869fe792860678",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:179ff0523c689799048eaf74265a5c1dd57669088cab9a22e707d524c4a94524",
        "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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AUkL5VT1S/3QuEpy9wcJPoxjpWjjdXFosLCVgaHIPkstUZlWvevszPlbnyBRncOV11mxF8oZ4ypUszlmC/Cckry8s2Rixbgffk/rckn1EuzN4Q8cqd5UN46GPkdFUa6eUlFl6ZxLYEEzY9XYopFQwKVF3PsEu5ztLCBCnP+SSwCd1C+OovJ+A7LkfFwqN3ZwLom9qBYc7h7R/EcrI5wH3gi19puxkGbB8ea3pshu5/9F85cPdECU0fr5ayBoIN3ZBGKBKdlRbPrfSzzXeXt41LwLNYCSqRQxGbAphHmCbcinr37lb6biUEagLFUXZA5Kiatl6qpNfr60j+D5EH77gY097JoIVVZVHrdYh7d50pJbnS34mEnZD50tqiYcVX82ZntYsHB3WYhvEwJX8XILEqk/dk06D7Z2ORS8c0y9UfRCOgDzbDNagVkfxrqaADb2KvlayS+Gg/3sH9D7Px7fQ8ehOLR0ZtsqN+K3g4SaG+BIcveEfSck9us6WM+XlL5ErKlBXc49BWoz5Ml9m292ZZQpguamOVETr+7k1OND7z47L5Q+MgpaHzxSueLfrGvsbjZMILj7HIoELckG8MRw3yk/g3SM5fWatfW/FnRFNF2RbJH5qRDaXjv5gOD6K9OF63m/ImvvUpIhNj+F6OqkCauliHWoi9Ap2XVpsSr/9PclYJxmk3SDphvUZExOUOtqrKC7Fkcs+vMlhQhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J7oowUnWecjwK756FFdeEM",
      "input": {
        "note": "The wrist view shows the three bowls still separate: I set the pink bowl down just short of the lavender instead of inside it. Returning the wrist to the yawed pose above the pink bowl's near rim to re-grasp it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.32,
          "right_y": 0.287,
          "right_yaw": 1.571,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01J7oowUnWecjwK756FFdeEM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8379, 0.6075, -0.4351, -0.0227, -0.0261, 0.9996, 0.5091, 1.8709, 1.3785, -0.7269, -0.4549, -0.5522, 0.9963]\nstate[eef_state]: left_x=0.2899 left_y=0.0019 left_z=0.1585 left_yaw=0.0007 left_pitch=-0.0931 left_roll=0.0016 left_gripper=0.9996 right_x=0.328 right_y=0.2761 right_z=0.0866 right_yaw=1.2697 right_pitch=-0.451 right_roll=0.2108 right_gripper=0.9963\nstate[joint_eff]: [0.0342, -1.6342, 6.9949, 1.7265, -0.0415, -0.0513, -0.0122, -0.1436, -10.8786, 8.0479, 0.6716, -0.5934, -0.0952, -0.3932]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41874545a081c1299d413c654ea0197186ab85092d3788c5339b575a1ea78586",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8be5d30c464fdef2a1593ecb6cd40c1714a1c35923f5231cfb8e7990de32a88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e664876173e6cb6d245c1e0732830f7a64f893470727c9d7014159aed3bd534a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 16.26 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8288, 0.6071, -0.4156, -0.0227, -0.0261, 0.9996, 0.5102, 1.8721, 1.2152, -0.4961, -0.5381, -0.8036, 0.9953]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1647 left_yaw=0.0006 left_pitch=-0.0648 left_roll=0.001 left_gripper=0.9996 right_x=0.3196 right_y=0.2867 right_z=0.0595 right_yaw=1.4483 right_pitch=-0.333 right_roll=0.0557 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.347, 7.0085, 1.6777, -0.0757, -0.0317, -0.0122, 0.0068, -9.4974, 6.4615, 0.9744, -0.3834, 0.0708, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8341, 0.6075, -0.4271, -0.0227, -0.0261, 0.9996, 1.0813, 1.6291, 1.541, -0.9966, 0.448, 0.7662, 0.9954]\nstate[eef_state]: left_x=0.2909 left_y=0.0019 left_z=0.1611 left_yaw=0.0007 left_pitch=-0.0812 left_roll=0.0013 left_gripper=0.9996 right_x=0.2486 right_y=0.3115 right_z=0.2112 right_yaw=0.2308 right_pitch=-0.3534 right_roll=0.0717 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -1.7573, 6.9812, 1.7509, -0.0513, -0.0659, -0.0122, 0.1162, -7.4735, 7.4462, 0.8132, 0.4322, 0.2711, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8379, 0.6075, -0.4351, -0.0227, -0.0261, 0.9996, 0.5091, 1.8709, 1.3785, -0.7269, -0.4549, -0.5522, 0.9963]\nstate[eef_state]: left_x=0.2899 left_y=0.0019 left_z=0.1585 left_yaw=0.0007 left_pitch=-0.0931 left_roll=0.0016 left_gripper=0.9996 right_x=0.328 right_y=0.2761 right_z=0.0866 right_yaw=1.2697 right_pitch=-0.451 right_roll=0.2108 right_gripper=0.9963\nstate[joint_eff]: [0.0342, -1.6342, 6.9949, 1.7265, -0.0415, -0.0513, -0.0122, -0.1436, -10.8786, 8.0479, 0.6716, -0.5934, -0.0952, -0.3932]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41874545a081c1299d413c654ea0197186ab85092d3788c5339b575a1ea78586",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8be5d30c464fdef2a1593ecb6cd40c1714a1c35923f5231cfb8e7990de32a88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e664876173e6cb6d245c1e0732830f7a64f893470727c9d7014159aed3bd534a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4wgKjgEIEhgCKkC/OkNEW9nLiTLrrN5hBfL+4KmbqZf1wu2HJkfDXb8vMEdszz1fFlCMT6Sow2Vqr7jv3fN+4sSt+8IcVReVsH1DMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcSnzNUGEgzpfLtEQSpneyligY8aDG/d9uhZpu97b8Vn+iIwUTn7Q7DVCVymnuvxWOmmBvSNyinKFzNrOse1jLJmqBRLb+rz9pc4TYisKn0caQ2sKoEH+qt4uUWF+UdkKsu/ZbSd4+lD6XBp/O2UyX5KhXKVyewg6DPOPzApk6pmV0RqFKkaXaK6vdyNnq/oj9+YkO7ijhadBnGPWemNLcgg/BgWjssTZ+yxmPn90UvTmBFz9YD0zmJHZ1QxnlrELLX/LhBZVBVuiMhHxoglMqD9KHiXVJ1bqQNzd/q2rrsPVpP56K3MwM8gM5xsFtMULPE6X+EqjDz1S25s6aM9C7TG6FidtEs2CzXLydSJ5dDdRLKlI9Jq98Gh5/457WNeVYy74LeSHZY8WBx5KLHoToVK4S1q6Vi+qFOA9NyGLLuTISIUcfjEKqNElgZ9+LZ88s5y2zECZ3B6lh2VOnYsG4+GVpKAopbM06Ls8cCo1eaeKfhfOFBLUEZY/d6TZNk+Or0B9N9cSaJhz+NADDdJyXbs8JfV7EBw/Oq9sVZ1OC2HkUIH3H8cZvuI4sWerkMqP4bBZdDfPDUw9K44NTFlKBaym0Uyri2Rz8+1CEVP26DjXNXiPKXn1BagTbDTJ6lqpLh8+omxTz4gvJZ0Q2pA6NcsXT39QLj2F5wwHC6WD3RdI0TRj8UuWMMt2JIMwIV+3xASQErdmJ1vaekklTlEiyIFRKHcz8pLwJ3u3Sd8z+u6wluZtu1uFXv7Iaysc4o/ycxpf42zfKf2MJBXNpii9hukIEFBZLqk4gG0dNXYUzmguBkoKksqLG27jgJdYorWZ2dcCSxFBe1U9OH7eOrmXxaSsJ+i/8osK72J9+EJug6jN7mWdEVE7pYjoYI+ZY4gsgDrghVxKlnBTCJV5U7vPgrAF9fjY140PVqeYf09bB04Rv2RQOZZ0DdOXYiFBTaQP+VprxdbhfQuVtFLc81S246owjClTrTTVO5EihH0BIk91YAZ7frWHiLdpGuEJd5pqPY9adXqgtkooOa/5C7PY3gu3EV/CGsfiEOyo24bOBhmEf7GrAz3xOCIHIFlxo03P97kk4iEZldugru9wghGYR20NFxZVUhMDWK6HjkqIQ2BY99BRkTkhhuPFdIDmGrDpJFZamCImHMzFfsUJBGa/OuNNYrYAvIo6nCGQsZKxl7nLGPNre+wTn8Qi/BooNZ7rB5cFMFZdzs88wjJ17Wp8kzBiwihKkOz3c7uoZyuByEaBA2Bzrs47TWYv9hWPK0LeXQFtTtI87gt3JRlrrBgLbNAFAANUkocGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XzHrrwyjzgDY52vso6pa9U",
      "input": {
        "note": "Pink bowl is right under the jaws in the wrist view; descending to rim height before judging the final alignment for the pinch.",
        "targets": {
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XzHrrwyjzgDY52vso6pa9U",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8398, 0.6075, -0.4381, -0.0227, -0.0261, 0.9996, 0.5045, 1.9331, 1.2518, -0.5972, -0.4702, -0.5911, 0.9959]\nstate[eef_state]: left_x=0.2895 left_y=0.0019 left_z=0.1574 left_yaw=0.0007 left_pitch=-0.098 left_roll=0.0017 left_gripper=0.9996 right_x=0.316 right_y=0.27 right_z=0.0334 right_yaw=1.319 right_pitch=-0.478 right_roll=0.2466 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -1.5521, 6.9812, 1.6825, -0.0757, -0.0757, -0.0122, 0.212, -9.1009, 5.9966, 0.8913, -0.2027, 0.1099, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ed51d95f5a3a5d25c8586736bec6208e98a0032445643c1db0910e96154f2af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3721acd91bfefeb45d49747bc65d7ddced12370d7a538af7c425b35321ca8bf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:67201c8ee332d3b02ac938bad7660227964583a052e7d07901f7f8ad9315e1e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 6.692 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8341, 0.6075, -0.4271, -0.0227, -0.0261, 0.9996, 1.0813, 1.6291, 1.541, -0.9966, 0.448, 0.7662, 0.9954]\nstate[eef_state]: