adhoc

completed
2026-09-22T18:35:19.726654+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
238.9 s
total steps
279
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls in a row (teal left, blue middle, pink right). Plan: stack the outer bowls into the middle one. Moving the left arm above the left rim of the teal bowl (estimated centre left_y≈-0.17).
move_to
left_x0.2800left_y-0.1100left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7948, 0.6044, -0.3817, -0.0196, -0.041, 0.9996, -0.0204, 0.7929, 0.6018, -0.3801, -0.017, -0.0334, 0.9974] state[eef_state]: left_x=0.2947 left_y=0.0013 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0006 right_z=0.1792 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9974 state[joint_eff]: [-0.6632, -1.5521, 10.1128, 1.7753, -0.0659, 0.2125, -0.0611, -0.5675, -1.3197, 10.3453, 1.8974, -0.0806, 0.1783, -0.2759] 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": 0.28, "left_y": -0.11, "left_z": 0.15, "left_gripper": 1.0}, "note": "Three bowls in a row (teal left, blue middle, pink right). Plan: stack the outer bowls into the middle one. Moving the left arm above the left rim of the teal bowl (estimated centre left_y\u2248-0.17)."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteWrist cam shows the white/teal bowl nearly under the gripper, slightly forward, so its centre is ~(0.31,-0.11). Shifting to straddle its left rim at y≈-0.05 so the jaws pinch the rim wall.
move_to
left_x0.3100left_y-0.0500left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6991, 0.955, 0.5678, -0.347, -0.5262, -0.4221, 0.9996, -0.0219, 0.8001, 0.6003, -0.3923, -0.0166, -0.0303, 0.9973] state[eef_state]: left_x=0.2757 left_y=-0.1112 left_z=0.1414 left_yaw=-0.0561 left_pitch=-0.0463 left_roll=0.0258 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.174 right_yaw=-0.0035 right_pitch=-0.021 right_roll=0.0027 right_gripper=0.9973 state[joint_eff]: [-0.212, -2.6462, 7.241, 1.8388, -0.315, -0.2027, -0.0611, -0.0752, -1.8393, 7.1726, 1.8339, -0.0464, -0.0562, -0.0269] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.05, "left_z": 0.12}, "note": "Wrist cam shows the white/teal bowl nearly under the gripper, slightly forward, so its centre is ~(0.31,-0.11). Shifting to straddle its left rim at y\u2248-0.05 so the jaws pinch the rim wall."})
tool
executing move_to over 6 steps (0.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe bowl's left rim now sits on the jaw column in the wrist view. Descending so the open jaws straddle the rim wall.
move_to
left_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3096, 0.9722, 0.477, -0.1879, -0.2718, -0.2092, 0.9995, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.303 left_y=-0.0433 left_z=0.115 left_yaw=0.0131 left_pitch=-0.082 left_roll=0.0269 left_gripper=0.9995 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=-0.001 right_pitch=-0.0244 right_roll=-0.0003 right_gripper=0.9973 state[joint_eff]: [0.1709, -2.0991, 6.4068, 1.9463, 0.0366, 0.0952, -0.022, -0.1299, -1.3333, 7.0632, 1.7118, -0.0415, 0.0073, -0.0122] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03}, "note": "The bowl's left rim now sits on the jaw column in the wrist view. Descending so the open jaws straddle the rim wall."})
tool
executing move_to over 6 steps (0.6s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteAt low height the bowl appears ahead of the fingertips (rim lateral alignment is fine). Lifting a bit and advancing ~4 cm so the jaws come down over the rim wall.
