adhoc - adhoc_b46c8b4c.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
max_speed_frac: 0.25
model: claude-opus-5-5
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: messages
wire_capture: true
seed: 0
max steps: 900
duration: 259.5 s
total steps: 262

operator

scenes

trials

errored

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

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

user

Goal: Stack the bowls on the table.

step 0

assistant

agent noteThree bowls in a row: white (left), blue (middle, near the table's centre line), pink (right). My plan is to nest the white and pink bowls into the middle one, so I'm moving the left arm over the white bowl first to check where it sits.

move_to

left_x0.3500left_y-0.1600left_z0.1500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7959, 0.6056, -0.3794, -0.0227, -0.0257, 0.9996, -0.0212, 0.7937, 0.6029, -0.3782, -0.0151, -0.0334, 0.9972] state[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1803 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=0.0 right_z=0.1799 right_yaw=0.0005 right_pitch=-0.0004 right_roll=-0.0001 right_gripper=0.9972 state[joint_eff]: [-0.5402, -1.5932, 9.9761, 1.7607, -0.0659, 0.0904, -0.0611, -0.4308, -1.4974, 10.2769, 1.873, -0.0562, 0.1929, -0.2955] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.35, "left_y": -0.16, "left_z": 0.15}, "note": "Three bowls in a row: white (left), blue (middle, near the table's centre line), pink (right). My plan is to nest the white and pink bowls into the middle one, so I'm moving the left arm over the white bowl first to check where it sits."})

tool

executing move_to over 15 steps (1.5s)

step 15

assistant

agent noteThe left wrist cam shows the white bowl to the left and the blue bowl to the right, with the gripper between them. I'm moving over the white bowl's right-hand rim so the open jaws can straddle the wall.

move_to

left_x0.3600left_y-0.1200left_z0.1000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6792, 1.3468, 0.7574, -0.1658, -0.5362, -0.4171, 0.9995, -0.0216, 0.8005, 0.6056, -0.3885, -0.0162, -0.0299, 0.9971] state[eef_state]: left_x=0.3391 left_y=-0.1532 left_z=0.1311 left_yaw=-0.0249 left_pitch=-0.0615 left_roll=0.0338 left_gripper=0.9995 right_x=0.2943 right_y=0.0001 right_z=0.1771 right_yaw=-0.0007 right_pitch=-0.0149 right_roll=0.0037 right_gripper=0.9971 state[joint_eff]: [-0.3077, -5.3402, 9.1145, 1.8193, -0.4762, 0.0269, -0.0171, 0.0479, -1.7709, 6.8308, 1.7949, -0.0513, -0.0415, -0.0269] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.12, "left_z": 0.1}, "note": "The left wrist cam shows the white bowl to the left and the blue bowl to the right, with the gripper between them. I'm moving over the white bowl's right-hand rim so the open jaws can straddle the wall."})

tool

executing move_to over 3 steps (0.3s)

step 18

assistant

agent noteThe white bowl's right wall sits just left of the jaw column and a few cm ahead of the fingertips. I'm moving forward about 3 cm and slightly left so the jaws line up on the wall before I descend.

move_to

left_x0.3850left_y-0.1050left_z0.1000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5369, 1.3869, 0.6655, -0.0322, -0.4709, -0.3565, 0.9995, -0.0216, 0.8036, 0.6044, -0.3904, -0.0166, -0.0299, 0.9971] state[eef_state]: left_x=0.3533 left_y=-0.1128 left_z=0.0993 left_yaw=0.0343 left_pitch=-0.0876 left_roll=0.0449 left_gripper=0.9995 right_x=0.294 right_y=0.0002 right_z=0.1754 right_yaw=-0.0004 right_pitch=-0.0209 right_roll=0.004 right_gripper=0.9971 state[joint_eff]: [-1.5658, -5.1761, 6.8034, 1.9219, 0.0366, 0.1978, -0.0122, 0.0205, -0.9778, 7.1043, 1.746, -0.0562, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.385, "left_y": -0.105, "left_z": 0.1}, "note": "The white bowl's right wall sits just left of the jaw column and a few cm ahead of the fingertips. I'm moving forward about 3 cm and slightly left so the jaws line up on the wall before I descend."})

tool

executing move_to over 3 steps (0.3s)

step 21

assistant

agent noteThe arm barely moved forward last time (x reads 0.357). I'm pushing forward again while lowering toward the white bowl's right wall.

move_to

left_x0.3850left_y-0.1050left_z0.0600

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5095, 1.4158, 0.6613, -0.0063, -0.4316, -0.3309, 0.9995, -0.0216, 0.8043, 0.6041, -0.3927, -0.0162, -0.0303, 0.9971] state[eef_state]: left_x=0.3572 left_y=-0.1108 left_z=0.0899 left_yaw=0.0175 left_pitch=-0.1087 left_roll=0.0457 left_gripper=0.9995 right_x=0.2937 right_y=0.0001 right_z=0.1745 right_yaw=-0.0005 right_pitch=-0.0244 right_roll=0.0036 right_gripper=0.9971 state[joint_eff]: [0.335, -4.7385, 8.9641, 1.5116, -0.2662, -0.0611, -0.0122, -0.0205, -1.2923, 7.2547, 1.7363, -0.0513, -0.0659, -0.0171] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.385, "left_y": -0.105, "left_z": 0.06}, "note": "The arm barely moved forward last time (x reads 0.357). I'm pushing forward again while lowering toward the white bowl's right wall."})

tool

executing move_to over 3 steps (0.3s)

step 24

assistant

agent noteThe left arm seems stuck around z 0.09, possibly with a finger resting on the white bowl's rim. I'm lifting a little while moving forward to get free.

move_to

left_x0.3800left_y-0.1050left_z0.1200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5095, 1.4162, 0.664, -0.0185, -0.4431, -0.3336, 0.9995, -0.0219, 0.8043, 0.6041, -0.3927, -0.0166, -0.0299, 0.9971] state[eef_state]: left_x=0.3565 left_y=-0.1083 left_z=0.0894 left_yaw=0.0285 left_pitch=-0.1131 left_roll=0.0556 left_gripper=0.9995 right_x=0.2937 right_y=0.0001 right_z=0.1745 right_yaw=-0.0008 right_pitch=-0.0244 right_roll=0.0041 right_gripper=0.9971 state[joint_eff]: [0.1162, -5.2581, 8.3077, 1.5556, -0.2466, -0.022, -0.0122, -0.0889, -1.2786, 7.0906, 1.7265, -0.0513, -0.0415, -0.0171] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.38, "left_y": -0.105, "left_z": 0.12}, "note": "The left arm seems stuck around z 0.09, possibly with a finger resting on the white bowl's rim. I'm lifting a little while moving forward to get free."})

tool

executing move_to over 2 steps (0.2s)

step 26

assistant

agent noteThe left arm hasn't responded to my last two commands; its joints are unchanged. I'm sending a clearly different pose, higher and a bit back, to see whether it tracks at all.

move_to

left_x0.3300left_y-0.1200left_z0.1600

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5095, 1.4178, 0.664, -0.0189, -0.4435, -0.3336, 0.9995, -0.0216, 0.8093, 0.6018, -0.3931, -0.0166, -0.0303, 0.9971] state[eef_state]: left_x=0.3565 left_y=-0.1082 left_z=0.0888 left_yaw=0.0289 left_pitch=-0.1146 left_roll=0.0568 left_gripper=0.9995 right_x=0.2937 right_y=0.0002 right_z=0.1721 right_yaw=-0.0002 right_pitch=-0.032 right_roll=0.004 right_gripper=0.9971 state[joint_eff]: [0.1709, -5.2308, 8.4991, 1.5604, -0.3053, -0.0513, -0.0122, 0.0068, -1.5932, 7.2137, 1.7363, -0.0415, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.33, "left_y": -0.12, "left_z": 0.16}, "note": "The left arm hasn't responded to my last two commands; its joints are unchanged. I'm sending a clearly different pose, higher and a bit back, to see whether it tracks at all."})

tool

executing move_to over 5 steps (0.5s)

step 31

assistant

agent noteThe arm is responding now, just slowly and sagging. In the wrist view the open jaws straddle the white bowl's right wall side to side, but the wall is a few cm ahead of them, so I'm moving forward.

move_to

left_x0.3900left_y-0.1200left_z0.1000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5636, 1.3598, 0.7292, -0.1501, -0.4717, -0.3706, 0.9995, -0.0216, 0.8112, 0.6018, -0.3931, -0.0166, -0.0303, 0.9971] state[eef_state]: left_x=0.3488 left_y=-0.1212 left_z=0.1142 left_yaw=0.0173 left_pitch=-0.1096 left_roll=0.049 left_gripper=0.9995 right_x=0.2938 right_y=0.0002 right_z=0.1715 right_yaw=-0.0002 right_pitch=-0.0339 right_roll=0.004 right_gripper=0.9971 state[joint_eff]: [-0.5538, -9.812, 12.2462, 2.21, -0.5446, -0.0415, -0.0122, -0.1299, -1.1009, 7.0496, 1.7607, -0.0708, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.39, "left_y": -0.12, "left_z": 0.1}, "note": "The arm is responding now, just slowly and sagging. In the wrist view the open jaws straddle the white bowl's right wall side to side, but the wall is a few cm ahead of them, so I'm moving forward."})

tool

executing move_to over 4 steps (0.4s)

step 35

assistant

agent noteThe jaws still straddle the white bowl's right wall in the wrist view. I'm continuing forward and down so the fingers go around the wall.

move_to

left_x0.4000left_y-0.1150left_z0.0500

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4858, 1.5455, 0.7784, -0.1036, -0.4343, -0.3397, 0.9995, -0.0219, 0.8162, 0.6003, -0.3935, -0.0166, -0.0299, 0.9971] state[eef_state]: left_x=0.3722 left_y=-0.1084 left_z=0.073 left_yaw=0.0568 left_pitch=-0.2019 left_roll=0.0974 left_gripper=0.9995 right_x=0.2938 right_y=0.0001 right_z=0.1694 right_yaw=-0.0008 right_pitch=-0.0408 right_roll=0.0045 right_gripper=0.9971 state[joint_eff]: [0.2256, -8.3624, 8.3624, 1.9316, -0.0757, 0.0806, -0.0122, -0.0889, -1.7299, 7.1726, 1.6874, -0.0562, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.115, "left_z": 0.05}, "note": "The jaws still straddle the white bowl's right wall in the wrist view. I'm continuing forward and down so the fingers go around the wall."})

tool

executing move_to over 3 steps (0.3s)

step 38

assistant

agent noteHeight is stuck near 0.08 while the jaws still straddle the bowl wall. I'm commanding a lower target to push the fingers down around the wall.

move_to

left_x0.3950left_y-0.1150left_z0.0200

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4835, 1.5436, 0.7784, -0.062, -0.4164, -0.3294, 0.9995, -0.0219, 0.8165, 0.6003, -0.3927, -0.0162, -0.0299, 0.9971] state[eef_state]: left_x=0.3784 left_y=-0.1139 left_z=0.0791 left_yaw=0.0353 left_pitch=-0.1717 left_roll=0.0708 left_gripper=0.9995 right_x=0.294 right_y=0.0 right_z=0.1695 right_yaw=-0.0011 right_pitch=-0.0404 right_roll=0.0042 right_gripper=0.9971 state[joint_eff]: [0.0615, -7.8154, 8.212, 1.7314, -0.1685, 0.1636, -0.0122, -0.1026, -1.4154, 7.0496, 1.7265, -0.0269, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.395, "left_y": -0.115, "left_z": 0.02}, "note": "Height is stuck near 0.08 while the jaws still straddle the bowl wall. I'm commanding a lower target to push the fingers down around the wall."})

tool

executing move_to over 4 steps (0.4s)

step 42

assistant

agent noteThe arm is frozen at z 0.079 with its joints unchanged. I'm trying a pure straight-down move from where it is now, to check whether the forward component was the part it couldn't reach.

move_to

left_x0.3780left_y-0.1140left_z0.0400

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4835, 1.5436, 0.7784, -0.0616, -0.4168, -0.3294, 0.9995, -0.0216, 0.8165, 0.5999, -0.3931, -0.0166, -0.0303, 0.9971] state[eef_state]: left_x=0.3784 left_y=-0.1139 left_z=0.0792 left_yaw=0.0355 left_pitch=-0.1712 left_roll=0.0709 left_gripper=0.9995 right_x=0.2938 right_y=0.0002 right_z=0.1692 right_yaw=-0.0002 right_pitch=-0.0412 right_roll=0.0042 right_gripper=0.9971 state[joint_eff]: [0.0205, -7.8427, 8.2667, 1.7753, -0.2076, 0.188, -0.0122, -0.0889, -1.1419, 7.1726, 1.6972, -0.0659, -0.0757, -0.0122] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.378, "left_y": -0.114, "left_z": 0.04}, "note": "The arm is frozen at z 0.079 with its joints unchanged. I'm trying a pure straight-down move from where it is now, to check whether the forward component was the part it couldn't reach."})

tool

executing move_to over 3 steps (0.3s)

step 45

assistant

agent noteThe left arm keeps holding still at z 0.079 and its tool orientation has drifted (pitch -0.17). I'm sending an explicit level orientation and a higher target to reset the IK.

move_to

left_x0.3600left_y-0.1140left_z0.1200left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4835, 1.5436, 0.7784, -0.0616, -0.4164, -0.3294, 0.9995, -0.0219, 0.8169, 0.5999, -0.3927, -0.0166, -0.0303, 0.9971] state[eef_state]: left_x=0.3784 left_y=-0.114 left_z=0.0792 left_yaw=0.0352 left_pitch=-0.1714 left_roll=0.0707 left_gripper=0.9995 right_x=0.2939 right_y=0.0001 right_z=0.1692 right_yaw=-0.0006 right_pitch=-0.0412 right_roll=0.0042 right_gripper=0.9971 state[joint_eff]: [0.0752, -7.6239, 8.4444, 1.7705, -0.188, 0.1392, -0.0122, -0.3214, -1.1966, 7.0222, 1.746, -0.0317, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.114, "left_z": 0.12, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The left arm keeps holding still at z 0.079 and its tool orientation has drifted (pitch -0.17). I'm sending an explicit level orientation and a higher target to reset the IK."})

tool

executing move_to over 6 steps (0.6s)

step 51

assistant

agent noteThe arm moved once I gave it an explicit level orientation. In the wrist view the jaws straddle the white bowl's right wall, so I'm descending with the orientation held level.

move_to

left_x0.3700left_y-0.1140left_z0.0400left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 1.3613, 0.6453, 0.025, -0.4198, -0.329, 0.9995, -0.0216, 0.8177, 0.5999, -0.3927, -0.0166, -0.0303, 0.9971] state[eef_state]: left_x=0.3578 left_y=-0.1138 left_z=0.1074 left_yaw=0.0031 left_pitch=-0.0521 left_roll=0.0056 left_gripper=0.9995 right_x=0.294 right_y=0.0002 right_z=0.169 right_yaw=-0.0002 right_pitch=-0.0419 right_roll=0.0042 right_gripper=0.9971 state[joint_eff]: [-0.3897, -5.8598, 6.3521, 1.9609, -0.3004, 0.1343, -0.0171, -0.0479, -1.0325, 7.0496, 1.7411, -0.0757, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.37, "left_y": -0.114, "left_z": 0.04, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The arm moved once I gave it an explicit level orientation. In the wrist view the jaws straddle the white bowl's right wall, so I'm descending with the orientation held level."})

tool

executing move_to over 5 steps (0.5s)

step 56

assistant

agent noteThe gripper is at z 0.026 and the white bowl's right wall sits between the open jaws in the wrist view. Closing to pinch the wall.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4984, 1.6161, 0.4965, 0.3809, -0.4179, -0.3138, 0.9995, -0.0219, 0.8211, 0.5999, -0.3935, -0.0166, -0.0299, 0.9971] state[eef_state]: left_x=0.3557 left_y=-0.1079 left_z=0.0257 left_yaw=0.0073 left_pitch=-0.0946 left_roll=0.0401 left_gripper=0.9995 right_x=0.294 right_y=0.0001 right_z=0.1679 right_yaw=-0.0008 right_pitch=-0.0461 right_roll=0.0046 right_gripper=0.9971 state[joint_eff]: [0.335, -6.5162, 4.7932, 1.8535, -0.1294, 0.105, -0.0122, -0.1983, -1.4291, 7.0222, 1.6972, -0.0757, -0.0562, -0.0122] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The gripper is at z 0.026 and the white bowl's right wall sits between the open jaws in the wrist view. Closing to pinch the wall."})

tool

executing move_to over 10 steps (1.0s)

step 66

assistant

agent noteThe gripper closed to 0.026, which could be the thin bowl wall or nothing; the jaws look like they're right on the wall. Lifting to test whether the bowl comes up.

move_to

left_z0.1000left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4965, 1.6073, 0.4984, 0.4217, -0.4721, -0.2909, 0.0259, -0.0219, 0.8211, 0.5999, -0.3931, -0.0162, -0.0303, 0.9971] state[eef_state]: left_x=0.3639 left_y=-0.1017 left_z=0.0391 left_yaw=0.0382 left_pitch=-0.0331 left_roll=0.0638 left_gripper=0.0259 right_x=0.2941 right_y=0.0 right_z=0.1679 right_yaw=-0.0009 right_pitch=-0.0457 right_roll=0.004 right_gripper=0.9971 state[joint_eff]: [-0.294, -4.8068, 5.0393, 0.6716, 1.0379, -0.5348, 1.4188, -0.0889, -1.3744, 6.9949, 1.663, -0.0562, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.1, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The gripper closed to 0.026, which could be the thin bowl wall or nothing; the jaws look like they're right on the wall. Lifting to test whether the bowl comes up."})

tool

executing move_to over 4 steps (0.4s)

step 70

assistant

agent noteThe wrist view shows the white bowl rising with the jaws, so it's held by its wall. Lifting higher to clear the blue bowl before carrying it over.

move_to

left_z0.1800left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4664, 1.4059, 0.532, 0.2436, -0.4171, -0.2878, 0.0304, -0.0219, 0.8234, 0.5999, -0.3931, -0.0166, -0.0299, 0.9971] state[eef_state]: left_x=0.3617 left_y=-0.0979 left_z=0.0867 left_yaw=0.0223 left_pitch=-0.0001 left_roll=0.0091 left_gripper=0.0304 right_x=0.2942 right_y=0.0001 right_z=0.1673 right_yaw=-0.0008 right_pitch=-0.048 right_roll=0.0046 right_gripper=0.9971 state[joint_eff]: [0.4171, -5.8735, 8.7863, 1.6874, -0.1001, 0.0611, 1.033, -0.212, -1.1692, 7.0359, 1.7216, -0.0611, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.18, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The wrist view shows the white bowl rising with the jaws, so it's held by its wall. Lifting higher to clear the blue bowl before carrying it over."})

tool

executing move_to over 7 steps (0.7s)

step 77

assistant

agent noteThe arm didn't rise on the last command; it's still at z 0.084 holding the white bowl. I'm trying a combined up-and-sideways move toward the blue bowl.

move_to

left_x0.3400left_y-0.1800left_z0.1600left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4629, 1.3815, 0.5442, 0.1608, -0.3973, -0.2878, 0.0325, -0.0219, 0.823, 0.5999, -0.3931, -0.0162, -0.0303, 0.9971] state[eef_state]: left_x=0.3548 left_y=-0.0967 left_z=0.0837 left_yaw=0.0102 left_pitch=-0.0466 left_roll=0.0198 left_gripper=0.0325 right_x=0.2942 right_y=-0.0 right_z=0.1674 right_yaw=-0.0009 right_pitch=-0.0477 right_roll=0.0041 right_gripper=0.9971 state[joint_eff]: [-0.212, -6.0786, 7.6376, 1.7216, -0.3053, -0.0024, 1.033, -0.0752, -1.388, 7.0085, 1.7021, -0.0269, -0.0611, -0.0171] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.34, "left_y": -0.18, "left_z": 0.16, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The arm didn't rise on the last command; it's still at z 0.084 holding the white bowl. I'm trying a combined up-and-sideways move toward the blue bowl."})

tool

executing move_to over 8 steps (0.8s)

step 85

assistant

agent noteI'm carrying the white bowl at z 0.16, with the blue bowl ahead and to the right in the wrist view. Shifting right so the white bowl's centre (about 6 cm left of the jaws) lines up over the blue bowl.

move_to

left_x0.3700left_y-0.3100left_z0.1600left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7715, 1.3788, 0.8375, -0.1047, -0.5632, -0.4603, 0.0326, -0.0219, 0.8234, 0.5964, -0.3935, -0.0162, -0.0303, 0.9971] state[eef_state]: left_x=0.3449 left_y=-0.1989 left_z=0.1644 left_yaw=-0.0739 left_pitch=0.0345 left_roll=-0.0568 left_gripper=0.0326 right_x=0.2937 right_y=0.0 right_z=0.1657 right_yaw=-0.0009 right_pitch=-0.0518 right_roll=0.0042 right_gripper=0.9971 state[joint_eff]: [0.8957, -5.9692, 7.0085, 1.0525, -0.4811, 0.1001, 1.0281, -0.2256, -1.347, 7.3368, 1.7216, -0.0513, -0.0659, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.37, "left_y": -0.31, "left_z": 0.16, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "I'm carrying the white bowl at z 0.16, with the blue bowl ahead and to the right in the wrist view. Shifting right so the white bowl's centre (about 6 cm left of the jaws) lines up over the blue bowl."})

tool

executing move_to over 10 steps (1.0s)

step 95

assistant

agent noteThe white bowl now covers the blue bowl in both views, with only a sliver of blue showing on the right. Lowering it into the blue bowl.

move_to

left_x0.3700left_y-0.3150left_z0.0700left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9546, 1.8248, 1.3094, -0.3439, -0.7349, -0.6659, 0.0326, -0.0216, 0.8265, 0.5953, -0.3935, -0.0162, -0.0303, 0.9971] state[eef_state]: left_x=0.3657 left_y=-0.3053 left_z=0.1468 left_yaw=-0.0202 left_pitch=-0.0275 left_roll=0.0051 left_gripper=0.0326 right_x=0.2937 right_y=0.0001 right_z=0.1643 right_yaw=-0.0005 right_pitch=-0.056 right_roll=0.0043 right_gripper=0.9971 state[joint_eff]: [-0.4308, -9.6615, 8.7726, 1.243, -0.5983, 0.1441, 0.9988, -0.0068, -1.6752, 7.3231, 1.6972, -0.0659, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.37, "left_y": -0.315, "left_z": 0.07, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The white bowl now covers the blue bowl in both views, with only a sliver of blue showing on the right. Lowering it into the blue bowl."})

tool

executing move_to over 5 steps (0.5s)

step 100

assistant

agent noteIn the wrist view the white bowl sits down inside the blue bowl with the rims nearly concentric. Opening the gripper to let go.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9646, 1.972, 1.19, -0.1246, -0.7609, -0.6777, 0.0326, -0.0219, 0.8295, 0.5949, -0.4007, -0.0166, -0.0303, 0.9971] state[eef_state]: left_x=0.3659 left_y=-0.3077 left_z=0.0692 left_yaw=-0.0056 left_pitch=-0.0387 left_roll=0.0454 left_gripper=0.0326 right_x=0.2927 right_y=0.0001 right_z=0.1619 right_yaw=-0.0005 right_pitch=-0.0667 right_roll=0.0047 right_gripper=0.9971 state[joint_eff]: [-0.4991, -9.6615, 5.2581, 1.2625, -0.1343, -0.0757, 0.9841, -0.2256, -1.6615, 7.0632, 1.746, -0.0611, -0.0611, -0.0171] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "In the wrist view the white bowl sits down inside the blue bowl with the rims nearly concentric. Opening the gripper to let go."})

tool

executing move_to over 10 steps (1.0s)

step 110

assistant

agent noteThe white bowl is released and sitting in the blue bowl. Moving the left arm up and back toward home so the right arm can bring over the pink bowl.

move_to

left_x0.3000left_y-0.0500left_z0.1800left_pitch0.0000left_roll0.0000left_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9672, 1.9793, 1.1851, -0.062, -0.7761, -0.6903, 0.9953, -0.0219, 0.8299, 0.5945, -0.4118, -0.0162, -0.0303, 0.9971] state[eef_state]: left_x=0.3704 left_y=-0.313 left_z=0.0735 left_yaw=0.0075 left_pitch=-0.0001 left_roll=0.0002 left_gripper=0.9953 right_x=0.2911 right_y=0.0001 right_z=0.1594 right_yaw=-0.0009 right_pitch=-0.0785 right_roll=0.0047 right_gripper=0.9971 state[joint_eff]: [-0.5402, -9.6889, 5.7094, 1.536, -0.3394, -0.0269, -0.1294, -0.1026, -1.4291, 7.0085, 1.7998, -0.0415, -0.0464, -0.0122] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.18, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "The white bowl is released and sitting in the blue bowl. Moving the left arm up and back toward home so the right arm can bring over the pink bowl."})

tool

executing move_to over 24 steps (2.4s)

step 134

assistant

agent noteThe white bowl is nested in the blue one, and the pink bowl sits to their right. Moving the right arm over the pink bowl's right-hand wall to grasp it.

move_to

right_x0.3400right_y0.1500right_z0.1200right_pitch0.0000right_roll0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3706, 0.8898, 0.6338, -0.3355, -0.3496, -0.2573, 0.9957, -0.0216, 0.8322, 0.5945, -0.4152, -0.0166, -0.0299, 0.9971] state[eef_state]: left_x=0.3048 left_y=-0.0497 left_z=0.1817 left_yaw=0.0467 left_pitch=0.0178 left_roll=-0.0169 left_gripper=0.9957 right_x=0.2907 right_y=0.0003 right_z=0.1581 right_yaw=-0.0003 right_pitch=-0.0843 right_roll=0.0054 right_gripper=0.9971 state[joint_eff]: [0.2667, -2.1538, 6.8855, 1.7363, -0.1197, 0.0757, 0.0317, -0.1983, -1.6615, 6.9812, 1.6825, -0.0562, -0.022, -0.0171] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.34, "right_y": 0.15, "right_z": 0.12, "right_pitch": 0, "right_roll": 0, "right_yaw": 0}, "note": "The white bowl is nested in the blue one, and the pink bowl sits to their right. Moving the right arm over the pink bowl's right-hand wall to grasp it."})

tool

executing move_to over 13 steps (1.3s)

step 147

assistant

agent noteThe pink bowl is ahead and slightly left in the right wrist view, with its right wall a bit right of the jaw centre. I'm moving forward and slightly right to line the jaws up on that wall.

move_to

right_x0.3700right_y0.1300right_z0.1000right_pitch0.0000right_roll0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3714, 0.8948, 0.6338, -0.3553, -0.3408, -0.2546, 0.9958, 0.6403, 1.3361, 0.6159, -0.0448, 0.4881, 0.3325, 0.9971] state[eef_state]: left_x=0.3024 left_y=-0.0506 left_z=0.1761 left_yaw=0.0372 left_pitch=-0.0069 left_roll=-0.0092 left_gripper=0.9958 right_x=0.3244 right_y=0.1429 right_z=0.0958 right_yaw=0.0457 right_pitch=-0.0908 right_roll=-0.0529 right_gripper=0.9971 state[joint_eff]: [-0.0205, -2.2906, 7.1863, 1.8339, -0.2613, -0.0464, -0.0073, 0.1436, -5.5043, 8.9368, 1.7021, 0.4176, 0.1099, -0.0171] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.13, "right_z": 0.1, "right_pitch": 0, "right_roll": 0, "right_yaw": 0}, "note": "The pink bowl is ahead and slightly left in the right wrist view, with its right wall a bit right of the jaw centre. I'm moving forward and slightly right to line the jaws up on that wall."})

tool

executing move_to over 4 steps (0.4s)

step 151

assistant

agent noteThe pink bowl's right wall sits between the open jaws in the wrist view. Descending around it before closing.

move_to

right_x0.3650right_y0.1250right_z0.0200right_pitch0.0000right_roll0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3714, 0.8955, 0.6338, -0.3573, -0.3405, -0.2546, 0.9958, 0.527, 1.4464, 0.6224, 0.1017, 0.4492, 0.289, 0.997] state[eef_state]: left_x=0.3022 left_y=-0.0506 left_z=0.1755 left_yaw=0.0369 left_pitch=-0.0094 left_roll=-0.0083 left_gripper=0.9958 right_x=0.3564 right_y=0.1228 right_z=0.0835 right_yaw=-0.0118 right_pitch=-0.0702 right_roll=-0.0423 right_gripper=0.997 state[joint_eff]: [-0.1709, -1.9487, 7.241, 1.6386, -0.1587, -0.0171, -0.0171, -0.4444, -5.6, 7.1043, 1.8681, 0.1832, -0.0317, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.365, "right_y": 0.125, "right_z": 0.02, "right_pitch": 0, "right_roll": 0, "right_yaw": 0}, "note": "The pink bowl's right wall sits between the open jaws in the wrist view. Descending around it before closing."})

tool

executing move_to over 5 steps (0.5s)

step 156

assistant

agent noteThe right arm stalled at z 0.09, the same way the left arm did earlier. Lifting slightly first to unstick the IK, then I'll descend again.

move_to

right_x0.3600right_y0.1250right_z0.1200right_pitch0.0000right_roll0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3714, 0.8967, 0.6338, -0.3626, -0.3401, -0.2546, 0.9958, 0.5213, 1.4551, 0.6224, 0.1585, 0.429, 0.2687, 0.997] state[eef_state]: left_x=0.3016 left_y=-0.0504 left_z=0.1742 left_yaw=0.0366 left_pitch=-0.0154 left_roll=-0.006 left_gripper=0.9958 right_x=0.3636 right_y=0.1282 right_z=0.0895 right_yaw=0.0107 right_pitch=-0.0355 right_roll=-0.0234 right_gripper=0.997 state[joint_eff]: [-0.1573, -1.9077, 6.9812, 1.7021, -0.1197, -0.0464, -0.0122, -0.5265, -5.7915, 7.1043, 1.8486, 0.1636, 0.0073, -0.0122] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.125, "right_z": 0.12, "right_pitch": 0, "right_roll": 0, "right_yaw": 0}, "note": "The right arm stalled at z 0.09, the same way the left arm did earlier. Lifting slightly first to unstick the IK, then I'll descend again."})

tool

executing move_to over 2 steps (0.2s)

step 158

assistant

agent noteThe right arm isn't responding to small moves. Sending a larger lift and retreat to get it tracking again before I re-approach the pink bowl.

move_to

right_x0.3200right_y0.1200right_z0.1800right_pitch0.0000right_roll0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3714, 0.8967, 0.6338, -0.363, -0.3401, -0.2546, 0.9958, 0.5213, 1.4551, 0.6224, 0.1585, 0.429, 0.2687, 0.997] state[eef_state]: left_x=0.3016 left_y=-0.0504 left_z=0.1741 left_yaw=0.0367 left_pitch=-0.0158 left_roll=-0.0058 left_gripper=0.9958 right_x=0.3636 right_y=0.1282 right_z=0.0895 right_yaw=0.0107 right_pitch=-0.0355 right_roll=-0.0234 right_gripper=0.997 state[joint_eff]: [-0.1983, -1.8667, 7.1043, 1.6581, -0.1783, -0.0122, -0.0122, -0.5402, -5.9009, 7.1453, 1.8388, 0.1294, 0.0171, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.32, "right_y": 0.12, "right_z": 0.18, "right_pitch": 0, "right_roll": 0, "right_yaw": 0}, "note": "The right arm isn't responding to small moves. Sending a larger lift and retreat to get it tracking again before I re-approach the pink bowl."})

tool

executing move_to over 6 steps (0.6s)

step 164

assistant

agent noteThe right arm is back up at z 0.17 with the pink bowl below, its right wall slightly right of the jaw centre. Descending in one larger move to straddle that wall.

move_to

right_x0.3650right_y0.1200right_z0.0200right_pitch0.0000right_roll0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3714, 0.8997, 0.6338, -0.3622, -0.3397, -0.2546, 0.9958, 0.5957, 1.1904, 0.6937, -0.0853, 0.4564, 0.2985, 0.9971] state[eef_state]: left_x=0.3018 left_y=-0.0505 left_z=0.1734 left_yaw=0.0364 left_pitch=-0.018 left_roll=-0.0051 left_gripper=0.9958 right_x=0.3373 right_y=0.1389 right_z=0.1676 right_yaw=0.0466 right_pitch=0.0523 right_roll=0.0345 right_gripper=0.9971 state[joint_eff]: [-0.3214, -1.8256, 6.9949, 1.707, -0.1538, -0.0757, -0.0122, -1.0872, -3.0017, 9.2376, 1.79, 0.5153, 0.2369, -0.0073] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.365, "right_y": 0.12, "right_z": 0.02, "right_pitch": 0, "right_roll": 0, "right_yaw": 0}, "note": "The right arm is back up at z 0.17 with the pink bowl below, its right wall slightly right of the jaw centre. Descending in one larger move to straddle that wall."})

tool

executing move_to over 10 steps (1.0s)

step 174

assistant

agent noteThe right gripper is down at z 0.01 with the pink bowl's wall between the jaws in the wrist view. Closing to pinch it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3714, 0.9035, 0.6338, -0.3634, -0.3401, -0.2546, 0.9957, 0.4992, 1.7065, 0.4606, 0.54, 0.411, 0.2653, 0.997] state[eef_state]: left_x=0.3019 left_y=-0.0505 left_z=0.1721 left_yaw=0.0367 left_pitch=-0.0224 left_roll=-0.0029 left_gripper=0.9957 right_x=0.3547 right_y=0.1171 right_z=0.0102 right_yaw=0.004 right_pitch=-0.0688 right_roll=-0.0315 right_gripper=0.997 state[joint_eff]: [-0.0068, -2.2085, 7.0496, 1.663, -0.1392, -0.0366, -0.0171, -0.4581, -7.0632, 4.2325, 1.8926, 0.1783, -0.0562, -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_gripper": 0.0}, "note": "The right gripper is down at z 0.01 with the pink bowl's wall between the jaws in the wrist view. Closing to pinch it."})

tool

executing move_to over 10 steps (1.0s)

step 184

assistant

agent noteThe gripper closed to 0.037 with the jaws on the pink bowl's wall. Lifting to check the bowl comes up and to clear the stack.

move_to

right_x0.3600right_y0.1600right_z0.1800right_pitch0.0000right_roll0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3714, 0.9035, 0.6338, -0.3634, -0.3397, -0.2546, 0.9958, 0.5041, 1.689, 0.4736, 0.6338, 0.3943, 0.2878, 0.0367] state[eef_state]: left_x=0.3019 left_y=-0.0506 left_z=0.1721 left_yaw=0.0364 left_pitch=-0.0225 left_roll=-0.0032 left_gripper=0.9958 right_x=0.3704 right_y=0.131 right_z=0.0374 right_yaw=0.0114 right_pitch=0.0359 right_roll=0.0551 right_gripper=0.0367 state[joint_eff]: [-0.3077, -1.8803, 6.9812, 1.6288, -0.1148, -0.0464, -0.0073, -0.253, -4.465, 3.7128, 0.5592, 0.3248, -0.3248, 0.9158] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.16, "right_z": 0.18, "right_pitch": 0, "right_roll": 0, "right_yaw": 0}, "note": "The gripper closed to 0.037 with the jaws on the pink bowl's wall. Lifting to check the bowl comes up and to clear the stack."})

tool

executing move_to over 10 steps (1.0s)

step 194

assistant

agent noteThe pink bowl came up with the gripper, and the top view shows it lifted off the table. Carrying it left over the white-in-blue stack.

move_to

right_x0.3650right_y0.2700right_z0.1700right_pitch0.0000right_roll0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3714, 0.9062, 0.6338, -0.3634, -0.3401, -0.2546, 0.9957, 0.6319, 1.3846, 0.8574, -0.1631, 0.4938, 0.3267, 0.0377] state[eef_state]: left_x=0.302 left_y=-0.0505 left_z=0.1714 left_yaw=0.0367 left_pitch=-0.0249 left_roll=-0.0019 left_gripper=0.9957 right_x=0.3597 right_y=0.164 right_z=0.1565 right_yaw=0.0384 right_pitch=-0.0269 right_roll=-0.0187 right_gripper=0.0377 state[joint_eff]: [-0.2256, -2.1538, 7.0222, 1.6142, -0.1538, -0.0171, -0.0122, 0.1983, -7.8291, 9.306, 1.7558, 0.4371, 0.2613, 0.8962] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.365, "right_y": 0.27, "right_z": 0.17, "right_pitch": 0, "right_roll": 0, "right_yaw": 0}, "note": "The pink bowl came up with the gripper, and the top view shows it lifted off the table. Carrying it left over the white-in-blue stack."})

tool

executing move_to over 9 steps (0.9s)

step 203

assistant

agent noteThe pink bowl is almost over the stack, with the blue rim peeking out on its left in the top view. Nudging a bit further left and lowering it onto the stack.