left_x=0.2909 left_y=0.0019 left_z=0.1611 left_yaw=0.0007 left_pitch=-0.0812 left_roll=0.0013 left_gripper=0.9996 right_x=0.2486 right_y=0.3115 right_z=0.2112 right_yaw=0.2308 right_pitch=-0.3534 right_roll=0.0717 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -1.7573, 6.9812, 1.7509, -0.0513, -0.0659, -0.0122, 0.1162, -7.4735, 7.4462, 0.8132, 0.4322, 0.2711, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8379, 0.6075, -0.4351, -0.0227, -0.0261, 0.9996, 0.5091, 1.8709, 1.3785, -0.7269, -0.4549, -0.5522, 0.9963]\nstate[eef_state]: left_x=0.2899 left_y=0.0019 left_z=0.1585 left_yaw=0.0007 left_pitch=-0.0931 left_roll=0.0016 left_gripper=0.9996 right_x=0.328 right_y=0.2761 right_z=0.0866 right_yaw=1.2697 right_pitch=-0.451 right_roll=0.2108 right_gripper=0.9963\nstate[joint_eff]: [0.0342, -1.6342, 6.9949, 1.7265, -0.0415, -0.0513, -0.0122, -0.1436, -10.8786, 8.0479, 0.6716, -0.5934, -0.0952, -0.3932]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8398, 0.6075, -0.4381, -0.0227, -0.0261, 0.9996, 0.5045, 1.9331, 1.2518, -0.5972, -0.4702, -0.5911, 0.9959]\nstate[eef_state]: left_x=0.2895 left_y=0.0019 left_z=0.1574 left_yaw=0.0007 left_pitch=-0.098 left_roll=0.0017 left_gripper=0.9996 right_x=0.316 right_y=0.27 right_z=0.0334 right_yaw=1.319 right_pitch=-0.478 right_roll=0.2466 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -1.5521, 6.9812, 1.6825, -0.0757, -0.0757, -0.0122, 0.212, -9.1009, 5.9966, 0.8913, -0.2027, 0.1099, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ed51d95f5a3a5d25c8586736bec6208e98a0032445643c1db0910e96154f2af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3721acd91bfefeb45d49747bc65d7ddced12370d7a538af7c425b35321ca8bf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67201c8ee332d3b02ac938bad7660227964583a052e7d07901f7f8ad9315e1e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018bkG9t56Y89skXJrNKmGyt",
      "input": {
        "note": "At rim height the pink bowl's wall is too far inside the jaw gap (its near edge sits left of the jaw centre); backing off 2.5 cm toward the base to put the near rim between the fingers.",
        "targets": {
          "right_x": 0.29
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_018bkG9t56Y89skXJrNKmGyt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8402, 0.6075, -0.4416, -0.0227, -0.0261, 0.9996, 0.5049, 1.9434, 1.2434, -0.5404, -0.4564, -0.5674, 0.9958]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1567 left_yaw=0.0007 left_pitch=-0.1018 left_roll=0.0017 left_gripper=0.9996 right_x=0.3249 right_y=0.2726 right_z=0.0298 right_yaw=1.2827 right_pitch=-0.4634 right_roll=0.2193 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -1.4838, 6.9675, 1.6874, -0.0513, -0.0317, -0.0122, 0.212, -9.6205, 5.6137, 1.0672, -0.2759, 0.1001, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:483f87a2e4574d57d6fa8c49da17e6dd00831d22004ea9cf1ad8f48e59e1c8c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10389a9ea491bbb1087fa77ab52bc4259b4e65cc1d866592e44b465e0831f4e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:daa0dce28734e354227ff21d8bc9104a1e6dadac4c5d93cd33ed4a6de82f8768",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 11.86 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8379, 0.6075, -0.4351, -0.0227, -0.0261, 0.9996, 0.5091, 1.8709, 1.3785, -0.7269, -0.4549, -0.5522, 0.9963]\nstate[eef_state]: left_x=0.2899 left_y=0.0019 left_z=0.1585 left_yaw=0.0007 left_pitch=-0.0931 left_roll=0.0016 left_gripper=0.9996 right_x=0.328 right_y=0.2761 right_z=0.0866 right_yaw=1.2697 right_pitch=-0.451 right_roll=0.2108 right_gripper=0.9963\nstate[joint_eff]: [0.0342, -1.6342, 6.9949, 1.7265, -0.0415, -0.0513, -0.0122, -0.1436, -10.8786, 8.0479, 0.6716, -0.5934, -0.0952, -0.3932]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8398, 0.6075, -0.4381, -0.0227, -0.0261, 0.9996, 0.5045, 1.9331, 1.2518, -0.5972, -0.4702, -0.5911, 0.9959]\nstate[eef_state]: left_x=0.2895 left_y=0.0019 left_z=0.1574 left_yaw=0.0007 left_pitch=-0.098 left_roll=0.0017 left_gripper=0.9996 right_x=0.316 right_y=0.27 right_z=0.0334 right_yaw=1.319 right_pitch=-0.478 right_roll=0.2466 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -1.5521, 6.9812, 1.6825, -0.0757, -0.0757, -0.0122, 0.212, -9.1009, 5.9966, 0.8913, -0.2027, 0.1099, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8402, 0.6075, -0.4416, -0.0227, -0.0261, 0.9996, 0.5049, 1.9434, 1.2434, -0.5404, -0.4564, -0.5674, 0.9958]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1567 left_yaw=0.0007 left_pitch=-0.1018 left_roll=0.0017 left_gripper=0.9996 right_x=0.3249 right_y=0.2726 right_z=0.0298 right_yaw=1.2827 right_pitch=-0.4634 right_roll=0.2193 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -1.4838, 6.9675, 1.6874, -0.0513, -0.0317, -0.0122, 0.212, -9.6205, 5.6137, 1.0672, -0.2759, 0.1001, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:483f87a2e4574d57d6fa8c49da17e6dd00831d22004ea9cf1ad8f48e59e1c8c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10389a9ea491bbb1087fa77ab52bc4259b4e65cc1d866592e44b465e0831f4e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daa0dce28734e354227ff21d8bc9104a1e6dadac4c5d93cd33ed4a6de82f8768",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmQQKjgEIEhgCKkCJcchbpqlXa/HVV5so5fHlhLNub+PJzAyj9uv+qGXEd8vUEddGMi/pfavd6fjdbT89abXlIawB1UikGeO1hJHDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdunzNUGEgy26/Wact1brGd+JKsaDOCyjRDIQMS5qL6C3SIwOm6XOu4pcBTsTQLt71alf9Z/ejUUj4zEL7FYcIzUsef41m2et7HLGHJe+VQJk6V5KrcC4D2Z+QQR4lohuBIC3OPQ8ee0aqZIrTvE2yzR2i3h2wlDIHau2X1IOOe1rNEtngx3q2kF2zMmwcHrlJYu4bC77ogIChxcIeipYJ7fwZpOlC3nU9TNy5s77gCfxeLI9UgQzQH8VJc2Yv2q2hunWLHgj7wux2E2TwxL5HfO2rrETu5N06xSdmR3UQxYKZetN3drt/JJvsmPDRrwOXhee3z5lxxqclVOeg7exRTRBhSUTvtCyo/z8lWMm93tVJNk0z1DUAqc3+16SUokVGnW5MxFN/GlnWhuSWT6dNRaYgmVZT98riMwVxih5O6z8aK2z0fu/6B8b37lETYkNv+xF8RTRRs/0SdRAHRhi9g4TAI45v+gRLf1amaHZdzqHnrYZCooHRATUlk2DhNx5ntzVt/wqm4NAO65jzYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017K3oZNRvFyaWxvxMgP185Z",
      "input": {
        "note": "The arm isn't tracking small x corrections well; trying a close here to see whether the jaws catch the pink bowl's rim (reading ≈0.04 means a wall is pinched).",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017K3oZNRvFyaWxvxMgP185Z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8402, 0.6075, -0.4416, -0.0223, -0.0261, 0.9996, 0.5037, 1.9434, 1.2434, -0.5385, -0.453, -0.5606, 0.0077]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1566 left_yaw=0.0004 left_pitch=-0.1018 left_roll=0.0015 left_gripper=0.9996 right_x=0.3259 right_y=0.272 right_z=0.0297 right_yaw=1.2746 right_pitch=-0.4651 right_roll=0.2192 right_gripper=0.0077\nstate[joint_eff]: [-0.1436, -1.4974, 6.9675, 1.619, 0.0122, -0.0806, -0.0122, -0.1299, -9.853, 5.9009, 0.9158, -0.2906, -0.0269, 0.5592]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76717b582c23a71ae87761188d8ffa666e9a63e7902190584276ead4b2d66567",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b34ad1d8ea8658d106014670f09e60e101d368a593449d6cc0c3dc2522fef2cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f146aac9996981dbfd369e217eb883e4d81a626a314f9d41b68b18fec34b908a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 39.87 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8398, 0.6075, -0.4381, -0.0227, -0.0261, 0.9996, 0.5045, 1.9331, 1.2518, -0.5972, -0.4702, -0.5911, 0.9959]\nstate[eef_state]: left_x=0.2895 left_y=0.0019 left_z=0.1574 left_yaw=0.0007 left_pitch=-0.098 left_roll=0.0017 left_gripper=0.9996 right_x=0.316 right_y=0.27 right_z=0.0334 right_yaw=1.319 right_pitch=-0.478 right_roll=0.2466 right_gripper=0.9959\nstate[joint_eff]: [-0.0479, -1.5521, 6.9812, 1.6825, -0.0757, -0.0757, -0.0122, 0.212, -9.1009, 5.9966, 0.8913, -0.2027, 0.1099, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8402, 0.6075, -0.4416, -0.0227, -0.0261, 0.9996, 0.5049, 1.9434, 1.2434, -0.5404, -0.4564, -0.5674, 0.9958]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1567 left_yaw=0.0007 left_pitch=-0.1018 left_roll=0.0017 left_gripper=0.9996 right_x=0.3249 right_y=0.2726 right_z=0.0298 right_yaw=1.2827 right_pitch=-0.4634 right_roll=0.2193 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -1.4838, 6.9675, 1.6874, -0.0513, -0.0317, -0.0122, 0.212, -9.6205, 5.6137, 1.0672, -0.2759, 0.1001, -0.022]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8402, 0.6075, -0.4416, -0.0223, -0.0261, 0.9996, 0.5037, 1.9434, 1.2434, -0.5385, -0.453, -0.5606, 0.0077]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1566 left_yaw=0.0004 left_pitch=-0.1018 left_roll=0.0015 left_gripper=0.9996 right_x=0.3259 right_y=0.272 right_z=0.0297 right_yaw=1.2746 right_pitch=-0.4651 right_roll=0.2192 right_gripper=0.0077\nstate[joint_eff]: [-0.1436, -1.4974, 6.9675, 1.619, 0.0122, -0.0806, -0.0122, -0.1299, -9.853, 5.9009, 0.9158, -0.2906, -0.0269, 0.5592]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76717b582c23a71ae87761188d8ffa666e9a63e7902190584276ead4b2d66567",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b34ad1d8ea8658d106014670f09e60e101d368a593449d6cc0c3dc2522fef2cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f146aac9996981dbfd369e217eb883e4d81a626a314f9d41b68b18fec34b908a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X6yn47NRNyRzf3QcimtRbT",
      "input": {
        "note": "That close came up empty (0.008), so the jaws straddled nothing. Reopening and pulling back 4.5 cm toward the base to catch the bowl's near rim wall.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.28,
          "right_z": 0.032
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01X6yn47NRNyRzf3QcimtRbT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8429, 0.6075, -0.4419, -0.0227, -0.0261, 0.9996, 0.5659, 1.8236, 1.0695, -0.469, -0.4271, -0.5076, 0.9958]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1559 left_yaw=0.0007 left_pitch=-0.1049 left_roll=0.0018 left_gripper=0.9996 right_x=0.2832 right_y=0.2708 right_z=0.0267 right_yaw=1.2822 right_pitch=-0.4762 right_roll=0.2178 right_gripper=0.9958\nstate[joint_eff]: [-0.2803, -1.4701, 7.0085, 1.6532, -0.0611, -0.0269, -0.0122, 0.6085, -9.4427, 5.094, 0.8816, -0.2564, 0.0757, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c9d76ed02a91b4d08b2dba075786e1a90b45b421cf240c0d49612e7ec5d89d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f05bfcd457270f4255428de23dc3d4ac1f9fc3a04a5cbd6a49c793c7d0e26ec4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c218b88e0d3653325eed2f2d3fd4ad8beacedefd91bcd274389aa65b1b2718c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 22.54 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8402, 0.6075, -0.4416, -0.0227, -0.0261, 0.9996, 0.5049, 1.9434, 1.2434, -0.5404, -0.4564, -0.5674, 0.9958]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1567 left_yaw=0.0007 left_pitch=-0.1018 left_roll=0.0017 left_gripper=0.9996 right_x=0.3249 right_y=0.2726 right_z=0.0298 right_yaw=1.2827 right_pitch=-0.4634 right_roll=0.2193 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -1.4838, 6.9675, 1.6874, -0.0513, -0.0317, -0.0122, 0.212, -9.6205, 5.6137, 1.0672, -0.2759, 0.1001, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8402, 0.6075, -0.4416, -0.0223, -0.0261, 0.9996, 0.5037, 1.9434, 1.2434, -0.5385, -0.453, -0.5606, 0.0077]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1566 left_yaw=0.0004 left_pitch=-0.1018 left_roll=0.0015 left_gripper=0.9996 right_x=0.3259 right_y=0.272 right_z=0.0297 right_yaw=1.2746 right_pitch=-0.4651 right_roll=0.2192 right_gripper=0.0077\nstate[joint_eff]: [-0.1436, -1.4974, 6.9675, 1.619, 0.0122, -0.0806, -0.0122, -0.1299, -9.853, 5.9009, 0.9158, -0.2906, -0.0269, 0.5592]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8429, 0.6075, -0.4419, -0.0227, -0.0261, 0.9996, 0.5659, 1.8236, 1.0695, -0.469, -0.4271, -0.5076, 0.9958]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1559 left_yaw=0.0007 left_pitch=-0.1049 left_roll=0.0018 left_gripper=0.9996 right_x=0.2832 right_y=0.2708 right_z=0.0267 right_yaw=1.2822 right_pitch=-0.4762 right_roll=0.2178 right_gripper=0.9958\nstate[joint_eff]: [-0.2803, -1.4701, 7.0085, 1.6532, -0.0611, -0.0269, -0.0122, 0.6085, -9.4427, 5.094, 0.8816, -0.2564, 0.0757, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c9d76ed02a91b4d08b2dba075786e1a90b45b421cf240c0d49612e7ec5d89d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f05bfcd457270f4255428de23dc3d4ac1f9fc3a04a5cbd6a49c793c7d0e26ec4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c218b88e0d3653325eed2f2d3fd4ad8beacedefd91bcd274389aa65b1b2718c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BD1iK6ZT82J4KxLYk664fK",
      "input": {
        "note": "The wrist view shows the bowl centred under the jaws rather than beyond them, so the near rim is behind the fingers; pulling back 5 cm toward the base (and 2 cm right) so the near rim falls into the jaw gap.",
        "targets": {
          "right_x": 0.235,
          "right_y": 0.25,
          "right_z": 0.032
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BD1iK6ZT82J4KxLYk664fK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8448, 0.6071, -0.4419, -0.0227, -0.0261, 0.9996, 0.59, 1.6592, 0.8757, -0.4446, -0.4213, -0.4915, 0.9958]\nstate[eef_state]: left_x=0.2891 left_y=0.0019 left_z=0.1552 left_yaw=0.0007 left_pitch=-0.1072 left_roll=0.0019 left_gripper=0.9996 right_x=0.2377 right_y=0.2504 right_z=0.0269 right_yaw=1.2943 right_pitch=-0.4853 right_roll=0.2259 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -1.3607, 7.1863, 1.7265, -0.0611, -0.0708, -0.0122, 0.5812, -7.8154, 6.147, 1.0281, -0.2125, 0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:699db75c6ef77c48cce1b7edd609db5e7942e9a674535423dde00d9c254e6377",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a6df899831f40cac54b76bdfc2a4f7c2bda30c0b60921427f858e667841055c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:641a9cf8e52dc2723aaf834adbfe8dfc7a41345ad3836057d251c617229f2a83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 23.12 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8402, 0.6075, -0.4416, -0.0223, -0.0261, 0.9996, 0.5037, 1.9434, 1.2434, -0.5385, -0.453, -0.5606, 0.0077]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1566 left_yaw=0.0004 left_pitch=-0.1018 left_roll=0.0015 left_gripper=0.9996 right_x=0.3259 right_y=0.272 right_z=0.0297 right_yaw=1.2746 right_pitch=-0.4651 right_roll=0.2192 right_gripper=0.0077\nstate[joint_eff]: [-0.1436, -1.4974, 6.9675, 1.619, 0.0122, -0.0806, -0.0122, -0.1299, -9.853, 5.9009, 0.9158, -0.2906, -0.0269, 0.5592]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8429, 0.6075, -0.4419, -0.0227, -0.0261, 0.9996, 0.5659, 1.8236, 1.0695, -0.469, -0.4271, -0.5076, 0.9958]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1559 left_yaw=0.0007 left_pitch=-0.1049 