move_to
left_z0.0700left_x0.3300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3107, 1.2449, 0.2344, 0.2256, -0.2623, -0.2062, 0.9995, -0.0216, 0.8043, 0.5999, -0.3927, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.2882 left_y=-0.0407 left_z=0.0165 left_yaw=0.0066 left_pitch=-0.1807 left_roll=0.0555 left_gripper=0.9995 right_x=0.2932 right_y=0.0002 right_z=0.1726 right_yaw=-0.001 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9973 state[joint_eff]: [-0.0068, -4.1778, 5.5316, 1.8339, -0.2515, -0.0464, -0.0171, -0.0752, -1.4017, 7.159, 1.6923, -0.0366, -0.0708, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.07, "left_x": 0.33}, "note": "At low height the bowl appears ahead of the fingertips (rim lateral alignment is fine). Lifting a bit and advancing ~4 cm so the jaws come down over the rim wall."})
tool
executing move_to over 4 steps (0.4s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteBowl still appears ahead of the jaws in both views; top cam shows gripper just behind-left of the white bowl. Advancing another 4 cm to put the jaws on the left rim.
move_to
left_x0.3700left_y-0.0450left_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2539, 1.2545, 0.4564, 0.0536, -0.2344, -0.1932, 0.9994, -0.0219, 0.8051, 0.598, -0.3965, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3305 left_y=-0.0397 left_z=0.0656 left_yaw=0.0312 left_pitch=-0.1482 left_roll=0.0344 left_gripper=0.9994 right_x=0.2924 right_y=0.0001 right_z=0.1708 right_yaw=-0.0014 right_pitch=-0.0324 right_roll=-0.0002 right_gripper=0.9973 state[joint_eff]: [0.2393, -4.3966, 7.0496, 1.3504, -0.0073, 0.2711, -0.0171, -0.1846, -1.3607, 7.1726, 1.7753, -0.0659, -0.0269, -0.0122] 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": 0.37, "left_y": -0.045, "left_z": 0.07}, "note": "Bowl still appears ahead of the jaws in both views; top cam shows gripper just behind-left of the white bowl. Advancing another 4 cm to put the jaws on the left rim."})
tool
executing move_to over 4 steps (0.4s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe forward move stalled at x≈0.33 (likely the finger touching the bowl's outer wall). Raising above the bowl height before advancing over the rim.
move_to
left_x0.3700left_y-0.0450left_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2512, 1.301, 0.487, 0.0311, -0.2329, -0.1837, 0.9994, -0.0219, 0.8085, 0.5957, -0.3962, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3336 left_y=-0.0398 left_z=0.059 left_yaw=0.0292 left_pitch=-0.1857 left_roll=0.0514 left_gripper=0.9994 right_x=0.2924 right_y=0.0001 right_z=0.1689 right_yaw=-0.0014 right_pitch=-0.0378 right_roll=-0.0001 right_gripper=0.9973 state[joint_eff]: [0.0479, -4.4376, 6.3111, 1.8584, -0.1441, -0.0855, -0.0073, -0.0068, -1.1556, 7.2, 1.7314, -0.0464, -0.0415, -0.0122] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.045, "left_z": 0.13}, "note": "The forward move stalled at x\u22480.33 (likely the finger touching the bowl's outer wall). Raising above the bowl height before advancing over the rim."})
tool
executing move_to over 5 steps (0.5s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe left arm did not respond to the last target; trying a small pure lift to free it.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2512, 1.301, 0.487, 0.0349, -0.2329, -0.1875, 0.9994, -0.0219, 0.8097, 0.5957, -0.3969, -0.0166, -0.0345, 0.9973] state[eef_state]: left_x=0.3343 left_y=-0.04 left_z=0.0596 left_yaw=0.0311 left_pitch=-0.182 left_roll=0.0475 left_gripper=0.9994 right_x=0.2924 right_y=0.0001 right_z=0.1684 right_yaw=-0.0012 right_pitch=-0.0397 right_roll=-0.0003 right_gripper=0.9973 state[joint_eff]: [0.0342, -4.4239, 6.3248, 1.8779, -0.1343, -0.0415, -0.0073, -0.1709, -1.4154, 7.0496, 1.7509, -0.0513, -0.0659, -0.0171] 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_z": 0.09}, "note": "The left arm did not respond to the last target; trying a small pure lift to free it."})
tool
executing move_to over 2 steps (0.2s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteLeft arm appears stuck at x≈0.335, z≈0.06 (joints unchanged over two commands). Commanding a previously reached pose to see if it recovers.