move_to

right_x0.3650right_y0.2850right_z0.0800right_pitch0.0000right_roll0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3714, 0.9089, 0.6338, -0.3634, -0.3401, -0.2546, 0.9958, 0.8795, 1.6844, 1.1633, -0.3183, 0.6636, 0.5152, 0.0388] state[eef_state]: left_x=0.3022 left_y=-0.0506 left_z=0.1706 left_yaw=0.0368 left_pitch=-0.0273 left_roll=-0.0008 left_gripper=0.9958 right_x=0.3565 right_y=0.2658 right_z=0.1488 right_yaw=0.0532 right_pitch=-0.059 right_roll=-0.0507 right_gripper=0.0388 state[joint_eff]: [0.0205, -2.2085, 7.1863, 1.619, -0.188, -0.0366, -0.0073, 0.2667, -8.5402, 9.6342, 1.4774, 0.5836, 0.2027, 0.8327] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.365, "right_y": 0.285, "right_z": 0.08, "right_pitch": 0, "right_roll": 0, "right_yaw": 0}, "note": "The pink bowl is almost over the stack, with the blue rim peeking out on its left in the top view. Nudging a bit further left and lowering it onto the stack."})

tool

executing move_to over 5 steps (0.5s)

step 208

assistant

agent noteThe wrist view shows the white/blue stack sitting further forward than the pink bowl, so the pink one isn't centred yet. Lifting slightly and shifting forward about 4 cm to line it up.

move_to

right_x0.4000right_y0.2900right_z0.1100right_pitch0.0000right_roll0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3714, 0.91, 0.6338, -0.363, -0.3401, -0.2546, 0.9957, 0.91, 1.8553, 1.0573, -0.0811, 0.6937, 0.5671, 0.0408] state[eef_state]: left_x=0.3023 left_y=-0.0506 left_z=0.1704 left_yaw=0.0368 left_pitch=-0.028 left_roll=-0.0005 left_gripper=0.9957 right_x=0.3561 right_y=0.2798 right_z=0.0734 right_yaw=0.0333 right_pitch=-0.0664 right_roll=-0.0537 right_gripper=0.0408 state[joint_eff]: [-0.3214, -2.0718, 7.0222, 1.6484, -0.1587, -0.0513, -0.0122, 0.2803, -8.9231, 6.2017, 1.3162, 0.5446, -0.0269, 0.6764] approver: 1 step(s) modified (delta_clamped). 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_x": 0.4, "right_y": 0.29, "right_z": 0.11, "right_pitch": 0, "right_roll": 0, "right_yaw": 0}, "note": "The wrist view shows the white/blue stack sitting further forward than the pink bowl, so the pink one isn't centred yet. Lifting slightly and shifting forward about 4 cm to line it up."})

tool

executing move_to over 4 steps (0.4s)

step 212

assistant

agent noteThe right arm stalled again; the pink bowl is sitting just nearer the base than the white/blue stack. Lifting clearly to get the arm tracking before repositioning over the stack.

move_to

right_x0.3800right_y0.2700right_z0.1900right_pitch0.0000right_roll0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3714, 0.91, 0.6338, -0.363, -0.3401, -0.2546, 0.9958, 0.9127, 1.8778, 1.0496, -0.0101, 0.6998, 0.5766, 0.0409] state[eef_state]: left_x=0.3023 left_y=-0.0506 left_z=0.1704 left_yaw=0.0368 left_pitch=-0.028 left_roll=-0.0005 left_gripper=0.9958 right_x=0.3605 right_y=0.2862 right_z=0.0713 right_yaw=0.0283 right_pitch=-0.0366 right_roll=-0.0173 right_gripper=0.0409 state[joint_eff]: [-0.1299, -1.853, 7.0222, 1.6484, -0.1343, -0.0171, -0.0073, -0.1709, -9.7162, 6.1607, 1.536, 0.569, 0.0952, 0.696] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_y": 0.27, "right_z": 0.19, "right_pitch": 0, "right_roll": 0, "right_yaw": 0}, "note": "The right arm stalled again; the pink bowl is sitting just nearer the base than the white/blue stack. Lifting clearly to get the arm tracking before repositioning over the stack."})

tool

executing move_to over 8 steps (0.8s)

step 220

assistant

agent noteThe shoulder is straining (effort -18) and the arm won't lift, so the pink bowl may be snagged on the stack's rim. Backing away toward the base while lifting to free it.

move_to

right_x0.3300right_y0.2700right_z0.1400right_pitch0.0000right_roll0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3714, 0.91, 0.6338, -0.3634, -0.3397, -0.2546, 0.9958, 0.8928, 1.8492, 1.1179, -0.1349, 0.6781, 0.5514, 0.0408] state[eef_state]: left_x=0.3023 left_y=-0.0507 left_z=0.1703 left_yaw=0.0365 left_pitch=-0.0285 left_roll=-0.0006 left_gripper=0.9958 right_x=0.3655 right_y=0.2829 right_z=0.0888 right_yaw=0.0358 right_pitch=-0.0676 right_roll=-0.0486 right_gripper=0.0408 state[joint_eff]: [-0.2256, -1.9897, 7.0359, 1.6435, -0.1636, -0.0562, -0.0122, -2.0991, -18.2496, 13.2991, 2.3223, 0.5201, 0.149, 0.7155] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.33, "right_y": 0.27, "right_z": 0.14, "right_pitch": 0, "right_roll": 0, "right_yaw": 0}, "note": "The shoulder is straining (effort -18) and the arm won't lift, so the pink bowl may be snagged on the stack's rim. Backing away toward the base while lifting to free it."})

tool

executing move_to over 4 steps (0.4s)

step 224

assistant

agent noteThe pink bowl is free now. The top view shows the stack further forward and a bit right of the pink bowl, so it may have been nudged. Moving the pink bowl up and over the stack's new position.

move_to

right_x0.4000right_y0.2350right_z0.1600right_pitch0.0000right_roll0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3714, 0.9108, 0.6338, -0.363, -0.3401, -0.2546, 0.9958, 0.973, 1.7111, 1.0451, -0.2707, 0.7136, 0.6044, 0.0401] state[eef_state]: left_x=0.3023 left_y=-0.0507 left_z=0.1701 left_yaw=0.0368 left_pitch=-0.0287 left_roll=-0.0002 left_gripper=0.9958 right_x=0.3218 right_y=0.2736 right_z=0.1053 right_yaw=0.0596 right_pitch=-0.0888 right_roll=-0.0786 right_gripper=0.0401 state[joint_eff]: [-0.3214, -2.0581, 7.0085, 1.6484, -0.1636, -0.0562, -0.0171, -0.7726, -12.3829, 8.0752, 1.8974, 0.652, 0.2662, 0.5104] approver: 2 step(s) modified (delta_clamped ×2). 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_x": 0.4, "right_y": 0.235, "right_z": 0.16, "right_pitch": 0, "right_roll": 0, "right_yaw": 0}, "note": "The pink bowl is free now. The top view shows the stack further forward and a bit right of the pink bowl, so it may have been nudged. Moving the pink bowl up and over the stack's new position."})

tool

executing move_to over 7 steps (0.7s)

step 231

assistant

agent noteThe right arm barely moved and is still holding the pink bowl near the stack. Sending a larger target (higher up and forward over the stack) so it actually tracks.

move_to

right_x0.4100right_y0.2300right_z0.2500right_pitch0.0000right_roll0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3714, 0.9112, 0.6338, -0.363, -0.3401, -0.2543, 0.9958, 0.9714, 1.6867, 1.0451, -0.281, 0.7448, 0.6292, 0.0398] state[eef_state]: left_x=0.3024 left_y=-0.0507 left_z=0.17 left_yaw=0.0366 left_pitch=-0.0291 left_roll=0.0002 left_gripper=0.9958 right_x=0.3235 right_y=0.2676 right_z=0.1164 right_yaw=0.0257 right_pitch=-0.0592 right_roll=-0.0624 right_gripper=0.0398 state[joint_eff]: [-0.3214, -2.0034, 7.0222, 1.6874, -0.1538, -0.0073, -0.0122, -0.335, -10.4137, 7.6239, 1.5018, 0.525, 0.1685, 0.7741] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.41, "right_y": 0.23, "right_z": 0.25, "right_pitch": 0, "right_roll": 0, "right_yaw": 0}, "note": "The right arm barely moved and is still holding the pink bowl near the stack. Sending a larger target (higher up and forward over the stack) so it actually tracks."})

tool

executing move_to over 9 steps (0.9s)

step 240

assistant

agent noteThe pink bowl now fully hides the stack in the top view, so it's centred over it. Lowering it onto the stack.

move_to

right_x0.4000right_y0.2350right_z0.0700right_pitch0.0000right_roll0.0000right_yaw0.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3714, 0.9119, 0.6338, -0.3634, -0.3401, -0.2546, 0.9958, 0.7357, 1.6569, 1.4185, -0.5117, 0.5964, 0.4259, 0.0426] state[eef_state]: left_x=0.3024 left_y=-0.0507 left_z=0.1698 left_yaw=0.0368 left_pitch=-0.0301 left_roll=0.0004 left_gripper=0.9958 right_x=0.4002 right_y=0.2333 right_z=0.2282 right_yaw=0.0089 right_pitch=-0.0311 right_roll=-0.0269 right_gripper=0.0426 state[joint_eff]: [-0.3624, -2.0308, 7.0769, 1.5995, -0.1587, -0.0171, -0.0171, -1.388, -7.8291, 10.0171, 1.6923, 0.3492, 0.2125, 0.5885] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.235, "right_z": 0.07, "right_pitch": 0, "right_roll": 0, "right_yaw": 0}, "note": "The pink bowl now fully hides the stack in the top view, so it's centred over it. Lowering it onto the stack."})

tool

executing move_to over 11 steps (1.1s)

step 251

assistant

agent noteThe top view shows the pink bowl sitting down inside the white bowl, with the white rim visible around it. Opening the gripper to release it.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3714, 0.9119, 0.6338, -0.3634, -0.3401, -0.2546, 0.9958, 0.7395, 1.8248, 0.9627, 0.1097, 0.5892, 0.4358, 0.0436] state[eef_state]: left_x=0.3024 left_y=-0.0507 left_z=0.1698 left_yaw=0.0368 left_pitch=-0.0301 left_roll=0.0004 left_gripper=0.9958 right_x=0.3961 right_y=0.2332 right_z=0.0724 right_yaw=0.0128 right_pitch=-0.036 right_roll=-0.0165 right_gripper=0.0436 state[joint_eff]: [-0.1846, -2.0308, 6.9949, 1.6044, -0.149, -0.0464, -0.0171, 0.1573, -7.9795, 5.6821, 1.6093, 0.4274, -0.1197, 0.5934] 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_gripper": 1.0}, "note": "The top view shows the pink bowl sitting down inside the white bowl, with the white rim visible around it. Opening the gripper to release it."})

tool

executing move_to over 10 steps (1.0s)

step 261

assistant

agent notePartly done, most likely not a success. The white bowl is nested inside the blue bowl. When I released the pink bowl, the wrist and top cameras showed it resting next to that stack, probably leaning on the white bowl's rim, instead of nested inside it. I ran out of calls before I could re-grasp it and centre it over the stack.

done

hindsightThe bowls are about 13 cm wide, too big to grasp across (the jaws open about 9.5 cm). What worked: pinch the side wall that runs along x, with the jaws open, yaw 0 and the gripper down at z 0.01–0.03. The wall reads about 0.03–0.04 closed, which is thin enough to look like an empty close, so check by lifting. A bowl gripped by its side wall has its centre about 6 cm from the grasp point toward the bowl. Controller quirk: small moves (under about 5 cm, 2–4 steps, delta_clamped) often do nothing at all and the joints stay frozen, especially at low z or with a load. Larger moves (about 10 cm or more, e.g. lift to z 0.18–0.25, then one big descent) track reliably. Always send pitch=0, roll=0, yaw=0 explicitly, or the orientation drifts and the IK stalls. Loaded arms sag a lot (a target of 0.16–0.18 came out around 0.08–0.15). Positions this run: bowls in a row at left-frame y ≈ -0.06 (white), -0.25 (blue) and right-frame y ≈ +0.21 (pink), all at x ≈ 0.36–0.38. Top-cam scale was about 3 px/cm, and the grippers at y=0 show near image x ≈ 15 and 210. When placing the second bowl, I first put it down too close to the base, snagged the stack's rim and pushed the stack forward. Line up over the stack from high up (z ≥ 0.22), with the top view showing the upper bowl fully covering the stack, then descend in one big move. Check alignment again before opening, and plan to spend fewer calls on the first bowl.

Raw transcript

user

Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3714, 0.9119, 0.6338, -0.3634, -0.3397, -0.2546, 0.9958, 0.7395, 1.8477, 0.9424, 0.1047, 0.5854, 0.4259, 0.9953] state[eef_state]: left_x=0.3024 left_y=-0.0507 left_z=0.1697 left_yaw=0.0365 left_pitch=-0.0302 left_roll=0.0002 left_gripper=0.9958 right_x=0.3899 right_y=0.2284 right_z=0.0545 right_yaw=0.0192 right_pitch=-0.074 right_roll=-0.0545 right_gripper=0.9953 state[joint_eff]: [-0.1573, -2.0171, 7.1726, 1.663, -0.1294, -0.0269, -0.0171, -0.0479, -10.6051, 7.2957, 1.453, 0.2125, 0.0317, -0.022] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]

assistant

done({"summary": "Partly done, most likely not a success. The white bowl is nested inside the blue bowl. When I released the pink bowl, the wrist and top cameras showed it resting next to that stack, probably leaning on the white bowl's rim, instead of nested inside it. I ran out of calls before I could re-grasp it and centre it over the stack.", "hindsight": "The bowls are about 13 cm wide, too big to grasp across (the jaws open about 9.5 cm). What worked: pinch the side wall that runs along x, with the jaws open, yaw 0 and the gripper down at z 0.01\u20130.03. The wall reads about 0.03\u20130.04 closed, which is thin enough to look like an empty close, so check by lifting. A bowl gripped by its side wall has its centre about 6 cm from the grasp point toward the bowl.\n\nController quirk: small moves (under about 5 cm, 2\u20134 steps, delta_clamped) often do nothing at all and the joints stay frozen, especially at low z or with a load. Larger moves (about 10 cm or more, e.g. lift to z 0.18\u20130.25, then one big descent) track reliably. Always send pitch=0, roll=0, yaw=0 explicitly, or the orientation drifts and the IK stalls. Loaded arms sag a lot (a target of 0.16\u20130.18 came out around 0.08\u20130.15).\n\nPositions this run: bowls in a row at left-frame y \u2248 -0.06 (white), -0.25 (blue) and right-frame y \u2248 +0.21 (pink), all at x \u2248 0.36\u20130.38. Top-cam scale was about 3 px/cm, and the grippers at y=0 show near image x \u2248 15 and 210.\n\nWhen placing the second bowl, I first put it down too close to the base, snagged the stack's rim and pushed the stack forward. Line up over the stack from high up (z \u2265 0.22), with the top view showing the upper bowl fully covering the stack, then descend in one big move. Check alignment again before opening, and plan to spend fewer calls on the first bowl."})

tool

done: Partly done, most likely not a success. The white bowl is nested inside the blue bowl. When I released the pink bowl, the wrist and top cameras showed it resting next to that stack, probably leaning on the white bowl's rim, instead of nested inside it. I ran out of calls before I could re-grasp it and centre it over the stack.