left_roll=0.0018 left_gripper=0.9996 right_x=0.2832 right_y=0.2708 right_z=0.0267 right_yaw=1.2822 right_pitch=-0.4762 right_roll=0.2178 right_gripper=0.9958\nstate[joint_eff]: [-0.2803, -1.4701, 7.0085, 1.6532, -0.0611, -0.0269, -0.0122, 0.6085, -9.4427, 5.094, 0.8816, -0.2564, 0.0757, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8448, 0.6071, -0.4419, -0.0227, -0.0261, 0.9996, 0.59, 1.6592, 0.8757, -0.4446, -0.4213, -0.4915, 0.9958]\nstate[eef_state]: left_x=0.2891 left_y=0.0019 left_z=0.1552 left_yaw=0.0007 left_pitch=-0.1072 left_roll=0.0019 left_gripper=0.9996 right_x=0.2377 right_y=0.2504 right_z=0.0269 right_yaw=1.2943 right_pitch=-0.4853 right_roll=0.2259 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -1.3607, 7.1863, 1.7265, -0.0611, -0.0708, -0.0122, 0.5812, -7.8154, 6.147, 1.0281, -0.2125, 0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:699db75c6ef77c48cce1b7edd609db5e7942e9a674535423dde00d9c254e6377",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a6df899831f40cac54b76bdfc2a4f7c2bda30c0b60921427f858e667841055c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:641a9cf8e52dc2723aaf834adbfe8dfc7a41345ad3836057d251c617229f2a83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EruBdhMTipR3aRSLdZmPMM",
      "input": {
        "note": "I suspect the pink dome filling the right wrist camera is part of the robot, not a bowl. Parking the right arm high and out to the side to get an unobstructed overhead view of where the bowls actually are.",
        "targets": {
          "right_x": 0.2,
          "right_y": 0.05,
          "right_yaw": 0.0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01EruBdhMTipR3aRSLdZmPMM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8494, 0.6075, -0.4526, -0.0227, -0.0261, 0.9996, 0.2436, 1.0622, 1.5085, -1.4708, -0.0288, 0.3122, 0.9958]\nstate[eef_state]: left_x=0.2876 left_y=0.0019 left_z=0.1521 left_yaw=0.0007 left_pitch=-0.122 left_roll=0.0022 left_gripper=0.9996 right_x=0.2063 right_y=0.0602 right_z=0.2919 right_yaw=0.0785 right_pitch=-0.4747 right_roll=0.2271 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -1.853, 7.159, 1.7607, -0.0415, -0.0269, -0.0122, -0.2803, -1.0051, 6.5162, 1.0818, 0.0513, 0.1294, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49862d66dc7eb174341c254b4af95ea767271040094dfcff5d6c5964349ec964",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ef02df6c42aa3f0e37de36fb8c609b6a4511ef3493af935f52da58797980be5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46295d484e9dc94f3e4a812eba11be9f96d035ac5bd52602d9834ea489cde3ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 15.71 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8429, 0.6075, -0.4419, -0.0227, -0.0261, 0.9996, 0.5659, 1.8236, 1.0695, -0.469, -0.4271, -0.5076, 0.9958]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1559 left_yaw=0.0007 left_pitch=-0.1049 left_roll=0.0018 left_gripper=0.9996 right_x=0.2832 right_y=0.2708 right_z=0.0267 right_yaw=1.2822 right_pitch=-0.4762 right_roll=0.2178 right_gripper=0.9958\nstate[joint_eff]: [-0.2803, -1.4701, 7.0085, 1.6532, -0.0611, -0.0269, -0.0122, 0.6085, -9.4427, 5.094, 0.8816, -0.2564, 0.0757, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8448, 0.6071, -0.4419, -0.0227, -0.0261, 0.9996, 0.59, 1.6592, 0.8757, -0.4446, -0.4213, -0.4915, 0.9958]\nstate[eef_state]: left_x=0.2891 left_y=0.0019 left_z=0.1552 left_yaw=0.0007 left_pitch=-0.1072 left_roll=0.0019 left_gripper=0.9996 right_x=0.2377 right_y=0.2504 right_z=0.0269 right_yaw=1.2943 right_pitch=-0.4853 right_roll=0.2259 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -1.3607, 7.1863, 1.7265, -0.0611, -0.0708, -0.0122, 0.5812, -7.8154, 6.147, 1.0281, -0.2125, 0.0952, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8494, 0.6075, -0.4526, -0.0227, -0.0261, 0.9996, 0.2436, 1.0622, 1.5085, -1.4708, -0.0288, 0.3122, 0.9958]\nstate[eef_state]: left_x=0.2876 left_y=0.0019 left_z=0.1521 left_yaw=0.0007 left_pitch=-0.122 left_roll=0.0022 left_gripper=0.9996 right_x=0.2063 right_y=0.0602 right_z=0.2919 right_yaw=0.0785 right_pitch=-0.4747 right_roll=0.2271 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -1.853, 7.159, 1.7607, -0.0415, -0.0269, -0.0122, -0.2803, -1.0051, 6.5162, 1.0818, 0.0513, 0.1294, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49862d66dc7eb174341c254b4af95ea767271040094dfcff5d6c5964349ec964",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ef02df6c42aa3f0e37de36fb8c609b6a4511ef3493af935f52da58797980be5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46295d484e9dc94f3e4a812eba11be9f96d035ac5bd52602d9834ea489cde3ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014jhqgiKeWGXprPyo1M4EDH",
      "input": {
        "note": "Clear overhead view: white, lavender and pink bowls, with the pink one nearest the bases at about right_y=0.24. Yawing the wrist 90° and hovering 12 cm over it to grab its near rim.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.244,
          "right_yaw": 1.571,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_014jhqgiKeWGXprPyo1M4EDH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8516, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.4328, 1.8347, 1.4765, -1.084, -0.4953, -0.8536, 0.9958]\nstate[eef_state]: left_x=0.2864 left_y=0.002 left_z=0.15 left_yaw=0.0008 left_pitch=-0.1323 left_roll=0.0024 left_gripper=0.9996 right_x=0.2975 right_y=0.2339 right_z=0.1137 right_yaw=1.4901 right_pitch=-0.5216 right_roll=0.268 right_gripper=0.9958\nstate[joint_eff]: [-0.1709, -1.7299, 6.9538, 1.6874, -0.0659, -0.0513, -0.0122, 0.294, -9.5248, 7.8154, 0.2466, -0.486, -0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62f6df3653c3338792dc9877f35222e139d2adc1628b870fdf67285dadd941b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acfcd8490535acc1a625476e27e0f8c8d74fd52cfb94472fbaaf4b613313399b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b5a2dc2b4c8ec64c66838c2e64071ae1a3da446935ae561a619b9dda62f94a12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 5.71 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8448, 0.6071, -0.4419, -0.0227, -0.0261, 0.9996, 0.59, 1.6592, 0.8757, -0.4446, -0.4213, -0.4915, 0.9958]\nstate[eef_state]: left_x=0.2891 left_y=0.0019 left_z=0.1552 left_yaw=0.0007 left_pitch=-0.1072 left_roll=0.0019 left_gripper=0.9996 right_x=0.2377 right_y=0.2504 right_z=0.0269 right_yaw=1.2943 right_pitch=-0.4853 right_roll=0.2259 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -1.3607, 7.1863, 1.7265, -0.0611, -0.0708, -0.0122, 0.5812, -7.8154, 6.147, 1.0281, -0.2125, 0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8494, 0.6075, -0.4526, -0.0227, -0.0261, 0.9996, 0.2436, 1.0622, 1.5085, -1.4708, -0.0288, 0.3122, 0.9958]\nstate[eef_state]: left_x=0.2876 left_y=0.0019 left_z=0.1521 left_yaw=0.0007 left_pitch=-0.122 left_roll=0.0022 left_gripper=0.9996 right_x=0.2063 right_y=0.0602 right_z=0.2919 right_yaw=0.0785 right_pitch=-0.4747 right_roll=0.2271 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -1.853, 7.159, 1.7607, -0.0415, -0.0269, -0.0122, -0.2803, -1.0051, 6.5162, 1.0818, 0.0513, 0.1294, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8516, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.4328, 1.8347, 1.4765, -1.084, -0.4953, -0.8536, 0.9958]\nstate[eef_state]: left_x=0.2864 left_y=0.002 left_z=0.15 left_yaw=0.0008 left_pitch=-0.1323 left_roll=0.0024 left_gripper=0.9996 right_x=0.2975 right_y=0.2339 right_z=0.1137 right_yaw=1.4901 right_pitch=-0.5216 right_roll=0.268 right_gripper=0.9958\nstate[joint_eff]: [-0.1709, -1.7299, 6.9538, 1.6874, -0.0659, -0.0513, -0.0122, 0.294, -9.5248, 7.8154, 0.2466, -0.486, -0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62f6df3653c3338792dc9877f35222e139d2adc1628b870fdf67285dadd941b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acfcd8490535acc1a625476e27e0f8c8d74fd52cfb94472fbaaf4b613313399b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5a2dc2b4c8ec64c66838c2e64071ae1a3da446935ae561a619b9dda62f94a12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016rMDtZDFWKtezVHJGZXyMm",