move_to
left_x0.3000left_y-0.0450left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2512, 1.301, 0.487, 0.0406, -0.2329, -0.1913, 0.9994, -0.0216, 0.8101, 0.5953, -0.3969, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3352 left_y=-0.0402 left_z=0.0606 left_yaw=0.0329 left_pitch=-0.1764 left_roll=0.043 left_gripper=0.9994 right_x=0.2923 right_y=0.0002 right_z=0.1681 right_yaw=-0.001 right_pitch=-0.0404 right_roll=-0.0 right_gripper=0.9973 state[joint_eff]: [-0.1162, -4.4513, 6.3248, 1.8046, -0.1197, -0.0562, -0.0073, -0.0342, -1.3744, 7.0222, 1.7021, -0.0757, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.045, "left_z": 0.12}, "note": "Left arm appears stuck at x\u22480.335, z\u22480.06 (joints unchanged over two commands). Commanding a previously reached pose to see if it recovers."})
tool
executing move_to over 4 steps (0.4s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteArm recovered. Overhead view shows the white bowl further forward than I thought (~x 0.40, y -0.11). Moving above its left rim at height.
move_to
left_x0.4000left_y-0.0600left_z0.1300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3176, 1.0431, 0.5549, -0.247, -0.2646, -0.2329, 0.9994, -0.0216, 0.8139, 0.5953, -0.4049, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3101 left_y=-0.0495 left_z=0.1169 left_yaw=0.0138 left_pitch=-0.1326 left_roll=0.0208 left_gripper=0.9994 right_x=0.2914 right_y=0.0002 right_z=0.1655 right_yaw=-0.001 right_pitch=-0.0523 right_roll=0.0002 right_gripper=0.9973 state[joint_eff]: [-0.5949, -2.4547, 8.8957, 1.4823, -0.3004, -0.0513, -0.0122, -0.0205, -1.2513, 7.0222, 1.79, -0.0464, -0.0611, -0.0122] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.06, "left_z": 0.13}, "note": "Arm recovered. Overhead view shows the white bowl further forward than I thought (~x 0.40, y -0.11). Moving above its left rim at height."})
tool
executing move_to over 7 steps (0.7s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteWrist view shows the white bowl's left rim right on the jaw column and running under the fingertips; overhead shows gripper over the bowl's left side. Descending to straddle the rim.
move_to
left_z0.0300left_y-0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2562, 1.4105, 0.8131, -0.1814, -0.2317, -0.218, 0.9994, -0.0216, 0.8173, 0.5945, -0.4152, -0.0166, -0.0345, 0.9973] state[eef_state]: left_x=0.3851 left_y=-0.0552 left_z=0.1146 left_yaw=0.0419 left_pitch=-0.1811 left_roll=0.024 left_gripper=0.9994 right_x=0.2899 right_y=0.0003 right_z=0.1621 right_yaw=-0.0008 right_pitch=-0.0667 right_roll=0.0002 right_gripper=0.9973 state[joint_eff]: [0.3624, -6.1744, 8.5812, 1.6142, 0.0562, 0.1636, -0.0073, -0.0342, -1.6068, 7.0359, 1.7802, -0.0611, -0.0708, -0.0171] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.03, "left_y": -0.05}, "note": "Wrist view shows the white bowl's left rim right on the jaw column and running under the fingertips; overhead shows gripper over the bowl's left side. Descending to straddle the rim."})
tool