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 · 19.11 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7959, 0.6056, -0.3794, -0.0227, -0.0257, 0.9996, -0.0212, 0.7937, 0.6029, -0.3782, -0.0151, -0.0334, 0.9972]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1803 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=0.0 right_z=0.1799 right_yaw=0.0005 right_pitch=-0.0004 right_roll=-0.0001 right_gripper=0.9972\nstate[joint_eff]: [-0.5402, -1.5932, 9.9761, 1.7607, -0.0659, 0.0904, -0.0611, -0.4308, -1.4974, 10.2769, 1.873, -0.0562, 0.1929, -0.2955]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb51f3c34fbb4041579d2c36d3f825181906cb87ddf2631e3a49667a9cda0b80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:335e3e591a4a8582f2d55e05ff3b2508cd53661c358220a56557adeb9df5065f",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
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        "type": "ephemeral"
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      "source": {
        "data": "$blob:5c05eeef4ca02bf103ba726a84e05e8310624224949edbe181b66a6e0855ec94",
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    }
  ],
  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 9.543 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7959, 0.6056, -0.3794, -0.0227, -0.0257, 0.9996, -0.0212, 0.7937, 0.6029, -0.3782, -0.0151, -0.0334, 0.9972]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1803 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=0.0 right_z=0.1799 right_yaw=0.0005 right_pitch=-0.0004 right_roll=-0.0001 right_gripper=0.9972\nstate[joint_eff]: [-0.5402, -1.5932, 9.9761, 1.7607, -0.0659, 0.0904, -0.0611, -0.4308, -1.4974, 10.2769, 1.873, -0.0562, 0.1929, -0.2955]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb51f3c34fbb4041579d2c36d3f825181906cb87ddf2631e3a49667a9cda0b80",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:335e3e591a4a8582f2d55e05ff3b2508cd53661c358220a56557adeb9df5065f",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
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    {
      "source": {
        "data": "$blob:5c05eeef4ca02bf103ba726a84e05e8310624224949edbe181b66a6e0855ec94",
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  "role": "user"
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[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SQiNGBPVB7R5F8mh2A9Vmx",
      "input": {
        "note": "Three bowls in a row: white (left), blue (middle, near the table's centre line), pink (right). My plan is to nest the white and pink bowls into the middle one, so I'm moving the left arm over the white bowl first to check where it sits.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.16,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01SQiNGBPVB7R5F8mh2A9Vmx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6792, 1.3468, 0.7574, -0.1658, -0.5362, -0.4171, 0.9995, -0.0216, 0.8005, 0.6056, -0.3885, -0.0162, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3391 left_y=-0.1532 left_z=0.1311 left_yaw=-0.0249 left_pitch=-0.0615 left_roll=0.0338 left_gripper=0.9995 right_x=0.2943 right_y=0.0001 right_z=0.1771 right_yaw=-0.0007 right_pitch=-0.0149 right_roll=0.0037 right_gripper=0.9971\nstate[joint_eff]: [-0.3077, -5.3402, 9.1145, 1.8193, -0.4762, 0.0269, -0.0171, 0.0479, -1.7709, 6.8308, 1.7949, -0.0513, -0.0415, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba3447911091831088362fb9bb5057fc2ee88d977eba2bfecd8900224a37ce2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee4805f99bb1207b6cbcbf8038b365cf0cc9578d84d843e82986bf3406588957",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a309b8950ff1e449496f36ba3983262e6422cbfa5beec69e6eb25a62524bf51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 4.888 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7959, 0.6056, -0.3794, -0.0227, -0.0257, 0.9996, -0.0212, 0.7937, 0.6029, -0.3782, -0.0151, -0.0334, 0.9972]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1803 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=0.0 right_z=0.1799 right_yaw=0.0005 right_pitch=-0.0004 right_roll=-0.0001 right_gripper=0.9972\nstate[joint_eff]: [-0.5402, -1.5932, 9.9761, 1.7607, -0.0659, 0.0904, -0.0611, -0.4308, -1.4974, 10.2769, 1.873, -0.0562, 0.1929, -0.2955]",
      "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]: [-0.6792, 1.3468, 0.7574, -0.1658, -0.5362, -0.4171, 0.9995, -0.0216, 0.8005, 0.6056, -0.3885, -0.0162, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3391 left_y=-0.1532 left_z=0.1311 left_yaw=-0.0249 left_pitch=-0.0615 left_roll=0.0338 left_gripper=0.9995 right_x=0.2943 right_y=0.0001 right_z=0.1771 right_yaw=-0.0007 right_pitch=-0.0149 right_roll=0.0037 right_gripper=0.9971\nstate[joint_eff]: [-0.3077, -5.3402, 9.1145, 1.8193, -0.4762, 0.0269, -0.0171, 0.0479, -1.7709, 6.8308, 1.7949, -0.0513, -0.0415, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba3447911091831088362fb9bb5057fc2ee88d977eba2bfecd8900224a37ce2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee4805f99bb1207b6cbcbf8038b365cf0cc9578d84d843e82986bf3406588957",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a309b8950ff1e449496f36ba3983262e6422cbfa5beec69e6eb25a62524bf51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F8AW8qpLfAg6hVBedocFFB",
      "input": {
        "note": "The left wrist cam shows the white bowl to the left and the blue bowl to the right, with the gripper between them. I'm moving over the white bowl's right-hand rim so the open jaws can straddle the wall.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.12,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01F8AW8qpLfAg6hVBedocFFB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5369, 1.3869, 0.6655, -0.0322, -0.4709, -0.3565, 0.9995, -0.0216, 0.8036, 0.6044, -0.3904, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3533 left_y=-0.1128 left_z=0.0993 left_yaw=0.0343 left_pitch=-0.0876 left_roll=0.0449 left_gripper=0.9995 right_x=0.294 right_y=0.0002 right_z=0.1754 right_yaw=-0.0004 right_pitch=-0.0209 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [-1.5658, -5.1761, 6.8034, 1.9219, 0.0366, 0.1978, -0.0122, 0.0205, -0.9778, 7.1043, 1.746, -0.0562, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ecebb5af6d1ab3b4cb7e989a5738148fe281cdd3c92908aa8cbc8eae19aac4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:172e7befdcb5173837af3b88f76f328fe71d85f5e023b8ee810dfc5a5d2b10e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43b63ee3e4565a6e7b02bde4bcebc5a4a32e034ac99d32392ba0ce1e607ea504",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 4.461 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7959, 0.6056, -0.3794, -0.0227, -0.0257, 0.9996, -0.0212, 0.7937, 0.6029, -0.3782, -0.0151, -0.0334, 0.9972]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1803 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=0.0 right_z=0.1799 right_yaw=0.0005 right_pitch=-0.0004 right_roll=-0.0001 right_gripper=0.9972\nstate[joint_eff]: [-0.5402, -1.5932, 9.9761, 1.7607, -0.0659, 0.0904, -0.0611, -0.4308, -1.4974, 10.2769, 1.873, -0.0562, 0.1929, -0.2955]",
      "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]: [-0.6792, 1.3468, 0.7574, -0.1658, -0.5362, -0.4171, 0.9995, -0.0216, 0.8005, 0.6056, -0.3885, -0.0162, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3391 left_y=-0.1532 left_z=0.1311 left_yaw=-0.0249 left_pitch=-0.0615 left_roll=0.0338 left_gripper=0.9995 right_x=0.2943 right_y=0.0001 right_z=0.1771 right_yaw=-0.0007 right_pitch=-0.0149 right_roll=0.0037 right_gripper=0.9971\nstate[joint_eff]: [-0.3077, -5.3402, 9.1145, 1.8193, -0.4762, 0.0269, -0.0171, 0.0479, -1.7709, 6.8308, 1.7949, -0.0513, -0.0415, -0.0269]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5369, 1.3869, 0.6655, -0.0322, -0.4709, -0.3565, 0.9995, -0.0216, 0.8036, 0.6044, -0.3904, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3533 left_y=-0.1128 left_z=0.0993 left_yaw=0.0343 left_pitch=-0.0876 left_roll=0.0449 left_gripper=0.9995 right_x=0.294 right_y=0.0002 right_z=0.1754 right_yaw=-0.0004 right_pitch=-0.0209 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [-1.5658, -5.1761, 6.8034, 1.9219, 0.0366, 0.1978, -0.0122, 0.0205, -0.9778, 7.1043, 1.746, -0.0562, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ecebb5af6d1ab3b4cb7e989a5738148fe281cdd3c92908aa8cbc8eae19aac4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:172e7befdcb5173837af3b88f76f328fe71d85f5e023b8ee810dfc5a5d2b10e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43b63ee3e4565a6e7b02bde4bcebc5a4a32e034ac99d32392ba0ce1e607ea504",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSjwgKEAgSGAI4AUIIdGhpbmtpbmcSDO88A9VjDj+l10cEZhoMaQSeuzFRayLfWgN8IjCGVD9VL+wJ4FFgJMkFdnvdlkl8w9LiYtLW1lwBQCNQhr6HQGKA4Y1ClVX5AvgtyogqrAfql+JllXeuyo6dP8ADfHGRHsH1TMfD9NbXYLLJvgsg3sEbw0v7z/+XJbWhHneS9X5EQvuPtQ0JXrfNU8o/qyJyqieoBlJiLzo5flLXDoVfQgFR55bp/bHd71McQTACnBmE8ltUl+WYxwfaWv2WIlJWo6G9qRkqBhW1WyDrYohMyHd0xkZK304ug5h4E++5gNenr6KtUDSJbjcD3LfzpxTBrijGoeBt6uBHTtBDnylUkghEKiN73wW8qG5fcgRZzjWBEZoQIgLhS+O/ZRNEZw7xWzQkhPv1gBYInRVnDSmfXfvEIjU4LGsndOeReck6xYoeznEprysIONMGnpgOTPmNPyqRJFUVfFB7uYOmhiuM8NLJwnNGUzZlq+cpi05op5mSu67khTnGsBFL70lRSwa2HPyw901gkjaYup6UyS/kocv6GyVAlapAxqXpjTTalcCMNk5hdotR/wlV4ikz4o/QEycsrL5Wg0J2hGOg6ju0Yp9vZ50E9pm5jXP3heaNTf2I6zwwpdFbMN09XNu+wvSOJEQn2bxFHuTtq8+7Sfk+A9mmagXXs+UeyK4qdj51LbiReOMBhf45v2bEmhILNnVqc7Wd63IWsqk7/1Amhy8ibOpdZ4rA/j+n3v5OQTRwEZLo4QuA9cJxsL4mhgFw7AjtGWUC4J8EWa7zi4dwiDqIJs/RgGRRf9WX+/y4A4ESpRPIVmY7ZhPFM6ICOOr7sWTjy/4MYzYhJLori7X4NvZXp5gcjjCeNofGK1W2EsaAy41qJb9Qd9aC4YojPCrWDV7dM4ZCQ0NZr9wK1ZilRyLOf72ORkTKLHpcmnfU/7ZRxR8H2Ccmhk/poGL+P7c4Zx4jQ56lpQMoCobGixUxQUWnQEfLc84pSQLbuxQvKBDvUiy+w0VRse8Yx6dZuuAL8yuxjux2cZEki0RxHhgGwGeZG+tQx11wG0wIXwRMiGPfdhjWySkP9ET4tjHRWxmw89r/ypNaTKgQa00hlp00VeMag3d/IKFt494vFbydWYr6EKR43ECtcKolOcUfZ5b+/aKk3dAQZFi8kzGy9s+4TItE0tdPyk4teawkUKURy+hVTEzc3I58a1YbX1B9dRmLITKEjxDrMWWOFXjQvw7ahcAa5siYnl4l88V9FNsBSkZ5TCoJRr7XB8D4MU+H80bmpDaYwUnbCLvGSbuAhgaW12nfZij3fqeUOZ5XykasO0kqQUDaIrVdcDc9pb1J1rIiuerCeDN0dcMPymGV1uCZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CQjT554hRXgRRV8ya8KJLj",
      "input": {
        "note": "The white bowl's right wall sits just left of the jaw column and a few cm ahead of the fingertips. I'm moving forward about 3 cm and slightly left so the jaws line up on the wall before I descend.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.105,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01CQjT554hRXgRRV8ya8KJLj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5095, 1.4158, 0.6613, -0.0063, -0.4316, -0.3309, 0.9995, -0.0216, 0.8043, 0.6041, -0.3927, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3572 left_y=-0.1108 left_z=0.0899 left_yaw=0.0175 left_pitch=-0.1087 left_roll=0.0457 left_gripper=0.9995 right_x=0.2937 right_y=0.0001 right_z=0.1745 right_yaw=-0.0005 right_pitch=-0.0244 right_roll=0.0036 right_gripper=0.9971\nstate[joint_eff]: [0.335, -4.7385, 8.9641, 1.5116, -0.2662, -0.0611, -0.0122, -0.0205, -1.2923, 7.2547, 1.7363, -0.0513, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcc57789d24059dce68f6a017d07a3f4f66fb921567a3f78172a45343dad7da6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd0ca7a2bf25dd745f1497c8465a6dd117dedfecea49832e368c1347d5cf8b3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:51ddb4e1b9d32acbdcd376fb37330476098bee37f409277848ecbdb0c9270e6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 5.58 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6792, 1.3468, 0.7574, -0.1658, -0.5362, -0.4171, 0.9995, -0.0216, 0.8005, 0.6056, -0.3885, -0.0162, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3391 left_y=-0.1532 left_z=0.1311 left_yaw=-0.0249 left_pitch=-0.0615 left_roll=0.0338 left_gripper=0.9995 right_x=0.2943 right_y=0.0001 right_z=0.1771 right_yaw=-0.0007 right_pitch=-0.0149 right_roll=0.0037 right_gripper=0.9971\nstate[joint_eff]: [-0.3077, -5.3402, 9.1145, 1.8193, -0.4762, 0.0269, -0.0171, 0.0479, -1.7709, 6.8308, 1.7949, -0.0513, -0.0415, -0.0269]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5369, 1.3869, 0.6655, -0.0322, -0.4709, -0.3565, 0.9995, -0.0216, 0.8036, 0.6044, -0.3904, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3533 left_y=-0.1128 left_z=0.0993 left_yaw=0.0343 left_pitch=-0.0876 left_roll=0.0449 left_gripper=0.9995 right_x=0.294 right_y=0.0002 right_z=0.1754 right_yaw=-0.0004 right_pitch=-0.0209 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [-1.5658, -5.1761, 6.8034, 1.9219, 0.0366, 0.1978, -0.0122, 0.0205, -0.9778, 7.1043, 1.746, -0.0562, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5095, 1.4158, 0.6613, -0.0063, -0.4316, -0.3309, 0.9995, -0.0216, 0.8043, 0.6041, -0.3927, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3572 left_y=-0.1108 left_z=0.0899 left_yaw=0.0175 left_pitch=-0.1087 left_roll=0.0457 left_gripper=0.9995 right_x=0.2937 right_y=0.0001 right_z=0.1745 right_yaw=-0.0005 right_pitch=-0.0244 right_roll=0.0036 right_gripper=0.9971\nstate[joint_eff]: [0.335, -4.7385, 8.9641, 1.5116, -0.2662, -0.0611, -0.0122, -0.0205, -1.2923, 7.2547, 1.7363, -0.0513, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcc57789d24059dce68f6a017d07a3f4f66fb921567a3f78172a45343dad7da6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd0ca7a2bf25dd745f1497c8465a6dd117dedfecea49832e368c1347d5cf8b3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51ddb4e1b9d32acbdcd376fb37330476098bee37f409277848ecbdb0c9270e6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkwgKEAgSGAI4AUIIdGhpbmtpbmcSDHrK+je3HELMuqgZiBoMFUOcv/XHEQ5/4BVzIjDXGB9LiGIjmzFIR3cAgMRBrUATCGpdDEpOv/RQtxP5Ts5BYtZ7YQYt2NidbhRxSRUqsAd167eShC3Q1kn02PLJAtPzHkrASSXpiD77W/dxLsrtuhzaWJhU+1zoSkBpw6J6Oi8baOqQvyfufiylBPObkqDdQV6NkviYPjo1aAuQoDq3XzlMXmkLmEiQsi4sZn/x1YNh6f3/LJv4s/PfrPthy1JqRE5/gVG3LaU2XDO9OOUnbMl6HLbwNEjH7X7kFSYycxtzO8NZstloNCmC+nOXcfF1y7lf2d9ye9Rw4MVu+yQ2lC7ZQUeWmVsek+5SPMzawh0x06Q3HPzJ4xrjFG5WpfH8a0rdnkMBdF1ObYiE1qWdwKwmaCeF4sj7H9amTk5H3aakFts+WtHIVzg+pd5BPUse2G5fDnlP5qK3itJiwRbsdLzbBdJagJacpn0uc1iGelEBJDKjoodO3GmNgCOllhZM4rbiCkCdySzAPra7bIx/6l9MGiq9CIl7Y8mK3ZsbO73At2CpttPI2TNZUKxXp87jahYT2Lu1xFx3D4Cx9dPzvBTSjDEfpGHxHGZUjnvlQHqfs83mMOzjRlIvBpJx96b//TbGHmwlta7NzK6HORO7B1RTTX8tELdqvkqQmvyyKs/0mYH0Qv0AYHlJHnZnUa8b5pjc+l2BjxXuU5J+2Q4ya0dgYtDzm1lOcDhFTMfMpeEm19mcNo/s2gcdHBFo9C3zU3Cpb/Fe6aOxt48jRfGcqIi33qBwALZYX24SydsPC4gf416soKMUk3gWopfuSS2GcHG3AHS+zT3tLiITU62mj0LEmj08Jla2e0XO5iddYFW9WM6hK8kc2DggtziW6EiZ7PpRmEnllLOc6RWne1v23vaceI25MV7IqDDZJOvt1RAOLm5QufH0rVZsuSEKHbycK2ar70Uy7G80Fm/o44jco3P0I05Idw/31F/TT+jGUAqzCBYZdhj+QPaZO9B/C0YCyqEMDT7KRGs4mQb37hjwginu++W268ujLP1+rnWtBD7bl66j9KTeRXMQZhKDrCH7lOWa3ocehbtoSihO4Csnvv2nWXmEV4i6xKokwRc1wCFHB8wHpvkaWTBj0sPhDm1axteGjpOZi7mIxL4h7mVBZqMbFnHy+glIG7yvRoWfzABGBKvrzI0Gex5/YHLDvrADBfiHke5SQEWVRePGNXtod+ltd4Rmx7Jn1bgcsgQDatVD5GvUNZObaFSoKCq/CxLvxGakNJVpIQ4PnULAUhn937ODeq9DjIwqbiBi+JHeEhr3b8JPl7ypVO+oL9pBkJ1kIsK4LmCVGc3YMEQ8A/cQtRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ci5bAwGCc6xtXSnFakcehK",
      "input": {
        "note": "The arm barely moved forward last time (x reads 0.357). I'm pushing forward again while lowering toward the white bowl's right wall.",
        "targets": {
          "left_x": 0.385,
          "left_y": -0.105,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Ci5bAwGCc6xtXSnFakcehK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5095, 1.4162, 0.664, -0.0185, -0.4431, -0.3336, 0.9995, -0.0219, 0.8043, 0.6041, -0.3927, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3565 left_y=-0.1083 left_z=0.0894 left_yaw=0.0285 left_pitch=-0.1131 left_roll=0.0556 left_gripper=0.9995 right_x=0.2937 right_y=0.0001 right_z=0.1745 right_yaw=-0.0008 right_pitch=-0.0244 right_roll=0.0041 right_gripper=0.9971\nstate[joint_eff]: [0.1162, -5.2581, 8.3077, 1.5556, -0.2466, -0.022, -0.0122, -0.0889, -1.2786, 7.0906, 1.7265, -0.0513, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e5c6bf04a59be8d2b9514cb360855ee253fb68b7ad86b8ceaec68820ac20b16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d60d6471812dd85a9bf587f2c060d6b846afd5dbe622f3f3e3f5a24c08e144b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:664488109c58831345995eb2d8d5f315401eb818437b6baabb991ee44fd397fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 4.503 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5369, 1.3869, 0.6655, -0.0322, -0.4709, -0.3565, 0.9995, -0.0216, 0.8036, 0.6044, -0.3904, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3533 left_y=-0.1128 left_z=0.0993 left_yaw=0.0343 left_pitch=-0.0876 left_roll=0.0449 left_gripper=0.9995 right_x=0.294 right_y=0.0002 right_z=0.1754 right_yaw=-0.0004 right_pitch=-0.0209 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [-1.5658, -5.1761, 6.8034, 1.9219, 0.0366, 0.1978, -0.0122, 0.0205, -0.9778, 7.1043, 1.746, -0.0562, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5095, 1.4158, 0.6613, -0.0063, -0.4316, -0.3309, 0.9995, -0.0216, 0.8043, 0.6041, -0.3927, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3572 left_y=-0.1108 left_z=0.0899 left_yaw=0.0175 left_pitch=-0.1087 left_roll=0.0457 left_gripper=0.9995 right_x=0.2937 right_y=0.0001 right_z=0.1745 right_yaw=-0.0005 right_pitch=-0.0244 right_roll=0.0036 right_gripper=0.9971\nstate[joint_eff]: [0.335, -4.7385, 8.9641, 1.5116, -0.2662, -0.0611, -0.0122, -0.0205, -1.2923, 7.2547, 1.7363, -0.0513, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5095, 1.4162, 0.664, -0.0185, -0.4431, -0.3336, 0.9995, -0.0219, 0.8043, 0.6041, -0.3927, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3565 left_y=-0.1083 left_z=0.0894 left_yaw=0.0285 left_pitch=-0.1131 left_roll=0.0556 left_gripper=0.9995 right_x=0.2937 right_y=0.0001 right_z=0.1745 right_yaw=-0.0008 right_pitch=-0.0244 right_roll=0.0041 right_gripper=0.9971\nstate[joint_eff]: [0.1162, -5.2581, 8.3077, 1.5556, -0.2466, -0.022, -0.0122, -0.0889, -1.2786, 7.0906, 1.7265, -0.0513, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e5c6bf04a59be8d2b9514cb360855ee253fb68b7ad86b8ceaec68820ac20b16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d60d6471812dd85a9bf587f2c060d6b846afd5dbe622f3f3e3f5a24c08e144b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:664488109c58831345995eb2d8d5f315401eb818437b6baabb991ee44fd397fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSxAoKEAgSGAI4AUIIdGhpbmtpbmcSDJqBQTQXGgerhFQypRoMt2fBC4e4q9Qc+kz+IjAKHhO4YFlQSbhhYbJBBTJ830xTQAXunCYgQUkI77ciSweDiQjR5FgorJs3nU+TqUgq4Ql9B+4Bsl4biJIinDodtPh2uvry8HQeaCkpCbusHGskuuWBdqAFUYK5BE9v4Ihh+OKiKv0oRvuxA5E1RwT1X47y032eEDI4Jy2INUGORsBDC7Z12d8Duo5fLgV8cbxTOAIxVPzx8XkXuZVpovUsoFRGYKo/deiQt7LpwSRuUogjQoO2kDO/RerMyaSOsk3f1vxYLMmNSFmoKOlASooO4eTqqkZ3ntSeLSTpNclE7NQ6gXDCOZUNeeyXwdhqYdn1cf70ZtJLDe9iYBN9L2frK8oZPxvymWhNj7/O1496U+R+0uTWzuOwNTgRCWIgm2TNWymM+HYoZNUT7ooSETZATwaWtdpOnkcsrbzyFfAE8/mopdGMm4k/xfIDOzJEHSGvpFg2wRwoIfzvuQv8LaSXoFRyVrMeFtP1WaABRnzUKrZUusGstRpnZOu0i7GLaPsiG0bS0yLan2F0Uz73BpWKTb3yYF2gI7I+55luTNBjmeZeEGCbW7orelOcjbMwmT3Q/+k067fGQh5Z+YwFwDIQw/vZi1Yy/WkP0hO8dZ96hJ+RD7hqelCl2tWXEOaoqKLV31pZC9+9y62sLwLgRPZv0MurB5H0Nel8mplUeL1ItSw/6HmBMHfmRcPiosvbzbvGQDULBNCY4/AqvIlTjKMtbPT6FqXePkabmjzLFH0br+whBDsf7pVcNH6bZ6tWbMSk+i/JXuws7TagbOtwZ/WMSz1LXX2lQsMc9dEJLqixgcxRqm+nlqx1UiPtA9Yu3RGDUDTDO92JttP+BvQjymQkD7Nw4Nv1GqUE+PPRmuSDd4jGE8deltxudXvV1aNAqZXodeJhB4F2wsRMHsu3OdLgrdO01W0ak8CteWu3LiZtddNrRfrWnltLJs+CpOIdnHdOXU5bP17iRv2TGpOhFFU6OZtYhNXCx1g1ymztuTfrZlblA+UMnUfKOOW1RPi5mwgGuR+K+yTErZEdsmetVFhfs0ZR5o44tk3kgQrJ/DMV3/9O9OolVK8eYiddxCad8kcCyVMjXrkBIjcnGPBwk/O0qa2Fr0V0zVlfglEK3CYnTf1zCdPT93yu5zGFHLBzlQe3dFvVGCzcJW+p0ZXCe0SlkvyuJS4hHDatu6YzAj2Bst0imLFf4cW/wpty/G2FKkJMyRlJh+rPPDkeElB7tdMkBQqIGJp2Zi0oIpXwfGoCGzIWx07awQKqDUU8jzyz90GkNR0sQIJJdTp0yI5iRj7GZs+F8IeE4CI3EIF3mXha5jd8EDPhTPWDQ/J24+0UYf1X03Wndv8+efAmeYKg1qNjBtE4cuiAxNBD+c8S6VzgCuk5UgJT78k93b7j7xSZH9Z/kN+TITWbv1HnZK1Xbm3zEuDS9zNiDXN63ZKTzu2nMXj5G3BF7S/ueDDlqpqU/lhFLPmfYtOBfpGyKG1ka3Mha/OJPkks6rzfBNuTZVnVniOuYC60z93rY6PUOFc3nY0FZZiGV55fGb6ihpyFia+hFOslrgHtuAZ+iMFdzsKkTmlzcnn7ZSA9vtDxo4ApyZIewEAlRPJkQGar6EgQSf18RKr/KHGankn4PVUm5o73fHEoxO8NCtVJdKXYAhZkD52mEy3csyj+ubICpti66v6YbUTNFJMnQ+ud/miqyKEkxbhmDRTooivN1WxvB/7YNtdMFeueGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0172uZS83sDWFZnoHpd4CDH5",
      "input": {
        "note": "The left arm seems stuck around z 0.09, possibly with a finger resting on the white bowl's rim. I'm lifting a little while moving forward to get free.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.105,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_0172uZS83sDWFZnoHpd4CDH5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5095, 1.4178, 0.664, -0.0189, -0.4435, -0.3336, 0.9995, -0.0216, 0.8093, 0.6018, -0.3931, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3565 left_y=-0.1082 left_z=0.0888 left_yaw=0.0289 left_pitch=-0.1146 left_roll=0.0568 left_gripper=0.9995 right_x=0.2937 right_y=0.0002 right_z=0.1721 right_yaw=-0.0002 right_pitch=-0.032 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [0.1709, -5.2308, 8.4991, 1.5604, -0.3053, -0.0513, -0.0122, 0.0068, -1.5932, 7.2137, 1.7363, -0.0415, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc89aeac59990dd0590543ef93badbdda3fab1aaf2bcc866a145a2cfa6795d1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:922e354bd01b0fc69b20ae66043bccecc7848bc9cdd93f2ca5d2e1ea0a8f1448",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:26c2a3cac0a5e0ffa89967b82385a0d6de3a510ca839d69b70365ba2f4f83178",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 6.6 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5095, 1.4158, 0.6613, -0.0063, -0.4316, -0.3309, 0.9995, -0.0216, 0.8043, 0.6041, -0.3927, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3572 left_y=-0.1108 left_z=0.0899 left_yaw=0.0175 left_pitch=-0.1087 left_roll=0.0457 left_gripper=0.9995 right_x=0.2937 right_y=0.0001 right_z=0.1745 right_yaw=-0.0005 right_pitch=-0.0244 right_roll=0.0036 right_gripper=0.9971\nstate[joint_eff]: [0.335, -4.7385, 8.9641, 1.5116, -0.2662, -0.0611, -0.0122, -0.0205, -1.2923, 7.2547, 1.7363, -0.0513, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5095, 1.4162, 0.664, -0.0185, -0.4431, -0.3336, 0.9995, -0.0219, 0.8043, 0.6041, -0.3927, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3565 left_y=-0.1083 left_z=0.0894 left_yaw=0.0285 left_pitch=-0.1131 left_roll=0.0556 left_gripper=0.9995 right_x=0.2937 right_y=0.0001 right_z=0.1745 right_yaw=-0.0008 right_pitch=-0.0244 right_roll=0.0041 right_gripper=0.9971\nstate[joint_eff]: [0.1162, -5.2581, 8.3077, 1.5556, -0.2466, -0.022, -0.0122, -0.0889, -1.2786, 7.0906, 1.7265, -0.0513, -0.0415, -0.0171]",
      "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]: [-0.5095, 1.4178, 0.664, -0.0189, -0.4435, -0.3336, 0.9995, -0.0216, 0.8093, 0.6018, -0.3931, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3565 left_y=-0.1082 left_z=0.0888 left_yaw=0.0289 left_pitch=-0.1146 left_roll=0.0568 left_gripper=0.9995 right_x=0.2937 right_y=0.0002 right_z=0.1721 right_yaw=-0.0002 right_pitch=-0.032 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [0.1709, -5.2308, 8.4991, 1.5604, -0.3053, -0.0513, -0.0122, 0.0068, -1.5932, 7.2137, 1.7363, -0.0415, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc89aeac59990dd0590543ef93badbdda3fab1aaf2bcc866a145a2cfa6795d1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:922e354bd01b0fc69b20ae66043bccecc7848bc9cdd93f2ca5d2e1ea0a8f1448",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26c2a3cac0a5e0ffa89967b82385a0d6de3a510ca839d69b70365ba2f4f83178",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS/gcKEAgSGAI4AUIIdGhpbmtpbmcSDEiUPqUdF9Y4hr4bWhoMCN9GRZzecHy/BJHFIjAZnT5eR755Bf1YityqqtjbpidwJBvjCek6SOJ6rmwAPmTslzMQZJWtYSb1LJbIa5cqmwf9RbRBIG0QYLri/xVQNeNJN713CnMaNtSsLgzbDNqQN16aAfbtVrpg3U0PBkmI1bZz9EO0Nuc7MyPjY8qpFcq45h+uHZeO7WpuOx7sl4uTkJDoBg6EY9tZ1fDafdgDklz//IRc6SwhtY90TLTmeVSLZH+s6SjXPw6NF6iQj0pdZRsZLH7dvcrYdjDRjKjvfCghREtzw4FFthFETAACBsSOtI1tX6lKZ/ZJEFIrDP6ZkY4Y0A2i5osIbSM/RBc938afxwfN1XpKenqQ1E5VHNuoyEQOxsS7bMFI5ONIVJCmEE/xfV8nLix8Dq18r/RgNiWeWF5GAvejmY/+mFjIZBKZiRZXy3HKXOoPpfu3iKKkFdqdQ5nOMGkK/WQOGk4AULsErDk8plTZzon5bA2V+aFhXUnJVutldePHojhWWWfz+47uofk24WRSl8KQhIeXvmF6ZjnD9nI6R/27QikGKhDtGZxmfxKQdR6gxNv0w9GeQ30TlUNuCdoabMYFeM6lS79Hi61xTfHrt1rtEOs/vEbTBJlvPvAG/28s9B1upIWWxY7e1Bkit1AHjdLdcJdIgGAKBZhLTj/yM4xWBK6FjcTZCAdshW6p49seEJP35ZufXjBfoutSYnG6361nsUZbPJMDydyLH0uMK/orDl6ErSytQR2G+kqVbihDQv/7/BahzRriLLiMlCPci1QG9JVQnbImUou0RoJ4TXfaRovcHx6Eut8CXzyyiRskuT0AIobp12FLYMqPrQr+CdWkrYAycwdkF/KHgsqfOc6idM+12J5bbaU9FXSQShFhXTHeqMwIr2Nwfj0TrCqLMhNgBTeU91+mpGWZlnYDL3mTJ7ylxWAhN+i6EddrjwPUObfyurpUJTn4KqtdOp85Qn5qq76UaxB+kJQI+7pgiIBk6/Wff8TsuhTtzhu/Z3LolzeO6iG7uJ2viz3qdEDyxAjS35hoF/IgTbCqn+fhzYf2DjZkT6Wo6TN+sFXrxZ+xFlbgw/l8PF19dFuQbIenU0uB1g2guAcuaJh1pdMfMGuyWouomOG/Owrk7kzvgBo20oPrk1zFxnxVoiVNmrlHY1Pp0qZy7ji573mNKZwIue4o0HAwSNiqN5DP6dl64wE0v7946Y7kl3EwA/XS8e5YVKcswuWSi4TlG5F33mzfv8S7PRYkVLf9x/uXhCe1Z3VXDr669qmtiKm+7FNrvgooDkYAIZKqyazPaW2bPeyILYyGwhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ay8N2DC3WfagYrJeDdVYmu",
      "input": {
        "note": "The left arm hasn't responded to my last two commands; its joints are unchanged. I'm sending a clearly different pose, higher and a bit back, to see whether it tracks at all.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.12,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Ay8N2DC3WfagYrJeDdVYmu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5636, 1.3598, 0.7292, -0.1501, -0.4717, -0.3706, 0.9995, -0.0216, 0.8112, 0.6018, -0.3931, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3488 left_y=-0.1212 left_z=0.1142 left_yaw=0.0173 left_pitch=-0.1096 left_roll=0.049 left_gripper=0.9995 right_x=0.2938 right_y=0.0002 right_z=0.1715 right_yaw=-0.0002 right_pitch=-0.0339 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [-0.5538, -9.812, 12.2462, 2.21, -0.5446, -0.0415, -0.0122, -0.1299, -1.1009, 7.0496, 1.7607, -0.0708, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:695b1929713a1fd04fb4961c16a3b1ee453de99f6076ed1bd721307627f4259f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c24efaa7fc4659923a8bcd36b19526ccef1ebf7433b5c2bc50580e34f65005bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05cb1f9c56325cca3e21f1560ca5fb67076e74fb0637a979e859fe0414b3d01e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 3.942 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5095, 1.4162, 0.664, -0.0185, -0.4431, -0.3336, 0.9995, -0.0219, 0.8043, 0.6041, -0.3927, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3565 left_y=-0.1083 left_z=0.0894 left_yaw=0.0285 left_pitch=-0.1131 left_roll=0.0556 left_gripper=0.9995 right_x=0.2937 right_y=0.0001 right_z=0.1745 right_yaw=-0.0008 right_pitch=-0.0244 right_roll=0.0041 right_gripper=0.9971\nstate[joint_eff]: [0.1162, -5.2581, 8.3077, 1.5556, -0.2466, -0.022, -0.0122, -0.0889, -1.2786, 7.0906, 1.7265, -0.0513, -0.0415, -0.0171]",
      "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]: [-0.5095, 1.4178, 0.664, -0.0189, -0.4435, -0.3336, 0.9995, -0.0216, 0.8093, 0.6018, -0.3931, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3565 left_y=-0.1082 left_z=0.0888 left_yaw=0.0289 left_pitch=-0.1146 left_roll=0.0568 left_gripper=0.9995 right_x=0.2937 right_y=0.0002 right_z=0.1721 right_yaw=-0.0002 right_pitch=-0.032 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [0.1709, -5.2308, 8.4991, 1.5604, -0.3053, -0.0513, -0.0122, 0.0068, -1.5932, 7.2137, 1.7363, -0.0415, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5636, 1.3598, 0.7292, -0.1501, -0.4717, -0.3706, 0.9995, -0.0216, 0.8112, 0.6018, -0.3931, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3488 left_y=-0.1212 left_z=0.1142 left_yaw=0.0173 left_pitch=-0.1096 left_roll=0.049 left_gripper=0.9995 right_x=0.2938 right_y=0.0002 right_z=0.1715 right_yaw=-0.0002 right_pitch=-0.0339 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [-0.5538, -9.812, 12.2462, 2.21, -0.5446, -0.0415, -0.0122, -0.1299, -1.1009, 7.0496, 1.7607, -0.0708, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:695b1929713a1fd04fb4961c16a3b1ee453de99f6076ed1bd721307627f4259f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c24efaa7fc4659923a8bcd36b19526ccef1ebf7433b5c2bc50580e34f65005bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05cb1f9c56325cca3e21f1560ca5fb67076e74fb0637a979e859fe0414b3d01e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018SwpjspZ4HUJpNoE44W6x6",
      "input": {
        "note": "The arm is responding now, just slowly and sagging. In the wrist view the open jaws straddle the white bowl's right wall side to side, but the wall is a few cm ahead of them, so I'm moving forward.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.12,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018SwpjspZ4HUJpNoE44W6x6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4858, 1.5455, 0.7784, -0.1036, -0.4343, -0.3397, 0.9995, -0.0219, 0.8162, 0.6003, -0.3935, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3722 left_y=-0.1084 left_z=0.073 left_yaw=0.0568 left_pitch=-0.2019 left_roll=0.0974 left_gripper=0.9995 right_x=0.2938 right_y=0.0001 right_z=0.1694 right_yaw=-0.0008 right_pitch=-0.0408 right_roll=0.0045 right_gripper=0.9971\nstate[joint_eff]: [0.2256, -8.3624, 8.3624, 1.9316, -0.0757, 0.0806, -0.0122, -0.0889, -1.7299, 7.1726, 1.6874, -0.0562, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2b0931373e534ec0aabc1a5864fe7572082e9810398f22f1c5539cca26871d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5328abdd3753341d67a50dfac9b9ff9d90f42caf1f21a15ea81bbc63ea53f80c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34c6d0bfad891607e5e83a8e27c98bf065dacba3b29a56f86f342859820c2b2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 5.883 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5095, 1.4178, 0.664, -0.0189, -0.4435, -0.3336, 0.9995, -0.0216, 0.8093, 0.6018, -0.3931, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3565 left_y=-0.1082 left_z=0.0888 left_yaw=0.0289 left_pitch=-0.1146 left_roll=0.0568 left_gripper=0.9995 right_x=0.2937 right_y=0.0002 right_z=0.1721 right_yaw=-0.0002 right_pitch=-0.032 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [0.1709, -5.2308, 8.4991, 1.5604, -0.3053, -0.0513, -0.0122, 0.0068, -1.5932, 7.2137, 1.7363, -0.0415, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5636, 1.3598, 0.7292, -0.1501, -0.4717, -0.3706, 0.9995, -0.0216, 0.8112, 0.6018, -0.3931, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3488 left_y=-0.1212 left_z=0.1142 left_yaw=0.0173 left_pitch=-0.1096 left_roll=0.049 left_gripper=0.9995 right_x=0.2938 right_y=0.0002 right_z=0.1715 right_yaw=-0.0002 right_pitch=-0.0339 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [-0.5538, -9.812, 12.2462, 2.21, -0.5446, -0.0415, -0.0122, -0.1299, -1.1009, 7.0496, 1.7607, -0.0708, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4858, 1.5455, 0.7784, -0.1036, -0.4343, -0.3397, 0.9995, -0.0219, 0.8162, 0.6003, -0.3935, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3722 left_y=-0.1084 left_z=0.073 left_yaw=0.0568 left_pitch=-0.2019 left_roll=0.0974 left_gripper=0.9995 right_x=0.2938 right_y=0.0001 right_z=0.1694 right_yaw=-0.0008 right_pitch=-0.0408 right_roll=0.0045 right_gripper=0.9971\nstate[joint_eff]: [0.2256, -8.3624, 8.3624, 1.9316, -0.0757, 0.0806, -0.0122, -0.0889, -1.7299, 7.1726, 1.6874, -0.0562, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2b0931373e534ec0aabc1a5864fe7572082e9810398f22f1c5539cca26871d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5328abdd3753341d67a50dfac9b9ff9d90f42caf1f21a15ea81bbc63ea53f80c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34c6d0bfad891607e5e83a8e27c98bf065dacba3b29a56f86f342859820c2b2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS3wcKEAgSGAI4AUIIdGhpbmtpbmcSDHi8anB0rg1z1+bb2xoM0Xh81ydBdWaJCffwIjD7bV8wlKtbN95QeE8o6IzW9WOa0s1xFT8o1Rq2NUf0LGWVGGrfWlp/UvCDKWLfFpcq/AZbIjOZuN+UR5Bece/xe9ENykLH60oLzwEgbWMTta3eKPm+vIBSgjx23h0ozV69EF80T2emjP+F6RHN+6atKoRptmy1ubFOeNW+x05McgGRr1/eoJTUHtNLfBgvEMRnrLVE2tJXKhojlDfK7QUsdc7Hhld4fsxh7d0AmI5mOM6jylLHZ2LpVMCVme7DYNFGHibH2Pc4fga3+kfhGdl/w8ZuTJaSBcu1xsQfGB3YQ4voOE99fiQ29se5jPbhLkKrpD1YWyDq20bqJpvci8Q3UJruEUzBf/LNfvhAuLU8SGIvKZjAK0w448x8N0T0Wbr3InRLh62JN3ePPG5YzmajEPYQCKKmEA6JmNBIaFaioUT/VtDY3WUmjLFhZWZ2p7HZ4+t02tx3uIRDijDcpC77X7O5L0TsSwzFwOmvBxrrPmqcHP0/+AxApTeoT6Kw3JMoRR+jh2FsxITwerNXCcZQr5S1IBkmzzD/U2+zO8OR9xpvTxG5nE7P55BgSTj/mV9wsCw2gCfrAItQGbjGRKu+UgxFIjlbeC5puczmvP0mGPkId3UolX9zZkexFIxome+60m3pYnUa0ROA1cpk6z1szadNRepd4JUZcsvCgxz9YCIcIxK544lL58YIAdzjXfwkJrX5cSbOKPwNFkDZwmfAnI2EeCrsst0W2Q8tjV6Qj9yRiqH8Olhyst2XYSQ4vqPqP6AVWRsFAY5eQ6Qk+4HN/xTAd2FZWmLEzZvhA6+pTDG7A+3fN8BcQz4I/VMtjnPA35EOZAU2RxgbYTk9Tmlkt9tdimYNXCN34fEfn2oLECItmu7kAPMDH55uJZlJanHrzZjHroOHSC+vH1/BzKkmE7PoZ2fNdMR/h+pn/9L+EIxDlskIcOBi9Xq7Ru0iqMBiIUw5GlYMiCSBcxD/4fZAH7wr5Mq2+EiSyfqjO07bHOae2FWcVsP05GvE26PHwWY2PEjyepaMIJqB14yjZAn4O8r98EdhiYUzdVMy5BFEMp35QhfChvisdz/wu319/ikUdf4UrDCb1sl2g2bqR8I0pfHIZ5KxRNQg9cJz+8NVu+22+JN05zVkblVfABzKzIqj6hfnn73VSWkbfddYk1KyVxytc4d6FngbUDpJfKew/th0HTD2yBA/ANfuFEZbBaRXjLKiNHd/xA1FpNXvHHFGVHkLWFKTP0eMVKfnrfRNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GSz8T9AiJnLsfxyyvc2w7R",
      "input": {