      "input": {
        "note": "Pink bowl is large and slightly left/above the jaw gap in the wrist view; descending to rim height where I can judge the near-rim alignment the same way as my first successful pinch.",
        "targets": {
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_016rMDtZDFWKtezVHJGZXyMm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8532, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.4366, 1.9034, 1.2583, -0.8322, -0.495, -0.8635, 0.9958]\nstate[eef_state]: left_x=0.2865 left_y=0.002 left_z=0.1495 left_yaw=0.0008 left_pitch=-0.1339 left_roll=0.0024 left_gripper=0.9996 right_x=0.2883 right_y=0.2311 right_z=0.0378 right_yaw=1.5177 right_pitch=-0.5374 right_roll=0.2981 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -1.4974, 6.9402, 1.5946, -0.0513, -0.0659, -0.0122, -0.4718, -8.2803, 5.6957, 0.6471, -0.3053, 0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:153fdd4eb3e67aecf6556d3af992146af9701b905b35e7b477dc634db14b000e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77d960292257aa0095a1e95d8a6c77fe5c7518df80787932ab975b2343725a0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:564f2a3f638895f5d9d0a177e3999e8ec3ccc2db6f46ce95d29248a0d6ff6963",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 6.127 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8494, 0.6075, -0.4526, -0.0227, -0.0261, 0.9996, 0.2436, 1.0622, 1.5085, -1.4708, -0.0288, 0.3122, 0.9958]\nstate[eef_state]: left_x=0.2876 left_y=0.0019 left_z=0.1521 left_yaw=0.0007 left_pitch=-0.122 left_roll=0.0022 left_gripper=0.9996 right_x=0.2063 right_y=0.0602 right_z=0.2919 right_yaw=0.0785 right_pitch=-0.4747 right_roll=0.2271 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -1.853, 7.159, 1.7607, -0.0415, -0.0269, -0.0122, -0.2803, -1.0051, 6.5162, 1.0818, 0.0513, 0.1294, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8516, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.4328, 1.8347, 1.4765, -1.084, -0.4953, -0.8536, 0.9958]\nstate[eef_state]: left_x=0.2864 left_y=0.002 left_z=0.15 left_yaw=0.0008 left_pitch=-0.1323 left_roll=0.0024 left_gripper=0.9996 right_x=0.2975 right_y=0.2339 right_z=0.1137 right_yaw=1.4901 right_pitch=-0.5216 right_roll=0.268 right_gripper=0.9958\nstate[joint_eff]: [-0.1709, -1.7299, 6.9538, 1.6874, -0.0659, -0.0513, -0.0122, 0.294, -9.5248, 7.8154, 0.2466, -0.486, -0.0952, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8532, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.4366, 1.9034, 1.2583, -0.8322, -0.495, -0.8635, 0.9958]\nstate[eef_state]: left_x=0.2865 left_y=0.002 left_z=0.1495 left_yaw=0.0008 left_pitch=-0.1339 left_roll=0.0024 left_gripper=0.9996 right_x=0.2883 right_y=0.2311 right_z=0.0378 right_yaw=1.5177 right_pitch=-0.5374 right_roll=0.2981 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -1.4974, 6.9402, 1.5946, -0.0513, -0.0659, -0.0122, -0.4718, -8.2803, 5.6957, 0.6471, -0.3053, 0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:153fdd4eb3e67aecf6556d3af992146af9701b905b35e7b477dc634db14b000e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77d960292257aa0095a1e95d8a6c77fe5c7518df80787932ab975b2343725a0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:564f2a3f638895f5d9d0a177e3999e8ec3ccc2db6f46ce95d29248a0d6ff6963",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzQUKjgEIEhgCKkBX6zj8ce56rUtA6hMUUC4DdduuLdGmcRw+6LBXBjw6KbKe0Cxz3YkVDXSy2Ncz4KqydskTIQknjSAvQeWiy5IlMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdiozNUGEgyYjv9QU0pGaW1sMhwaDOui7FJYu0JOyac2NiIwpJpJNCAJ7alicXXcEAkgmQJH64TccSB9eG9cPDvYQvig3E8xn61LoOAuRRQWIdF7KusDmT8m73BViASAXdkh3BKUcL9B9RMsMJAR+Xg7FBNm90brERtSGRqPEOgbhKZGP3mPG5iRKvILTPG9BXARVSRN28XwzE3pZjrIhguLbsn+i0NRyne3EVrPYOmaEXAnAyvfjduYK4HoyKmbSMS66Uo+QImH109O7AJPnwZnPPiDjoH1T6Vj9nG35I8nDksnTAY/Ka7f3s0XJz4oOh/UfqxjyM95j6dXuIgOl131c30vxDDhUO3mnIO1zSQsY9Z2BnwrZj02HZg6tqr9rtsKtRd2AG/6ngNRzfh2KgkKI5rcfGGJpzu3I4xsBf2AFdiFgosekoXdYzhWlSoh0VsHbIAc1DoHnGB9lnN2GhgCFH3QPiUk8wB7qckNOJq0uI6gfH7k2W33Lj6lBWUkeNWsTJ09X1kTyugDdRlV9sVM2lsiAj82ysnyU+I+yxQeQMLXkDuFC2wTZAS1NwihhYqHN+NUZ26dyLgvyrtxD3OrhoeQksdAVa7f7v8GYoNi6c7ZeuXQ3I9fRQo6NhY++iDC62cBLk93O3cdWn0h0coLmd03w3CSv/NEmhHR9+GvjdpLRAjMITeKMS9x2ycJoW/xehDgs//gQaCnb3P0yTfOOayahhI6uIizRC3jXHq3E/0Hssx+F1q27UKIk1mXLVsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VGe1SxXjA6bHpRNLy7enX9",
      "input": {
        "note": "The bowl's rim edge runs vertically right through the jaw gap, just like my first successful pinch; closing on the rim.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VGe1SxXjA6bHpRNLy7enX9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8532, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.4366, 1.9224, 1.2453, -0.8333, -0.4839, -0.8639, 0.0238]\nstate[eef_state]: left_x=0.2865 left_y=0.002 left_z=0.1495 left_yaw=0.0008 left_pitch=-0.1339 left_roll=0.0024 left_gripper=0.9996 right_x=0.2836 right_y=0.227 right_z=0.0273 right_yaw=1.532 right_pitch=-0.5625 right_roll=0.3264 right_gripper=0.0238\nstate[joint_eff]: [-0.1573, -1.4838, 7.0085, 1.5897, -0.0855, -0.0122, -0.0122, -0.2256, -10.8376, 6.4342, 0.3883, -0.4615, -0.0269, 1.0818]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce890c26aa4c20a867b5472aef5eae70cbd398befb969edcf687efde88d60d91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adb988ab6e699e958cde78b0194ea2508be7677436ce718e8a958cb4b2bf30ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8539eef127cc21181936a903de07feb24443196f76705249ae847ab94ebfd304",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 15.44 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8516, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.4328, 1.8347, 1.4765, -1.084, -0.4953, -0.8536, 0.9958]\nstate[eef_state]: left_x=0.2864 left_y=0.002 left_z=0.15 left_yaw=0.0008 left_pitch=-0.1323 left_roll=0.0024 left_gripper=0.9996 right_x=0.2975 right_y=0.2339 right_z=0.1137 right_yaw=1.4901 right_pitch=-0.5216 right_roll=0.268 right_gripper=0.9958\nstate[joint_eff]: [-0.1709, -1.7299, 6.9538, 1.6874, -0.0659, -0.0513, -0.0122, 0.294, -9.5248, 7.8154, 0.2466, -0.486, -0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8532, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.4366, 1.9034, 1.2583, -0.8322, -0.495, -0.8635, 0.9958]\nstate[eef_state]: left_x=0.2865 left_y=0.002 left_z=0.1495 left_yaw=0.0008 left_pitch=-0.1339 left_roll=0.0024 left_gripper=0.9996 right_x=0.2883 right_y=0.2311 right_z=0.0378 right_yaw=1.5177 right_pitch=-0.5374 right_roll=0.2981 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -1.4974, 6.9402, 1.5946, -0.0513, -0.0659, -0.0122, -0.4718, -8.2803, 5.6957, 0.6471, -0.3053, 0.0757, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8532, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.4366, 1.9224, 