executing move_to over 6 steps (0.6s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe bowl's left wall is between the jaws near the fingertips. Closing to pinch the rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2417, 1.597, 0.6205, 0.1402, -0.2245, -0.2062, 0.9994, -0.0219, 0.8177, 0.5945, -0.4156, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3756 left_y=-0.0484 left_z=0.0268 left_yaw=0.0473 left_pitch=-0.2381 left_roll=0.0445 left_gripper=0.9994 right_x=0.2899 right_y=0.0002 right_z=0.162 right_yaw=-0.0014 right_pitch=-0.0675 right_roll=0.0005 right_gripper=0.9973 state[joint_eff]: [0.4308, -6.065, 5.012, 1.6093, -0.0659, -0.0317, -0.0073, 0.0205, -1.3197, 6.9949, 1.6532, -0.0757, -0.0562, -0.0171] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The bowl's left wall is between the jaws near the fingertips. Closing to pinch the rim."})
tool
executing move_to over 10 steps (1.0s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteGripper closed to 0.034 with the jaws right at the bowl's wall — possibly a thin rim pinch. Lifting 6 cm to see if the bowl comes along.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2413, 1.5932, 0.6147, 0.1646, -0.2173, -0.223, 0.034, -0.0219, 0.8177, 0.5945, -0.4156, -0.0162, -0.0341, 0.9973] state[eef_state]: left_x=0.3781 left_y=-0.0501 left_z=0.03 left_yaw=0.0494 left_pitch=-0.2177 left_roll=0.0206 left_gripper=0.034 right_x=0.2899 right_y=0.0001 right_z=0.162 right_yaw=-0.0017 right_pitch=-0.0675 right_roll=0.0003 right_gripper=0.9973 state[joint_eff]: [-0.1026, -6.0103, 6.3111, 1.1746, -0.1294, 0.1441, 0.4615, -0.1846, -1.3333, 6.9812, 1.6728, -0.0073, -0.0708, -0.0171] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.09}, "note": "Gripper closed to 0.034 with the jaws right at the bowl's wall \u2014 possibly a thin rim pinch. Lifting 6 cm to see if the bowl comes along."})
tool
executing move_to over 4 steps (0.4s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteWrist view unchanged after lift, so the white bowl is held by its rim. Raising to carry height before moving over the purple bowl.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2413, 1.4681, 0.7109, -0.0658, -0.2173, -0.2287, 0.0454, -0.0216, 0.8177, 0.5945, -0.416, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3762 left_y=-0.0497 left_z=0.0722 left_yaw=0.0532 left_pitch=-0.2263 left_roll=0.0192 left_gripper=0.0454 right_x=0.2899 right_y=0.0003 right_z=0.1619 right_yaw=-0.001 right_pitch=-0.0679 right_roll=0.0005 right_gripper=0.9973 state[joint_eff]: [-0.1162, -7.2, 8.5128, 1.5311, -0.1441, 0.0415, 1.033, -0.0752, -1.3744, 7.2821, 1.6825, -0.0611, -0.0562, -0.0122] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17}, "note": "Wrist view unchanged after lift, so the white bowl is held by its rim. Raising to carry height before moving over the purple bowl."})
tool
executing move_to over 7 steps (0.7s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteCarrying the white bowl by its left rim; moving it ~15 cm right so it sits above the purple bowl.