        "note": "The jaws still straddle the white bowl's right wall in the wrist view. I'm continuing forward and down so the fingers go around the wall.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.115,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01GSz8T9AiJnLsfxyyvc2w7R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4835, 1.5436, 0.7784, -0.062, -0.4164, -0.3294, 0.9995, -0.0219, 0.8165, 0.6003, -0.3927, -0.0162, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3784 left_y=-0.1139 left_z=0.0791 left_yaw=0.0353 left_pitch=-0.1717 left_roll=0.0708 left_gripper=0.9995 right_x=0.294 right_y=0.0 right_z=0.1695 right_yaw=-0.0011 right_pitch=-0.0404 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.0615, -7.8154, 8.212, 1.7314, -0.1685, 0.1636, -0.0122, -0.1026, -1.4154, 7.0496, 1.7265, -0.0269, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1699e24188adfa1b65f66af09e2ec1bf8402421424c2f4caa817e8662e609389",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:906b6558fa09a0fcea0c9c5bb20415a08c628c4fd9a506448d1c2f255f6b0bda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc8da2bb0db23494559d8edd6a9d5ab7a97c10d09f957024fb2574ea8a47b1f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 6.689 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5636, 1.3598, 0.7292, -0.1501, -0.4717, -0.3706, 0.9995, -0.0216, 0.8112, 0.6018, -0.3931, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3488 left_y=-0.1212 left_z=0.1142 left_yaw=0.0173 left_pitch=-0.1096 left_roll=0.049 left_gripper=0.9995 right_x=0.2938 right_y=0.0002 right_z=0.1715 right_yaw=-0.0002 right_pitch=-0.0339 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [-0.5538, -9.812, 12.2462, 2.21, -0.5446, -0.0415, -0.0122, -0.1299, -1.1009, 7.0496, 1.7607, -0.0708, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4858, 1.5455, 0.7784, -0.1036, -0.4343, -0.3397, 0.9995, -0.0219, 0.8162, 0.6003, -0.3935, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3722 left_y=-0.1084 left_z=0.073 left_yaw=0.0568 left_pitch=-0.2019 left_roll=0.0974 left_gripper=0.9995 right_x=0.2938 right_y=0.0001 right_z=0.1694 right_yaw=-0.0008 right_pitch=-0.0408 right_roll=0.0045 right_gripper=0.9971\nstate[joint_eff]: [0.2256, -8.3624, 8.3624, 1.9316, -0.0757, 0.0806, -0.0122, -0.0889, -1.7299, 7.1726, 1.6874, -0.0562, -0.0269, -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 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4835, 1.5436, 0.7784, -0.062, -0.4164, -0.3294, 0.9995, -0.0219, 0.8165, 0.6003, -0.3927, -0.0162, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3784 left_y=-0.1139 left_z=0.0791 left_yaw=0.0353 left_pitch=-0.1717 left_roll=0.0708 left_gripper=0.9995 right_x=0.294 right_y=0.0 right_z=0.1695 right_yaw=-0.0011 right_pitch=-0.0404 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.0615, -7.8154, 8.212, 1.7314, -0.1685, 0.1636, -0.0122, -0.1026, -1.4154, 7.0496, 1.7265, -0.0269, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1699e24188adfa1b65f66af09e2ec1bf8402421424c2f4caa817e8662e609389",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:906b6558fa09a0fcea0c9c5bb20415a08c628c4fd9a506448d1c2f255f6b0bda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc8da2bb0db23494559d8edd6a9d5ab7a97c10d09f957024fb2574ea8a47b1f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkAsKEAgSGAI4AUIIdGhpbmtpbmcSDGyQR9oPaJvib/eDABoMGp+fqIotjWm/4I9AIjCo0mipY4+JADTPYSTZ1PIVV+dgbzuLZW8MU9/X2m9GvhE1rUIN55onSCnbAn5f6ZwqrQqygEBtsGy5KCLF9wPhDvOSn8kdcbSbPhOlJsXZrGoPnEVy/rodyw8JFgPE7CZUh3J348h8gwGm0iL+6cqebn33+SkVx83Nb7l81q5hktqoTNik3+t6vwwsrK4j79FlgOQucKibA/+EgiV3GHwsBgeIbF5bb6xBUIK4JmkHR3/4Dl9rhilVo3M8MSckBDOFkOCXDbCq8V9pXA8pDdSAbdKCZk7F4pOu3NhdrZDkNDd1zcXor4kD1z3N//ufVT8wvWBsG7lib1vURj7vDSP3l2cLu8t2pTQ9A53gktJL68Y7d/+4Aps5wU9xVpu17ASu7FYb5OotXSiQDOD/UFIUh/UIJCWatbZ2cMFEESmgNbYN8n5fU08x5ooEZMdMOUYsM9x7ix7Ff60BhZ0zKO9FS54DtgVznbFozh+6UOfA56kruAOs+HLqYh57D0c/kZmedxUSW5Keis51+z1YhbGvdeqIcmcSt+dLy2pkZw2yQDYim1tby8LhO4H46Ru3OiCngZuRRkH3iOvSV1re335lAarhqByci3ks90mTAN9xnvMzQ1ZSUDppP9SBMVoBTxg81wPWaAAfnTXruZBdVrY+Q7EFi2VH7TUyuKH5XhXmEoUbjkhb62oTeLXVQVN6Omy398yP5Z0K3pTyN1q3JjILIy4jYGDdaqSlydn8ZpSKWBT0oHymAjoZk5azicPspnzaIip+8S8F+taC0WYa9/LPMPvaPOOotoE0e/B1Msa34hlWfeKa3EmM23udVc4I9JclMLQIWuaLL/cg+rQL3Ysf40D7L5Ude31bttsh3FOyvHlGS0MRnECf5O4dFZlTDzBWyC5Qf62N8p6gbDz4ELlTv0jUBpwtosVcjbfgLuzmUfdNsVPI88Rn8SXjfCWj90Vd4VbP9Jo1jb6FyYCgfu1cMk8IeM3Vhd48yChjJqe/pj7Qm4fsSRE/wbSrqa1q0PCZek03uB6t66a7DXVgboHOr3sdg8v0ijnmIfsuTiZu2sFVQBx6mIlb0zaXMIehz4yQiZTQ740bPf6UnJ6cGlJaefsxc28m1k1xBkXRAi6xeLvV8/gGohjo8sOPNGvH888c3+mW0cGv2MQjWbxCaqMdW7sOQCfxLP6co5GI40182I6tTxqELY3tM8SFLMHXcVYSGDEGLaY2Kwu/1HbIFfRbEvwUkOOXPnV0uu4maeWEY+H2MDxXZgbkjosNIK4anclfjjlhGf6raCwX9IMheFO4ivUtUjQQzNuEHnzpbnJQ6B54t5DALnJDHZ/knJ8SH55zXCHoZTqnZs9c3Y2VP85gaQA+9Rgef//n1muSZb+pC8iCJ973a/SPlLbQr3j5NH5tApfI7QzaR6PDE84TbO3irf3BM9WOYR1P6Uj9i/1tqQnUA4BI5IQ0ZodwsfzVguCOSgEqIbJEzt5vb5faIdV5C4Q2ttUK5GLB5rWmpoMHkbJtuuvRPjiPpPlf0XKDG95j/ajr2CcKxx3ZmP4gs+0dqdIU2Bzrr2oRMfRpLMl1PxO19u4qv7mIpN6B9OfOULdBw9/qfHDYUxhM9lPtxZDAhdg+OPGVMlH4sAAJU5Ft/pe32uOOM31fOIzmeN05Bjz10UC5JaNGoPQJSPxfTGq5Y3VH8YfUvbRg10WyyteY7lwUwXC2APq4YFX2Fxp1asU3IVC37PrxrOy3SkPkSFuDkcyR+M5uyOQ0UM6ZK2p3H3YdkFrPVhA8JW+xYAUR1AoI/bspmih1F96aOxU0bfGXIdkJ9dLjYSk7zXNopwo6wRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UPYdVMX2mGhU8LAwCbA9MV",
      "input": {
        "note": "Height is stuck near 0.08 while the jaws still straddle the bowl wall. I'm commanding a lower target to push the fingers down around the wall.",
        "targets": {
          "left_x": 0.395,
          "left_y": -0.115,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01UPYdVMX2mGhU8LAwCbA9MV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4835, 1.5436, 0.7784, -0.0616, -0.4168, -0.3294, 0.9995, -0.0216, 0.8165, 0.5999, -0.3931, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3784 left_y=-0.1139 left_z=0.0792 left_yaw=0.0355 left_pitch=-0.1712 left_roll=0.0709 left_gripper=0.9995 right_x=0.2938 right_y=0.0002 right_z=0.1692 right_yaw=-0.0002 right_pitch=-0.0412 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.0205, -7.8427, 8.2667, 1.7753, -0.2076, 0.188, -0.0122, -0.0889, -1.1419, 7.1726, 1.6972, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0779e1e0846e20392ac94b0fb2763e5008bb385965b9e89a09b3d78d6184b19f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14f53216ee8b011acf0d44271081c0a68c4142ad69557eae00cc1eaf32a7ae73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77fb7ceb1383a6f3492c4c93678fc1ecedc8cc92cbd07f5e26d17b93d1a07674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 8.113 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4858, 1.5455, 0.7784, -0.1036, -0.4343, -0.3397, 0.9995, -0.0219, 0.8162, 0.6003, -0.3935, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3722 left_y=-0.1084 left_z=0.073 left_yaw=0.0568 left_pitch=-0.2019 left_roll=0.0974 left_gripper=0.9995 right_x=0.2938 right_y=0.0001 right_z=0.1694 right_yaw=-0.0008 right_pitch=-0.0408 right_roll=0.0045 right_gripper=0.9971\nstate[joint_eff]: [0.2256, -8.3624, 8.3624, 1.9316, -0.0757, 0.0806, -0.0122, -0.0889, -1.7299, 7.1726, 1.6874, -0.0562, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4835, 1.5436, 0.7784, -0.062, -0.4164, -0.3294, 0.9995, -0.0219, 0.8165, 0.6003, -0.3927, -0.0162, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3784 left_y=-0.1139 left_z=0.0791 left_yaw=0.0353 left_pitch=-0.1717 left_roll=0.0708 left_gripper=0.9995 right_x=0.294 right_y=0.0 right_z=0.1695 right_yaw=-0.0011 right_pitch=-0.0404 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.0615, -7.8154, 8.212, 1.7314, -0.1685, 0.1636, -0.0122, -0.1026, -1.4154, 7.0496, 1.7265, -0.0269, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4835, 1.5436, 0.7784, -0.0616, -0.4168, -0.3294, 0.9995, -0.0216, 0.8165, 0.5999, -0.3931, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3784 left_y=-0.1139 left_z=0.0792 left_yaw=0.0355 left_pitch=-0.1712 left_roll=0.0709 left_gripper=0.9995 right_x=0.2938 right_y=0.0002 right_z=0.1692 right_yaw=-0.0002 right_pitch=-0.0412 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.0205, -7.8427, 8.2667, 1.7753, -0.2076, 0.188, -0.0122, -0.0889, -1.1419, 7.1726, 1.6972, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0779e1e0846e20392ac94b0fb2763e5008bb385965b9e89a09b3d78d6184b19f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14f53216ee8b011acf0d44271081c0a68c4142ad69557eae00cc1eaf32a7ae73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77fb7ceb1383a6f3492c4c93678fc1ecedc8cc92cbd07f5e26d17b93d1a07674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSnQsKEAgSGAI4AUIIdGhpbmtpbmcSDKF/Em3kmh60Blq8oRoMe6sqA+arI6R24eC1IjC6wPFc6V7GcF62GBId0RRXzHzFTOwTWVxuzCZ+A0vg79SeogRtl7TjcwMNcYe6K+8qugpr8l7kRGvZ1Ctv8INsTLNa9b6aYpxN0d3qUrfD+eg9g9akPzXC6TIPsM8lJmjRlFvl7Lj9N9xbY8ygbKgti2YaYjcIPfNCI4CChanTOXXYfVtgwVGtJc9QcFyciI1Pn7WMYLAVGnMKoqneThPtKm0ImGN7B03fXEvj2FX8d81xdUM3Gb/VG6SdczFhSA01WBbhyVIday5jo+KRtoyvuxPBNq24H/EDIFDxxd0uZ9ag4v5ZZcrz7RXVBHN5R7B7qoyPjdiy64NoxOiPL3zvTOzbSOh6/LTlskEhPKjB+yGQCyVnBL78LWpTb93q6THeay1IUL1mii8Ay0ZOltCs8jDzI54ozVt+7Hw1D5YVhaB38VF3A+hx51vDrZEOzGoFpz7tp/e3uSUAAAHCJ6aYSbIZp1XNkBd2UGiM70zc4RDDhebX/EBWw3/wXu94twUkARg+NMn6nnpqscIEtiUkvG55UGf9TTxiV+BlYOKHC42FydbOuTai1VmAlui0qNhu8DYdCsb9RWNVH+zwe4Iqf8UiYAu2gui49JfEpfmbAcOhxKY71msNGLN5VAqswhHkbhWhD4rEEvv+94GUGD616DzXchUdLyERVhByt7ahjxIwm0A3WSZgBG2VKZWmgZ5qhPEJu5s5e59hRCPa+s9f0Aa3uSaAAN+p1R223jhLcAMhJBwWAinDu8rZtEi2t+J7eJu0w0OABd4ED5Qg+0oXQxc7AINuh7yq1Mz2C5FYodunPq2sjsQ++73xVGd1BLT3b6/om7546yRpfb9ZdvGuwAkgkgc0dFjDDD4Vd2lnU2bjFzoVmiLckFXdF04+S+qF8LQaksn1PTl0sbnoxvAx8abzMJSE+mJ7XzEA3qdR4qRRx+uL9/TRMUZGAAyuR3DqaNzx9EjxIrQDjRy3cyK4Hfn249rdwGFhGw1eB8PsKqhowYTIqj7PxSrRAmqXWCFpxqTdLfRvGTAdCqOgIwtau4b2j0gd3imPNXt9zCY5C7zERFMajvFaBR2Ugh1xO8qt9xf4wxBcrpwASl4vLnMMqH4UO6aPAmsferUTZIw+cO1j19kq5k37TKr70BPZG9lteFOy4DNmDw/FQWnqdHjHVcJLAJRCcYQ3igV87DgwQ7yhtXPIymvtFxOQM4FttR+mMZB/HrxL2VJ7zmJUUCYfhvMr0Boks7jOxnc6w9HfyiYxJlySp2ur0vWH8nIQ0U85DqwTP85W5snBzuih8hKEsGkXQ5GOi+PcRi1p39f9hF5ENyPC3104L2v+N/NqhtFDv2dud/hxbFHgq+G4lZNgLrvcO8qlXh9Fhc4glYUHyO+VCUc5PPcT/Nrzr2YJ6HmU4MR0rzbxI7f80Ugs9y4e6lIzN/JxRshN+/QcqRvVM9P5aYTSmXGOkDOy8//t4EeDe+ufEJfhnRm6i2On7p0xA9wWNFQJvZz4D/NxIWqQSF7UD5D6odOT45YrU4R6JRpH8B9xh/3eWIutRYlECf/FyVP1EOcYoRC4U3L2+o1D+imC40EjvaEFqF/+X5vPWzOB0NdFTamgK6yv6h7927lcCVI20OiqnHeUITzTrmx5qaOSEDNwW/FMRO+gakoy/+I5qByPRpRpk27A6j8yqsrhdTqo+0O7i00DVJNKd2i11/q3rxhKoylp3rV8hmq/QCPaXPY+CbPI3OlJb8WwzwNSr4YeIQjvwa4n1t0zTXzE3u+C/aIDvyd5uSBTbB8M5DKAxgH/eHqdicRj9GDfp6KQa+8/ZB22uApTkLJVwGiFtxg9pQqHJLeI3ahGhQIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NG5ciFnJkW3UWk9gNEqWbA",
      "input": {
        "note": "The arm is frozen at z 0.079 with its joints unchanged. I'm trying a pure straight-down move from where it is now, to check whether the forward component was the part it couldn't reach.",
        "targets": {
          "left_x": 0.378,
          "left_y": -0.114,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01NG5ciFnJkW3UWk9gNEqWbA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4835, 1.5436, 0.7784, -0.0616, -0.4164, -0.3294, 0.9995, -0.0219, 0.8169, 0.5999, -0.3927, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3784 left_y=-0.114 left_z=0.0792 left_yaw=0.0352 left_pitch=-0.1714 left_roll=0.0707 left_gripper=0.9995 right_x=0.2939 right_y=0.0001 right_z=0.1692 right_yaw=-0.0006 right_pitch=-0.0412 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.0752, -7.6239, 8.4444, 1.7705, -0.188, 0.1392, -0.0122, -0.3214, -1.1966, 7.0222, 1.746, -0.0317, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6a9248743b1d5ecd0e65e85de80ea8d8198fa1932f11fe298121b99521e139a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36256846d8486b35027753bb9cde5df47f575dcb12dace05e048fa26f375a207",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6d736f5ca5720dd2362d963597f09dc21dcc90a2e1080020249da2cb002d358",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 3.862 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4835, 1.5436, 0.7784, -0.062, -0.4164, -0.3294, 0.9995, -0.0219, 0.8165, 0.6003, -0.3927, -0.0162, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3784 left_y=-0.1139 left_z=0.0791 left_yaw=0.0353 left_pitch=-0.1717 left_roll=0.0708 left_gripper=0.9995 right_x=0.294 right_y=0.0 right_z=0.1695 right_yaw=-0.0011 right_pitch=-0.0404 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.0615, -7.8154, 8.212, 1.7314, -0.1685, 0.1636, -0.0122, -0.1026, -1.4154, 7.0496, 1.7265, -0.0269, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4835, 1.5436, 0.7784, -0.0616, -0.4168, -0.3294, 0.9995, -0.0216, 0.8165, 0.5999, -0.3931, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3784 left_y=-0.1139 left_z=0.0792 left_yaw=0.0355 left_pitch=-0.1712 left_roll=0.0709 left_gripper=0.9995 right_x=0.2938 right_y=0.0002 right_z=0.1692 right_yaw=-0.0002 right_pitch=-0.0412 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.0205, -7.8427, 8.2667, 1.7753, -0.2076, 0.188, -0.0122, -0.0889, -1.1419, 7.1726, 1.6972, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4835, 1.5436, 0.7784, -0.0616, -0.4164, -0.3294, 0.9995, -0.0219, 0.8169, 0.5999, -0.3927, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3784 left_y=-0.114 left_z=0.0792 left_yaw=0.0352 left_pitch=-0.1714 left_roll=0.0707 left_gripper=0.9995 right_x=0.2939 right_y=0.0001 right_z=0.1692 right_yaw=-0.0006 right_pitch=-0.0412 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.0752, -7.6239, 8.4444, 1.7705, -0.188, 0.1392, -0.0122, -0.3214, -1.1966, 7.0222, 1.746, -0.0317, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6a9248743b1d5ecd0e65e85de80ea8d8198fa1932f11fe298121b99521e139a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36256846d8486b35027753bb9cde5df47f575dcb12dace05e048fa26f375a207",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6d736f5ca5720dd2362d963597f09dc21dcc90a2e1080020249da2cb002d358",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012ugWejtypDJz7rzfiScvLt",
      "input": {
        "note": "The left arm keeps holding still at z 0.079 and its tool orientation has drifted (pitch -0.17). I'm sending an explicit level orientation and a higher target to reset the IK.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.36,
          "left_y": -0.114,
          "left_yaw": 0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_012ugWejtypDJz7rzfiScvLt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.3613, 0.6453, 0.025, -0.4198, -0.329, 0.9995, -0.0216, 0.8177, 0.5999, -0.3927, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3578 left_y=-0.1138 left_z=0.1074 left_yaw=0.0031 left_pitch=-0.0521 left_roll=0.0056 left_gripper=0.9995 right_x=0.294 right_y=0.0002 right_z=0.169 right_yaw=-0.0002 right_pitch=-0.0419 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [-0.3897, -5.8598, 6.3521, 1.9609, -0.3004, 0.1343, -0.0171, -0.0479, -1.0325, 7.0496, 1.7411, -0.0757, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:195a2b46c3c9f345a9555f565bb01df4b367d34f359141beb85f954dfd325c48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f603d07e551a612a0a3c248b5518f92c22f45add68757e47b7b4ff8069e745de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:02e12bc8e5ef779cd885a86eb5e9ac05dbb2f435821ecfca6fe48e3a4a865b15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 3.971 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4835, 1.5436, 0.7784, -0.0616, -0.4168, -0.3294, 0.9995, -0.0216, 0.8165, 0.5999, -0.3931, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3784 left_y=-0.1139 left_z=0.0792 left_yaw=0.0355 left_pitch=-0.1712 left_roll=0.0709 left_gripper=0.9995 right_x=0.2938 right_y=0.0002 right_z=0.1692 right_yaw=-0.0002 right_pitch=-0.0412 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.0205, -7.8427, 8.2667, 1.7753, -0.2076, 0.188, -0.0122, -0.0889, -1.1419, 7.1726, 1.6972, -0.0659, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4835, 1.5436, 0.7784, -0.0616, -0.4164, -0.3294, 0.9995, -0.0219, 0.8169, 0.5999, -0.3927, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3784 left_y=-0.114 left_z=0.0792 left_yaw=0.0352 left_pitch=-0.1714 left_roll=0.0707 left_gripper=0.9995 right_x=0.2939 right_y=0.0001 right_z=0.1692 right_yaw=-0.0006 right_pitch=-0.0412 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.0752, -7.6239, 8.4444, 1.7705, -0.188, 0.1392, -0.0122, -0.3214, -1.1966, 7.0222, 1.746, -0.0317, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.3613, 0.6453, 0.025, -0.4198, -0.329, 0.9995, -0.0216, 0.8177, 0.5999, -0.3927, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3578 left_y=-0.1138 left_z=0.1074 left_yaw=0.0031 left_pitch=-0.0521 left_roll=0.0056 left_gripper=0.9995 right_x=0.294 right_y=0.0002 right_z=0.169 right_yaw=-0.0002 right_pitch=-0.0419 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [-0.3897, -5.8598, 6.3521, 1.9609, -0.3004, 0.1343, -0.0171, -0.0479, -1.0325, 7.0496, 1.7411, -0.0757, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:195a2b46c3c9f345a9555f565bb01df4b367d34f359141beb85f954dfd325c48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f603d07e551a612a0a3c248b5518f92c22f45add68757e47b7b4ff8069e745de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02e12bc8e5ef779cd885a86eb5e9ac05dbb2f435821ecfca6fe48e3a4a865b15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS8AYKEAgSGAI4AUIIdGhpbmtpbmcSDOG/goCGmdPBM4SMeBoMFhLYcsYvk+8JHMMIIjA6uaV0ZwxvxGMRH2clz3zfuXonFK2XLNTrkao0+f8Xp25b69ZZCxh2PuGDi477eD0qjQaw+pG7n+33UwbuhOmpGjiRdu5DwXaiv55UoTCvBcg1Lsg1ksVH4KP/5XEBRpHl1sRu7lsn+oq07a7WAm9glHZ/nB5z0Kol80cbq3T0csUz9N+Vl2k4SNSX5jUDh0Oul6kwyLa/kG9H6s/fWxDU+w+UWgvbFjqojbQWPjFBJbm8qiRGIsRzVqHQniiKZCSomCipdvv2fBSyCBLCsYq0L9nm94vlB5gR/oCGcoZs3aaUoGFejjC/PLEawg76T1b3Zrxnms9UldldNw+dXouHCas9SIwG+4AwSMJ7w8iRzUOS4xW/zXFOLkf0D932h6Nh50DJMGfExSMm2QMa4R0Digq0D/axHc71dF3NAfduXLCPsaDH4Mo4BlTSAw+erhyj9FjQ1neD+HZ+2DKe5qvE5Q5xmI6fXkvL1BTm3rgXmyN7vo2NjvxUTkIbtSBZah7GvTg1TyMkY3bc88h6JvWlGjxqJWKZpl40OBc6TkxDwDvpg9LqsPpfMh2Ww05QV1IG0vdgRqSEMm57RrlY8ZMW3/4Attf9g42xujaSJNyCdDJo0GTU6ogldsyq8z8aLmxjPdSKnbE8oJv2WxlHbMGa90dLq7X+P0S2lnJkI8CB055Ug3+BSZ0JhG7oloY1dMERxLWReKanPZWyi4wYIEOGu+V5LNDUraw7xpNu3vNbITo7g+iILjLN/TR8DSxPiZ5SQXTPx1yZtQYRIhLh0YRgjBOqcJEl9TJqvEsyw7u6j2NqWsf4XvXt6MVPWRj14ohvghDQ7YdoEkyf510bg6mtiXAbD31n3WSFFsz6ezdpjnf/2D/GvEsK9RY1J7Om+axjgE8gng9m5qCqnB3iB0YgeRwwiss8MAHGpdwHSXNlSkDhzdxqbZenKaUE47dDaiqofgGo8/15pqOCnhz2tWMON5hfAZhzrC5V7aobWnrYFL+nsb550TfmFbO026TADWKCzUTVpv0BZXfTCpMZeGAVkebSO9Z5j3hTKIAEPCAnGhCPQ9w7G6JgmK0mONICGTqZ4YUr5XjA3cVY8lIe0zwSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01USuZvtM7NN8X9Z7bjM8jDR",
      "input": {
        "note": "The arm moved once I gave it an explicit level orientation. In the wrist view the jaws straddle the white bowl's right wall, so I'm descending with the orientation held level.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.37,
          "left_y": -0.114,
          "left_yaw": 0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01USuZvtM7NN8X9Z7bjM8jDR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4984, 1.6161, 0.4965, 0.3809, -0.4179, -0.3138, 0.9995, -0.0219, 0.8211, 0.5999, -0.3935, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3557 left_y=-0.1079 left_z=0.0257 left_yaw=0.0073 left_pitch=-0.0946 left_roll=0.0401 left_gripper=0.9995 right_x=0.294 right_y=0.0001 right_z=0.1679 right_yaw=-0.0008 right_pitch=-0.0461 right_roll=0.0046 right_gripper=0.9971\nstate[joint_eff]: [0.335, -6.5162, 4.7932, 1.8535, -0.1294, 0.105, -0.0122, -0.1983, -1.4291, 7.0222, 1.6972, -0.0757, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f8e95655fd94807632f2c6bb725d4762f0373fc7fada819adb368789ecf6657",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27165e544100aca071be89eac0e59c673f77a36126d8ae612ce3cc3eb3e37c31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47748e5f98383c598b84beddb9af9cdf63a092b45270934c7733248cbf97e01e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 5.004 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4835, 1.5436, 0.7784, -0.0616, -0.4164, -0.3294, 0.9995, -0.0219, 0.8169, 0.5999, -0.3927, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3784 left_y=-0.114 left_z=0.0792 left_yaw=0.0352 left_pitch=-0.1714 left_roll=0.0707 left_gripper=0.9995 right_x=0.2939 right_y=0.0001 right_z=0.1692 right_yaw=-0.0006 right_pitch=-0.0412 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.0752, -7.6239, 8.4444, 1.7705, -0.188, 0.1392, -0.0122, -0.3214, -1.1966, 7.0222, 1.746, -0.0317, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.3613, 0.6453, 0.025, -0.4198, -0.329, 0.9995, -0.0216, 0.8177, 0.5999, -0.3927, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3578 left_y=-0.1138 left_z=0.1074 left_yaw=0.0031 left_pitch=-0.0521 left_roll=0.0056 left_gripper=0.9995 right_x=0.294 right_y=0.0002 right_z=0.169 right_yaw=-0.0002 right_pitch=-0.0419 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [-0.3897, -5.8598, 6.3521, 1.9609, -0.3004, 0.1343, -0.0171, -0.0479, -1.0325, 7.0496, 1.7411, -0.0757, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4984, 1.6161, 0.4965, 0.3809, -0.4179, -0.3138, 0.9995, -0.0219, 0.8211, 0.5999, -0.3935, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3557 left_y=-0.1079 left_z=0.0257 left_yaw=0.0073 left_pitch=-0.0946 left_roll=0.0401 left_gripper=0.9995 right_x=0.294 right_y=0.0001 right_z=0.1679 right_yaw=-0.0008 right_pitch=-0.0461 right_roll=0.0046 right_gripper=0.9971\nstate[joint_eff]: [0.335, -6.5162, 4.7932, 1.8535, -0.1294, 0.105, -0.0122, -0.1983, -1.4291, 7.0222, 1.6972, -0.0757, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f8e95655fd94807632f2c6bb725d4762f0373fc7fada819adb368789ecf6657",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27165e544100aca071be89eac0e59c673f77a36126d8ae612ce3cc3eb3e37c31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47748e5f98383c598b84beddb9af9cdf63a092b45270934c7733248cbf97e01e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSjwgKEAgSGAI4AUIIdGhpbmtpbmcSDNXDLk5efdRjcllctBoMPWs4VhydK3uKyXaiIjCbk7scncr6KfbXgpQke0iTkpIuifpb+FsocuTrT8KZpnS6AQ77n2TQyWEBwLdOdrMqrAdpHULwOI8t0l6OX3BunYVQ546DmsSfIBLSskwmXIxbO61KPrL4P6U59H+MVtv7MooDsGbmyPjxIeENDmMDj71L/4hlvp3OvfEVzCjCuXSEJPAAYHaNd2uIt9m1O6zcDV+qSyMFi7MboHmrIhTNTSNJOcKaG6jsmqOxVEWi5W9S5T+9sTXOjKKcOBF/DGXOXDLnMNDiqAyGrYMzhtOMu17j1dl3vdxKVcHEGP5vZh4d6Lktftu+h+NyTxZX3slDIkSu2DjYP71v7YZd+Clg95YEMjJI3Iv/mo/g2C91e0CwldixAzhi89F048J6SKfnobkN52aoFRFiAOfr/x9QWY9rFan1h89izA3jzwJWzxUlumlfHEg6+ABUyr++CZUG33DrHDy+sfpnK19y4cBGRrILnBxy5hPmngvm1p9JmKlbGAEK3ji2W0hwstvdq8dUQMjPRmHBNBAvE3dZA2DGFxSjJN0BS4QcrRzpgbcvUKIaCOft3asrqNEAu/QnVZh5vJFK9PYGugrF8/HC2KrRF0ot3fEMC+7zfrmgjXBOrtmeyu6JE121gaVWY1yNW3H3EEpmL4IcH3Sxi8frthNyB/Bohubqx0Su6vx/eeYndTXzwiAVCUCQ7VSk2GubZAXqsRpdL0Ubvt59HqIUZX8hQuVAppZmWAlvkjl4F/FDbwWDsRlO4cXGv3Cd9l2wQNiv5nscBemxJpW43uOQDcVajoaubT8eeP9d0kAmtmYUMyYzs8Bd3T32GhSd3I5uuEcWcb0KVRBQ0rUEdvL9oPxTaSBXDYK2t+XkQrtOunbivDdHHAdX77rM35Q9Xp2ZlU0AY9CnBumACZCuR8Ptna30o2ETqgH8BmAC3DfBnKsgxV/I3mzOTVoxCGq6TcZAzisqstaJ17fs/yRbEhPtmmpQ0yGxaMPvzqHb+8Ece1+gyINAOjH+RNbfud1HiwEGfusU8vdESK/4doUSMTbGP18hanz37nsUoPIJMr9ukCIw8emKsKqN9xe/uVypoc2XSZ3MjGLgTJyfkxc322Ni5PpvulpTAm6eHQ9dO03YlooSfcjGzVv3Wm+V6UFBMmBSjcMXBGhdw1BFdx/DTJhC0wXaPP7n/rKPADEm8mOsSzzF1nNOZJnX4c4j4yx5SZhSp9Lrs4pf9KN1pJHnAt8fHj7RtdATupylrVs+D3qKNPbPXtpA+1QBLIABcoS7ea2FmnGfqAnncQtH/krvwsaK8KSqPdSMBs/hXQVcYgvdkdCrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XdFshg7wuCXWjHdHSybRcz",
      "input": {
        "note": "The gripper is at z 0.026 and the white bowl's right wall sits between the open jaws in the wrist view. Closing to pinch the wall.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XdFshg7wuCXWjHdHSybRcz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4965, 1.6073, 0.4984, 0.4217, -0.4721, -0.2909, 0.0259, -0.0219, 0.8211, 0.5999, -0.3931, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3639 left_y=-0.1017 left_z=0.0391 left_yaw=0.0382 left_pitch=-0.0331 left_roll=0.0638 left_gripper=0.0259 right_x=0.2941 right_y=0.0 right_z=0.1679 right_yaw=-0.0009 right_pitch=-0.0457 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [-0.294, -4.8068, 5.0393, 0.6716, 1.0379, -0.5348, 1.4188, -0.0889, -1.3744, 6.9949, 1.663, -0.0562, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d6e269a15be566d0b7ebdf20f177568a195af1f79d6953a492560cd45ab49ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be43ff8cd19f391203e6c84836a5dd4582b9580f1a793a4606073bdbbed3defb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2c4f5ca0db4572fb2aeaccbf3e2727b075e852f9800ef0eac53b694f1992c9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 7.911 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5106, 1.3613, 0.6453, 0.025, -0.4198, -0.329, 0.9995, -0.0216, 0.8177, 0.5999, -0.3927, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3578 left_y=-0.1138 left_z=0.1074 left_yaw=0.0031 left_pitch=-0.0521 left_roll=0.0056 left_gripper=0.9995 right_x=0.294 right_y=0.0002 right_z=0.169 right_yaw=-0.0002 right_pitch=-0.0419 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [-0.3897, -5.8598, 6.3521, 1.9609, -0.3004, 0.1343, -0.0171, -0.0479, -1.0325, 7.0496, 1.7411, -0.0757, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4984, 1.6161, 0.4965, 0.3809, -0.4179, -0.3138, 0.9995, -0.0219, 0.8211, 0.5999, -0.3935, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3557 left_y=-0.1079 left_z=0.0257 left_yaw=0.0073 left_pitch=-0.0946 left_roll=0.0401 left_gripper=0.9995 right_x=0.294 right_y=0.0001 right_z=0.1679 right_yaw=-0.0008 right_pitch=-0.0461 right_roll=0.0046 right_gripper=0.9971\nstate[joint_eff]: [0.335, -6.5162, 4.7932, 1.8535, -0.1294, 0.105, -0.0122, -0.1983, -1.4291, 7.0222, 1.6972, -0.0757, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4965, 1.6073, 0.4984, 0.4217, -0.4721, -0.2909, 0.0259, -0.0219, 0.8211, 0.5999, -0.3931, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3639 left_y=-0.1017 left_z=0.0391 left_yaw=0.0382 left_pitch=-0.0331 left_roll=0.0638 left_gripper=0.0259 right_x=0.2941 right_y=0.0 right_z=0.1679 right_yaw=-0.0009 right_pitch=-0.0457 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [-0.294, -4.8068, 5.0393, 0.6716, 1.0379, -0.5348, 1.4188, -0.0889, -1.3744, 6.9949, 1.663, -0.0562, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d6e269a15be566d0b7ebdf20f177568a195af1f79d6953a492560cd45ab49ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be43ff8cd19f391203e6c84836a5dd4582b9580f1a793a4606073bdbbed3defb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2c4f5ca0db4572fb2aeaccbf3e2727b075e852f9800ef0eac53b694f1992c9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS2gcKEAgSGAI4AUIIdGhpbmtpbmcSDDbFa/bfHkY1mqrgxhoMMjGH4l2d4vbPemwtIjApU1E/hKMMpyURgC3vOG0mF5Mo37ohEwYNEyVMHCu2CrvFugRzlCF3yVikERV3ZpYq9wZ60/m7HCs92BxDU9EUlbvGGL9k2dmjtK2VPIzmZH/Qei2yJ0ivI1HRVHGB0oVBbyXnaLHY1InixqoE9wBShTscqejVEsRpnOMjhpr7a5xd8gbxZbZ8ve3sFI0A/NgrDj0abLRgYSHHDWAH1EuhFogHnfrvp/Z90J+PDSugGXNflYPets+GM9dB+LpngQ77Vod3XvLEdQmaMr2QNGLgHIJJGJGM64ekKT2RSRE79jDDL6hQ9RtxApy6eVDv96JDFZ0IbM3IaDcnTTIlAi0VPPjxc26nJJVGOGQ9r/HY8v78jW/WRTMbhXQErTO40WUONxOUmi38VIz+4kg2zxpNngVM4EX32lC8YnYT5vmjOVAidx8jm5l33Q8tPv/1cX2grtNlSV1opmYav5oWrKlvLSmt6fwhcTclQOIYEn7pyVJlJRtj0KrHSZ0l55SvwQndBoeWyo9r+ZqVgKM4j1Z663x21EzoUBPxDXNSmd4BdCe7IxVS8MDQQzMW1N/fjlSdGypYDAyRTF01or0LEiUOWZ89eJXVutBsWAja+N4madmsp5VKifhkQgnXfUGiHm8ngC5cntrCDZXsiaw0W4a0HTU0lI3EW5FWopR4jZwCruhPULVKWXZ36PV1CI18RlzvFFdSvmVIFQZPZ+cHOXHl9F6XMBrRfbbJSeWOs7CM8HAqV1VEB/ixeNfoJBjPnDbFdb+mLAMUONpSHZvVbyv2anjxy2hfi0zy4kiOTsdgQgFJZdxSrU31y8+9vR7WGz/nGGKvRJ6JtZXe6oSPeDyGYYTL3Wyu4+2yPX55Q9st9De6ogHx+NCeUHQXiZZ9O2t+LfbmBHNx30rcPhkZwqFj0D7wrvVytY9X6+EkcecAnTMAIOhXvpEkJ3Yxnua3pPUZw4I4NAL+frUEaLawzpF+B33nqVOGmmiDVR1FlhExGlwIclri2vY5siVJtfSCun+h8R2WYvjeSAUckaehGQ23gb6GMc+vaPXo9zr5t6itCjBS9FmWFvPo6UoMM9jeRYZtRxodmoLbpFHUJtXU0MQteRJfpMhbyvd4QQ6E2xI6iBE4tWfa36q7tF8iXgrH3oPi+LzIS0hy0mE5FpMk2NFIA6KidChZSKkL3mUsTXPwvL3nqU2o+G8B8hu8iKCjqxt3vSMIT5kbMd0tukomVZzWYhPYR6yvbla43RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017BQouqrbQj1q4ZutxDuFxc",
      "input": {
        "note": "The gripper closed to 0.026, which could be the thin bowl wall or nothing; the jaws look like they're right on the wall. Lifting to test whether the bowl comes up.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_yaw": 0,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_017BQouqrbQj1q4ZutxDuFxc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4664, 1.4059, 0.532, 0.2436, -0.4171, -0.2878, 0.0304, -0.0219, 0.8234, 0.5999, -0.3931, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3617 left_y=-0.0979 left_z=0.0867 left_yaw=0.0223 left_pitch=-0.0001 left_roll=0.0091 left_gripper=0.0304 right_x=0.2942 right_y=0.0001 right_z=0.1673 right_yaw=-0.0008 right_pitch=-0.048 right_roll=0.0046 right_gripper=0.9971\nstate[joint_eff]: [0.4171, -5.8735, 8.7863, 1.6874, -0.1001, 0.0611, 1.033, -0.212, -1.1692, 7.0359, 1.7216, -0.0611, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95dfdd8f1ddd4fa8b63b42921adb004d540139cd8298fb7d1b87ba685bda9d25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eba5b686a2b57e110c39e13fe0cbbe4e41943435f962796000e00ceb9bf0003b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:295d05f3383dd3dc5c8ec555c64b957e166c2484c639aa6599fa7df9639bae90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 5.757 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4984, 1.6161, 0.4965, 0.3809, -0.4179, -0.3138, 0.9995, -0.0219, 0.8211, 0.5999, -0.3935, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3557 left_y=-0.1079 left_z=0.0257 left_yaw=0.0073 left_pitch=-0.0946 left_roll=0.0401 left_gripper=0.9995 right_x=0.294 right_y=0.0001 right_z=0.1679 right_yaw=-0.0008 right_pitch=-0.0461 right_roll=0.0046 right_gripper=0.9971\nstate[joint_eff]: [0.335, -6.5162, 4.7932, 1.8535, -0.1294, 0.105, -0.0122, -0.1983, -1.4291, 7.0222, 1.6972, -0.0757, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4965, 1.6073, 0.4984, 0.4217, -0.4721, -0.2909, 0.0259, -0.0219, 0.8211, 0.5999, -0.3931, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3639 left_y=-0.1017 left_z=0.0391 left_yaw=0.0382 left_pitch=-0.0331 left_roll=0.0638 left_gripper=0.0259 right_x=0.2941 right_y=0.0 right_z=0.1679 right_yaw=-0.0009 right_pitch=-0.0457 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [-0.294, -4.8068, 5.0393, 0.6716, 1.0379, -0.5348, 1.4188, -0.0889, -1.3744, 6.9949, 1.663, -0.0562, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4664, 1.4059, 0.532, 0.2436, -0.4171, -0.2878, 0.0304, -0.0219, 0.8234, 0.5999, -0.3931, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3617 left_y=-0.0979 left_z=0.0867 left_yaw=0.0223 left_pitch=-0.0001 left_roll=0.0091 left_gripper=0.0304 right_x=0.2942 right_y=0.0001 right_z=0.1673 right_yaw=-0.0008 right_pitch=-0.048 right_roll=0.0046 right_gripper=0.9971\nstate[joint_eff]: [0.4171, -5.8735, 8.7863, 1.6874, -0.1001, 0.0611, 1.033, -0.212, -1.1692, 7.0359, 1.7216, -0.0611, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95dfdd8f1ddd4fa8b63b42921adb004d540139cd8298fb7d1b87ba685bda9d25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eba5b686a2b57e110c39e13fe0cbbe4e41943435f962796000e00ceb9bf0003b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:295d05f3383dd3dc5c8ec555c64b957e166c2484c639aa6599fa7df9639bae90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+g4KEAgSGAI4AUIIdGhpbmtpbmcSDPuXVXPiaRs9rEcgUBoMMRC2rpqD2dRvBaiFIjAbdy+4c3C0SZpkIE1VtjLZsQ2Eha4CZw5ID/ou7XPJ5HgnlKSxcbLEcEeCsmbEptcqlw7CR9UFKA4FUo2Ou4GffWhgnm+buPOw8TmcVCN9Mr33LCGTXwZOipY53qKv18WO31idnlTQC1uyeQQD31yHJTaTemQLRj/77yfW9zlgwwU7pDORE4tbdN0WOHe3EAOq2EH+uRaqfzQYWZMfUcSPr7qSE4DH52WRjL6C8c/qFMkKgwGqmYMRGn+S8g+Yu6kGYYW27zeuQBMzZ+gY3Px6OJ9j9X7Y4Qzvi0BRMOMyVjuY+BVfPUBA8NdcFvWF1wVPuUR8NIWeVjhaq6TxCg1AjIgJffR+vX2YPra5Isk7A5u/OVV69VeS8xl+dV5qxPg20DChfmz1WSdRUDbONFXf2smLYRM0O3opsutIk9hofSBt/mnal1OAPDmmac5S0fxF56dgqjEpROJ6FpCz8M/T76TI4/nhuSlDho8EpN9NNdStDhfF/UKaFHMN/OiJFvMyYi+TeiwFTaH/xv8538hW6PkJlx63MbYB8cjzhkA9xgzJ5HJpMzcxROoSMVR1IZjsDafPS9ADvwW46/W9j802lHgHHkmx0ItT2ReVtBH8KjD94gIzcftJGw9Ed+wdu8ChL3k6G+E0t7gEdJqJqcLnoksrEi+0suW+PRGi50GVXi8aiuzvGOb20PrwlDYF1Sh+TB628IJFOOmqkmBOTis78FVPcxuYSru4dlvHRz1GOEFm4/jX7xTg+Sjtx5qzSJFMLnNAptcHAIg1e0kPJzl53/yGm2EtWhBD7PS6fJbI8xPq90BbYtS732BVl94MqEv8SGV//YwV6BYlbo/SV+99ZtWnKrIpRFxRsMhatRPJe8TcyiMOsAHGUOISoi/kJ2lnQVl8hUIommelzTjbt4Fz7bHCZtGD5N/5elfoii6uT3EKpGjRO45T23C0bqHosy/UPUof462kSOB1JOvlqNqt4y8mp3IUFD+sMWxeniT17el6WcBjZu9kZovvlAWOy0OpTq3TNKxSRCYQ6XSa8IWBEBaN2Kp6NX7OczUHP4pUmxvR83IL8tbutc95/sfCmB3ABnqwfP0J6GuZ64IOoEJ4OLrqD0kvV0AaF/des1hnZpUw4v+iZUUmXxNlSJRaSI6wifYRB+ru6OuOpj2kbW6dQ0n01jbTy3OGRn4bwypvfdID33kJ6ePT0hfFzKv2HRcP7993Hwftd0I8Qlpm0qpm2V/ipwezmVNNJxMo6t/yZBcw7RCyLyQ3IjOuMWc64xYZorCPFMQIbZxjcgoaqFiX30ucXr85wMxuDnr7y3L06K79oVvVz2lXuiW+RM19KN0PCHvQSKgX4Rf2l+xl30vZ+nl935iLJ5vt9Piznpu8OlsDkEQ3NWwX55AY+OMnZ40AjJKiwZuUsdKLtPwhfXrCzbwrOC5wYW59jcZohx/ZzJSZCPc8Rip+qRpC46HlflAtoggj9ST4VZpcMxZ3Ef3ZTQhbWKwPh7giKpcOzQZRlrazhKDIYLXjE2+yl2LEOjbSD106bA9M0VQWlH63LMUHGVXKqyEXqgBAZ4U0xWYLeNIMbBLVq0SJ2j/G83QWDXeYFJABi2L6I1L8h1J3fljaTLXPvApKiQ+J1ovvpmM534og7iD7dqfGT1LjVPSjr7+RS+WuOoGNklANvS+S+AbDPuli0wJOoKAKC9Cr5O/41jUsQmv6BSsjZCSnxuHxeR86GYrDzarhba8ceAKH/Osze3xIH6cNwZCto1eaDpoX1mqFw/sqGWqEmAwWS6ErWOJtsPtlfORZN2rSKv3mKq9EXQrrXs0HsvmMt06T5zVyVJU7ZOsQ9uMg4Sh2sXKg36WAqQZlSgudNPu40hHVioft6fDiOKrWiY+oV5WosEYRsOkw90trnHrAEmKbQN9KEzMTYhDp3mMRXua1ILPChKu+1CRu66ZVZ2pJHv8tFYvSo4VbIYd3EbnaBfR3La4UFth/2ZCPuhVvYIfpD8c+pGRG9fh+bLA+TEjEWut/OboSKNxL9UDKAFVep3fs6NU333JnfCp0tyhSveBfSIaF39R+KsCEdUXMEfr6XzNztghMoYETT/pRm6GHpXqwuJu0g9vFT9eLEu1wq49KOykvFejJj4Guyg9pbMYN7MVapVofMxIzwuhQnerk+Ng9qzbWBs1Ueywgw4R7eXKDyxEL6QbWpoOLqdaOOHebnBFms4QbsilhxGWNomeRhJVR5bI02n36X3ZNYWuXnsiSnc77jCX23+Dac/C1PFKkamYWrXUuNddyce+yac5B1Y/WyMc1bBZbBDPLxXZAykA4Wi1ihAJQNW+6wDiHEnH9MJ7tqwKYtWf698UACSrlrVR2/GoAoB0K+vGmY06exeAtYYTv6SvlSihO+viBy5BDsXvG+ZbhUKqfwmvUjeJ7sEHN7Tc4T3vdxd8sfvGQ8jIxxOZBxxGPuyBG0W78WCEwVGaXpv0CS/bk4BvjUWwDIRcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T1L47VgzP5uytGH1YfhYTU",
      "input": {