1.2453, -0.8333, -0.4839, -0.8639, 0.0238]\nstate[eef_state]: left_x=0.2865 left_y=0.002 left_z=0.1495 left_yaw=0.0008 left_pitch=-0.1339 left_roll=0.0024 left_gripper=0.9996 right_x=0.2836 right_y=0.227 right_z=0.0273 right_yaw=1.532 right_pitch=-0.5625 right_roll=0.3264 right_gripper=0.0238\nstate[joint_eff]: [-0.1573, -1.4838, 7.0085, 1.5897, -0.0855, -0.0122, -0.0122, -0.2256, -10.8376, 6.4342, 0.3883, -0.4615, -0.0269, 1.0818]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce890c26aa4c20a867b5472aef5eae70cbd398befb969edcf687efde88d60d91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adb988ab6e699e958cde78b0194ea2508be7677436ce718e8a958cb4b2bf30ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8539eef127cc21181936a903de07feb24443196f76705249ae847ab94ebfd304",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8AUKjgEIEhgCKkAE/kOoVI+J2jp1kiSRv2PtG2xufEqM8VnEKy040wqKnnwJeR5jXvA0Nvij+SHa6wP3jSg6THp/v2wsRkD7GSWuMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd+ozNUGEgz9+TRLfQEfdTDiz5IaDPGf/6fgE79/N1/yWCIw2GYNRJjHMeV1Cwux1Yt+bvak+CdueG447iY4hUDx+VfQxest0Od//Y1RDM10WqQ0Ko4EwxeGjw34QEzEXgmkBdUz3RL2RLbuBTQXuJ2VCS2PfSl2tmNClr9K64lf1VMrZyKH7JIAlixG3fL1aU1Q+OVKU7XWLc+wiO+Uoi0us5mbQEG3knHrDzjz2jtUmao4wej/6IWnHhORTowXOXNQVC88eRoCO8P/lQHt7T54ZZ9U+chBd+GGwL6QtspS33hrvrLg7GJ1HVqaND8AwVNhtDPs8UM8vCBV0uyMej134sz13l0HSDNOtIFe3jZ6ZHH9QsQY4bpW/3ctUhNJYdnXAhTaCLfShjKcPt2I3rPtzplVgnuKqocKg9nYSHYsslnVrhOEC/5FJXpy/KQEeiZ0kOxNPGl9NXMJSIpd7taIPHzs2Ys+Nfdjsos1KppTNBO0zjy99JQ6zA5oNY8KZw6aK8RdWbqVrLWpQJvtSePYJFn6I0ij2zhr1GcjPadp3d+WPAESPpMuuJmKGWUTKubntJMqUS0m8FyR+BGh2O2AvS6mfI7l7ib5eCmwdgknMJOsCbzEyGwvB+GWU1QFXDkm7GTLJQ7AYLRrHW9XGHFTCdV+VWQfGqwyAeUKqpRByeF0MwXSQFyDYPle1i5KR5ye2k9xsKNVTu9MIGlqNh+VYzecbWBcT7ERBthtR1yU+Wps37RbDTFLBekvIcvoOEaA97yMVqC/e9Nhhgn8N3CYL0b4dTwUT5Q9Uf40LxWty6QhUBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C1Dgsz7gz7Vv7dsPErQ3MV",
      "input": {
        "note": "Gripper settled at 2.4 mm, consistent with the thin rim being pinched. Lifting to 14 cm and moving over toward the lavender bowl's near rim in one go.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.315,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01C1Dgsz7gz7Vv7dsPErQ3MV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8566, 0.6075, -0.461, -0.0223, -0.0261, 0.9996, 0.5701, 2.1529, 1.9953, -1.2518, -0.4561, -0.738, 0.0266]\nstate[eef_state]: left_x=0.2866 left_y=0.0019 left_z=0.1486 left_yaw=0.0005 left_pitch=-0.1377 left_roll=0.0022 left_gripper=0.9996 right_x=0.3375 right_y=0.3131 right_z=0.1278 right_yaw=1.5225 right_pitch=-0.5527 right_roll=0.2728 right_gripper=0.0266\nstate[joint_eff]: [-0.212, -1.812, 6.9402, 1.5849, -0.0366, -0.0269, -0.0122, 0.335, -11.8769, 7.5145, 0.0122, -0.442, 0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6037f803f9bb24ae2505d684ca9d956ddd352938e2209d94f41dadda14f69df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9ef33625999260ec04fa7317530dc6d72f2630e3b760dd0b275104f73ea378d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ab8db6950f1ce7b549f26a7f3b8344534db607e404d2b5ab84104f911bcc1f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 18.09 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8532, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.4366, 1.9034, 1.2583, -0.8322, -0.495, -0.8635, 0.9958]\nstate[eef_state]: left_x=0.2865 left_y=0.002 left_z=0.1495 left_yaw=0.0008 left_pitch=-0.1339 left_roll=0.0024 left_gripper=0.9996 right_x=0.2883 right_y=0.2311 right_z=0.0378 right_yaw=1.5177 right_pitch=-0.5374 right_roll=0.2981 right_gripper=0.9958\nstate[joint_eff]: [-0.1983, -1.4974, 6.9402, 1.5946, -0.0513, -0.0659, -0.0122, -0.4718, -8.2803, 5.6957, 0.6471, -0.3053, 0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8532, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.4366, 1.9224, 1.2453, -0.8333, -0.4839, -0.8639, 0.0238]\nstate[eef_state]: left_x=0.2865 left_y=0.002 left_z=0.1495 left_yaw=0.0008 left_pitch=-0.1339 left_roll=0.0024 left_gripper=0.9996 right_x=0.2836 right_y=0.227 right_z=0.0273 right_yaw=1.532 right_pitch=-0.5625 right_roll=0.3264 right_gripper=0.0238\nstate[joint_eff]: [-0.1573, -1.4838, 7.0085, 1.5897, -0.0855, -0.0122, -0.0122, -0.2256, -10.8376, 6.4342, 0.3883, -0.4615, -0.0269, 1.0818]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8566, 0.6075, -0.461, -0.0223, -0.0261, 0.9996, 0.5701, 2.1529, 1.9953, -1.2518, -0.4561, -0.738, 0.0266]\nstate[eef_state]: left_x=0.2866 left_y=0.0019 left_z=0.1486 left_yaw=0.0005 left_pitch=-0.1377 left_roll=0.0022 left_gripper=0.9996 right_x=0.3375 right_y=0.3131 right_z=0.1278 right_yaw=1.5225 right_pitch=-0.5527 right_roll=0.2728 right_gripper=0.0266\nstate[joint_eff]: [-0.212, -1.812, 6.9402, 1.5849, -0.0366, -0.0269, -0.0122, 0.335, -11.8769, 7.5145, 0.0122, -0.442, 0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6037f803f9bb24ae2505d684ca9d956ddd352938e2209d94f41dadda14f69df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9ef33625999260ec04fa7317530dc6d72f2630e3b760dd0b275104f73ea378d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ab8db6950f1ce7b549f26a7f3b8344534db607e404d2b5ab84104f911bcc1f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mj74BfGVbifcxxAkuSS8jf",
      "input": {
        "note": "The pink bowl is lifted and the lavender bowl's white interior is visible further out in the wrist view, so I'm still short radially; advancing 5 cm in x to bring the carried bowl over it.",
        "targets": {
          "right_x": 0.38
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Mj74BfGVbifcxxAkuSS8jf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8589, 0.6075, -0.461, -0.0227, -0.0261, 0.9996, 0.527, 2.3501, 2.2883, -1.3884, -0.45, -0.783, 0.0273]\nstate[eef_state]: left_x=0.2866 left_y=0.002 left_z=0.148 left_yaw=0.0008 left_pitch=-0.14 left_roll=0.0025 left_gripper=0.9996 right_x=0.3754 right_y=0.3115 right_z=0.1173 right_yaw=1.5255 right_pitch=-0.5742 right_roll=0.2857 right_gripper=0.0273\nstate[joint_eff]: [-0.0068, -1.5932, 7.1316, 1.6044, -0.0513, -0.0366, -0.0122, -0.3214, -13.5453, 8.4581, 0.1148, -0.4518, 0.0611, 0.9646]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95f388eca2c99dbf5fea67a99e88b102d0125e0ab04ed73bc8ca1ab5dcb33d5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4856da033a8d1aef7591e29546e962106421676b2e04147714c413c1081f4e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e9329daf9bde37c1e2a74b5291eba64a3a9aa08538554ef54562a33441bb299",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 8.54 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8532, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.4366, 1.9224, 1.2453, -0.8333, -0.4839, -0.8639, 0.0238]\nstate[eef_state]: left_x=0.2865 left_y=0.002 left_z=0.1495 left_yaw=0.0008 left_pitch=-0.1339 left_roll=0.0024 left_gripper=0.9996 right_x=0.2836 right_y=0.227 right_z=0.0273 right_yaw=1.532 right_pitch=-0.5625 right_roll=0.3264 right_gripper=0.0238\nstate[joint_eff]: [-0.1573, -1.4838, 7.0085, 1.5897, -0.0855, -0.0122, -0.0122, -0.2256, -10.8376, 6.4342, 0.3883, -0.4615, -0.0269, 1.0818]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8566, 0.6075, -0.461, -0.0223, -0.0261, 0.9996, 0.5701, 2.1529, 1.9953, -1.2518, -0.4561, -0.738, 0.0266]\nstate[eef_state]: left_x=0.2866 left_y=0.0019 left_z=0.1486 left_yaw=0.0005 left_pitch=-0.1377 left_roll=0.0022 left_gripper=0.9996 right_x=0.3375 right_y=0.3131 right_z=0.1278 right_yaw=1.5225 right_pitch=-0.5527 right_roll=0.2728 right_gripper=0.0266\nstate[joint_eff]: [-0.212, -1.812, 6.9402, 1.5849, -0.0366, -0.0269, -0.0122, 0.335, -11.8769, 7.5145, 0.0122, -0.442, 0.0415, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8589, 0.6075, -0.461, -0.0227, -0.0261, 0.9996, 0.527, 2.3501, 2.2883, -1.3884, -0.45, -0.783, 0.0273]\nstate[eef_state]: left_x=0.2866 left_y=0.002 left_z=0.148 left_yaw=0.0008 left_pitch=-0.14 left_roll=0.0025 left_gripper=0.9996 right_x=0.3754 right_y=0.3115 right_z=0.1173 right_yaw=1.5255 right_pitch=-0.5742 right_roll=0.2857 right_gripper=0.0273\nstate[joint_eff]: [-0.0068, -1.5932, 7.1316, 1.6044, -0.0513, -0.0366, -0.0122, -0.3214, -13.5453, 8.4581, 0.1148, -0.4518, 0.0611, 0.9646]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95f388eca2c99dbf5fea67a99e88b102d0125e0ab04ed73bc8ca1ab5dcb33d5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4856da033a8d1aef7591e29546e962106421676b2e04147714c413c1081f4e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e9329daf9bde37c1e2a74b5291eba64a3a9aa08538554ef54562a33441bb299",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tfqrh6NKMb83837swswXZp",
      "input": {
        "note": "Realised the wrist image x-axis is flipped from my assumption (image-right is toward the base), so the lavender bowl is slightly nearer than the carried bowl; pulling back 2 cm and lowering to set the pink bowl down into it.",
        "targets": {
          "right_x": 0.355,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Tfqrh6NKMb83837swswXZp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8604, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.5217, 2.3722, 2.3226, -1.4143, -0.4503, -0.7895, 0.0306]\nstate[eef_state]: left_x=0.2868 left_y=0.002 left_z=0.1476 left_yaw=0.0008 left_pitch=-0.1411 left_roll=0.0026 left_gripper=0.9996 right_x=0.3774 right_y=0.3098 right_z=0.1158 right_yaw=1.5319 right_pitch=-0.5803 right_roll=0.2965 right_gripper=0.0306\nstate[joint_eff]: [-0.0889, -1.6615, 7.0085, 1.6239, -0.0415, -0.0659, -0.0122, -0.1846, -13.3949, 8.1709, 0.4225, -0.4078, -0.0464, 0.9304]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1938b085a444c9ae045c0a4035433dd37c5cdd1b65e91c17ea1a90479dc696e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10e8e72b75c37b51444ec2334436c6eb22681381c90a8ab8fc34233952eae51c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9efe388f61ff1a995512104e55c77e269fadfcd50a026de061c0a7d00ed82841",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 13.93 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8566, 0.6075, -0.461, -0.0223, -0.0261, 0.9996, 0.5701, 2.1529, 1.9953, -1.2518, -0.4561, -0.738, 0.0266]\nstate[eef_state]: left_x=0.2866 left_y=0.0019 left_z=0.1486 left_yaw=0.0005 left_pitch=-0.1377 left_roll=0.0022 left_gripper=0.9996 right_x=0.3375 right_y=0.3131 right_z=0.1278 right_yaw=1.5225 right_pitch=-0.5527 right_roll=0.2728 right_gripper=0.0266\nstate[joint_eff]: [-0.212, -1.812, 6.9402, 1.5849, -0.0366, -0.0269, -0.0122, 0.335, -11.8769, 7.5145, 0.0122, -0.442, 0.0415, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8589, 0.6075, -0.461, -0.0227, -0.0261, 0.9996, 0.527, 2.3501, 2.2883, -1.3884, -0.45, -0.783, 0.0273]\nstate[eef_state]: left_x=0.2866 left_y=0.002 left_z=0.148 left_yaw=0.0008 left_pitch=-0.14 left_roll=0.0025 left_gripper=0.9996 right_x=0.3754 right_y=0.3115 right_z=0.1173 right_yaw=1.5255 right_pitch=-0.5742 right_roll=0.2857 right_gripper=0.0273\nstate[joint_eff]: [-0.0068, -1.5932, 7.1316, 1.6044, -0.0513, -0.0366, -0.0122, -0.3214, -13.5453, 8.4581, 0.1148, -0.4518, 0.0611, 0.9646]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8604, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.5217, 2.3722, 2.3226, -1.4143, -0.4503, -0.7895, 0.0306]\nstate[eef_state]: left_x=0.2868 left_y=0.002 left_z=0.1476 left_yaw=0.0008 left_pitch=-0.1411 left_roll=0.0026 left_gripper=0.9996 right_x=0.3774 right_y=0.3098 right_z=0.1158 right_yaw=1.5319 right_pitch=-0.5803 right_roll=0.2965 right_gripper=0.0306\nstate[joint_eff]: [-0.0889, -1.6615, 7.0085, 1.6239, -0.0415, -0.0659, -0.0122, -0.1846, -13.3949, 8.1709, 0.4225, -0.4078, -0.0464, 0.9304]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1938b085a444c9ae045c0a4035433dd37c5cdd1b65e91c17ea1a90479dc696e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10e8e72b75c37b51444ec2334436c6eb22681381c90a8ab8fc34233952eae51c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9efe388f61ff1a995512104e55c77e269fadfcd50a026de061c0a7d00ed82841",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoQcKjgEIEhgCKkD2iLdwwMT3f4YFyPrHO3WMw39JxQTVMsqWvnix5l2bTpOhG80YkhDJrhjZx4h3qmznu0z3pFknWIW38cfOWo24Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYupzNUGEgxyErqkUogYl0Gbt+YaDClI7hzp81GM6L1MASIwg3kkO3kGfG1ZTv1BNZMWgNhQniCRmUFlMhGYVIvcvD2m6AYEV1CL+pfRzw9lCqW3Kr8FbKajU2+ni1WFyfe+Mf+wZzv3VcYeIFoGIhYQAmwEOozyb0W0ZaTPkiPPj1cf+TWLEtuJpUdTg8k/3Qkni35tsEWomtDHFr7Br3ltC92GTcWUE2eMdwUf6V86ty4KwIC4prAbhfBqsEwJPAf6veJgU3CmL+/+hqEUqgYAi3vjfdNjaUf7BX6Bbu9qBLmoq0Kt8lYedtY9o49QFZ/0KI4CD63jtWCqfx1BXXQ3awgQSQDCl+jlHz7IGEzMRkdCFQQSphkxI3w8aXwA95HRiMm0RjMXuj8Nzu43i+JZWP/s3A7LVOsWnfC+f3XwWYZinHteRFlHrY93DntKu06Dc+oZHCx5rEk4Bhh9+9WbrKOVANvey6zZFZKeKONbg1OsOXOhYned7eQVI0J26zBqvtOIARF2RDLoXhZWtqCcf+dOlfDRwxuKj2qFByF9u8enSOWgQ8BSfOLP/1B4h/j37C7k1X+3evccfI57edY+kHEuCJBzfszuwWGJF+9FVHd6HupLxJPIR4G+s3bo+DXCv0E7Y/X9uJK6BbWu9qLhEMM81QLkzqeVh2m/V5hVz5oOu9+pACRVhMdQ0++Fyo8P3bd1ixqnzfIgg8Yf/IM/+y5XGRob3IlgCdY2GEkA71lpLJ2yPBll+WSGl4Wpzl2qsO8SxzSjdBd1BeLZSWZmd0Z/zAtuGN3lDYfC4ftID3xHIBNQ5LmF2ybkI0kNRRle5R/rTmsnmfsQG3tdz4Izgc8PUvtRnzqcSnbEjccIPH2SSIYlw3Ufhm294IjCsyJFieS9N+pm8swduttoPfa14IIiU9Qd9ye8GgfDI7k4bLMXjAsKXHPtNDMUeK9oTgkE/A5KZQhQvffcnuBovGFmmWzQZ1aRVAGEgTH4wZlNeUjbqAHhQZxUmxWkmFpNoYdG1xzpEme1V01gq6h3YUDJFCQxCxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K67QXE2rzwtQ95AqA8CM5f",
      "input": {
        "note": "The arm stalled, likely pinned at its pitch limit; easing the pitch back and lowering the carried bowl toward the lavender bowl below it.",
        "targets": {
          "right_pitch": -0.3,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01K67QXE2rzwtQ95AqA8CM5f",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8616, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.4351, 2.2566, 1.766, -0.9894, -0.6266, -0.8276, 0.0309]\nstate[eef_state]: left_x=0.2868 left_y=0.002 left_z=0.1473 left_yaw=0.0008 left_pitch=-0.1423 left_roll=0.0026 left_gripper=0.9996 right_x=0.3636 right_y=0.2872 right_z=0.0417 right_yaw=1.5405 right_pitch=-0.4285 right_roll=0.3893 right_gripper=0.0309\nstate[joint_eff]: [-0.1162, -1.7026, 6.9675, 1.663, -0.0415, -0.0464, -0.0122, 0.4718, -13.7915, 7.9521, 0.9451, -0.9158, -0.0464, 0.8571]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4450732c53c561f953f6541ef1de727453788631b5d700a022bd0f139e98c02d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:024c63d44dbfb5b47f9ce5b665c21b8a7cee48e9b03d8ca95fd9c3a0929e32e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69d3f71c33a6510ca53ce95f0438afad01503069ac74f9eec0583a378df77130",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 6.265 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8589, 0.6075, -0.461, -0.0227, -0.0261, 0.9996, 0.527, 2.3501, 2.2883, -1.3884, -0.45, -0.783, 0.0273]\nstate[eef_state]: left_x=0.2866 left_y=0.002 left_z=0.148 left_yaw=0.0008 left_pitch=-0.14 left_roll=0.0025 left_gripper=0.9996 