        "note": "The wrist view shows the white bowl rising with the jaws, so it's held by its wall. Lifting higher to clear the blue bowl before carrying it over.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_yaw": 0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01T1L47VgzP5uytGH1YfhYTU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4629, 1.3815, 0.5442, 0.1608, -0.3973, -0.2878, 0.0325, -0.0219, 0.823, 0.5999, -0.3931, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3548 left_y=-0.0967 left_z=0.0837 left_yaw=0.0102 left_pitch=-0.0466 left_roll=0.0198 left_gripper=0.0325 right_x=0.2942 right_y=-0.0 right_z=0.1674 right_yaw=-0.0009 right_pitch=-0.0477 right_roll=0.0041 right_gripper=0.9971\nstate[joint_eff]: [-0.212, -6.0786, 7.6376, 1.7216, -0.3053, -0.0024, 1.033, -0.0752, -1.388, 7.0085, 1.7021, -0.0269, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60b8faa9c45302cdd774b0527d18c0dbbc610ade75050dde0e96094cc41a6494",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0a62acb2d019ffd5a99d8a86024f2d2fbe028224a02c31766ad8b4a50f2d462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1df0c06ef0d6ea3cbd7b52415f3eaad010150813c97704e2d5b85c73bc547399",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 6.3 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4965, 1.6073, 0.4984, 0.4217, -0.4721, -0.2909, 0.0259, -0.0219, 0.8211, 0.5999, -0.3931, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3639 left_y=-0.1017 left_z=0.0391 left_yaw=0.0382 left_pitch=-0.0331 left_roll=0.0638 left_gripper=0.0259 right_x=0.2941 right_y=0.0 right_z=0.1679 right_yaw=-0.0009 right_pitch=-0.0457 right_roll=0.004 right_gripper=0.9971\nstate[joint_eff]: [-0.294, -4.8068, 5.0393, 0.6716, 1.0379, -0.5348, 1.4188, -0.0889, -1.3744, 6.9949, 1.663, -0.0562, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4664, 1.4059, 0.532, 0.2436, -0.4171, -0.2878, 0.0304, -0.0219, 0.8234, 0.5999, -0.3931, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3617 left_y=-0.0979 left_z=0.0867 left_yaw=0.0223 left_pitch=-0.0001 left_roll=0.0091 left_gripper=0.0304 right_x=0.2942 right_y=0.0001 right_z=0.1673 right_yaw=-0.0008 right_pitch=-0.048 right_roll=0.0046 right_gripper=0.9971\nstate[joint_eff]: [0.4171, -5.8735, 8.7863, 1.6874, -0.1001, 0.0611, 1.033, -0.212, -1.1692, 7.0359, 1.7216, -0.0611, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4629, 1.3815, 0.5442, 0.1608, -0.3973, -0.2878, 0.0325, -0.0219, 0.823, 0.5999, -0.3931, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3548 left_y=-0.0967 left_z=0.0837 left_yaw=0.0102 left_pitch=-0.0466 left_roll=0.0198 left_gripper=0.0325 right_x=0.2942 right_y=-0.0 right_z=0.1674 right_yaw=-0.0009 right_pitch=-0.0477 right_roll=0.0041 right_gripper=0.9971\nstate[joint_eff]: [-0.212, -6.0786, 7.6376, 1.7216, -0.3053, -0.0024, 1.033, -0.0752, -1.388, 7.0085, 1.7021, -0.0269, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60b8faa9c45302cdd774b0527d18c0dbbc610ade75050dde0e96094cc41a6494",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0a62acb2d019ffd5a99d8a86024f2d2fbe028224a02c31766ad8b4a50f2d462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1df0c06ef0d6ea3cbd7b52415f3eaad010150813c97704e2d5b85c73bc547399",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSsAgKEAgSGAI4AUIIdGhpbmtpbmcSDGwGvxu7T1748jl0xRoMUefbhW3K6FxdeL/kIjDDJRGC92Hz6e4RM/6sFtBfkHGYTHrFJAemf2fEHqGCpUpJeXaV+swo/vUNvjVSensqzQfbGXBtiS9WIW7jpa0k8LCsB+xpMYVc2kEBhlXtgu7daZrwPyT0UkTUIVTsqRH06+uWNWcwIYxDvZv7u9a7YKrrG7KCcoLtq5j3SC2bE0rKLwAq784+KnNykO2xjUFKUn45nmxqY1kIP3KxLvtwPeCxlCY9uu7YVq5vF1ZSeDvvg6ZkLYrVpvWFkKZBfkmKS/GLsXIKO0sDyrxh52k7G8PDuL3ZZIbk0uboBQ7nc9ZcQZXXueJwkxvkNDWlZfspMcZYtWggXKSChheYEdm+Nbjbzp7KZqrBuxixsvlc8kNwqGUEvJpQNodNIrlNv/bOXM5qk+HHQ9HWvjU54FMJE4EUj+iZzNohbpbrza1LiZY0jKIL/oHUA+DZBkpzlQuZaOHd99L7J8y1Q+UifexetEiVeCioNoEP6RKRX8SQDzvBQ4jvmAMa+cWUytzZmIXwgZ2KhCPFAm7a/WkfaLRL3nepClYxNbhkHQqjJ6LN8GHaXD4R4M2Sjc2CtDGvhj6c5l0wKRnophpTjzQmgvwaUx0otXoK4/zG9UrKrwtW0tFClVQaXSEHZJMLoA60iL9WBNYLYEZ++Cv8dFVFsir1UjvT5yvebG29lWzrQUx6uMHVl3jL/kzul0SCBwWRD6ayIwv++9+guK9n83LYY8eznu0vFniEYB8L8RHtW/DgEozUMqWTBZGtN/TstiC4++0Jj+R0ZQsLUH9WGnyUWHANuv3d2MQHIy51ctQTbdgIB5u+GI1G+jKdhMivgSCrOT6uFSgkwDDUyTnD9FQxmwie7AZLKqrzit1vod/+dGa4wZFMld/wzBpNFY1tdq5EbSfpE7etOEtMnkLCXQjVkZ01j6ySt3JJUDdsQHde+Dis4x7k4nOjk0w0G6nk1y2SLdcfSP78HffAdsKt+uBuMvQZgnZwuJ/px94pTT4G4vaie1/iXlp6hrkk84uhzPNzOmDmmOi30hoIBmmMHnH9WNV8KB1+Nse/TS4yvO7N36+QoTgDLxHwB5Xw6gZeAt6gjIxAw5xjIkNEQBFY4p3SRjWkbmpwk05msayEcXlGBSHBh/poKvXS0qxiiEodAlXsxkDnTbHiVkJ87ntBbGixNRqE7wO0FvUfuLeoOfcYL05IPHKMpSpMLrrmkLJzec2oCmgUk6TrJOL0geYFWk/D79sXJLqnr+vbD48AZ2F0xymBzwcuSMVAmERMkjC4/jbpg1c2oI4Sk7ZYaMQSN1p957ULqDQRMJlm+7EOMcDkhzryRv6Su9qdLW6bHTqV7dH3VnND6OzmXzZ7QukrWIu/Bnv+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016rbMK7Y4su9q5AG9qnZtQp",
      "input": {
        "note": "The arm didn't rise on the last command; it's still at z 0.084 holding the white bowl. I'm trying a combined up-and-sideways move toward the blue bowl.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.34,
          "left_y": -0.18,
          "left_yaw": 0,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_016rbMK7Y4su9q5AG9qnZtQp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7715, 1.3788, 0.8375, -0.1047, -0.5632, -0.4603, 0.0326, -0.0219, 0.8234, 0.5964, -0.3935, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3449 left_y=-0.1989 left_z=0.1644 left_yaw=-0.0739 left_pitch=0.0345 left_roll=-0.0568 left_gripper=0.0326 right_x=0.2937 right_y=0.0 right_z=0.1657 right_yaw=-0.0009 right_pitch=-0.0518 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.8957, -5.9692, 7.0085, 1.0525, -0.4811, 0.1001, 1.0281, -0.2256, -1.347, 7.3368, 1.7216, -0.0513, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:711d423836db3aba1f969783d491b04b2fe14ea06ba5b23ee9be28b7b7449984",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68c489fd18b07a0483f7c9051e42362d49f80daaa5178fb8a6f1454c6a959c72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:113e3eafcc8bab7318c5013fbea04d5895013ed900df2bdeeaed90b9d882e34f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 4.458 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4664, 1.4059, 0.532, 0.2436, -0.4171, -0.2878, 0.0304, -0.0219, 0.8234, 0.5999, -0.3931, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3617 left_y=-0.0979 left_z=0.0867 left_yaw=0.0223 left_pitch=-0.0001 left_roll=0.0091 left_gripper=0.0304 right_x=0.2942 right_y=0.0001 right_z=0.1673 right_yaw=-0.0008 right_pitch=-0.048 right_roll=0.0046 right_gripper=0.9971\nstate[joint_eff]: [0.4171, -5.8735, 8.7863, 1.6874, -0.1001, 0.0611, 1.033, -0.212, -1.1692, 7.0359, 1.7216, -0.0611, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4629, 1.3815, 0.5442, 0.1608, -0.3973, -0.2878, 0.0325, -0.0219, 0.823, 0.5999, -0.3931, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3548 left_y=-0.0967 left_z=0.0837 left_yaw=0.0102 left_pitch=-0.0466 left_roll=0.0198 left_gripper=0.0325 right_x=0.2942 right_y=-0.0 right_z=0.1674 right_yaw=-0.0009 right_pitch=-0.0477 right_roll=0.0041 right_gripper=0.9971\nstate[joint_eff]: [-0.212, -6.0786, 7.6376, 1.7216, -0.3053, -0.0024, 1.033, -0.0752, -1.388, 7.0085, 1.7021, -0.0269, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7715, 1.3788, 0.8375, -0.1047, -0.5632, -0.4603, 0.0326, -0.0219, 0.8234, 0.5964, -0.3935, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3449 left_y=-0.1989 left_z=0.1644 left_yaw=-0.0739 left_pitch=0.0345 left_roll=-0.0568 left_gripper=0.0326 right_x=0.2937 right_y=0.0 right_z=0.1657 right_yaw=-0.0009 right_pitch=-0.0518 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.8957, -5.9692, 7.0085, 1.0525, -0.4811, 0.1001, 1.0281, -0.2256, -1.347, 7.3368, 1.7216, -0.0513, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:711d423836db3aba1f969783d491b04b2fe14ea06ba5b23ee9be28b7b7449984",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68c489fd18b07a0483f7c9051e42362d49f80daaa5178fb8a6f1454c6a959c72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:113e3eafcc8bab7318c5013fbea04d5895013ed900df2bdeeaed90b9d882e34f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1goKEAgSGAI4AUIIdGhpbmtpbmcSDKA8+y4b+Rt8tOt7ThoMJk58ZHEaAnY3kj5BIjABOluY34I1GEWeyOAFrrcPpCIC9wvKL0hkr6pePUx7kwyQMpKF6qe+mMays8/zBrMq8wmPR717+zAbkL4MLNbBAj4nP5xcBtsvrNo1j3vxmYL5MyCEyn/Z6aG3irJ7S1rO8cIwjC8uwb4nSJY/p7DNB21YiLIKVyhEipBuouFNdHtqWgIIZNLTkJheKbszGUVz9NmehWNgeE+6AtfWmirQbYEOLNamiZFLrhjXvSL5Byj4eOcTvnzqSpg9YJXut1ZmUU/cKhDEeq2rsFLEirYfYxdNHjdtRJN4ewbHCNHIde6XmPlbso95G1pBGPesy0x26VjGYWKdFAQ+Lkh5d1n+VEr/AnhBJnPGuCYhWlWBOMNDKycYoJKTgGwfjXQwwv8WVsOmyBzkbyObk/RKkp4a/G42MNY602nC4J/Isq+viFIq/PqrNQtBd1Cogek4u8uCH9p+XMAsoLFl2dOS/I33esm394La5U9rNpanmo/X8uzxjBFQTJNnhTgVCXaWNfv2cBIOo6d1+wZzFdj89si32lION/v28jD3jhGGuuOHlxPlz3xep8qYXpsYMjtadTf97JE2lK/bbhVkOFKMQA9+lm016W0x/NItFjyXvv7EiSwVJijJNCuVicXaqkitoIvymz/gM509EqKoNMxpsDwz/y3YxjqOr9IjMFpzgqcfXiacynkKjpzWIzppjb+oieTxZbUuxZprwHgquQvPpR/AgZdSuV19pSJVpocCK7/SCPOSnV3vjwWs5Zqhw00tCLtW870nXKeLGRGfA56dfYvIhIrMgdpend1soHnUfVR+9QWCps4aB2sJ7ghACeJBh+rHO0XVWwE6MbYMAgpIWF4Mzuc+vU8xD/M7W7pfC6TYymGkO9sPWZJ/KO0Z9onLu6Y1cdfEpr1lZnerspsWth3yxFBOz2ZUR2fQq+JKfiHzvXbCi1GWZXUkIFHzDjoqhTq6aQBChHEUXI88iO9YHmVHYGLEi37P6p6vQt9JaEWyIjBz3lBYKV32RLaQvmTetFvkguz2MeodxYBAMAJdczwBNL1Bf8CS+jc9ngDQ9POppu7fSb0yfO4uBa1Wk+UlmjBkx/ejmCQhcWvhVfISWFGh2mmL0S8YHpA1d9clZElro3YXwP+rj2m8BtP52XfASdwUgZtu0Zdk0EJ6m+MhvBENOrOQw2ggnFtxx8mleIFxxz2FEhIGJySp/QiTm60jNi+YeNk3aWCm07u7y6QSJGjqpyU00ckoYtiV+BaMRMU+BUQ+qIAtuvae5097uUVoNaW/G/4SffSJQBDST/6Ast+iN1OGH1QSs9z2Xrrpd6evaB9xCoioxXdhl/a+HXlZzRaiWye1pJkE4wbSB92Cghi8PZxWlDV3THTFT1r7IbfY1nJ0wp5KT2KyRnKHwgpc3NWWHx+zfVokx0uq2SiB4cs2GHJ254xO8wo7kbrZ4mVqDU25NYR56pT+A9Zz+fSZ5XPlB4RYtCU6wA85oaJ29Bm9ZGjuEHyotNhnyvp1nd05tIspUwuURtikqrmnO4VQwim4vAV7cEgaaQ/Fg7eRoNykzL2hSRI6Dwfq5wql3yZ4rOG0T9wMeFmtt6rjLJB8otTsFRnZQDlcjCpPuB/ztEydBnXav23eL0UyuJIvMCIK/Hx8e02vnYyCqKFRAkr8dBIoyOqnZgZYFHGgQYfHJTtdc6cFvkbrwp5Oo4KfvulHb933ULT3TcnB3Z4wArcp0D/bS29VBfb77Na7E9o+6dPPKvdgyrxGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HgByJpUgd6K85opZ8yAHqK",
      "input": {
        "note": "I'm carrying the white bowl at z 0.16, with the blue bowl ahead and to the right in the wrist view. Shifting right so the white bowl's centre (about 6 cm left of the jaws) lines up over the blue bowl.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.37,
          "left_y": -0.31,
          "left_yaw": 0,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HgByJpUgd6K85opZ8yAHqK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9546, 1.8248, 1.3094, -0.3439, -0.7349, -0.6659, 0.0326, -0.0216, 0.8265, 0.5953, -0.3935, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3657 left_y=-0.3053 left_z=0.1468 left_yaw=-0.0202 left_pitch=-0.0275 left_roll=0.0051 left_gripper=0.0326 right_x=0.2937 right_y=0.0001 right_z=0.1643 right_yaw=-0.0005 right_pitch=-0.056 right_roll=0.0043 right_gripper=0.9971\nstate[joint_eff]: [-0.4308, -9.6615, 8.7726, 1.243, -0.5983, 0.1441, 0.9988, -0.0068, -1.6752, 7.3231, 1.6972, -0.0659, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e93e97b218f4b2db2f8b4a1ccc7e47377e6a3e2150cb615a24e45b87e230bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86f99a7c3b38a53ca43647df98bf1ffeb83481fed28e807e7a5ae93d222a87bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6cfc6683b6381ff6937d969e817f9caade67688347833b3d1b6d82a4dcfd75f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 3.255 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4629, 1.3815, 0.5442, 0.1608, -0.3973, -0.2878, 0.0325, -0.0219, 0.823, 0.5999, -0.3931, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3548 left_y=-0.0967 left_z=0.0837 left_yaw=0.0102 left_pitch=-0.0466 left_roll=0.0198 left_gripper=0.0325 right_x=0.2942 right_y=-0.0 right_z=0.1674 right_yaw=-0.0009 right_pitch=-0.0477 right_roll=0.0041 right_gripper=0.9971\nstate[joint_eff]: [-0.212, -6.0786, 7.6376, 1.7216, -0.3053, -0.0024, 1.033, -0.0752, -1.388, 7.0085, 1.7021, -0.0269, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7715, 1.3788, 0.8375, -0.1047, -0.5632, -0.4603, 0.0326, -0.0219, 0.8234, 0.5964, -0.3935, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3449 left_y=-0.1989 left_z=0.1644 left_yaw=-0.0739 left_pitch=0.0345 left_roll=-0.0568 left_gripper=0.0326 right_x=0.2937 right_y=0.0 right_z=0.1657 right_yaw=-0.0009 right_pitch=-0.0518 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.8957, -5.9692, 7.0085, 1.0525, -0.4811, 0.1001, 1.0281, -0.2256, -1.347, 7.3368, 1.7216, -0.0513, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9546, 1.8248, 1.3094, -0.3439, -0.7349, -0.6659, 0.0326, -0.0216, 0.8265, 0.5953, -0.3935, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3657 left_y=-0.3053 left_z=0.1468 left_yaw=-0.0202 left_pitch=-0.0275 left_roll=0.0051 left_gripper=0.0326 right_x=0.2937 right_y=0.0001 right_z=0.1643 right_yaw=-0.0005 right_pitch=-0.056 right_roll=0.0043 right_gripper=0.9971\nstate[joint_eff]: [-0.4308, -9.6615, 8.7726, 1.243, -0.5983, 0.1441, 0.9988, -0.0068, -1.6752, 7.3231, 1.6972, -0.0659, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e93e97b218f4b2db2f8b4a1ccc7e47377e6a3e2150cb615a24e45b87e230bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86f99a7c3b38a53ca43647df98bf1ffeb83481fed28e807e7a5ae93d222a87bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cfc6683b6381ff6937d969e817f9caade67688347833b3d1b6d82a4dcfd75f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSvAgKEAgSGAI4AUIIdGhpbmtpbmcSDL7ZCIO1JRtT/jiKthoMi89PdI1acBJ7qVxoIjBqNobbxHEtV/YD/aNo0kSKY9/kvn3OW0f2vLN0ITLiFh+MIP/xXtqUeGnoCM3rkh0q2Qe15zYUCYQRdLyPCtcb3zKuJTSA5f21YTnKxyOC9acUPnBWTTp/pFYWICEMz6dtAb3CZhqBt9lAqhianXuxUlqHaljdgbuzoS014x7B1b8Ap0UxZxzg+pYbrb5VvZY+MJ+Xf/XLzPVP4OANj62BLUkQut2Yc+2CoM9dWSxIY8xB6nIGyuibiMMbsQTAJnXWbR6FVDxSJNqQffcs6Iq+RBMYlsgb5uBzvlP/4khOOvg9fe/khCHW/QucjCcf3M3vPVTHeqkn0gO7BVqWMryrlp9rRWJIfQSlmK3NGOFik8Wk15n15DEz/KSrQQwO3PiTll9kEu06tuWXM9PH8j2WJrnVik7pPgJYfht72Gxk6majw2L9P/aR3Jgz4740bWi45EzLrDkXalWtuwUe+SqfXOVAXeeKnS5f4SCk/VLBcGQsqRdC5tPXKzr9H8PPakS2DZ+e62cnmbsUxqbfdxYmiGKUAu22y0PXf576vqPqRmEX9/m2bWrSM2cDeQ9xnTTdLdJUid0IiWFPIF+kLNPriXUaqPK+nrrJIhCj91SSMP66y3Q4lykxNcz7w0YzJ01xLaUsw6UycGpwqV3fNt/seMCf7EOMrZpPdoxApHwf/Vuz3vekgq2ejWYjATVPTTMF8Z1HmltD60gwVwnnHY/7v3WNPpmT7Sbq29tbbS5LCUuJumETAUdWIc18bGIGefvig2gF/nDrNRJn/OQgiZhNOcnhyCD4SsNmREfGjoAxcbcnCI3fWxXUmZSbAEoxDOZmS3mplz0m0Xpl2mU/boJ6s+6oyqMIOthIk7XAmF15VH/ybLtfpKImjrWWy2SZ7GtMHwVF80ig3f4S8/5YzjPu2WOZ59r8CE4rZUtz3bBi3YFyK/yy5bgx7vSRzZ/OLpz+djbUi6KVuaB63WBCjoxuYhS6ghcfShsrXiBRA+D2/3uwS0mT8d9sbb32vYf1GWsARGnCDHf7PcLKj4znl+/nUHt1zSN8opWdAMMgxpqSgSHYlkiItbbjw7F6OFmYBWG9ImIRErwHp+Z+6eT+Skrw9GOXCIkXNmDAtQU0DMh+riKnkC8KJMzBBfOj4lMsGcmXtU42aq+4aej5dv13VhvsRLvlW8eODmf0u+N8TSF1a8+ghY18edy5wcsQzF4QfMUNXnT9nqZyMJprZtViXNY8Mr/Jgm35kUXM2IrOwIG6MWD1ildPGFQVCG2Kn2d6sIg2HnH92Aht3wOfohczqNXrB33kuzonOy4R9DVuZ8y0t/brkseaLBf87BWpWkQ4CChjjpYVJ0Wq71OITvIYr02r0Oyp1NGuYNwT3lNcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013ViRBHquGnomcFL3ywrCkx",
      "input": {
        "note": "The white bowl now covers the blue bowl in both views, with only a sliver of blue showing on the right. Lowering it into the blue bowl.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.37,
          "left_y": -0.315,
          "left_yaw": 0,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_013ViRBHquGnomcFL3ywrCkx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9646, 1.972, 1.19, -0.1246, -0.7609, -0.6777, 0.0326, -0.0219, 0.8295, 0.5949, -0.4007, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3659 left_y=-0.3077 left_z=0.0692 left_yaw=-0.0056 left_pitch=-0.0387 left_roll=0.0454 left_gripper=0.0326 right_x=0.2927 right_y=0.0001 right_z=0.1619 right_yaw=-0.0005 right_pitch=-0.0667 right_roll=0.0047 right_gripper=0.9971\nstate[joint_eff]: [-0.4991, -9.6615, 5.2581, 1.2625, -0.1343, -0.0757, 0.9841, -0.2256, -1.6615, 7.0632, 1.746, -0.0611, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdf0a1b45b22ae8668a46aafcc07521a016ab844a442713c900a1897b5e9a97d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:769a7d42cda20ddb1e37f38b19c55f2de33c8bc8930e01a20ef27194da7206f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d6d689f2aeec51b6a1af76321639768f74ea46c14e19fd7558adbdfa36d79dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 4.412 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7715, 1.3788, 0.8375, -0.1047, -0.5632, -0.4603, 0.0326, -0.0219, 0.8234, 0.5964, -0.3935, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3449 left_y=-0.1989 left_z=0.1644 left_yaw=-0.0739 left_pitch=0.0345 left_roll=-0.0568 left_gripper=0.0326 right_x=0.2937 right_y=0.0 right_z=0.1657 right_yaw=-0.0009 right_pitch=-0.0518 right_roll=0.0042 right_gripper=0.9971\nstate[joint_eff]: [0.8957, -5.9692, 7.0085, 1.0525, -0.4811, 0.1001, 1.0281, -0.2256, -1.347, 7.3368, 1.7216, -0.0513, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9546, 1.8248, 1.3094, -0.3439, -0.7349, -0.6659, 0.0326, -0.0216, 0.8265, 0.5953, -0.3935, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3657 left_y=-0.3053 left_z=0.1468 left_yaw=-0.0202 left_pitch=-0.0275 left_roll=0.0051 left_gripper=0.0326 right_x=0.2937 right_y=0.0001 right_z=0.1643 right_yaw=-0.0005 right_pitch=-0.056 right_roll=0.0043 right_gripper=0.9971\nstate[joint_eff]: [-0.4308, -9.6615, 8.7726, 1.243, -0.5983, 0.1441, 0.9988, -0.0068, -1.6752, 7.3231, 1.6972, -0.0659, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9646, 1.972, 1.19, -0.1246, -0.7609, -0.6777, 0.0326, -0.0219, 0.8295, 0.5949, -0.4007, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3659 left_y=-0.3077 left_z=0.0692 left_yaw=-0.0056 left_pitch=-0.0387 left_roll=0.0454 left_gripper=0.0326 right_x=0.2927 right_y=0.0001 right_z=0.1619 right_yaw=-0.0005 right_pitch=-0.0667 right_roll=0.0047 right_gripper=0.9971\nstate[joint_eff]: [-0.4991, -9.6615, 5.2581, 1.2625, -0.1343, -0.0757, 0.9841, -0.2256, -1.6615, 7.0632, 1.746, -0.0611, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdf0a1b45b22ae8668a46aafcc07521a016ab844a442713c900a1897b5e9a97d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:769a7d42cda20ddb1e37f38b19c55f2de33c8bc8930e01a20ef27194da7206f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d6d689f2aeec51b6a1af76321639768f74ea46c14e19fd7558adbdfa36d79dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6AYKEAgSGAI4AUIIdGhpbmtpbmcSDCaPmbEDftR4guJEeRoMAbDehYRJepZm1pX3IjCtOtZugCj9XzGL/OiwCEN/5Jsgg0b+S6uN1KsEtOz3z0cUly90T+9D7W9Ma8yv/WQqhQYI+pqchQVs7XdcFVODo4flUscz1zagmWtunHfzPiUfuv2IJRbv0vhXvCa6GHh0tjfPRQjFzP7gVrbjr9i9ZPZL2umwNC13s8GH1iYavbDSrvRUGxx/nj4PjAnxCmFBYormBxgUde0YzOd9ybdLYfeQCZ0Xf8yJJtX2CZzIHF0wOjvtkxWvS2vex/APDNLKc9yyKqgw/Uk9wmVx6dAOmEZNeuqbim4Z7v9tTPZZW/XeBAmsb5Bj5BCNk0QykI/nuaJMoEWbTnHrAmuDE+3WXj+Rqvxgil/Rev7smKkNkcBKPfz1S36eIfmA55MDsAPEgRdmlvVgZitEA1qpF1c8Y27HflHo6LJnIdSMa7KyCxKKwOniRh8J2twKVi8LDm8ZrCzUYRxoj27OniBG2E78b1lFUf4igsODaCkB+yoi/8ihaquuH8/EG6ciaMW6bkYnHyyjODLjWBdRMgf6OEFdMwk5vjNdsjnjk+k66VQA4er+jBT/zSeIcr2p5Zy6cGAAev932kWs+QS1dSr34VTjgJTG2tkKSU16vZ+ZjDL4suIC6N69Hda9DC9gjyJiZsE3L7mReLud/ppQnvubZH/UU87wN9cJCwWSJvxmsL3jswC7/UtdfEuNJx6Tz/U0J/WpsmpuPBmjRhUAglfDXkjpYCsnY/wZ6X3qBdq0scX4N/Qy8nhMewRqDY59ZhrnBQcKF1XpII6dl/rlnXc/OE+juwNDT1kBKdnCIC+0GaVEL+CXDMJIfPUIoFvbr2JejdjOGwCdMK1xMxkyldW1GD+013T7avUiaxq3Y8y2kkzbkepCh0crpgkxh5Ff00PUrh/XNw3nLNoE8y0kNJapUEU6VuGWMxY+Q+xBUwVLNDZVkZI4TOJVGkUsw2t8YZ2fYrUCLx8M2KF01RCZ7zQTXVHmFsFc5JeF2dPVoBNXKDEaAWigJ9e8RQzaD8gnonlM8/zV8nwM6TwqV5fRpPJF7lwT0xonFrk0xkUbTop1xyzIYX3+aHSwsgOAjOI8ZrJz748C/SEvYphhHBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0186mz1PkJEKJridYvrQohMM",
      "input": {
        "note": "In the wrist view the white bowl sits down inside the blue bowl with the rims nearly concentric. Opening the gripper to let go.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0186mz1PkJEKJridYvrQohMM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9672, 1.9793, 1.1851, -0.062, -0.7761, -0.6903, 0.9953, -0.0219, 0.8299, 0.5945, -0.4118, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3704 left_y=-0.313 left_z=0.0735 left_yaw=0.0075 left_pitch=-0.0001 left_roll=0.0002 left_gripper=0.9953 right_x=0.2911 right_y=0.0001 right_z=0.1594 right_yaw=-0.0009 right_pitch=-0.0785 right_roll=0.0047 right_gripper=0.9971\nstate[joint_eff]: [-0.5402, -9.6889, 5.7094, 1.536, -0.3394, -0.0269, -0.1294, -0.1026, -1.4291, 7.0085, 1.7998, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da16fd9a748455cd0123571fc5c157d382b8cf6b237dbb6530405436fae69ce0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2167a6878ec8b1e68a8056956c8b6f8e251e03f9dc6640dabbc842fd772898a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1de3ff088526e5e5f4feeed1ad22df87aef4a3b47082d19de2dd3be2df721255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 6.827 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9546, 1.8248, 1.3094, -0.3439, -0.7349, -0.6659, 0.0326, -0.0216, 0.8265, 0.5953, -0.3935, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3657 left_y=-0.3053 left_z=0.1468 left_yaw=-0.0202 left_pitch=-0.0275 left_roll=0.0051 left_gripper=0.0326 right_x=0.2937 right_y=0.0001 right_z=0.1643 right_yaw=-0.0005 right_pitch=-0.056 right_roll=0.0043 right_gripper=0.9971\nstate[joint_eff]: [-0.4308, -9.6615, 8.7726, 1.243, -0.5983, 0.1441, 0.9988, -0.0068, -1.6752, 7.3231, 1.6972, -0.0659, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9646, 1.972, 1.19, -0.1246, -0.7609, -0.6777, 0.0326, -0.0219, 0.8295, 0.5949, -0.4007, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3659 left_y=-0.3077 left_z=0.0692 left_yaw=-0.0056 left_pitch=-0.0387 left_roll=0.0454 left_gripper=0.0326 right_x=0.2927 right_y=0.0001 right_z=0.1619 right_yaw=-0.0005 right_pitch=-0.0667 right_roll=0.0047 right_gripper=0.9971\nstate[joint_eff]: [-0.4991, -9.6615, 5.2581, 1.2625, -0.1343, -0.0757, 0.9841, -0.2256, -1.6615, 7.0632, 1.746, -0.0611, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9672, 1.9793, 1.1851, -0.062, -0.7761, -0.6903, 0.9953, -0.0219, 0.8299, 0.5945, -0.4118, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3704 left_y=-0.313 left_z=0.0735 left_yaw=0.0075 left_pitch=-0.0001 left_roll=0.0002 left_gripper=0.9953 right_x=0.2911 right_y=0.0001 right_z=0.1594 right_yaw=-0.0009 right_pitch=-0.0785 right_roll=0.0047 right_gripper=0.9971\nstate[joint_eff]: [-0.5402, -9.6889, 5.7094, 1.536, -0.3394, -0.0269, -0.1294, -0.1026, -1.4291, 7.0085, 1.7998, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da16fd9a748455cd0123571fc5c157d382b8cf6b237dbb6530405436fae69ce0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2167a6878ec8b1e68a8056956c8b6f8e251e03f9dc6640dabbc842fd772898a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1de3ff088526e5e5f4feeed1ad22df87aef4a3b47082d19de2dd3be2df721255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS/wcKEAgSGAI4AUIIdGhpbmtpbmcSDJLvj3cmcZ4n14nd/hoMJaRMi6f2I0MJUZLWIjAtZcvHDK6vTRepS5TL9Ktb3PWOhtkb6UQILZWzY19Au2cJlvW6lr/uzh47VObRMakqnAee8IBDQi8TA4gcyNIpumfiSez+zdkT3PE2UhMACdmS7fi2MgxB9v+7qfXYpDdvJ3awQiZTWbmdjHJGVe59EAb00murSFMaoZR3rIVJmpzr+ou9SpqmjcIv3zracXvV7JQbFAxmFsyHuX0gV/6AB5Sn+7OhfSP/g5WRQcqwtFxaavsM0ycOSEz75l+rIuShcGjY+0I6CR16D5jIgy0qs1/HO8vD8yhJ8aSYsFCMxpRf8xMqREzwXKGwYMDo2qQ8cNv8QwpJ6E1Q0LN5j0fcoCxW7leHFaKy4uBmEMKylMEWY8yYPzl/5VDKrYyElW9JJnKB+ubs5EXDpYl2dRhADNzOlT3fIY+qghsdgp/zwu8A4MW7ZYE9OvnHyTmAG87EJkKkdBhuBNcjDt+jaJM1g+gwRxSLKlBjtHUFr7WZsu4NDCS1vPJbAhvuunhDCuDlZXjLeIb8OeSw9Owd5UKiiSHgRRy0Zy2P9cGef+Uuw8VCsGFn1S3NkB/XcuDbO7A5+OK+SA1dG8YE4RS2hO8oFmYo1dDZj45dZx3KAXUXt77X/7Dh52TN9qpRYtbS4SbSrokD5Wu+4OnAbz+u4zmAdZcUsTwOk7tTbQVNbecym0fczRQzxTUMl6ZsAhJPrT3yDSoY9BLAiw6lzN+Kts8Yq9EkIgpcOtslWBq8siZTZE295y/7qGzuw9WW89/Nj4m+Ipr7FXAukR55eiXvqTfeYrpZZCT9XbcAyUfj9F2/QHkoVAq+2Q/ioZioSnOsD2op8l1AQYMpKUMS+ITllL6p7tzxfNf9ps55H4r4M2tRhDuX67xj2/uKXslT1JJ/G6qUh93zzBqfVEPkCE5pyDiFrLedBo9x9R/amTwNkmpIWxrkwY5tneDTHUIZTSHYbGdYmLTibOLDG+3J4HCcxDlX8X9jEMIy4ltOFmIyNcn3TSTj/pgw8upCylZDViX/YWEHaXPerrKvsVpOjRZKcgWrScp2JadJTmYJyMwgsOUzrRNCFbeRNaAnk8IPOAHzs3NDvEz212Mik8IcEvzThz28jCTgytoipJgt0JyCQiMyV7jooPvUBsrgWt2QAdINZoDD36W5VGC5TWRPPg31CRV1cidDRkU02vcVCdxzuAAwqyFdxzVLbtmbB2yVPdwdOOiWBnR9J9lkcjVNfqpMbJ3H4GRjFbA/jtZAtPvsKy9rPnnzX2pgee+d3Wp3/bKzhVneTtH+BimAZvH7radbMM0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DrrK4yjyn7HpHN89vHPewu",
      "input": {
        "note": "The white bowl is released and sitting in the blue bowl. Moving the left arm up and back toward home so the right arm can bring over the pink bowl.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.3,
          "left_y": -0.05,
          "left_yaw": 0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01DrrK4yjyn7HpHN89vHPewu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3706, 0.8898, 0.6338, -0.3355, -0.3496, -0.2573, 0.9957, -0.0216, 0.8322, 0.5945, -0.4152, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3048 left_y=-0.0497 left_z=0.1817 left_yaw=0.0467 left_pitch=0.0178 left_roll=-0.0169 left_gripper=0.9957 right_x=0.2907 right_y=0.0003 right_z=0.1581 right_yaw=-0.0003 right_pitch=-0.0843 right_roll=0.0054 right_gripper=0.9971\nstate[joint_eff]: [0.2667, -2.1538, 6.8855, 1.7363, -0.1197, 0.0757, 0.0317, -0.1983, -1.6615, 6.9812, 1.6825, -0.0562, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec6af0b1528fe930aeefe59ccc7042a2894bd4eba59c77e53b74ebe41ad60f63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06d12084602e0fd9c62fe964bb79a56f42c625adac3bfe52e4dad033e0e418bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0027a390a0ce2cad410759f8d56d41f24a9e2d47b65b3c8debb9dda8168e93d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 7.358 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9646, 1.972, 1.19, -0.1246, -0.7609, -0.6777, 0.0326, -0.0219, 0.8295, 0.5949, -0.4007, -0.0166, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3659 left_y=-0.3077 left_z=0.0692 left_yaw=-0.0056 left_pitch=-0.0387 left_roll=0.0454 left_gripper=0.0326 right_x=0.2927 right_y=0.0001 right_z=0.1619 right_yaw=-0.0005 right_pitch=-0.0667 right_roll=0.0047 right_gripper=0.9971\nstate[joint_eff]: [-0.4991, -9.6615, 5.2581, 1.2625, -0.1343, -0.0757, 0.9841, -0.2256, -1.6615, 7.0632, 1.746, -0.0611, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9672, 1.9793, 1.1851, -0.062, -0.7761, -0.6903, 0.9953, -0.0219, 0.8299, 0.5945, -0.4118, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3704 left_y=-0.313 left_z=0.0735 left_yaw=0.0075 left_pitch=-0.0001 left_roll=0.0002 left_gripper=0.9953 right_x=0.2911 right_y=0.0001 right_z=0.1594 right_yaw=-0.0009 right_pitch=-0.0785 right_roll=0.0047 right_gripper=0.9971\nstate[joint_eff]: [-0.5402, -9.6889, 5.7094, 1.536, -0.3394, -0.0269, -0.1294, -0.1026, -1.4291, 7.0085, 1.7998, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3706, 0.8898, 0.6338, -0.3355, -0.3496, -0.2573, 0.9957, -0.0216, 0.8322, 0.5945, -0.4152, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3048 left_y=-0.0497 left_z=0.1817 left_yaw=0.0467 left_pitch=0.0178 left_roll=-0.0169 left_gripper=0.9957 right_x=0.2907 right_y=0.0003 right_z=0.1581 right_yaw=-0.0003 right_pitch=-0.0843 right_roll=0.0054 right_gripper=0.9971\nstate[joint_eff]: [0.2667, -2.1538, 6.8855, 1.7363, -0.1197, 0.0757, 0.0317, -0.1983, -1.6615, 6.9812, 1.6825, -0.0562, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec6af0b1528fe930aeefe59ccc7042a2894bd4eba59c77e53b74ebe41ad60f63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06d12084602e0fd9c62fe964bb79a56f42c625adac3bfe52e4dad033e0e418bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0027a390a0ce2cad410759f8d56d41f24a9e2d47b65b3c8debb9dda8168e93d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSxwsKEAgSGAI4AUIIdGhpbmtpbmcSDFOJgkJRcyOtxyUD3xoMYBjE4QvtbWBWtWViIjDCYrMDb/+oskJww8XKyXgOeluUBXLj8bvqNSwn9Jcdm+XH6ETfEOk1Hk/b//etdukq5AoJnWdAAeLA5slxzcN90KNyrwUbpwp3EWKnFTdsluS2VHs9f/nVY0h1PbRbsbkYdQM+bD9o+7Kohl2H1TPzvxEf6eCwrsAtbtTxQgibYT1R8+1D5zpTBh3KSajeXQrp4hETDu8bUXXIWVnyUS2YmpVKHOVQJgvSkHsj8nd/v2TmS5IAnbRlH10Bl4qZQrx7aDRAAe5sIXLDoJWUuAEkLDuC88ggXg5ROflZTimmGRAImnmFFv6kwDMwGePweUtoidAXwhmaozYJ5n1TADOiDIi6IDNYOlxCeakHTqUurJ2rkBuf7+QhTp/WE1umcBZ8D9jdFR+Y2iN1yTB8Mksn8PiliX5Z1RPJUUK8Rix3LOxBxusB0ZIQHgvz6PGJ6fvGKfYMJ0P2oz6cLeTHgzKYHCZhAmYg1mvVBqVIvGLgVcsGX0i/AZ8ZIUNksIcSChi2XYb+EoPWHvlp2/lSzJbZiFvyY9+VOvrscebwyqv35VYoXP4J/j0DPFK++yQ2HS6UpAmgsjgZGDPvbyDkQXRve9h2fynemgLTUL5OyAnNujY6o99MD61RLcMCGSQaoWcFxa84XvhF+XOeErmlR0De6V4kBttUV3yoHWGP8n11Q2JBiREawTDUmTEkaLATKCSjkxnJ2Zpmp7phBw7kq7KMrWB7GwXyoMD42H0HlmYWZAPQogkobOUuwJDKsmOdssWxwuPWBiPxsLYwHzl/ucMsZfUFqsk/LHxLoLfve+4nKcXzWaqOivxr4o+XIduRo9LavyruPgMSdRoZ23/kTbJUMoPOm05Y/EIDO+W5sr9WcQA1JXRnoFtz734SdbEDIXk0CYLfIBf9zy5u1VjsH4A11cEPvYMxqIVfHX0eaOQE8P+//t1wLH4BVW0NSRLob69gOoBDhxRDjeMnBLZrz6w63AtNMLwxi1GuVAuoNmf5dkWq+ZBTkz9YwMn/YJlqrQ8pgy9UrjtDHfe6UjM7vy0lhgWuzYwaZCmlDftVxtt3MUnJOv0JlxW5N0mZLzaT8zmjvSf+zzGDvMS2owfhiEQ5nOJZ9d7vmi0w5eD+4/oleXL36mBIKa76R37JnkiL/QFg1dFt9liT3R3sw0y1AgKzCB1nFn9PogP8oW+9rm6xAtp8EFK8zj7GrlizPNJPEV1IsVF/m2itAZVWJMxOqRoNjgg/boC9umgPmNSRfoMq50rsdcrG9pnDOQiyvCg5A5gp1O65QihHwW0FONMcYpD36LtPfeEWRr1HoT6KowfjPYUDA75PyRkPR5uDIN0zvvvMfjQLdAK5f88q91ZFnOyA3Cy1OASiiqM78uvdVViiWKMRZOIK0fSC+OJC9JVzcmQAss8y+ixah2i7TymZer97EeCCfY5AjSWf9FDB+Imag3rs9hSvscT5C9j+MR9ItuUV7LgFsHK114x5vqe2+i+t07quQ2JWsiZpQMWJlrabNgeU/dh2F7aBl/H56px8vsA69m65Ty+9s9OGUiLRpVUWeFRMA/hC+uH3z3+3UlMesBmEvwCAFieIOQuKKEuh2vhGodzpLuS11ufEuS6uRPCT5qnEvlfbHvJO6oSYM3GUa8B6w348UAGigIXDzU9smJh9eqxqYgPaacCy9YAWliGDgTX0vh4aqWYcoWDRVJO1KfSbYByYhVpb8Epcpr/c95OYrQkFTJS+LXCuGp+KXXDAtKhQcc8D9kL6QrPdMKjV9NOaLjFrOCqQuAqtNM+i5n8yGhPze0YMCDNrmObqulr5lxPvOLUR70+pTUMAVlyQkcIOxCy+W+9jSmIh8lXuK2aVHOERCmNgcCcTOBIwDXcSlFsJ/ZuADCTCf/HUv32FQx8AIBCd7LkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MW9jGunndRNx4Qy6ZnfxGw",
      "input": {
        "note": "The white bowl is nested in the blue one, and the pink bowl sits to their right. Moving the right arm over the pink bowl's right-hand wall to grasp it.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.34,
          "right_y": 0.15,
          "right_yaw": 0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01MW9jGunndRNx4Qy6ZnfxGw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.8948, 0.6338, -0.3553, -0.3408, -0.2546, 0.9958, 0.6403, 1.3361, 0.6159, -0.0448, 0.4881, 0.3325, 0.9971]\nstate[eef_state]: left_x=0.3024 left_y=-0.0506 left_z=0.1761 left_yaw=0.0372 left_pitch=-0.0069 left_roll=-0.0092 left_gripper=0.9958 right_x=0.3244 right_y=0.1429 right_z=0.0958 right_yaw=0.0457 right_pitch=-0.0908 right_roll=-0.0529 right_gripper=0.9971\nstate[joint_eff]: [-0.0205, -2.2906, 7.1863, 1.8339, -0.2613, -0.0464, -0.0073, 0.1436, -5.5043, 8.9368, 1.7021, 0.4176, 0.1099, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d258bba5ebee6a092d228c3c765c2b288ef399ce78452327262514e3962e35d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6db04a40900e5a9ffefdc9bcc49e34dd6cebf75ba613a2b412442c3b7047d27f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2c44acbf450a800f51eedb06eaf65161dba1c4329bf476bf0b8343345059cc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 3.959 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9672, 1.9793, 1.1851, -0.062, -0.7761, -0.6903, 0.9953, -0.0219, 0.8299, 0.5945, -0.4118, -0.0162, -0.0303, 0.9971]\nstate[eef_state]: left_x=0.3704 left_y=-0.313 left_z=0.0735 left_yaw=0.0075 left_pitch=-0.0001 left_roll=0.0002 left_gripper=0.9953 right_x=0.2911 right_y=0.0001 right_z=0.1594 right_yaw=-0.0009 right_pitch=-0.0785 right_roll=0.0047 right_gripper=0.9971\nstate[joint_eff]: [-0.5402, -9.6889, 5.7094, 1.536, -0.3394, -0.0269, -0.1294, -0.1026, -1.4291, 7.0085, 1.7998, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3706, 0.8898, 0.6338, -0.3355, -0.3496, -0.2573, 0.9957, -0.0216, 0.8322, 0.5945, -0.4152, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3048 left_y=-0.0497 left_z=0.1817 left_yaw=0.0467 left_pitch=0.0178 left_roll=-0.0169 left_gripper=0.9957 right_x=0.2907 right_y=0.0003 right_z=0.1581 right_yaw=-0.0003 right_pitch=-0.0843 right_roll=0.0054 right_gripper=0.9971\nstate[joint_eff]: [0.2667, -2.1538, 6.8855, 1.7363, -0.1197, 0.0757, 0.0317, -0.1983, -1.6615, 6.9812, 1.6825, -0.0562, -0.022, -0.0171]",
      "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]: [-0.3714, 0.8948, 0.6338, -0.3553, -0.3408, -0.2546, 0.9958, 0.6403, 1.3361, 0.6159, -0.0448, 0.4881, 0.3325, 0.9971]\nstate[eef_state]: left_x=0.3024 left_y=-0.0506 left_z=0.1761 left_yaw=0.0372 left_pitch=-0.0069 left_roll=-0.0092 left_gripper=0.9958 right_x=0.3244 right_y=0.1429 right_z=0.0958 right_yaw=0.0457 right_pitch=-0.0908 right_roll=-0.0529 right_gripper=0.9971\nstate[joint_eff]: [-0.0205, -2.2906, 7.1863, 1.8339, -0.2613, -0.0464, -0.0073, 0.1436, -5.5043, 8.9368, 1.7021, 0.4176, 0.1099, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d258bba5ebee6a092d228c3c765c2b288ef399ce78452327262514e3962e35d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6db04a40900e5a9ffefdc9bcc49e34dd6cebf75ba613a2b412442c3b7047d27f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2c44acbf450a800f51eedb06eaf65161dba1c4329bf476bf0b8343345059cc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013CvZ4XZDSjyEvyXufSfyKS",
      "input": {
        "note": "The pink bowl is ahead and slightly left in the right wrist view, with its right wall a bit right of the jaw centre. I'm moving forward and slightly right to line the jaws up on that wall.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.37,
          "right_y": 0.13,
          "right_yaw": 0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013CvZ4XZDSjyEvyXufSfyKS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.8955, 0.6338, -0.3573, -0.3405, -0.2546, 0.9958, 0.527, 1.4464, 0.6224, 0.1017, 0.4492, 0.289, 0.997]\nstate[eef_state]: left_x=0.3022 left_y=-0.0506 left_z=0.1755 left_yaw=0.0369 left_pitch=-0.0094 left_roll=-0.0083 left_gripper=0.9958 right_x=0.3564 right_y=0.1228 right_z=0.0835 right_yaw=-0.0118 right_pitch=-0.0702 right_roll=-0.0423 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -1.9487, 7.241, 1.6386, -0.1587, -0.0171, -0.0171, -0.4444, -5.6, 7.1043, 1.8681, 0.1832, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db78985a246133f6aa8d2f1e21d9da8fa8c2c6fd7223f024ae3b5f79f0f0bc36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30f261fb9353b2715726850cce9a8e326f10d3fb6c9950c1a6f0f07d6d9ab594",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b75a3cfd5420bb9690c3f8e6fef8ed3ea3598bbeec098714f4b7d12498160e80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 4.475 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3706, 0.8898, 0.6338, -0.3355, -0.3496, -0.2573, 0.9957, -0.0216, 0.8322, 0.5945, -0.4152, -0.0166, -0.0299, 0.9971]\nstate[eef_state]: left_x=0.3048 left_y=-0.0497 left_z=0.1817 left_yaw=0.0467 left_pitch=0.0178 left_roll=-0.0169 left_gripper=0.9957 right_x=0.2907 right_y=0.0003 right_z=0.1581 right_yaw=-0.0003 right_pitch=-0.0843 right_roll=0.0054 right_gripper=0.9971\nstate[joint_eff]: [0.2667, -2.1538, 6.8855, 1.7363, -0.1197, 0.0757, 0.0317, -0.1983, -1.6615, 6.9812, 1.6825, -0.0562, -0.022, -0.0171]",
      "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]: [-0.3714, 0.8948, 0.6338, -0.3553, -0.3408, -0.2546, 0.9958, 0.6403, 1.3361, 0.6159, -0.0448, 0.4881, 0.3325, 0.9971]\nstate[eef_state]: left_x=0.3024 left_y=-0.0506 left_z=0.1761 left_yaw=0.0372 left_pitch=-0.0069 left_roll=-0.0092 left_gripper=0.9958 right_x=0.3244 right_y=0.1429 right_z=0.0958 right_yaw=0.0457 right_pitch=-0.0908 right_roll=-0.0529 right_gripper=0.9971\nstate[joint_eff]: [-0.0205, -2.2906, 7.1863, 1.8339, -0.2613, -0.0464, -0.0073, 0.1436, -5.5043, 8.9368, 1.7021, 0.4176, 0.1099, -0.0171]",
      "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]: [-0.3714, 0.8955, 0.6338, -0.3573, -0.3405, -0.2546, 0.9958, 0.527, 1.4464, 0.6224, 0.1017, 0.4492, 0.289, 0.997]\nstate[eef_state]: left_x=0.3022 left_y=-0.0506 left_z=0.1755 left_yaw=0.0369 left_pitch=-0.0094 left_roll=-0.0083 left_gripper=0.9958 right_x=0.3564 right_y=0.1228 right_z=0.0835 right_yaw=-0.0118 right_pitch=-0.0702 right_roll=-0.0423 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -1.9487, 7.241, 1.6386, -0.1587, -0.0171, -0.0171, -0.4444, -5.6, 7.1043, 1.8681, 0.1832, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db78985a246133f6aa8d2f1e21d9da8fa8c2c6fd7223f024ae3b5f79f0f0bc36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30f261fb9353b2715726850cce9a8e326f10d3fb6c9950c1a6f0f07d6d9ab594",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b75a3cfd5420bb9690c3f8e6fef8ed3ea3598bbeec098714f4b7d12498160e80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1gcKEAgSGAI4AUIIdGhpbmtpbmcSDLFEcOBteusih4nQTRoMHre3Y6NmsU7p5orbIjDd5TYjuo+uSqAoye+ROqi6LVwdG/LzlYtPuGgEZ5bPbkwwFrHltLHDnG2k6lrUcRwq8wZkOSJ5vGAPBuMBMGzP8HhjkQaF01J9K7unBGlHUO/XgiSasQnstUUQ9eEf+PGkZnLYmDrdLZvrFUeFFCL4Kbpf53N86F57GJPT1JBk2u4paqw1JfUu3AkliedrEL8ij4vvaJ+9PJSo7Z81lU7hrmOzzj4WHVM+DBLxCXX4DLoqFR2/+nzVsWnox5OBf0OqKIRnqU3wKnUwg+xA4WefluEKNau7ZlKd5qD3h+6Hd3P8rwZfyHaPevd7G+2vFNkD6RzdSFrUc4vq0o5oZJXrJoIcoQ8cheS8csJ1D9wRDxFdzeJawac9mwacx8IpSKhY+4hNYFf3F1XEvhEqfPfavrrXy31AF2y7YoktpDuJ95Hz8WPki0jdx/jPmass6qKNRkXGHMLResQngflNscA6YO86hBhJRmT5NgTu3vMzOFQkw74Dh/FLKGUNS0HioO59KG9qEoZe38gqWx8+eV6/D4KN+JEHehkHrsrS1x0X9aNHsvM/YIRKi50+kRr+wW17SM8ml1BRp/f160l/ixR7o/iz2KPN/Ev8lPgC2zQxq1XlgB0XDoUncVf+NXdcVwNCiI2ksDd4BWm0YHrrOc03Re9vz8DlxEcvtXABD/7KVWEf3Zr5sNjb2pHuM3E+fT0sPpLcvcTFxq4ULZNUWAbkBiSO3GaiuhYA34pZl3jJZn/zfagoXVEP28hpXlgjoB9STqNP8B6N0g6G9q5XclElClEBG0CgRuh0Tj8YO86cE3Sr4PDCpJ9YBaTFkrUL6n750lvB0FA1sDZrT6rtAfTnFT5xLuAgO+DZTqrpcllwOO4QsejX8a5T4rjS03tihg2QTtbLcR4vvr+iv/7KOWVxRytH5wAG9zAW7TNhGe1S/HT7F1xgxoayYGo9IAv70YczfQ4awlTjjKgvtkjU+7LagAbMIanBVYKPwp0LKEUGo1rxNU+qwnCeXvePGlkxpRXYDdzN9roE/hbGgxQcsm0S/0c7+RXpz0prSaZtP3tVBFepeexiemIxJa9EyZPwE2Wl9CKKQT8Pua91jfHtLL4/WHr8bAx/JjjQkuLamtptu9mAu1Amv8ocvmu/9NzNDdbvNv9GdPqFKciMW6ZdxOI1GDvJC2R25zlTbLjDw5VEHqR+wItVAEevPWDHB2Qq4njWQzwCxwcPswbY1NzuMQLWX2ZRgHyHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016TM95CNKqGs8AGmsHAS5fA",
      "input": {
        "note": "The pink bowl's right wall sits between the open jaws in the wrist view. Descending around it before closing.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.365,
          "right_y": 0.125,
          "right_yaw": 0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_016TM95CNKqGs8AGmsHAS5fA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.8967, 0.6338, -0.3626, -0.3401, -0.2546, 0.9958, 0.5213, 1.4551, 0.6224, 0.1585, 0.429, 0.2687, 0.997]\nstate[eef_state]: left_x=0.3016 left_y=-0.0504 left_z=0.1742 left_yaw=0.0366 left_pitch=-0.0154 left_roll=-0.006 left_gripper=0.9958 right_x=0.3636 right_y=0.1282 right_z=0.0895 right_yaw=0.0107 right_pitch=-0.0355 right_roll=-0.0234 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.9077, 6.9812, 1.7021, -0.1197, -0.0464, -0.0122, -0.5265, -5.7915, 7.1043, 1.8486, 0.1636, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87a00ce7a85aa120d1b1b74aa570774b323fa79d68df4495fedd6ca236de4adc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84aa59ba083ee7cb800eea2f021611af8c3f595e9b6e0e7dd6408f78c3f80003",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a42795ef18cc3be23d9403bceccfcfa59ce6e9cb14d4116be7255d8dc5581006",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 5.728 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.8948, 0.6338, -0.3553, -0.3408, -0.2546, 0.9958, 0.6403, 1.3361, 0.6159, -0.0448, 0.4881, 0.3325, 0.9971]\nstate[eef_state]: left_x=0.3024 left_y=-0.0506 left_z=0.1761 left_yaw=0.0372 left_pitch=-0.0069 left_roll=-0.0092 left_gripper=0.9958 right_x=0.3244 right_y=0.1429 right_z=0.0958 right_yaw=0.0457 right_pitch=-0.0908 right_roll=-0.0529 right_gripper=0.9971\nstate[joint_eff]: [-0.0205, -2.2906, 7.1863, 1.8339, -0.2613, -0.0464, -0.0073, 0.1436, -5.5043, 8.9368, 1.7021, 0.4176, 0.1099, -0.0171]",
      "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]: [-0.3714, 0.8955, 0.6338, -0.3573, -0.3405, -0.2546, 0.9958, 0.527, 1.4464, 0.6224, 0.1017, 0.4492, 0.289, 0.997]\nstate[eef_state]: left_x=0.3022 left_y=-0.0506 left_z=0.1755 left_yaw=0.0369 left_pitch=-0.0094 left_roll=-0.0083 left_gripper=0.9958 right_x=0.3564 right_y=0.1228 right_z=0.0835 right_yaw=-0.0118 right_pitch=-0.0702 right_roll=-0.0423 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -1.9487, 7.241, 1.6386, -0.1587, -0.0171, -0.0171, -0.4444, -5.6, 7.1043, 1.8681, 0.1832, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.8967, 0.6338, -0.3626, -0.3401, -0.2546, 0.9958, 0.5213, 1.4551, 0.6224, 0.1585, 0.429, 0.2687, 0.997]\nstate[eef_state]: left_x=0.3016 left_y=-0.0504 left_z=0.1742 left_yaw=0.0366 left_pitch=-0.0154 left_roll=-0.006 left_gripper=0.9958 right_x=0.3636 right_y=0.1282 right_z=0.0895 right_yaw=0.0107 right_pitch=-0.0355 right_roll=-0.0234 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.9077, 6.9812, 1.7021, -0.1197, -0.0464, -0.0122, -0.5265, -5.7915, 7.1043, 1.8486, 0.1636, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87a00ce7a85aa120d1b1b74aa570774b323fa79d68df4495fedd6ca236de4adc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84aa59ba083ee7cb800eea2f021611af8c3f595e9b6e0e7dd6408f78c3f80003",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a42795ef18cc3be23d9403bceccfcfa59ce6e9cb14d4116be7255d8dc5581006",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSxggKEAgSGAI4AUIIdGhpbmtpbmcSDP4hksd34TLKPyffeBoMJei1MWy27ApJStDVIjAo/C6/0x2hat8q1hyb0HKYOA6LFidsK6eYsWO8mDpWOBsoDGHQR7ulx9qqngDUQ7sq4weeo4tVbWTa3Whdj4GDTQwkh6trAUG8FUKVegPKiapvfZHOgWwg2rm6NaVrZmVzqhQrJ78wIlHyXpLljhA/sbyBlxxuewf8qscVx05Z5hGZugdm74wafpgLGBFw68s1pRKQAtHqmRILhk4pttf2bGN5aySZqLp/GVhUBhY1co2vsVUYppIDTayt8ZCAOOfSHl3jY8eno4J2Jtzs4s/aH12NvgVbJmzBL9ERpJ3+IhYDdE27pfgGuR+BxfLZT9TbpKmlMeJA0C2/eyvExtPytd9aQ0H1NXMDFp6eDPjUXQvxe5AzVm8XwdBkJEsmnNpmNwKCgJlPul2R7ZERSrv0A54S/j9TTrBwYr83DJjZU9b/tZU7SRcvSxBy/y3Tfen1IzT8qA0XygvT/HWnQFHS6FNI/63IycLAxhRg3CQgBeO2w2y+cQ3q6FL71PKX2bY/Jq5EkBCjD2F3C2BU4I7olHCf6wZAE1VTtaSSXEIJmfRMAruonABINjdLVTwzMssASFKspCrt8CSrsHDSi/o8F1fbvMzJDaHUeA+BCRZUVowq4mp7Xo5k+BubZ8Xz5oi658Nw7GFDicjPuupuAMGD7YBEG8RU/ImVgYk0uwZGbxY3pBBT4Xd0vIQjLh/HQyuah7mg1p9WpA1XlwLqY3a34265TcAY1Ohldy6MUthGDFz3J5lWgptSfukxJCrbVh2wPqYkwAc1R1sAn7yPfkPX/BfrgZlJtBrFtPVtu4/N0SsT9WZIIM7EkhYLVEmI1tZpz8AFix2aypgJlUv5a8LWhyaG57BER9o39Te/jOcZSlWtRw7FThZsG13FVcDxSTaiWdQ6ZY2kaqVp8N3abvURkHhmzTvrLIkY5N1g22meuqOsGq16Xm5GHNXmGTizI6iHtULtvX8uPxbmPVwSe+PJM27CgjCWD6qfAzAJoP1eOkfJSOppNNJ64aVD+nJG0yifAXJF5gkOZSZNzSrdLgot+CLURsRYg5NKTUs1QH7wtxh7c7s0nm92VIRSw+wsrQXa7uFBXI1u0Db5UuZhgmKCE1cIY0J9SHDcZY5Y8TjZYRqiC9p3hn7sjPZDYfhqoN/NcQqDVtGdjsf4c6mrEbGGCGXKPQbm4iSnV2E+jx6tIO990LTvEWozeAG8TvQ/Xp0gzNsy+y303IJQ6lC33jGCh4Tz6l4rF82xkA0O+HdGdGgq0kLXz7PNkpmXEP0hAfmdYsmcWYK4dgZm447OSZFBjZQh91nCUANrnPcORWdBBUdJHvApzvoeA1lxrz6BOcRI4vgrlE9KZ2vZHUPz838mG0WIr0V4ceAk9w9rrN5xObIEQfXpMBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013e1CSd4fZNruSL9bhPMnEb",
      "input": {
        "note": "The right arm stalled at z 0.09, the same way the left arm did earlier. Lifting slightly first to unstick the IK, then I'll descend again.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.36,
          "right_y": 0.125,
          "right_yaw": 0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_013e1CSd4fZNruSL9bhPMnEb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.8967, 0.6338, -0.363, -0.3401, -0.2546, 0.9958, 0.5213, 1.4551, 0.6224, 0.1585, 0.429, 0.2687, 0.997]\nstate[eef_state]: left_x=0.3016 left_y=-0.0504 left_z=0.1741 left_yaw=0.0367 left_pitch=-0.0158 left_roll=-0.0058 left_gripper=0.9958 right_x=0.3636 right_y=0.1282 right_z=0.0895 right_yaw=0.0107 right_pitch=-0.0355 right_roll=-0.0234 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -1.8667, 7.1043, 1.6581, -0.1783, -0.0122, -0.0122, -0.5402, -5.9009, 7.1453, 1.8388, 0.1294, 0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:250122266aeac9ef110793ceb15167881831b474652c1e6ccdead41615463988",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7e8b903055004b367dda389a376170355c18662ecb351bdd9a236e6e3e4492c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d9ad9f761deeaef3af5934f1332d556c885870a3574705bc490493034f0e9ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 3.965 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.8955, 0.6338, -0.3573, -0.3405, -0.2546, 0.9958, 0.527, 1.4464, 0.6224, 0.1017, 0.4492, 0.289, 0.997]\nstate[eef_state]: left_x=0.3022 left_y=-0.0506 left_z=0.1755 left_yaw=0.0369 left_pitch=-0.0094 left_roll=-0.0083 left_gripper=0.9958 right_x=0.3564 right_y=0.1228 right_z=0.0835 right_yaw=-0.0118 right_pitch=-0.0702 right_roll=-0.0423 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -1.9487, 7.241, 1.6386, -0.1587, -0.0171, -0.0171, -0.4444, -5.6, 7.1043, 1.8681, 0.1832, -0.0317, -0.0171]\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]: [-0.3714, 0.8967, 0.6338, -0.3626, -0.3401, -0.2546, 0.9958, 0.5213, 1.4551, 0.6224, 0.1585, 0.429, 0.2687, 0.997]\nstate[eef_state]: left_x=0.3016 left_y=-0.0504 left_z=0.1742 left_yaw=0.0366 left_pitch=-0.0154 left_roll=-0.006 left_gripper=0.9958 right_x=0.3636 right_y=0.1282 right_z=0.0895 right_yaw=0.0107 right_pitch=-0.0355 right_roll=-0.0234 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.9077, 6.9812, 1.7021, -0.1197, -0.0464, -0.0122, -0.5265, -5.7915, 7.1043, 1.8486, 0.1636, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.8967, 0.6338, -0.363, -0.3401, -0.2546, 0.9958, 0.5213, 1.4551, 0.6224, 0.1585, 0.429, 0.2687, 0.997]\nstate[eef_state]: left_x=0.3016 left_y=-0.0504 left_z=0.1741 left_yaw=0.0367 left_pitch=-0.0158 left_roll=-0.0058 left_gripper=0.9958 right_x=0.3636 right_y=0.1282 right_z=0.0895 right_yaw=0.0107 right_pitch=-0.0355 right_roll=-0.0234 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -1.8667, 7.1043, 1.6581, -0.1783, -0.0122, -0.0122, -0.5402, -5.9009, 7.1453, 1.8388, 0.1294, 0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:250122266aeac9ef110793ceb15167881831b474652c1e6ccdead41615463988",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7e8b903055004b367dda389a376170355c18662ecb351bdd9a236e6e3e4492c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d9ad9f761deeaef3af5934f1332d556c885870a3574705bc490493034f0e9ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS5QcKEAgSGAI4AUIIdGhpbmtpbmcSDHt3Lqfg9e4r0EOmMRoMBVEF8JBF/d8Gi2nvIjDgUDx4OzeP/NjiaqA75GgSlKZLniNMsqr7fwbJnS92uNopddKwacdm4Crw58uCzhkqggcz+J3OrPizRmCpoNnQNZ79cTgsDzDc7wopv8LO0eJw+q9IDWubCeqUBgWaljksVszzwr3e1UEUQCENzIDsTESMO2IcanFiukS6BO14D39Q9gxSvqHZmXqouTuCJhvSxoqUBO4bAXVjlUF992ykmb1TejR2/4p+PhVB/cvHDOQHAFO8/1Mf337tfpmUeNV1roNBUwWz0lYQHZjWoCQkPn3dwThfiY+sn4PeIHfBmPlTDE4qanE9cCD5kl7mOPkfoAlXkOWAs6tvGNJHADmzRrryO4Umx+WF/m3kLJxmzcC77jSTcJsEqx25PVFEU3hJYp+BmiEXjlM10fDMQTtkG1mCRlf6bj5BIhzX6E5scC0GzHawsLf+CiDDlJqWfFLaL26GjICOX4u9ZwGNMectQrYrcnyixaupsTs3cecVrwbmwDSxOlCvhfKUOmAhHd5Wvzxhh18Kno6CQu4lrqe3os+K2EfwtdGHuapMkAlZ3rKxv3+93gjdvVbfXK4VhNbrffOtiJBi0/i7C91aiTbr1g5U/0yrocYBCxlvEA55wMZl+WgNmkx7UkvJt/yRO/wrzbLdsS2xi502h7joZr67gEGuR+zM2e5ERsGTzvKEq7SSc4MrWIfkCEcGHWOWpYytKE03SL/48XmOcDktFwMR80Aqtm+FI4hnjYVcibdw4PD1tO3NuwSi/AA2iFvoPYw7lfLrMSGH4KxRRM3M4shA5yYkLWe5fYaL4sfsgkI789daDUSTv7gmMvq08VEB2JlJSh5/R7nzIGcvtUt+QwWPmKq6wbdZvC8SjySotNlhZ4W8UwHx25W8VnXS2CwObHcnZ/KD6gg2otb9YiX5Tm+ltsQ+1XTBjHBDDgGGz1b8Jr5v9s+8orMzYHA2Kv1+SOCWVRA9gk4VnLufxA3cEbPBsdOrdU6PubcZoEt5HDXdIO1YyQYrFkzWfsd6SSeK+gV2RYLMTny/7kqgKcLncn7LdTQbeP51A3gSXzs7aSVpDs0eTgHzWhPznhXFuFpR9+TsVVDMoZifHwH37vF53ycm7Ok81An5ybwGN/Wjfp4sWlRIDP/zYQ/jjbz7LQ8EOmPebnbA8KR7+Z4h4Th3RJZISQMwaKj+enghGSeqmoo9h5sfY2vGE5w7qYIJBRgSeUnmCHwjPfhjVyRYBTINHJp6plJg+iXDl4OhSLazsV3HAzNwVpxwGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EXsyK8tGcGk769P5AWyu1M",
      "input": {
        "note": "The right arm isn't responding to small moves. Sending a larger lift and retreat to get it tracking again before I re-approach the pink bowl.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.32,
          "right_y": 0.12,
          "right_yaw": 0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01EXsyK8tGcGk769P5AWyu1M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.8997, 0.6338, -0.3622, -0.3397, -0.2546, 0.9958, 0.5957, 1.1904, 0.6937, -0.0853, 0.4564, 0.2985, 0.9971]\nstate[eef_state]: left_x=0.3018 left_y=-0.0505 left_z=0.1734 left_yaw=0.0364 left_pitch=-0.018 left_roll=-0.0051 left_gripper=0.9958 right_x=0.3373 right_y=0.1389 right_z=0.1676 right_yaw=0.0466 right_pitch=0.0523 right_roll=0.0345 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -1.8256, 6.9949, 1.707, -0.1538, -0.0757, -0.0122, -1.0872, -3.0017, 9.2376, 1.79, 0.5153, 0.2369, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ade2987269e6564742d7b7b816026fc9c629972a526fa0da1a832dd6a3390600",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85fe9b5ac2989c45e8cf616823836c08f360c5add81db02010541113c4083ffe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf4b57a743309041b497664a0cbde72353d5d9d3ca03e56131e30af2f356e491",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 3.468 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.8967, 0.6338, -0.3626, -0.3401, -0.2546, 0.9958, 0.5213, 1.4551, 0.6224, 0.1585, 0.429, 0.2687, 0.997]\nstate[eef_state]: left_x=0.3016 left_y=-0.0504 left_z=0.1742 left_yaw=0.0366 left_pitch=-0.0154 left_roll=-0.006 left_gripper=0.9958 right_x=0.3636 right_y=0.1282 right_z=0.0895 right_yaw=0.0107 right_pitch=-0.0355 right_roll=-0.0234 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.9077, 6.9812, 1.7021, -0.1197, -0.0464, -0.0122, -0.5265, -5.7915, 7.1043, 1.8486, 0.1636, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.8967, 0.6338, -0.363, -0.3401, -0.2546, 0.9958, 0.5213, 1.4551, 0.6224, 0.1585, 0.429, 0.2687, 0.997]\nstate[eef_state]: left_x=0.3016 left_y=-0.0504 left_z=0.1741 left_yaw=0.0367 left_pitch=-0.0158 left_roll=-0.0058 left_gripper=0.9958 right_x=0.3636 right_y=0.1282 right_z=0.0895 right_yaw=0.0107 right_pitch=-0.0355 right_roll=-0.0234 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -1.8667, 7.1043, 1.6581, -0.1783, -0.0122, -0.0122, -0.5402, -5.9009, 7.1453, 1.8388, 0.1294, 0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.8997, 0.6338, -0.3622, -0.3397, -0.2546, 0.9958, 0.5957, 1.1904, 0.6937, -0.0853, 0.4564, 0.2985, 0.9971]\nstate[eef_state]: left_x=0.3018 left_y=-0.0505 left_z=0.1734 left_yaw=0.0364 left_pitch=-0.018 left_roll=-0.0051 left_gripper=0.9958 right_x=0.3373 right_y=0.1389 right_z=0.1676 right_yaw=0.0466 right_pitch=0.0523 right_roll=0.0345 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -1.8256, 6.9949, 1.707, -0.1538, -0.0757, -0.0122, -1.0872, -3.0017, 9.2376, 1.79, 0.5153, 0.2369, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ade2987269e6564742d7b7b816026fc9c629972a526fa0da1a832dd6a3390600",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85fe9b5ac2989c45e8cf616823836c08f360c5add81db02010541113c4083ffe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf4b57a743309041b497664a0cbde72353d5d9d3ca03e56131e30af2f356e491",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQShwcKEAgSGAI4AUIIdGhpbmtpbmcSDELTDWx7O4BDhJuzvBoMjQPhVC6piHznCox+IjDLNSCUvHtTxKSTsYSdOVjYv+bdSgxLt9fGUoGuKyZYtPHQwzZM7/hMBNH7+QLuozUqpAbXU094W4eMuAwju5Rx+D0xttOw6O9+F1SMrzgBIRiI8q8HBbcCrKSobiTCuaI+8yHV2kN8xnMmPtxw4pANMVQrFVzj+nRAKBMnTlzuihgULB/9lZnIDA52KoSttQ7bwofSRkJBMfOVNYWLTFBYV0eEbpI9Zgn5kKduDgQ6PMuxKuQ1pZLorA4+aIEO6qUQZnP+sWTpdVvH0Q3wJx4UcyZDLZ08Mng1Eb1yVz5z+4q5VyOqBvaXch/ZTeQVWbxGN+TI4ax8usW0KkyMR7ihKHDCHCTGREAksvtEsMZB8asrk7E1sfbbp5uusUvwZG7Vd6LsjzcenymMFlPLi9IvRierdURksORkgw4dpWIoyNJui8TC62W0PxM5nb2of/CC/7j3BGhUcLcVsQVj8zydQ8zDw153mcb+yt8VDB+LyAOIHOjFWfMKVAmbEJ3j7RXiLYFtEnbeh/ChVJdgY3WsoAFS512cSuEG9sT7V81D8JsiDaVe/gIwuAjHA+0OJoNjfejxaL7iP3d0wcA56BnCXvEtsWcawg+HLHxVdDN9l1thyTcJ9t584J+J0W2pwYhZEkY1tNgCEPYs9ZEScPcZoxjov4CZXzbq8fXQ8NVlMuLYi3fmxz+xw4+zt6deeoQlBljT145ueKttXTSJkGVNXhQTt1AbJMLucA5Q8/PaDuwEkHtHXir+1/OmzffsRrVXvT30w+slfjnCLRmDd9jAGV0I42rtnbATkWju2m3dSmbZXNlaHikIADBreZVAgMxqSmIJ8Y6Lo57SbeMtE3M0ocrIrTEhbLQk9FK8iD6C5hgRc5tWUgX/rHj/93ZnhpenTWhinCJL8uUeELMknxhoNROLru9uKWGyRGMlU7PTI/k8dHIAKwJZv8xD9Vzx0Agf64TuvouPoxYe3HD2XFY9R5pUiETeZjed2pKyxDtmctH4uXBtuzlVEPsMlziiJmbS8qqJF028OWZwL6se8Zvdst2yl3p+6wy74VtZZ4XEtdfifWum+ubXSciqGzRPyO5UOvDtv5ZhamzC55/S/MJI2PrA0mDAhByjBp3JjCEymzs8mJCtn8kYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HADkGrYpEwGZ42QwEMy5qo",
      "input": {
        "note": "The right arm is back up at z 0.17 with the pink bowl below, its right wall slightly right of the jaw centre. Descending in one larger move to straddle that wall.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.365,
          "right_y": 0.12,
          "right_yaw": 0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HADkGrYpEwGZ42QwEMy5qo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9035, 0.6338, -0.3634, -0.3401, -0.2546, 0.9957, 0.4992, 1.7065, 0.4606, 0.54, 0.411, 0.2653, 0.997]\nstate[eef_state]: left_x=0.3019 left_y=-0.0505 left_z=0.1721 left_yaw=0.0367 left_pitch=-0.0224 left_roll=-0.0029 left_gripper=0.9957 right_x=0.3547 right_y=0.1171 right_z=0.0102 right_yaw=0.004 right_pitch=-0.0688 right_roll=-0.0315 right_gripper=0.997\nstate[joint_eff]: [-0.0068, -2.2085, 7.0496, 1.663, -0.1392, -0.0366, -0.0171, -0.4581, -7.0632, 4.2325, 1.8926, 0.1783, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cc24851b4678d5273fcbedb38ba5028646a203c0f5f0d69a702fc41016655da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1de7b255c93d8ea34f86aa5910034ff571f249c4705f0cdfc6ea22b614067862",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d7e377a09bda246730220b2da759361ca70b160675232312b246b0b7c9d5fc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 5.482 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.8967, 0.6338, -0.363, -0.3401, -0.2546, 0.9958, 0.5213, 1.4551, 0.6224, 0.1585, 0.429, 0.2687, 0.997]\nstate[eef_state]: left_x=0.3016 left_y=-0.0504 left_z=0.1741 left_yaw=0.0367 left_pitch=-0.0158 left_roll=-0.0058 left_gripper=0.9958 right_x=0.3636 right_y=0.1282 right_z=0.0895 right_yaw=0.0107 right_pitch=-0.0355 right_roll=-0.0234 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -1.8667, 7.1043, 1.6581, -0.1783, -0.0122, -0.0122, -0.5402, -5.9009, 7.1453, 1.8388, 0.1294, 0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.8997, 0.6338, -0.3622, -0.3397, -0.2546, 0.9958, 0.5957, 1.1904, 0.6937, -0.0853, 0.4564, 0.2985, 0.9971]\nstate[eef_state]: left_x=0.3018 left_y=-0.0505 left_z=0.1734 left_yaw=0.0364 left_pitch=-0.018 left_roll=-0.0051 left_gripper=0.9958 right_x=0.3373 right_y=0.1389 right_z=0.1676 right_yaw=0.0466 right_pitch=0.0523 right_roll=0.0345 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -1.8256, 6.9949, 1.707, -0.1538, -0.0757, -0.0122, -1.0872, -3.0017, 9.2376, 1.79, 0.5153, 0.2369, -0.0073]",
      "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]: [-0.3714, 0.9035, 0.6338, -0.3634, -0.3401, -0.2546, 0.9957, 0.4992, 1.7065, 0.4606, 0.54, 0.411, 0.2653, 0.997]\nstate[eef_state]: left_x=0.3019 left_y=-0.0505 left_z=0.1721 left_yaw=0.0367 left_pitch=-0.0224 left_roll=-0.0029 left_gripper=0.9957 right_x=0.3547 right_y=0.1171 right_z=0.0102 right_yaw=0.004 right_pitch=-0.0688 right_roll=-0.0315 right_gripper=0.997\nstate[joint_eff]: [-0.0068, -2.2085, 7.0496, 1.663, -0.1392, -0.0366, -0.0171, -0.4581, -7.0632, 4.2325, 1.8926, 0.1783, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cc24851b4678d5273fcbedb38ba5028646a203c0f5f0d69a702fc41016655da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1de7b255c93d8ea34f86aa5910034ff571f249c4705f0cdfc6ea22b614067862",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d7e377a09bda246730220b2da759361ca70b160675232312b246b0b7c9d5fc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS4wYKEAgSGAI4AUIIdGhpbmtpbmcSDOQUKh99Op/KrvO2IRoMjB3pIuG/yp4AV6C1IjBstbKnI+WzGpdUN8zi2Lp1KKaAKslWQ4oqf1b45PJq0S4KCUThAeM1N8Tc2gIM8scqgAbJmI5JEZhv6jD5rT9JxamcGnLzmfqiC+LHAnJpBKwAkny5l2nhdXNpQsD3CavuYIuilSUCeS4XMAFXF1Amgh47kcAQT+1N58OPQQP+nHo74lLgkpZXrBz/8e4pxJBhNkf8704/32/Rl3+bAPEST7ZRXd2puSSX+BZFaNwCEFHxAoFxupEw+YCO+JABqPsEQHgJXjjz0dYc+HClC4Emjem4H9/Sg4SCYgO0lw5rHPNRvHotz2lZmXhnujQwYp9pvweEOtgcwlM0lyFO6S8D58GbQaX8UGhrjhsHW+jTsL9pfgqIlePSCRDfvH8PUxiG0x4QeiIo252Spl5nVMRjQC6R0ze4rDWN/Hrod9tUckmrR6CzV/hJqnKUpOFx+jHGJE0XMaeAzIG2r+THDdNUoN2g1Dz3K2BZYelb4AqFyMwAiB5+3IxjGgxHsiBnjcvJA5lpXt2xE0fZ29pwTSGOMjzaLjosXjvV0jSw8z5P48h6PbyoKS8OxodipfNE2RAy62CS/iJbJpHrK1FHTvQot8XMaUaA50ukyFjjnLUHWVVjtBxtvLsC+Ssj3x4vaf0QSSW9Trl0B/kIH0RatnnOd9RnwA+IpaCE/MZ4z7HC4JhoYgd7ELuTr1mecmMsW0+tqNHGnoC3NwjSy31NAFH75zdo7qHOL1dGxaD80wau4PCJzPseuVBesp7V3gC2pkjrgsCPmkM1HN0WtYhoScXfrQrFdvt2ojjjC9dqbaLfjEsCKXSQz75j98d7sjmqhtIBd9NPFvqWMInPxi/Ffcukcz9fgr7+n6TWodINuRHLB97dYtBtkvOtBCGJhmkAThNrlGmhEapdPHgK9jYTPYxM6z5q3htWaI+cI9GWgnTTOGj9x9Sgl80xX6ho7pA2/XeTu/lzU28CrxJGg+JoAjWfXxaAfLrAsj/aPo+fdnaaWNGP2hqemqv+Z4La4gE01pijnztg+mbgdC6z0PP6qXA5p+PVblzngY+fTpdCCmiQenrp6dx/bSfeUb0CgnzIuy5tiQ4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HirAn1k2VTzTHrDHV6BDqT",
      "input": {
        "note": "The right gripper is down at z 0.01 with the pink bowl's wall between the jaws in the wrist view. Closing to pinch it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HirAn1k2VTzTHrDHV6BDqT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9035, 0.6338, -0.3634, -0.3397, -0.2546, 0.9958, 0.5041, 1.689, 0.4736, 0.6338, 0.3943, 0.2878, 0.0367]\nstate[eef_state]: left_x=0.3019 left_y=-0.0506 left_z=0.1721 left_yaw=0.0364 left_pitch=-0.0225 left_roll=-0.0032 left_gripper=0.9958 right_x=0.3704 right_y=0.131 right_z=0.0374 right_yaw=0.0114 right_pitch=0.0359 right_roll=0.0551 right_gripper=0.0367\nstate[joint_eff]: [-0.3077, -1.8803, 6.9812, 1.6288, -0.1148, -0.0464, -0.0073, -0.253, -4.465, 3.7128, 0.5592, 0.3248, -0.3248, 0.9158]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e22cadb4946467f4da95fd9e4c23441d2a39ebc30c3901334798878aea119d9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72c5dcfa8fe56f2a5df9dbfc7498c6e0cb25169a5d640db4bb50f5989eea128d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:983bbb90f3738dac34690c15aaea37b1853fd08204d93b5a4a38de52bc585f5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 5.583 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.8997, 0.6338, -0.3622, -0.3397, -0.2546, 0.9958, 0.5957, 1.1904, 0.6937, -0.0853, 0.4564, 0.2985, 0.9971]\nstate[eef_state]: left_x=0.3018 left_y=-0.0505 left_z=0.1734 left_yaw=0.0364 left_pitch=-0.018 left_roll=-0.0051 left_gripper=0.9958 right_x=0.3373 right_y=0.1389 right_z=0.1676 right_yaw=0.0466 right_pitch=0.0523 right_roll=0.0345 right_gripper=0.9971\nstate[joint_eff]: [-0.3214, -1.8256, 6.9949, 1.707, -0.1538, -0.0757, -0.0122, -1.0872, -3.0017, 9.2376, 1.79, 0.5153, 0.2369, -0.0073]",
      "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]: [-0.3714, 0.9035, 0.6338, -0.3634, -0.3401, -0.2546, 0.9957, 0.4992, 1.7065, 0.4606, 0.54, 0.411, 0.2653, 0.997]\nstate[eef_state]: left_x=0.3019 left_y=-0.0505 left_z=0.1721 left_yaw=0.0367 left_pitch=-0.0224 left_roll=-0.0029 left_gripper=0.9957 right_x=0.3547 right_y=0.1171 right_z=0.0102 right_yaw=0.004 right_pitch=-0.0688 right_roll=-0.0315 right_gripper=0.997\nstate[joint_eff]: [-0.0068, -2.2085, 7.0496, 1.663, -0.1392, -0.0366, -0.0171, -0.4581, -7.0632, 4.2325, 1.8926, 0.1783, -0.0562, -0.0171]",
      "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]: [-0.3714, 0.9035, 0.6338, -0.3634, -0.3397, -0.2546, 0.9958, 0.5041, 1.689, 0.4736, 0.6338, 0.3943, 0.2878, 0.0367]\nstate[eef_state]: left_x=0.3019 left_y=-0.0506 left_z=0.1721 left_yaw=0.0364 left_pitch=-0.0225 left_roll=-0.0032 left_gripper=0.9958 right_x=0.3704 right_y=0.131 right_z=0.0374 right_yaw=0.0114 right_pitch=0.0359 right_roll=0.0551 right_gripper=0.0367\nstate[joint_eff]: [-0.3077, -1.8803, 6.9812, 1.6288, -0.1148, -0.0464, -0.0073, -0.253, -4.465, 3.7128, 0.5592, 0.3248, -0.3248, 0.9158]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e22cadb4946467f4da95fd9e4c23441d2a39ebc30c3901334798878aea119d9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72c5dcfa8fe56f2a5df9dbfc7498c6e0cb25169a5d640db4bb50f5989eea128d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:983bbb90f3738dac34690c15aaea37b1853fd08204d93b5a4a38de52bc585f5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSxAgKEAgSGAI4AUIIdGhpbmtpbmcSDBGyq8Vl922vyIvnahoMBPCzPMaW+Gi0Zd/YIjBKh6kiXNuP0zpX6sq1sD+tF+hMpyB1ifOa10Hc2DsIJYCabmSbATtfzeP8NUCBowYq4QfWE9kBmbBB2vLb5eZnw/11QLtio6RHId5IzhvFAYHZTg69re/d+ytyxdjGVyt2jV3RLYakCEq0u/fQ8sA2Fayg8sgh/HpmzwXzEv4VqYbsxe3rp1SPCBp38xjmXtex9ALdx99G/r//Ak1Wt8UW+M/OQmEfnu1dN2/1o4eFLhZa/QPu23Z0njymZgwaXnddi1upwjpiM6Vn1vzZoDNYaWM5VPcEkuPbD7mHOf268ZkhR5lAobkY/zfgelZyAw+iePhYjq5fsB1hfnMbS7gEWJZS6KCLRjjQZJKM4/7DIAWpaZPJVZHwVtExwcwPMKdXCBPUWmVwGf6REgkELqVXBLcc+OaPTOLbwPcQB/TrmkY+MsQAn+JaoXEJ5bhaBWrmiR+P0w35R4/eKTLFHq/vkblwAou1KNgOvIBpJx+gVWADgCvjdXKdzBLS0naBVkgP1MIhSMnEGsAuXCh+9sw2ecHfbEkEj5kdvue/cSvXEVo6HP8NUg2ekgAanQx2BbxUrjamF/K46eokTpW8ZVBxpUy1sZgpRTiyp7TnXAKtX3lxQvdCoEWkYA8VHYd0wKZ9P0jKlhFZV0YodgyUOUw3vB5+vbVxpS36LLBhJzf9/HVrKJqowGxtsLdxmvxzb+8pG2PrUZHYL9nVo7ElSY49t101BZqEuKaLqqp240tKj9OBk12SrTM+Ict1H4NeYOVrdBiyGkkkczgmBQhzy4Sb/7nwWyE90s2SZU387XRCmyvQb/50Izzy5wlU7Tc058FV84hCX0KuSBcxQTVNaS+r5J8A8JHc3Z5iiPr7NujBlQVv/eXxWDYZ2B2U/0pbYWlmNKT6J3EWIOLqRumwUe0N3F4C2IwwTIgwaKOb44LV9zpkfFJETdlz9u5NkBewFmqnvUgTQpo4H/k/V2JV/QrN+vQ6DgqRCBcjfYBBTc/grwsDvvtnVI3G/DuGm/vBZpMkmA4b3VHZevDWHFDk7A5umLFfe+WLYklzLBMCmi6qpnpIIZnMrMGlcJ7TMoz71hqDTSe4ZV1FdAug5WFVSPTUtVhzomSDz9FyPdz2QupmC2n/fHK0nH3GDukTycP/2p8kxBBtgBP7HWE3eW32z0L/5iw2TZsnK0Wac6bJZJRM20B3YIsGn6vmHr0fWUJ2IZ90tRXKlVFYRy80xbrOLZu2kyIHw8eCRf8ZkiON8S2VMKSDkQPH2nGfTv8a6Kj4u0VcUILx9yeI6wA0BGfRWLrGgmhZBW6d+a7LVA8sc5SGv3sIoP4vVDr8/0kSDYy30SNVstsFWnLHA8uENGwRqGG2WYzWZIlvF+NGw+kyneC7tNjv/8QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M5gbRauMkdWeHCPedf5Qt6",
      "input": {
        "note": "The gripper closed to 0.037 with the jaws on the pink bowl's wall. Lifting to check the bowl comes up and to clear the stack.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.36,
          "right_y": 0.16,
          "right_yaw": 0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01M5gbRauMkdWeHCPedf5Qt6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9062, 0.6338, -0.3634, -0.3401, -0.2546, 0.9957, 0.6319, 1.3846, 0.8574, -0.1631, 0.4938, 0.3267, 0.0377]\nstate[eef_state]: left_x=0.302 left_y=-0.0505 left_z=0.1714 left_yaw=0.0367 left_pitch=-0.0249 left_roll=-0.0019 left_gripper=0.9957 right_x=0.3597 right_y=0.164 right_z=0.1565 right_yaw=0.0384 right_pitch=-0.0269 right_roll=-0.0187 right_gripper=0.0377\nstate[joint_eff]: [-0.2256, -2.1538, 7.0222, 1.6142, -0.1538, -0.0171, -0.0122, 0.1983, -7.8291, 9.306, 1.7558, 0.4371, 0.2613, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45bea1bbc5a4b280cad2e0e04990a09582f7d0376fd27b27a9541247474d6d5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00d02dbe51408e6878810f8091deb9297025183001d8bd5de74a56084380c341",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4720d47dc3bf931434e49810119b31acebc14a874ee6f07ab1eb9bba859f04e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 4.861 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9035, 0.6338, -0.3634, -0.3401, -0.2546, 0.9957, 0.4992, 1.7065, 0.4606, 0.54, 0.411, 0.2653, 0.997]\nstate[eef_state]: left_x=0.3019 left_y=-0.0505 left_z=0.1721 left_yaw=0.0367 left_pitch=-0.0224 left_roll=-0.0029 left_gripper=0.9957 right_x=0.3547 right_y=0.1171 right_z=0.0102 right_yaw=0.004 right_pitch=-0.0688 right_roll=-0.0315 right_gripper=0.997\nstate[joint_eff]: [-0.0068, -2.2085, 7.0496, 1.663, -0.1392, -0.0366, -0.0171, -0.4581, -7.0632, 4.2325, 1.8926, 0.1783, -0.0562, -0.0171]",
      "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]: [-0.3714, 0.9035, 0.6338, -0.3634, -0.3397, -0.2546, 0.9958, 0.5041, 1.689, 0.4736, 0.6338, 0.3943, 0.2878, 0.0367]\nstate[eef_state]: left_x=0.3019 left_y=-0.0506 left_z=0.1721 left_yaw=0.0364 left_pitch=-0.0225 left_roll=-0.0032 left_gripper=0.9958 right_x=0.3704 right_y=0.131 right_z=0.0374 right_yaw=0.0114 right_pitch=0.0359 right_roll=0.0551 right_gripper=0.0367\nstate[joint_eff]: [-0.3077, -1.8803, 6.9812, 1.6288, -0.1148, -0.0464, -0.0073, -0.253, -4.465, 3.7128, 0.5592, 0.3248, -0.3248, 0.9158]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9062, 0.6338, -0.3634, -0.3401, -0.2546, 0.9957, 0.6319, 1.3846, 0.8574, -0.1631, 0.4938, 0.3267, 0.0377]\nstate[eef_state]: left_x=0.302 left_y=-0.0505 left_z=0.1714 left_yaw=0.0367 left_pitch=-0.0249 left_roll=-0.0019 left_gripper=0.9957 right_x=0.3597 right_y=0.164 right_z=0.1565 right_yaw=0.0384 right_pitch=-0.0269 right_roll=-0.0187 right_gripper=0.0377\nstate[joint_eff]: [-0.2256, -2.1538, 7.0222, 1.6142, -0.1538, -0.0171, -0.0122, 0.1983, -7.8291, 9.306, 1.7558, 0.4371, 0.2613, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45bea1bbc5a4b280cad2e0e04990a09582f7d0376fd27b27a9541247474d6d5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00d02dbe51408e6878810f8091deb9297025183001d8bd5de74a56084380c341",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4720d47dc3bf931434e49810119b31acebc14a874ee6f07ab1eb9bba859f04e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSygkKEAgSGAI4AUIIdGhpbmtpbmcSDCa1Q1lYmMaOuY36+hoMHaqGMaEO6tTU9wiTIjCdbZ6lAeVVE3POcwWMky2gQyMY1RO8wnGcVj3U+f3je+5VDhPglAY4dsImNA5Txzcq5wi2wUr0/q91L3X2ZqwE7MHrhoRJI3TBm0+VR96rnVQojnzbB5ZnkyfNuOP8EchVf3ZLfpRiHJ30qDiZV5PRorOE0KNFKDQWi0hh+mbYAheXO8jjsYAcwjJNq9lrKNlQiIDPRoj9RdUHyK3g26uqgF1DHXCx+x36ZdUWLZX1PLaHg/8xTf9b9mbF1noUC/APvXm9w6g7z14zPJVZGBvrDcvZKSXfOhidjSH81p7YL1baNkpBVnsVcYBW0Y7zwJtsuCYbnZAz5OAY/EAGqfTLDNYx9IT4CzWRCVi3OvRooH1J64ZbW+HAYlIw85UjoPzXXsLKbeusdsl04RDWye7ezKSRsZMOpcFTkgVB/+R4/vVVL8LJnGOkrMYu2e+0GiOZZWwVul1gTwcMIAYuyUAAwxStFlrs6XB4gg0hFNQo1PHTdRREjGYT9V9sStzv+G1/BIXqjWrbmctaM/WyOFdHLOKNLGBKyZv9pMgKL39DRty++lqg7s+v+/knw/jRoKk1r1mPQ153+dy3yALtzi4GsOwli721eeB9LcydH7RD2Le6z5kFbuHA7euNRlf0DPrTkG7F8pfAtliQ/kyX34Guj5Un1fxtUYr6Yf+gmS3ilchQYP68YUOhzGlJM3uOuwrw1hhgN6+fMtK+r/uh/1DBjqPCmy4reXdfg407XvGH3IQ2f3NJovruJmzH0T84SAqSn1r1xywyuXjCaYeMdTWl4ezqgpQG7fnjspOh2yRfK93VLpy8umYWjb9WvpZTmMAkALkStbvivFHC3oPxNntNz8B6XZ4E/7zMw8zMpGcZu77VI0V5Wo9f7vqmU74nDKD3XT3MxRxO+4Gk4LtC5kEJdIShWQ6cVtu4NgFeku+q+SQ7k/gSPOwTZouIA4t5UsLgTR1Xq+7/cMHJWo+0111XgQr7HK6J+9bizEhBZXd/fnTBe/ToYRsoOGB2vwre4S4boEQCfvSYkLimv1yKLH0q/+KR6KTRDB3jnRqh7/24e5LmdZ79/0HeHpna7KWIwx+b8bHGKhaCxGJYOuoNBosXAzsV9UnQWPZarZfuzMWxJXS6qR3V0DLllYbOicxrJC2bDqT8EiVa0mwmkBb6tTc8vYis68pBYs4S0eMQNd+wEyFz7wQScyWqYw6qIr5wdGSdagiMAeZprndWikIVnxeGtK0R+apJt0XXgE9mwgUVoVGhSzbKXtM6hSHwwLOYvvfHQ3mfgYtIShXtWBqGTugP/1A8te4FlyJ5bahNyLu3EUNgf39dUocfY0CtRn24sawwyNTBMVeHX+JhvaPt3gqZk9bRC9u3nBV8NsH49lszl5xYj2nW/jXjM/08g1tB0Cw06RoVug88M8rfuPxVo0uf51iypCG1E6ctnKQ4Hm9LYf1PtxXVYE/xj0E0mNwNViS93EH1gVr2VxNbRXnvcKUG4l6PjmKXDQqHr1a7BWsIYKK+oCOA/xIs3LW0HAw7kIyZUDjCopOX25H1G5OTvlxRjsg6P4LcEdncwBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X3SGY8dRqSfzVvzAhENk2W",
      "input": {
        "note": "The pink bowl came up with the gripper, and the top view shows it lifted off the table. Carrying it left over the white-in-blue stack.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.365,
          "right_y": 0.27,