right_x=0.3754 right_y=0.3115 right_z=0.1173 right_yaw=1.5255 right_pitch=-0.5742 right_roll=0.2857 right_gripper=0.0273\nstate[joint_eff]: [-0.0068, -1.5932, 7.1316, 1.6044, -0.0513, -0.0366, -0.0122, -0.3214, -13.5453, 8.4581, 0.1148, -0.4518, 0.0611, 0.9646]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8604, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.5217, 2.3722, 2.3226, -1.4143, -0.4503, -0.7895, 0.0306]\nstate[eef_state]: left_x=0.2868 left_y=0.002 left_z=0.1476 left_yaw=0.0008 left_pitch=-0.1411 left_roll=0.0026 left_gripper=0.9996 right_x=0.3774 right_y=0.3098 right_z=0.1158 right_yaw=1.5319 right_pitch=-0.5803 right_roll=0.2965 right_gripper=0.0306\nstate[joint_eff]: [-0.0889, -1.6615, 7.0085, 1.6239, -0.0415, -0.0659, -0.0122, -0.1846, -13.3949, 8.1709, 0.4225, -0.4078, -0.0464, 0.9304]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8616, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.4351, 2.2566, 1.766, -0.9894, -0.6266, -0.8276, 0.0309]\nstate[eef_state]: left_x=0.2868 left_y=0.002 left_z=0.1473 left_yaw=0.0008 left_pitch=-0.1423 left_roll=0.0026 left_gripper=0.9996 right_x=0.3636 right_y=0.2872 right_z=0.0417 right_yaw=1.5405 right_pitch=-0.4285 right_roll=0.3893 right_gripper=0.0309\nstate[joint_eff]: [-0.1162, -1.7026, 6.9675, 1.663, -0.0415, -0.0464, -0.0122, 0.4718, -13.7915, 7.9521, 0.9451, -0.9158, -0.0464, 0.8571]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4450732c53c561f953f6541ef1de727453788631b5d700a022bd0f139e98c02d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:024c63d44dbfb5b47f9ce5b665c21b8a7cee48e9b03d8ca95fd9c3a0929e32e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69d3f71c33a6510ca53ce95f0438afad01503069ac74f9eec0583a378df77130",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011777Am2U5KtYeZbd5gem9P",
      "input": {
        "note": "Overhead shows the lavender bowl is farther out than the carried pink bowl, not nearer; pushing 5 cm forward to bring the pink bowl over/into the lavender one before releasing.",
        "targets": {
          "right_x": 0.42,
          "right_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_011777Am2U5KtYeZbd5gem9P",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.865, 0.6075, -0.4614, -0.0227, -0.0261, 0.9996, 0.3916, 2.4859, 2.207, -1.1961, -0.6155, -0.8864, 0.0338]\nstate[eef_state]: left_x=0.2868 left_y=0.002 left_z=0.1463 left_yaw=0.0008 left_pitch=-0.1465 left_roll=0.0027 left_gripper=0.9996 right_x=0.4234 right_y=0.289 right_z=0.0501 right_yaw=1.5244 right_pitch=-0.4253 right_roll=0.3432 right_gripper=0.0338\nstate[joint_eff]: [-0.1026, -1.853, 7.1043, 1.5897, -0.0659, -0.0659, -0.0122, -0.5128, -13.6, 7.2, 0.0073, -0.5641, 0.0806, 0.6911]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70d6e39e60b8425969aa14542b2e4617b035798ac285e84d766f65b90a61f725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a44fec4b3323d0a31123c8cbc4018511413f9d0c2fdb3029f8d168bfbd02342a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:530ce757baa599afd202dbac171421f4e062cfe7db58b817ef13d220fc987339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 15.8 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8604, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.5217, 2.3722, 2.3226, -1.4143, -0.4503, -0.7895, 0.0306]\nstate[eef_state]: left_x=0.2868 left_y=0.002 left_z=0.1476 left_yaw=0.0008 left_pitch=-0.1411 left_roll=0.0026 left_gripper=0.9996 right_x=0.3774 right_y=0.3098 right_z=0.1158 right_yaw=1.5319 right_pitch=-0.5803 right_roll=0.2965 right_gripper=0.0306\nstate[joint_eff]: [-0.0889, -1.6615, 7.0085, 1.6239, -0.0415, -0.0659, -0.0122, -0.1846, -13.3949, 8.1709, 0.4225, -0.4078, -0.0464, 0.9304]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8616, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.4351, 2.2566, 1.766, -0.9894, -0.6266, -0.8276, 0.0309]\nstate[eef_state]: left_x=0.2868 left_y=0.002 left_z=0.1473 left_yaw=0.0008 left_pitch=-0.1423 left_roll=0.0026 left_gripper=0.9996 right_x=0.3636 right_y=0.2872 right_z=0.0417 right_yaw=1.5405 right_pitch=-0.4285 right_roll=0.3893 right_gripper=0.0309\nstate[joint_eff]: [-0.1162, -1.7026, 6.9675, 1.663, -0.0415, -0.0464, -0.0122, 0.4718, -13.7915, 7.9521, 0.9451, -0.9158, -0.0464, 0.8571]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.865, 0.6075, -0.4614, -0.0227, -0.0261, 0.9996, 0.3916, 2.4859, 2.207, -1.1961, -0.6155, -0.8864, 0.0338]\nstate[eef_state]: left_x=0.2868 left_y=0.002 left_z=0.1463 left_yaw=0.0008 left_pitch=-0.1465 left_roll=0.0027 left_gripper=0.9996 right_x=0.4234 right_y=0.289 right_z=0.0501 right_yaw=1.5244 right_pitch=-0.4253 right_roll=0.3432 right_gripper=0.0338\nstate[joint_eff]: [-0.1026, -1.853, 7.1043, 1.5897, -0.0659, -0.0659, -0.0122, -0.5128, -13.6, 7.2, 0.0073, -0.5641, 0.0806, 0.6911]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70d6e39e60b8425969aa14542b2e4617b035798ac285e84d766f65b90a61f725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a44fec4b3323d0a31123c8cbc4018511413f9d0c2fdb3029f8d168bfbd02342a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:530ce757baa599afd202dbac171421f4e062cfe7db58b817ef13d220fc987339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgAUKjgEIEhgCKkAfYHGH6Gx90GyjpBHYhWOIcRT5QsZzZM6wZXPsS8007DNs7LVPCKlcCuchL3Dpm7vH0kN6owXMtC5yK4kRbwz4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaCpzNUGEgzlwN/HlObQ38g17AIaDOuq7Q2ULxgPzTSR7iIwi/A5OTE2P2YPhTaRGZxMCpVyAaadpXMNbK+uRXtwnNbqmENVwFWEVtNrlRp6/SXhKp4Dme2UFQswaECiuqP/5j3h8c+99eGpTfLHN7WyTVPVEv1gY7XxLCPJxZvxXWgGyajhFESVrKhrZ34//wHLQphXZSxIDkU8xgTC2Ej75zdcBRhMPzD/YAcqa1ugjyO/7WnxhGHhsiMRPHoAF1pdF2AveQYrAqreOAZ7ClWGvnH3+1gBVohk9pFwi4cxyzeVaeDocz1Pn2rdkKWqKOhlx5HuknieM6/5RW1hyNYIvc6X/DrUyMBvd65KyHdWlSUCwguB0MOpLN1j1Abuu9lIKyVhdUmG8nwQEdKggDIAx05moirkwz+m0tNRnx6cJh4YjTBN4l+cC2TRtHop8dunascy+UN/jrpsfO2PH20aVhHqni83AoA1sWRzZ3GFjCHGlU6wpt+HO2f4BYX0+4Cm3LLTcU7iLUP9ouwZqSoAWqfTmiFK6VRURxmJIyQQgPioaC05St7az1Ten35FkLvnD8GnY0zHH3w527URbluFWTX2VofpmC9FJp+tgi17XfGFbfxChK7H/r8jJmnWRppLYGm7YrP5dORHPbJgUErcEMyRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011NhEmw4HmYBT2t7gT4FT2n",
      "input": {
        "note": "Out of budget for further alignment: releasing the pink bowl where it now sits against the lavender bowl and lifting the jaws clear.",
        "targets": {
          "right_gripper": 1,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011NhEmw4HmYBT2t7gT4FT2n",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.8661, 0.6075, -0.461, -0.0227, -0.0261, 0.9996, 0.3878, 2.5008, 2.2425, -1.2789, -0.6106, -0.8917, 0.9953]\nstate[eef_state]: left_x=0.2869 left_y=0.002 left_z=0.146 left_yaw=0.0008 left_pitch=-0.1472 left_roll=0.0027 left_gripper=0.9996 right_x=0.4148 right_y=0.2827 right_z=0.0508 right_yaw=1.549 right_pitch=-0.4544 right_roll=0.4004 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -1.7026, 7.1316, 1.6044, -0.0806, -0.0415, -0.0122, -0.294, -12.8615, 8.0205, 0.3394, -0.5153, 0.0659, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:213d949a546f8240263f1efb7e43b918a0eac13250667a598862ae4f8cc1ed88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:742fdcdad9d2de0a5872fdad8d8d5d146b1dba09bfe666f62ecfa028580dcf5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8fdc34a413112a2fe2aadb2b665d82d2ae16aad498e6ae93b1886408db6f7685",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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