          "right_yaw": 0,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01X3SGY8dRqSfzVvzAhENk2W",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9089, 0.6338, -0.3634, -0.3401, -0.2546, 0.9958, 0.8795, 1.6844, 1.1633, -0.3183, 0.6636, 0.5152, 0.0388]\nstate[eef_state]: left_x=0.3022 left_y=-0.0506 left_z=0.1706 left_yaw=0.0368 left_pitch=-0.0273 left_roll=-0.0008 left_gripper=0.9958 right_x=0.3565 right_y=0.2658 right_z=0.1488 right_yaw=0.0532 right_pitch=-0.059 right_roll=-0.0507 right_gripper=0.0388\nstate[joint_eff]: [0.0205, -2.2085, 7.1863, 1.619, -0.188, -0.0366, -0.0073, 0.2667, -8.5402, 9.6342, 1.4774, 0.5836, 0.2027, 0.8327]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:867f5edfeb05e6270b182db31360e31d048059a6205f11a2dd47de0a6f33c72c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c50307886408078df7e36b758f0f3bc86c16bd14919cd6e5f338a2d1232c6665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e8cdae37ccc7f848cfd2dbcfaa2482c83c6eba52128f6c6a43f9c29ac042d14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 7.08 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9035, 0.6338, -0.3634, -0.3397, -0.2546, 0.9958, 0.5041, 1.689, 0.4736, 0.6338, 0.3943, 0.2878, 0.0367]\nstate[eef_state]: left_x=0.3019 left_y=-0.0506 left_z=0.1721 left_yaw=0.0364 left_pitch=-0.0225 left_roll=-0.0032 left_gripper=0.9958 right_x=0.3704 right_y=0.131 right_z=0.0374 right_yaw=0.0114 right_pitch=0.0359 right_roll=0.0551 right_gripper=0.0367\nstate[joint_eff]: [-0.3077, -1.8803, 6.9812, 1.6288, -0.1148, -0.0464, -0.0073, -0.253, -4.465, 3.7128, 0.5592, 0.3248, -0.3248, 0.9158]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9062, 0.6338, -0.3634, -0.3401, -0.2546, 0.9957, 0.6319, 1.3846, 0.8574, -0.1631, 0.4938, 0.3267, 0.0377]\nstate[eef_state]: left_x=0.302 left_y=-0.0505 left_z=0.1714 left_yaw=0.0367 left_pitch=-0.0249 left_roll=-0.0019 left_gripper=0.9957 right_x=0.3597 right_y=0.164 right_z=0.1565 right_yaw=0.0384 right_pitch=-0.0269 right_roll=-0.0187 right_gripper=0.0377\nstate[joint_eff]: [-0.2256, -2.1538, 7.0222, 1.6142, -0.1538, -0.0171, -0.0122, 0.1983, -7.8291, 9.306, 1.7558, 0.4371, 0.2613, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9089, 0.6338, -0.3634, -0.3401, -0.2546, 0.9958, 0.8795, 1.6844, 1.1633, -0.3183, 0.6636, 0.5152, 0.0388]\nstate[eef_state]: left_x=0.3022 left_y=-0.0506 left_z=0.1706 left_yaw=0.0368 left_pitch=-0.0273 left_roll=-0.0008 left_gripper=0.9958 right_x=0.3565 right_y=0.2658 right_z=0.1488 right_yaw=0.0532 right_pitch=-0.059 right_roll=-0.0507 right_gripper=0.0388\nstate[joint_eff]: [0.0205, -2.2085, 7.1863, 1.619, -0.188, -0.0366, -0.0073, 0.2667, -8.5402, 9.6342, 1.4774, 0.5836, 0.2027, 0.8327]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:867f5edfeb05e6270b182db31360e31d048059a6205f11a2dd47de0a6f33c72c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c50307886408078df7e36b758f0f3bc86c16bd14919cd6e5f338a2d1232c6665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e8cdae37ccc7f848cfd2dbcfaa2482c83c6eba52128f6c6a43f9c29ac042d14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSywcKEAgSGAI4AUIIdGhpbmtpbmcSDHfb4TF/FaKkajC5jRoMwPd6igiKx9BtEbcAIjCqG9MBBHJQzBQS/IBQGyN0vBW8PRImULOITF9zJo0RcLlI6SFysdxXvYfIr8zMIS0q6AbBqmnpEtNPClggEjXJVoCwQaxVYZ2cAW/5BmMtg+07vI+RnoQandFNTlplSDsDFOtrYlFAPAT5NUFU1JSBd91/AdHbas4ltyBMvgdAr40Y3Mzj4liylKJpU3810ckZtCiAJfzrT7Z6zUptNjebOnZBHw3A/BmaGN/cwtFgr3zuZYFyJwZJRqRexCISAv0xV0egW7H98mYvpsinIy6wScx4fjQ/g/Y/BmEDGiwGqkj7W18Y1OVXc6DtUeN6mzmpWwKEaEq82E3KxPHnk/zZokA38j9CEUpFlrOAwGHUHajQrmfhKqP7qytVC4U54Kqqy1MiAGz7zglw6fxeCJp87Zde9ljgJXsLaf9Ai7mLHBMPXdWfHok7XLGBawyVfhcZ6M4BQdZ3v4D6HmzpmkWY9rVAl6gyMKprJ2dcfdL7h7bd3srZ5C99+rOfbzaGz3n8vPEEH38d7zo+NZU1UJUcKd613A5Y5QP76VUJ3ZPJ/QpZA0Ym0pKmbHWF4stWmOVoS+J6flo2428zyYtekxIYJ5wp9M2NFIHyxdRyMpy9P8/b8B+lCxTO3DlslPaMzO5zUTrbkYzvZi+ymGD5DGmZFPNrv+LapXPYVzmGbRIzPNJ6UDgxuNSv0xMdCuc1QZwQn6C5kl7ldS6kwP4xX4eWJoY64oG0oB8gt5c/FFXzBvCr4rNzvBu2HUZBlb7kcDIPt2qjrAgOsqUpn2TYe2Qn9U1vMqRjY9a1QzXZnhE310PtBLjbHXc2hnR6h4cfxxier1UmrpDOh+xytSwMTl2GfnsnG4FXBh72A6Hcv/1bQctDr/HTewjT1M3JW/1HOBthYMGHwcChxVkzO4fmyVOBbII5Gx2l2yaBfQUIPXg/RnWxmR6nca4Ei7vHengfJlXIYwk9ftAYLnmkJ0Dvi907UGK/cpeDU6Dqw4gYaFlrDs4OYpr0nbUuVxWUlMT2UDM5Dxp1HSRGTghM03pw7pcKwap0uabevlsKc7UFOiBA5dC8WKPEMA/vwUM7/38Adofz6CUwXrzh9MrBkw3YAZlSUly/ZOn+o8ECMjA5hMSg2TDGFiOfziiDi43qdLZEjvcNJvWP06cfh1lIQtXYMlmT1ozBrtq6rF/wR7Tldre10MqqpDfzrBA4PGZ9PT0SLazwaWk8BcLtkXGv7hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0119gxfBaxLMD3gGYQ5Tbn9H",
      "input": {
        "note": "The pink bowl is almost over the stack, with the blue rim peeking out on its left in the top view. Nudging a bit further left and lowering it onto the stack.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.365,
          "right_y": 0.285,
          "right_yaw": 0,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0119gxfBaxLMD3gGYQ5Tbn9H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.91, 0.6338, -0.363, -0.3401, -0.2546, 0.9957, 0.91, 1.8553, 1.0573, -0.0811, 0.6937, 0.5671, 0.0408]\nstate[eef_state]: left_x=0.3023 left_y=-0.0506 left_z=0.1704 left_yaw=0.0368 left_pitch=-0.028 left_roll=-0.0005 left_gripper=0.9957 right_x=0.3561 right_y=0.2798 right_z=0.0734 right_yaw=0.0333 right_pitch=-0.0664 right_roll=-0.0537 right_gripper=0.0408\nstate[joint_eff]: [-0.3214, -2.0718, 7.0222, 1.6484, -0.1587, -0.0513, -0.0122, 0.2803, -8.9231, 6.2017, 1.3162, 0.5446, -0.0269, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c899673f2cfb0957bbf870f25a2cd55d5aba296da91d8052f40160f87f4dd3ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b689b37b306506a24d8a85c2177cd67cbed53e68f2c501a97aafad8f990d212",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1906dd44a4ae72d2ed74c705741db07ca9ab0f548020c817c6717179595e143f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 5.968 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9062, 0.6338, -0.3634, -0.3401, -0.2546, 0.9957, 0.6319, 1.3846, 0.8574, -0.1631, 0.4938, 0.3267, 0.0377]\nstate[eef_state]: left_x=0.302 left_y=-0.0505 left_z=0.1714 left_yaw=0.0367 left_pitch=-0.0249 left_roll=-0.0019 left_gripper=0.9957 right_x=0.3597 right_y=0.164 right_z=0.1565 right_yaw=0.0384 right_pitch=-0.0269 right_roll=-0.0187 right_gripper=0.0377\nstate[joint_eff]: [-0.2256, -2.1538, 7.0222, 1.6142, -0.1538, -0.0171, -0.0122, 0.1983, -7.8291, 9.306, 1.7558, 0.4371, 0.2613, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9089, 0.6338, -0.3634, -0.3401, -0.2546, 0.9958, 0.8795, 1.6844, 1.1633, -0.3183, 0.6636, 0.5152, 0.0388]\nstate[eef_state]: left_x=0.3022 left_y=-0.0506 left_z=0.1706 left_yaw=0.0368 left_pitch=-0.0273 left_roll=-0.0008 left_gripper=0.9958 right_x=0.3565 right_y=0.2658 right_z=0.1488 right_yaw=0.0532 right_pitch=-0.059 right_roll=-0.0507 right_gripper=0.0388\nstate[joint_eff]: [0.0205, -2.2085, 7.1863, 1.619, -0.188, -0.0366, -0.0073, 0.2667, -8.5402, 9.6342, 1.4774, 0.5836, 0.2027, 0.8327]",
      "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]: [-0.3714, 0.91, 0.6338, -0.363, -0.3401, -0.2546, 0.9957, 0.91, 1.8553, 1.0573, -0.0811, 0.6937, 0.5671, 0.0408]\nstate[eef_state]: left_x=0.3023 left_y=-0.0506 left_z=0.1704 left_yaw=0.0368 left_pitch=-0.028 left_roll=-0.0005 left_gripper=0.9957 right_x=0.3561 right_y=0.2798 right_z=0.0734 right_yaw=0.0333 right_pitch=-0.0664 right_roll=-0.0537 right_gripper=0.0408\nstate[joint_eff]: [-0.3214, -2.0718, 7.0222, 1.6484, -0.1587, -0.0513, -0.0122, 0.2803, -8.9231, 6.2017, 1.3162, 0.5446, -0.0269, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c899673f2cfb0957bbf870f25a2cd55d5aba296da91d8052f40160f87f4dd3ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b689b37b306506a24d8a85c2177cd67cbed53e68f2c501a97aafad8f990d212",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1906dd44a4ae72d2ed74c705741db07ca9ab0f548020c817c6717179595e143f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSxQsKEAgSGAI4AUIIdGhpbmtpbmcSDK49TpU9DfgyIFLdXhoMQIHee/5x5e9zvdtzIjCA38Poa4kJcr6rBogx615tF5jhrBK18SSEqU2x17n2npbe5fTq86LPZk2WCXbYcbQq4gpl5Cy8nVKntBcyhEYC5S3cRJfqMq+Qlnx/6/GM2LOTTFANyLHLrNx48jATxG9zTFb3AlG1knMAGPtksYDurIninicHdu0Pn+lEIfUsM4nMdwKm8fsVgrfnxUIyQOI4VTrieywASzudC+457LOrzleVhHTMPGxgQQRgZEINVUVHxGl0TncpbC/PHuHoqyp3YdoI+p8W9+bgB51Of/zmj83o7Cihkz1YXZNRD89X8Ep2fM7/a+ufZHrDiYjTtxlQNKvLDsp5JBjsOVRyYNOHh53iNe+1sVWo9x/kvt/ldQk76VrJb4H93UqjxUl53tcd0izI80BjsUo8gWCFAqP980oNXPyia4VgUjQoHKY2inis94Dci10ByCSdgy5QEAV1k8A9OiNS3wfY5HydbU1IZM6XBGKr8CneQjfNxEjtVgY2TXxwzFVQoztLNHAEEgcM/gp22d3aDfyhGsF+dVrEi6HBpWxVDQXabvdQ8D0SG4bc96mQ/fXLbSgsJBjjwkAIpybP/BEoJyChlsbCxyx/ISUAHjioK/1HtflZQmNefnaprTfGT3gficO5dwnDNDRivzLPsCcV0wof+6P6cayIh41V3K0DcQiuDB7VRnLvhyVRphikzCw34E6ieE47NtoRfPheq74m2V7YAU2fzknBHCMVAyiuyzuqD9Qrzqkx7bMG/aLXBPiX6twbo9QhH7mVQ9lCIbucLWAp83Mi2es5+M6JZEbP5tTEJ4Yv8PG0x6hWQeMr8zmBI010h9V3cL6ueC9UixER2ppfSdLz+E7GnK8L2LIh82BPMeg65/TBMzwWMd7o5ipL37HCP1RbGx/vuAflzAY9OJrSmPZtuQMSrkEZsPTgcGvAzmwRhfk7RdzmfXxOq5IAxUvPhoIYjLhODFwwAgWtqb+XIcd12Gemw++XXAL0M+dCfz4O1WeH7l89r2BdT8su1QFRdQG2LdfHiuK9RNuLZjkXXrbQJ7uoeKhAe1gcQTYsI+SQgs2H5di1nt5NRiA7USxbB4iW7X764ZIRxaeB9jKUk4NKcGxi8hZy16hw+SJpKNxYZf0kwjbfirY40syJ/6lqMnEcbIfW4kSaEEur26Y/3yG3ox72Y8OC4CEO+u/luFcVhDwvHB5Ce/tAAqF9942ZxeMF+z0uZ2oBH+H1chS+d2V6xz3uPq6PLz+bxUEEgQs15h/ftljGMMH4sfT/U8EDOU3AhAUwenTE/XRIsRCziCq/PDRBQSXv0TIvKNX4UV8jYTQkzSa8bNkoWFTRNgcfG3Y9Dzo9OIWFbSWmuCtx/NxsaV3tlLFJ92ttI5l9ZRMziFmuKDxPn1ukYHg/8wFv4uVu+Ix6W203FmEcM980BHy7D5tB2+jjC5lB7EjqCLDQ4D9hxACjSaS9a3LncaAsKvAqU5925abXGgopm5ejpJY7589d5/A1u+DIGZQmpq9l3gpxeG/ZaLmg90VUGOdsPj42ez/ofX6rstfOVHKSUvUg7A7jNb8lhh4pOSaT1giK5AJgNXoB5EbnFy/4ok4W/GrnXAfCxqd22qyDwqkUgmP841LjixmRYsUNCvs1WnZ261Dz57Ayc+EBUxvT2PsnrJOTxwlWtDwnZFPT+MZ6EDM6baG7smb3aPt0e3G9eTiC/9lj0CW1gkwLrEcGxa+eFZCjXj95JFmmcScI+/7n+Oakzuu32ZwDtkXHyZV1gJwY9vMNR0UmNnbd2fQDTrOy41Lxs1veEYnCtMlww7xoKoNNfolTL8gpVEcGnE+MEJf2xapsDlyCPlLHCx4TxD3rf5pk0uUXlDW7nSgEpl0LAuUb9zZm9NLq+W7M0NFgGiSF5oEVXsgv8TXUGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R3uZFvPo2r2Pwme3X3PTUX",
      "input": {
        "note": "The wrist view shows the white/blue stack sitting further forward than the pink bowl, so the pink one isn't centred yet. Lifting slightly and shifting forward about 4 cm to line it up.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.4,
          "right_y": 0.29,
          "right_yaw": 0,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01R3uZFvPo2r2Pwme3X3PTUX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.91, 0.6338, -0.363, -0.3401, -0.2546, 0.9958, 0.9127, 1.8778, 1.0496, -0.0101, 0.6998, 0.5766, 0.0409]\nstate[eef_state]: left_x=0.3023 left_y=-0.0506 left_z=0.1704 left_yaw=0.0368 left_pitch=-0.028 left_roll=-0.0005 left_gripper=0.9958 right_x=0.3605 right_y=0.2862 right_z=0.0713 right_yaw=0.0283 right_pitch=-0.0366 right_roll=-0.0173 right_gripper=0.0409\nstate[joint_eff]: [-0.1299, -1.853, 7.0222, 1.6484, -0.1343, -0.0171, -0.0073, -0.1709, -9.7162, 6.1607, 1.536, 0.569, 0.0952, 0.696]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f0f7314dfacfb9601b99cd4b964f8ad743e236266f871c2af97fcbd2447e1b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67256aebbbbea63aa1c7780a88873473ba554046b8a83f86ed882449bf3b9017",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69df168fce53d524824170a28d3ad0c517317790e592723a6fcf79fcc3986988",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 5.374 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9089, 0.6338, -0.3634, -0.3401, -0.2546, 0.9958, 0.8795, 1.6844, 1.1633, -0.3183, 0.6636, 0.5152, 0.0388]\nstate[eef_state]: left_x=0.3022 left_y=-0.0506 left_z=0.1706 left_yaw=0.0368 left_pitch=-0.0273 left_roll=-0.0008 left_gripper=0.9958 right_x=0.3565 right_y=0.2658 right_z=0.1488 right_yaw=0.0532 right_pitch=-0.059 right_roll=-0.0507 right_gripper=0.0388\nstate[joint_eff]: [0.0205, -2.2085, 7.1863, 1.619, -0.188, -0.0366, -0.0073, 0.2667, -8.5402, 9.6342, 1.4774, 0.5836, 0.2027, 0.8327]",
      "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]: [-0.3714, 0.91, 0.6338, -0.363, -0.3401, -0.2546, 0.9957, 0.91, 1.8553, 1.0573, -0.0811, 0.6937, 0.5671, 0.0408]\nstate[eef_state]: left_x=0.3023 left_y=-0.0506 left_z=0.1704 left_yaw=0.0368 left_pitch=-0.028 left_roll=-0.0005 left_gripper=0.9957 right_x=0.3561 right_y=0.2798 right_z=0.0734 right_yaw=0.0333 right_pitch=-0.0664 right_roll=-0.0537 right_gripper=0.0408\nstate[joint_eff]: [-0.3214, -2.0718, 7.0222, 1.6484, -0.1587, -0.0513, -0.0122, 0.2803, -8.9231, 6.2017, 1.3162, 0.5446, -0.0269, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.91, 0.6338, -0.363, -0.3401, -0.2546, 0.9958, 0.9127, 1.8778, 1.0496, -0.0101, 0.6998, 0.5766, 0.0409]\nstate[eef_state]: left_x=0.3023 left_y=-0.0506 left_z=0.1704 left_yaw=0.0368 left_pitch=-0.028 left_roll=-0.0005 left_gripper=0.9958 right_x=0.3605 right_y=0.2862 right_z=0.0713 right_yaw=0.0283 right_pitch=-0.0366 right_roll=-0.0173 right_gripper=0.0409\nstate[joint_eff]: [-0.1299, -1.853, 7.0222, 1.6484, -0.1343, -0.0171, -0.0073, -0.1709, -9.7162, 6.1607, 1.536, 0.569, 0.0952, 0.696]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f0f7314dfacfb9601b99cd4b964f8ad743e236266f871c2af97fcbd2447e1b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67256aebbbbea63aa1c7780a88873473ba554046b8a83f86ed882449bf3b9017",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69df168fce53d524824170a28d3ad0c517317790e592723a6fcf79fcc3986988",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlAkKEAgSGAI4AUIIdGhpbmtpbmcSDOxHzYF3iIIkGVFqmRoMVPCHex8pIK+391TNIjB16ONC1xlZwgjCbJ4nwA2umDJQIEuul6OS4GxkQQQbjMBifE3+KOr6BGlCbehHDSEqsQiDwCyOQ1Pd26y7e3wt0+Zn2orbzGvOsDd+ovv/3yB09VKjtT2Ca3DMJutoSSt3e7CmLc36dA3aY07jHokdX+CBKU/NWlJk8w829792b7UU3zK49IRqSEBFEpY2vgahYD73BPnY94GRl68Sy09W5mWlLOxEhQdrvad16G1Em04+4SZBUwwtQi0wPGvqRbkjrkOjKJESc8++5fY4DqL9lNwa6uspupCsXb5UUGjVJjcApq+HMEwcw1sQtTdP0PqJola+fYqy9Cjy1+dypcOXeLAAqfuP3a0DEq5iRqmrSYCRD/zYZzZXUFnQcHAQGaDr/MFtOZl+hyGjGKvi1MtL6GHS6R99VmN29N0t4OTN9foIcalh/5ZypFaHccqGyK+gIEgzq/gq9HR/KQgua5atcCATL6rfYLWVQ6YPDfs9oyaJdlxlbvd0DzD1fXtoL0mYv1tjiprzDGMUIbLV/7TWbp8gecMCpDeppYTBlYW2Sp7rinJmSQYKFT2HUE3K2Bn8JeWMhDgH8upFzxlpc5qSRa/0FeUJ+LHcSodwx0SLb7xqpGXnwvxr0lWHpoYQc6CGdd7JHnSbaBVYfW/bhAgAeeCdjJusFv9us1EgtCiLtvuKukuQvMuaMfxAG/VyNlqeaN8pE/4YqkN/+M5BHuynY1QBoUsDnNCPTrAiXgh//5WTcNjw+PDllMktZN9ojeSQOTMDxbWC/1GQSCn7KLpNo61HE/VFxBk3S6zNBzzzxSNF12oIUXeMC42SzlW/lBsGpA3nyT4lwaYD6C6CiW7tDQFwW4mgue2XbpBE0lXXuaWJhCFqH4myNkPEDOCwyCi3mgvsL9SR/dSIpBUQcuXfNQTyfGlNRMH8Z7dz6OPMiQ8VZfd5A10Y6nPHCjs0lUJdYOIK1aA5xwSWl7G7C8SacTAZHvaR0XXrm258kVn8A7oC9Z3IbbUx1KC8skwhib13iCXX6addjbJsjmEXYgbnNc0fj4vgOK/N+uf1ez+u0xD1wKuGJDvVZVs+Rpd8EFXzR89qUVDVZChpOqNn4uflNIJ3c8Un2bP50MQQo3TVlvvNoOvRsV6wCF91w/vf2LLbx6q04qGis+eRxhCAk32rZqBeWHShn8cVc06Abf7Auu28Um9zrLMj7we32n5ceMpqiw1INJZgiC9U6BXyG9OXiD+WYuzBK15hXgfxrHNt9pVJ21K01130h0e1M61DWqnD1tQO9RHcJ3Ot52q9QUthIPWZ/FM++YVtGlO8vi3tv2vfFP+J64A2Pd+CDGQb2fGU3PDXgH1SUv5zFrrKVmDQ6RXpOdir4mJSGyA/XlIBLQ/zJCMrcZU3EbRaSdcSCqpVL8HWcD2pmF6aTGoNexI+LRtNhqO90KF0pVT4WbOKPcxaeD0AOM3ZhwSYhoc1d/r5ANrdv2+F7erRU4XFSDyM3d9ZFRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017ieA3i2QVvjsTQpaD14bBY",
      "input": {
        "note": "The right arm stalled again; the pink bowl is sitting just nearer the base than the white/blue stack. Lifting clearly to get the arm tracking before repositioning over the stack.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.38,
          "right_y": 0.27,
          "right_yaw": 0,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_017ieA3i2QVvjsTQpaD14bBY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.91, 0.6338, -0.3634, -0.3397, -0.2546, 0.9958, 0.8928, 1.8492, 1.1179, -0.1349, 0.6781, 0.5514, 0.0408]\nstate[eef_state]: left_x=0.3023 left_y=-0.0507 left_z=0.1703 left_yaw=0.0365 left_pitch=-0.0285 left_roll=-0.0006 left_gripper=0.9958 right_x=0.3655 right_y=0.2829 right_z=0.0888 right_yaw=0.0358 right_pitch=-0.0676 right_roll=-0.0486 right_gripper=0.0408\nstate[joint_eff]: [-0.2256, -1.9897, 7.0359, 1.6435, -0.1636, -0.0562, -0.0122, -2.0991, -18.2496, 13.2991, 2.3223, 0.5201, 0.149, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3afe4dcac8dd6c0937da0bb99035d65d424c42a31befade37aa71a071e4490c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7126267ace2daba9ef9d5560de5b1ed118a99a6b0d8300b2e8d035c6813aa910",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a7c5cf379f7d9cb4031c4a4f9ee861211c24aa4c5e251108144f12a6aacb8a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 9.036 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.91, 0.6338, -0.363, -0.3401, -0.2546, 0.9957, 0.91, 1.8553, 1.0573, -0.0811, 0.6937, 0.5671, 0.0408]\nstate[eef_state]: left_x=0.3023 left_y=-0.0506 left_z=0.1704 left_yaw=0.0368 left_pitch=-0.028 left_roll=-0.0005 left_gripper=0.9957 right_x=0.3561 right_y=0.2798 right_z=0.0734 right_yaw=0.0333 right_pitch=-0.0664 right_roll=-0.0537 right_gripper=0.0408\nstate[joint_eff]: [-0.3214, -2.0718, 7.0222, 1.6484, -0.1587, -0.0513, -0.0122, 0.2803, -8.9231, 6.2017, 1.3162, 0.5446, -0.0269, 0.6764]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.91, 0.6338, -0.363, -0.3401, -0.2546, 0.9958, 0.9127, 1.8778, 1.0496, -0.0101, 0.6998, 0.5766, 0.0409]\nstate[eef_state]: left_x=0.3023 left_y=-0.0506 left_z=0.1704 left_yaw=0.0368 left_pitch=-0.028 left_roll=-0.0005 left_gripper=0.9958 right_x=0.3605 right_y=0.2862 right_z=0.0713 right_yaw=0.0283 right_pitch=-0.0366 right_roll=-0.0173 right_gripper=0.0409\nstate[joint_eff]: [-0.1299, -1.853, 7.0222, 1.6484, -0.1343, -0.0171, -0.0073, -0.1709, -9.7162, 6.1607, 1.536, 0.569, 0.0952, 0.696]",
      "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]: [-0.3714, 0.91, 0.6338, -0.3634, -0.3397, -0.2546, 0.9958, 0.8928, 1.8492, 1.1179, -0.1349, 0.6781, 0.5514, 0.0408]\nstate[eef_state]: left_x=0.3023 left_y=-0.0507 left_z=0.1703 left_yaw=0.0365 left_pitch=-0.0285 left_roll=-0.0006 left_gripper=0.9958 right_x=0.3655 right_y=0.2829 right_z=0.0888 right_yaw=0.0358 right_pitch=-0.0676 right_roll=-0.0486 right_gripper=0.0408\nstate[joint_eff]: [-0.2256, -1.9897, 7.0359, 1.6435, -0.1636, -0.0562, -0.0122, -2.0991, -18.2496, 13.2991, 2.3223, 0.5201, 0.149, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3afe4dcac8dd6c0937da0bb99035d65d424c42a31befade37aa71a071e4490c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7126267ace2daba9ef9d5560de5b1ed118a99a6b0d8300b2e8d035c6813aa910",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a7c5cf379f7d9cb4031c4a4f9ee861211c24aa4c5e251108144f12a6aacb8a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSqgkKEAgSGAI4AUIIdGhpbmtpbmcSDDtzx97koxSLEgPNwhoM5tDFOFW3aaqg4hkZIjBKHyRIk+rIZmXd6RcQc65nvy6/gsqAeXDWrKkgoIDDEdr+umhIivHPjNZA6KDxPuoqxwhUwClyUDjwvVj/hosqsZnz+DJSH/1CZHJWBIqpYqj1YvvFnDNt/ogQTfS/Jp2T/AfAB5FqZvebzGy0446eJPtklX1sQ1lnEQ1OgPaamDEV4AGl7q3KUKw6W4JzDzYmy950uZMyt9LDi0/AVkiM348MnJg9y2v/vJFXXo0NshTGJBpcgoPYEOwqPQE80MiqQ/qYpYGzTY7fFgtW48R2n8pyLyC61XPOBcUPGSqVBtxdOMQur2hAwsoZB7G8iJuwjfVF9zKrz91g/2jDO54JiQlEY+faBjvUzlrF7uscBSGoN7716LUlL3hyYwBhg43NoT+3NeXV8uDjXrqrIbOHBYj/E7ytlNftm+i8Xi6/tCvtSUSs9njQDasZvDDvUhqMWUqGxtBqm4QgOS8xvZIB4vJoc4cu6oEMGPGqOtZNqJ+/jx3d3skhLNOfPW4EmwuCbAqDXPaeh+qY9NwnSX0e8lvUlMt6K1COOrMjLsbu3gcBxxUCisQWYgy2kRUbEjd/HdRzB+p8HPBQqckCjwnRCIEEbczYDwKojU/mzGeKl4RNwH67c8C5sQjzppfRlLhWp3yXvsCkeP8DIppBnx91nyhaAskcuQDWH98GuH0v8I0H+OYRul9RKQ468UQxRMum87hIUi/wR7XzI8wC65ZWLxzBjVrkyHj0rw8wpaFnDcOK2mGJpphOPxD5rhcMPaJgv+uZm8kI+yH5w9tHnuJawvS1MzVMuzjsoX3+SKg0kwR+pPtZh4bga/sTaZ3m71g0VlPlnRE2AVUQJLIhtmB8uy9g336p15yK5t0wyW6h5W6e8A1J0PIbXagqaa241IQZnp0CpxqF+0gVfnVa3/c6vTw4IX93ekQdxBIPu53nD1B54Mi5gJLjvoa6NRqQSAwJNyqDGY4q7YBnCG6fpi9weZUIs3yyImB5Gf5vL+2HWuYTMM7+DKDaK6R7LyLdx+KJH69hDyRp8HseMLqm+G+hUK3Ad+ESO2rKkrbmOYTVw2bE6ThSBKYwYgIN+vM9ygJjLKezFiMUXH78UI4i46wEXBgfZZN+ng4kXGb3f9BzUeNqSXuoUJ96nrCKyJ6iYgEQ/+kLELWTdu/4r41ichBCYnLovKZj1RHv8whb6LBwDWVAQKWgfAXgKtGeqP0CyZke+jpFu8+p/4E7qHN6r+x5TtVUkfJZD7RtSnIBeTXojew7oq3v6zj+TarE1rH3Ei0kp7LMDIwp3q/qh3VvQIKiJOcfxToio+SuIew+yO/SpVW1BuViDi9UwQT5tClEEOPWRnwMw2oqC7efkINTcuJ1NK4YvYrR+OGXHSJapv3L1mlf49pWYP2zhtxk7iA/1j4FkEvkUKgY0bpGILMTh5/pnvRaC7p2WqS+Q5ffUK6BRe7YSFzYaVERijSAzW48S4L4bypGlJQo0XTPsyO7wvUx/X011KFFv7QPIoWviDH22+HgTNfjk8pKGrIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SMgeKqR8NvXG2XbWqBp4my",
      "input": {
        "note": "The shoulder is straining (effort -18) and the arm won't lift, so the pink bowl may be snagged on the stack's rim. Backing away toward the base while lifting to free it.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.33,
          "right_y": 0.27,
          "right_yaw": 0,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SMgeKqR8NvXG2XbWqBp4my",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9108, 0.6338, -0.363, -0.3401, -0.2546, 0.9958, 0.973, 1.7111, 1.0451, -0.2707, 0.7136, 0.6044, 0.0401]\nstate[eef_state]: left_x=0.3023 left_y=-0.0507 left_z=0.1701 left_yaw=0.0368 left_pitch=-0.0287 left_roll=-0.0002 left_gripper=0.9958 right_x=0.3218 right_y=0.2736 right_z=0.1053 right_yaw=0.0596 right_pitch=-0.0888 right_roll=-0.0786 right_gripper=0.0401\nstate[joint_eff]: [-0.3214, -2.0581, 7.0085, 1.6484, -0.1636, -0.0562, -0.0171, -0.7726, -12.3829, 8.0752, 1.8974, 0.652, 0.2662, 0.5104]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e6900849ca271c05f5c70bded3300c7e317642a6790d33225e3b3672b63758b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:396d6b9027927d5e043f6d02b29914d29a52bf9eeb540ad505ac20e4640f8e84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7767e45827531aa8118c686f19e10ca70af5d36262ce4eadb0b54b3a922a4a0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 5.025 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.91, 0.6338, -0.363, -0.3401, -0.2546, 0.9958, 0.9127, 1.8778, 1.0496, -0.0101, 0.6998, 0.5766, 0.0409]\nstate[eef_state]: left_x=0.3023 left_y=-0.0506 left_z=0.1704 left_yaw=0.0368 left_pitch=-0.028 left_roll=-0.0005 left_gripper=0.9958 right_x=0.3605 right_y=0.2862 right_z=0.0713 right_yaw=0.0283 right_pitch=-0.0366 right_roll=-0.0173 right_gripper=0.0409\nstate[joint_eff]: [-0.1299, -1.853, 7.0222, 1.6484, -0.1343, -0.0171, -0.0073, -0.1709, -9.7162, 6.1607, 1.536, 0.569, 0.0952, 0.696]",
      "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]: [-0.3714, 0.91, 0.6338, -0.3634, -0.3397, -0.2546, 0.9958, 0.8928, 1.8492, 1.1179, -0.1349, 0.6781, 0.5514, 0.0408]\nstate[eef_state]: left_x=0.3023 left_y=-0.0507 left_z=0.1703 left_yaw=0.0365 left_pitch=-0.0285 left_roll=-0.0006 left_gripper=0.9958 right_x=0.3655 right_y=0.2829 right_z=0.0888 right_yaw=0.0358 right_pitch=-0.0676 right_roll=-0.0486 right_gripper=0.0408\nstate[joint_eff]: [-0.2256, -1.9897, 7.0359, 1.6435, -0.1636, -0.0562, -0.0122, -2.0991, -18.2496, 13.2991, 2.3223, 0.5201, 0.149, 0.7155]\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]: [-0.3714, 0.9108, 0.6338, -0.363, -0.3401, -0.2546, 0.9958, 0.973, 1.7111, 1.0451, -0.2707, 0.7136, 0.6044, 0.0401]\nstate[eef_state]: left_x=0.3023 left_y=-0.0507 left_z=0.1701 left_yaw=0.0368 left_pitch=-0.0287 left_roll=-0.0002 left_gripper=0.9958 right_x=0.3218 right_y=0.2736 right_z=0.1053 right_yaw=0.0596 right_pitch=-0.0888 right_roll=-0.0786 right_gripper=0.0401\nstate[joint_eff]: [-0.3214, -2.0581, 7.0085, 1.6484, -0.1636, -0.0562, -0.0171, -0.7726, -12.3829, 8.0752, 1.8974, 0.652, 0.2662, 0.5104]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e6900849ca271c05f5c70bded3300c7e317642a6790d33225e3b3672b63758b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:396d6b9027927d5e043f6d02b29914d29a52bf9eeb540ad505ac20e4640f8e84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7767e45827531aa8118c686f19e10ca70af5d36262ce4eadb0b54b3a922a4a0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0135yFUhRgqw5XxZy6FHmGBD",
      "input": {
        "note": "The pink bowl is free now. The top view shows the stack further forward and a bit right of the pink bowl, so it may have been nudged. Moving the pink bowl up and over the stack's new position.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.4,
          "right_y": 0.235,
          "right_yaw": 0,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_0135yFUhRgqw5XxZy6FHmGBD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9112, 0.6338, -0.363, -0.3401, -0.2543, 0.9958, 0.9714, 1.6867, 1.0451, -0.281, 0.7448, 0.6292, 0.0398]\nstate[eef_state]: left_x=0.3024 left_y=-0.0507 left_z=0.17 left_yaw=0.0366 left_pitch=-0.0291 left_roll=0.0002 left_gripper=0.9958 right_x=0.3235 right_y=0.2676 right_z=0.1164 right_yaw=0.0257 right_pitch=-0.0592 right_roll=-0.0624 right_gripper=0.0398\nstate[joint_eff]: [-0.3214, -2.0034, 7.0222, 1.6874, -0.1538, -0.0073, -0.0122, -0.335, -10.4137, 7.6239, 1.5018, 0.525, 0.1685, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0989e11d78d2188097e100dd9a0c763c117c80f27241866b8cd474d8d7452ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a54217060922da58c7b3f201e70e8b8a1f4a8ecbeb69d795715255e2df9bdc47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2c5d86d140379c365d2142929c2ae35da16a7726e457ab049851bb7740715ce0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 4.224 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.91, 0.6338, -0.3634, -0.3397, -0.2546, 0.9958, 0.8928, 1.8492, 1.1179, -0.1349, 0.6781, 0.5514, 0.0408]\nstate[eef_state]: left_x=0.3023 left_y=-0.0507 left_z=0.1703 left_yaw=0.0365 left_pitch=-0.0285 left_roll=-0.0006 left_gripper=0.9958 right_x=0.3655 right_y=0.2829 right_z=0.0888 right_yaw=0.0358 right_pitch=-0.0676 right_roll=-0.0486 right_gripper=0.0408\nstate[joint_eff]: [-0.2256, -1.9897, 7.0359, 1.6435, -0.1636, -0.0562, -0.0122, -2.0991, -18.2496, 13.2991, 2.3223, 0.5201, 0.149, 0.7155]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9108, 0.6338, -0.363, -0.3401, -0.2546, 0.9958, 0.973, 1.7111, 1.0451, -0.2707, 0.7136, 0.6044, 0.0401]\nstate[eef_state]: left_x=0.3023 left_y=-0.0507 left_z=0.1701 left_yaw=0.0368 left_pitch=-0.0287 left_roll=-0.0002 left_gripper=0.9958 right_x=0.3218 right_y=0.2736 right_z=0.1053 right_yaw=0.0596 right_pitch=-0.0888 right_roll=-0.0786 right_gripper=0.0401\nstate[joint_eff]: [-0.3214, -2.0581, 7.0085, 1.6484, -0.1636, -0.0562, -0.0171, -0.7726, -12.3829, 8.0752, 1.8974, 0.652, 0.2662, 0.5104]\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 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9112, 0.6338, -0.363, -0.3401, -0.2543, 0.9958, 0.9714, 1.6867, 1.0451, -0.281, 0.7448, 0.6292, 0.0398]\nstate[eef_state]: left_x=0.3024 left_y=-0.0507 left_z=0.17 left_yaw=0.0366 left_pitch=-0.0291 left_roll=0.0002 left_gripper=0.9958 right_x=0.3235 right_y=0.2676 right_z=0.1164 right_yaw=0.0257 right_pitch=-0.0592 right_roll=-0.0624 right_gripper=0.0398\nstate[joint_eff]: [-0.3214, -2.0034, 7.0222, 1.6874, -0.1538, -0.0073, -0.0122, -0.335, -10.4137, 7.6239, 1.5018, 0.525, 0.1685, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0989e11d78d2188097e100dd9a0c763c117c80f27241866b8cd474d8d7452ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a54217060922da58c7b3f201e70e8b8a1f4a8ecbeb69d795715255e2df9bdc47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c5d86d140379c365d2142929c2ae35da16a7726e457ab049851bb7740715ce0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6QgKEAgSGAI4AUIIdGhpbmtpbmcSDL3b/FvyflK4ZyGIthoMEf2VoZ6TEwQLX34pIjBIyxoHemWyZShwOiHnDg2hzyI0qRbNGlrizUzAp8C6z7E2VAf3/JvXrNQmf6x3oOYqhggcwQ+gq76Wgktka8N46g0O6iRgaFf8yRfG/jMOetKr1o7F0kLCTF87s6kazgWQTg9N+f2aDAv7SR3Mqbt6vIVgumyiNNQ66gsc8/Z79QWEKe3W0qMJdqRMX2OvZy4UvkSubeuLuV+SXhTlXPDdHRg7LUaK0ZPeEM/RzN7XXAJRridBEyVNL/vZR01+3Q1+agJA/j6pmJLO2XBrqisbWc72zCyLboUQ09xIvOzvJrDhOF8yjPLl2XkS1j+k4uFDlZuhYgr+L3UZYo93TSj789F7Jf/au5+tE3rS8vhkSsasN7agq5hRBgVl8MihpcX2e2tLdrbJar5+kgKefPanUEnInl+R53AAqq5tU+v/YWldkIz29bpPHRvaGPR0OnLNduzOlAZFjukMZaayPVMHOwFYtvOIikOtwRze7tudxtWBZ5w772OiSFRyW1yOOp4VI/7IEe8HqWxW7KyT0ODRJkXeVYuX45XeRzWjfiTvgJiYNJbJLQORkPWlaIglCd+O+DksEc8FISYyowO+aaRorY0tYcqrIkg/4PgRJK5QnPX1UqcvpcylxYtQDS6p46D5311+PYkuxyYUSnA8g0lkYcBnDXvaDdGeU9UfTVBXNx4Dc+xmJ40bGXyq/cCn8HtLHgNsc4/GgiRRmC0mKHnrgqDCpkN0PdUZJDCjLY4zJOwK2rTLBz/pzxPqywXtDYTJuifecw51BfLCnEN4XIdqPgIEF/dl38VhKUtCJ3L9mOzGQF7mECN0xPdWZANebfd8FhrO2c+BOQTpj9fvbTKJ+jmGG3hhwmxfjJIN/omrz+euvs47uW4IQh1jmdD3x1cKwGuTqmp9nIbbkycJKDk/i+Cbl+LlxUmAkeVhVWDN2WB2ItfLwe13J3ILuBfABY7JW30r+M1Qwahjqkql+oc4MkNNxcm5Fbj+5eWaNUscj+JN3nXalpp4+V4VSk6IW61U5/d3f6KwobZyk+GYvni7gMO/tZiTqrXQxk90t66aTPOil++DOGjwl++KU9erzawmrSq7/xSjHxpQNxicfoCGusipW92Sar7oZxJhOuJQliQhpU/wcQAiLBHFf/6cw2Z2eMBI+IGTZsbgZKlmkUuzUDr1AtFRiW8Y3SY0beF+giZDZh3PFaUiFAtyRzGdddnRqtE0tIgfLVyl2Xcw9lTpe0VUl2i+iX0DxdVusqAQvjD2wEGk7ncQytl4FRaLxTF9ZoJZRaWyjDXeb7DtNztK0NfsLE/8oQu8+RaIkXOk+fPLC5q+wQQGa8zLWo/68wrusuPP+oScyy9Wn+TrABVdC+qcvqrXoB9se13dTAd74MCxmQWnIt9xYuv+G7VmGrJQFPkHI5ZTs3KGc+YHzEJfJKEZsnzXcdZ5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H77WXmkDYNcvT6oVPdJruq",
      "input": {
        "note": "The right arm barely moved and is still holding the pink bowl near the stack. Sending a larger target (higher up and forward over the stack) so it actually tracks.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.41,
          "right_y": 0.23,
          "right_yaw": 0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01H77WXmkDYNcvT6oVPdJruq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9119, 0.6338, -0.3634, -0.3401, -0.2546, 0.9958, 0.7357, 1.6569, 1.4185, -0.5117, 0.5964, 0.4259, 0.0426]\nstate[eef_state]: left_x=0.3024 left_y=-0.0507 left_z=0.1698 left_yaw=0.0368 left_pitch=-0.0301 left_roll=0.0004 left_gripper=0.9958 right_x=0.4002 right_y=0.2333 right_z=0.2282 right_yaw=0.0089 right_pitch=-0.0311 right_roll=-0.0269 right_gripper=0.0426\nstate[joint_eff]: [-0.3624, -2.0308, 7.0769, 1.5995, -0.1587, -0.0171, -0.0171, -1.388, -7.8291, 10.0171, 1.6923, 0.3492, 0.2125, 0.5885]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4230a0109545892e54b4626dc09d24228dda0f4f8a89df8eda58c7c98c4f00fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6ace064fcbb64a77b6c8ec512a0ce6f845964df088d83a1d5e527102654824d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd240029a1c878cb7fb42811c79e61f601945c1ffd888893073c0bc93d276936",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /messages · status 200 · 4.053 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9108, 0.6338, -0.363, -0.3401, -0.2546, 0.9958, 0.973, 1.7111, 1.0451, -0.2707, 0.7136, 0.6044, 0.0401]\nstate[eef_state]: left_x=0.3023 left_y=-0.0507 left_z=0.1701 left_yaw=0.0368 left_pitch=-0.0287 left_roll=-0.0002 left_gripper=0.9958 right_x=0.3218 right_y=0.2736 right_z=0.1053 right_yaw=0.0596 right_pitch=-0.0888 right_roll=-0.0786 right_gripper=0.0401\nstate[joint_eff]: [-0.3214, -2.0581, 7.0085, 1.6484, -0.1636, -0.0562, -0.0171, -0.7726, -12.3829, 8.0752, 1.8974, 0.652, 0.2662, 0.5104]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9112, 0.6338, -0.363, -0.3401, -0.2543, 0.9958, 0.9714, 1.6867, 1.0451, -0.281, 0.7448, 0.6292, 0.0398]\nstate[eef_state]: left_x=0.3024 left_y=-0.0507 left_z=0.17 left_yaw=0.0366 left_pitch=-0.0291 left_roll=0.0002 left_gripper=0.9958 right_x=0.3235 right_y=0.2676 right_z=0.1164 right_yaw=0.0257 right_pitch=-0.0592 right_roll=-0.0624 right_gripper=0.0398\nstate[joint_eff]: [-0.3214, -2.0034, 7.0222, 1.6874, -0.1538, -0.0073, -0.0122, -0.335, -10.4137, 7.6239, 1.5018, 0.525, 0.1685, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9119, 0.6338, -0.3634, -0.3401, -0.2546, 0.9958, 0.7357, 1.6569, 1.4185, -0.5117, 0.5964, 0.4259, 0.0426]\nstate[eef_state]: left_x=0.3024 left_y=-0.0507 left_z=0.1698 left_yaw=0.0368 left_pitch=-0.0301 left_roll=0.0004 left_gripper=0.9958 right_x=0.4002 right_y=0.2333 right_z=0.2282 right_yaw=0.0089 right_pitch=-0.0311 right_roll=-0.0269 right_gripper=0.0426\nstate[joint_eff]: [-0.3624, -2.0308, 7.0769, 1.5995, -0.1587, -0.0171, -0.0171, -1.388, -7.8291, 10.0171, 1.6923, 0.3492, 0.2125, 0.5885]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4230a0109545892e54b4626dc09d24228dda0f4f8a89df8eda58c7c98c4f00fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6ace064fcbb64a77b6c8ec512a0ce6f845964df088d83a1d5e527102654824d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd240029a1c878cb7fb42811c79e61f601945c1ffd888893073c0bc93d276936",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1gcKEAgSGAI4AUIIdGhpbmtpbmcSDLnf1QFE0tj+9kAWABoM/RAB2oonDnTKn/h+IjD3Uwye5NTSOyubHE9jk7l6b27qbs99u74EZ0gTNhV0w5YtKssyNxtMbYKaDiXSK/sq8wYXWqGzNmIlUYSrtfvjQ7tRsVz6kKWixsvuiv3/Ovfw9BbeLmOW0AwPGhUTVI87C1MxFNWWoKYG16MpgUQi1iGZXjx3y12YBY+b8NNjYMR1nh2Giv467+uUj00ijfsyb7/znX9RqXdFmzrPM4TC57DWjCbX2djX1QdegP3eGa0+Yc7FdNKRRFShKpE3d34cKlS7mUuzrRaSC9ntO1ojYSwXa/Of1aGFBfqLGMVmcTthr92Bp+9m+b/jMF3DLAzWroLmcnc/rdk65cW/rOyG++PWJ4cV9zHzxYYmXa/iA0rcGmFUMK2fSStdeSa7nt8mczKV02JrN9e5DQ3ised4b34TANgh1gzO2flpH82g+SWo7qD62op1hJYRuhreNQV+EUiTn/sAtkLYRgtJawreai1eB+quL9RwlBnMQt2lZRqhRG9X3u6jaF3bW8OlcMPLnE89JzWN5KgS862iIhWONO/rhB7x98HlS6EyfdNmBeotmwTAUIAhyVzyHTNk5nH+B5i+JE3NBqFocD5LwRG/bNurwUata2LCtXq6ACn8HzT40C5V5U74eTBcfQWROlYDVvABSRtwC7CaHL33cTUhEh9tW12uNfDlUO/r3IC6bvc9pcJD2zGikOfMCr+d/GSc03akNjWHBPzQRQHCzGA937kaGpITTrbIURTbROIX1/6QFP71ueKvxyfD4iEpjcfLZK1HklFeL2Y4O900eyoEX5VShT+vT2Kxu42093R0jrM6yw3o+ZW0V+KVRFlH48NT1OgOagu9j6ybHDXr45HFxaQvWP3D+/AxxDb/dsJhBjgK5Io2+8qHonIfmthFUK/MhFmRluZeYmIeROwnhgGohIasDNYLVfQdQ67GcuO3ci8TnwGYIo28e+sH1tzDoM8w2Xj8GpZz6zeJx3O6D3sYaVJGiiMvHQaghu0N/SY88TQNILQM34ggDePmXL/ttwMC+UeZ/HyQQSACxdnBZeXoVgEN2jCTCLkyOPZ2//YesM6cDv2lM/8JPFeNfszGn6exD1ob1tiZtypNMD7140KwhfrBnGznf1tj+JtquQEHCf3BwqClBQfOofK1YNbpN7k8l4rKV+T7Fzq3P7mnBokbSKb+BPHRYXluI+TFQN9Nwn0XuNLPKU8alqmXunlgHWK6GYKnzkEW4naenAU8lkzGfgyM7QLBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UJUXXtHt7nLFegpFtgJ3hZ",
      "input": {
        "note": "The pink bowl now fully hides the stack in the top view, so it's centred over it. Lowering it onto the stack.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.4,
          "right_y": 0.235,
          "right_yaw": 0,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01UJUXXtHt7nLFegpFtgJ3hZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9119, 0.6338, -0.3634, -0.3401, -0.2546, 0.9958, 0.7395, 1.8248, 0.9627, 0.1097, 0.5892, 0.4358, 0.0436]\nstate[eef_state]: left_x=0.3024 left_y=-0.0507 left_z=0.1698 left_yaw=0.0368 left_pitch=-0.0301 left_roll=0.0004 left_gripper=0.9958 right_x=0.3961 right_y=0.2332 right_z=0.0724 right_yaw=0.0128 right_pitch=-0.036 right_roll=-0.0165 right_gripper=0.0436\nstate[joint_eff]: [-0.1846, -2.0308, 6.9949, 1.6044, -0.149, -0.0464, -0.0171, 0.1573, -7.9795, 5.6821, 1.6093, 0.4274, -0.1197, 0.5934]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf0f9b2d7538b3f03ea8cd0e8f421bb73a1a605bff04e59d64953bc5bac140f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f23340bd4d38ef3971d5d3f78badbeecb0172406d229033fa8cc2052a84a0c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e35c694c36798c9fc8cd961e8c2d97f610cb0c6bc4aac6f2f0dea7392440e5c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /messages · status 200 · 11.72 s

model: claude-opus-5-5
effort: medium
temperature: n/a
tool count: 3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9112, 0.6338, -0.363, -0.3401, -0.2543, 0.9958, 0.9714, 1.6867, 1.0451, -0.281, 0.7448, 0.6292, 0.0398]\nstate[eef_state]: left_x=0.3024 left_y=-0.0507 left_z=0.17 left_yaw=0.0366 left_pitch=-0.0291 left_roll=0.0002 left_gripper=0.9958 right_x=0.3235 right_y=0.2676 right_z=0.1164 right_yaw=0.0257 right_pitch=-0.0592 right_roll=-0.0624 right_gripper=0.0398\nstate[joint_eff]: [-0.3214, -2.0034, 7.0222, 1.6874, -0.1538, -0.0073, -0.0122, -0.335, -10.4137, 7.6239, 1.5018, 0.525, 0.1685, 0.7741]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9119, 0.6338, -0.3634, -0.3401, -0.2546, 0.9958, 0.7357, 1.6569, 1.4185, -0.5117, 0.5964, 0.4259, 0.0426]\nstate[eef_state]: left_x=0.3024 left_y=-0.0507 left_z=0.1698 left_yaw=0.0368 left_pitch=-0.0301 left_roll=0.0004 left_gripper=0.9958 right_x=0.4002 right_y=0.2333 right_z=0.2282 right_yaw=0.0089 right_pitch=-0.0311 right_roll=-0.0269 right_gripper=0.0426\nstate[joint_eff]: [-0.3624, -2.0308, 7.0769, 1.5995, -0.1587, -0.0171, -0.0171, -1.388, -7.8291, 10.0171, 1.6923, 0.3492, 0.2125, 0.5885]\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 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9119, 0.6338, -0.3634, -0.3401, -0.2546, 0.9958, 0.7395, 1.8248, 0.9627, 0.1097, 0.5892, 0.4358, 0.0436]\nstate[eef_state]: left_x=0.3024 left_y=-0.0507 left_z=0.1698 left_yaw=0.0368 left_pitch=-0.0301 left_roll=0.0004 left_gripper=0.9958 right_x=0.3961 right_y=0.2332 right_z=0.0724 right_yaw=0.0128 right_pitch=-0.036 right_roll=-0.0165 right_gripper=0.0436\nstate[joint_eff]: [-0.1846, -2.0308, 6.9949, 1.6044, -0.149, -0.0464, -0.0171, 0.1573, -7.9795, 5.6821, 1.6093, 0.4274, -0.1197, 0.5934]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf0f9b2d7538b3f03ea8cd0e8f421bb73a1a605bff04e59d64953bc5bac140f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f23340bd4d38ef3971d5d3f78badbeecb0172406d229033fa8cc2052a84a0c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e35c694c36798c9fc8cd961e8c2d97f610cb0c6bc4aac6f2f0dea7392440e5c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1AgKEAgSGAI4AUIIdGhpbmtpbmcSDDbleTWZhRi0yV0o7xoM89flEQohBuHA9k7oIjB/RBOdhpCKPT5FoE3WXq0v3854N9MhMl0yJZgHBwM52iVlQdkHgLY4qxAqq2ODxoEq8Qd+k/noywgQeyCJBtRYBaMmbAxRGB0zH8EyDgr4RmubOWicu0vFkRUShUvFAj40g42iUv++56OGgCqO9pxayHfjG/21FxidUNyF0YWmjcGFFcBp8uOC8PRxmxMKUOkXNQ5TIWwcvCU18hr5R/T+mMOtkjP3eypTHM1lJLI8zs8M1No6gJcAh6cTQtXmB0Z1paFYOn9skkBnpIqhrd2dHicMkYwohnAFRTY+xTiLM3NgDzfDCg+u0vktUcpW0Sf2E+ZV42+/Dq3OYBJytmbKHWbcrYlQ3gO3GNrq3XbN2SGpjxKKIrfzbXdTm15R1Q1cTKMBmBfIaa2Ke/R4ZMhf7USIL1BPnwCl4urDun9V9cykmIhvuo+KA5HoEp3TQrACKqVAKJPe99B2wSSpoPNZLsw/7reQAsIZrXI2axvyKas2FwhozzDwzHIbhFlgpX0Riih1TAWA5sXFzS7rXJayoYbuizNb9l3iK5WEPJCRDZ1l8Pz6/VtQoTbUHoClQ5ha14qWya6L9c4ac24AWTMASIus59on8OhxNOs5pMAkJo9R62bLuFZkNahqiBU0OybE2XWtAH1nItnAD0pFPWcyFc7YZDMjlQXIIY2kzSCuAhWCUP3gMtYL6l+neN9eFdsoZDNf9iSvCMAqR1RArO3ERVhuBkzOTPIbegNnSsjJdsbPDLiV+yntXZTpH/3cz5GnM/7ZjvZL3d4pXWHfFZcmNji4iJvbozqkHGksQSwuH2kSdKGRTSnZKugWmUtudhIJsHEe5Kba2U8VmYYP0Axz/AZFJ9e/iZw7usNPfFWnznGev7UhYdjz5iGnovGOHulw8e86mnGMfSDOAA39eAcp0BZCeNfD8+KtEE1Lc6TFpS7uTUvlqHaLGKeHigZuC/M79XsatJz0ITZzpEB0ZzuHrwVPuASQEfo7+rfJWpboJ3/41P3pZ7VD30ZOM9UfbIKtDyHl89CosnQKP8lbLDYi68WTjcDCotlyGv6XU5zs+oeOPQBsGlFf2yzdnAg97QGSP3kDX6WZ1n07SKKJLRnju4DN0kMmsiUu0i69UV0zP7GHYvSurVGYOZbK2QAF3laWPSlBFoWPx/J1fgJxf3Y8gL8ufrlr25wMmk+q0lwMBQXDyxIDa0HxWfUHeIXjASBW2ZC4ZyxwE2ucL59rT7YrzV14w/MEK4ZTUoMHENwitHBSGGJI8pvVw7+9BALpb0OwSJMLXpu7iDrJPt7SDnAJ1+CpZF/98UFv7AbJ+6CzRqNLVBu0xZAXI5v8K8CMScj6PQz8ZhIaT0BbAByc73W28OxqOQo7p5aveLUwfFY39EcWnCY7mO+2pJcch0g+Um5m49HFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Scz4DWfSexaLMDdcodSS6J",
      "input": {
        "note": "The top view shows the pink bowl sitting down inside the white bowl, with the white rim visible around it. Opening the gripper to release it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Scz4DWfSexaLMDdcodSS6J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3714, 0.9119, 0.6338, -0.3634, -0.3397, -0.2546, 0.9958, 0.7395, 1.8477, 0.9424, 0.1047, 0.5854, 0.4259, 0.9953]\nstate[eef_state]: left_x=0.3024 left_y=-0.0507 left_z=0.1697 left_yaw=0.0365 left_pitch=-0.0302 left_roll=0.0002 left_gripper=0.9958 right_x=0.3899 right_y=0.2284 right_z=0.0545 right_yaw=0.0192 right_pitch=-0.074 right_roll=-0.0545 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -2.0171, 7.1726, 1.663, -0.1294, -0.0269, -0.0171, -0.0479, -10.6051, 7.2957, 1.453, 0.2125, 0.0317, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a4b83d8e86b2d27654f4fe4073cf28d0b1a5e166c8efc2bb1288bd0a6dc488d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b9df41eeeae66da33661e6356f12b34cfa81877c623d5b7e792f67c5c8f630e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:435a5d8df9ffc68640f25ef8b97b2356255489423cb6baa31a80736f46e3e547",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]