move_to
left_x0.3600left_y-0.2000left_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2413, 1.3666, 0.9745, -0.4458, -0.2173, -0.2325, 0.0469, -0.0219, 0.8181, 0.5945, -0.4156, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3772 left_y=-0.0499 left_z=0.1522 left_yaw=0.0564 left_pitch=-0.2405 left_roll=0.021 left_gripper=0.0469 right_x=0.2899 right_y=0.0002 right_z=0.1619 right_yaw=-0.0014 right_pitch=-0.0679 right_roll=0.0005 right_gripper=0.9973 state[joint_eff]: [-0.0615, -7.1726, 9.0325, 1.4628, -0.1685, 0.0073, 1.0281, -0.0342, -1.2923, 7.1179, 1.6435, -0.0611, -0.0757, -0.0122] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.2, "left_z": 0.17}, "note": "Carrying the white bowl by its left rim; moving it ~15 cm right so it sits above the purple bowl."})
tool
executing move_to over 14 steps (1.4s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteOverhead view shows the held white bowl directly over the purple bowl. Lowering to nest it.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7177, 1.5909, 1.2381, -0.6674, -0.4843, -0.6212, 0.0475, -0.0216, 0.8181, 0.5945, -0.4191, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3535 left_y=-0.1947 left_z=0.1548 left_yaw=0.035 left_pitch=-0.2833 left_roll=0.0372 left_gripper=0.0475 right_x=0.2894 right_y=0.0003 right_z=0.1612 right_yaw=-0.001 right_pitch=-0.0713 right_roll=0.0006 right_gripper=0.9973 state[joint_eff]: [-0.3214, -7.1179, 9.6479, 1.1941, -0.4664, -0.0464, 0.9792, -0.1162, -1.1145, 7.0222, 1.6972, -0.0317, -0.0806, -0.0171] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.08}, "note": "Overhead view shows the held white bowl directly over the purple bowl. Lowering to nest it."})
tool
executing move_to over 5 steps (0.5s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteWhite bowl appears to be inside the purple bowl's rim. Lowering a little more until it seats.
move_to
left_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7193, 1.6585, 1.0218, -0.4526, -0.4873, -0.6319, 0.0495, -0.0219, 0.8185, 0.5945, -0.4191, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3431 left_y=-0.1858 left_z=0.0773 left_yaw=0.0568 left_pitch=-0.331 left_roll=0.0822 left_gripper=0.0495 right_x=0.2894 right_y=0.0002 right_z=0.1611 right_yaw=-0.0014 right_pitch=-0.0717 right_roll=0.0006 right_gripper=0.9973 state[joint_eff]: [0.0205, -7.2547, 6.2427, 1.4042, -0.2466, 0.0464, 0.9841, -0.1026, -1.265, 7.0632, 1.7265, -0.0317, -0.0806, -0.0171] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.06}, "note": "White bowl appears to be inside the purple bowl's rim. Lowering a little more until it seats."})
tool
executing move_to over 2 steps (0.2s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
Stopped at 0.073 — seated in contact. Releasing.
agent noteDescent stopped at z≈0.073, so the white bowl is seated in the purple bowl. Opening to release.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7193, 1.6695, 0.9958, -0.3771, -0.4885, -0.6334, 0.0497, -0.0219, 0.8185, 0.5945, -0.4194, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3483 left_y=-0.1901 left_z=0.0727 left_yaw=0.0496 left_pitch=-0.3026 left_roll=0.0537 left_gripper=0.0497 right_x=0.2894 right_y=0.0002 right_z=0.161 right_yaw=-0.0014 right_pitch=-0.0721 right_roll=0.0006 right_gripper=0.9973 state[joint_eff]: [-0.212, -6.2291, 5.4222, 1.1502, -0.3101, -0.0415, 0.9792, -0.1573, -1.2923, 6.9949, 1.6484, -0.0269, -0.0562, -0.0122] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
Stopped at 0.073 — seated in contact. Releasing.
move_to({"targets": {"left_gripper": 1.0}, "note": "Descent stopped at z\u22480.073, so the white bowl is seated in the purple bowl. Opening to release."})
tool
executing move_to over 10 steps (1.0s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteWhite bowl released inside the purple one. Lifting the left arm straight up to clear the rims.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7193, 1.6825, 0.9794, -0.3801, -0.4881, -0.6369, 0.9948, -0.0219, 0.8185, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3436 left_y=-0.186 left_z=0.0621 left_yaw=0.0587 left_pitch=-0.3259 left_roll=0.0749 left_gripper=0.9948 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0014 right_pitch=-0.0751 right_roll=0.0007 right_gripper=0.9973 state[joint_eff]: [-0.2256, -8.5675, 7.4598, 1.1551, -0.2613, -0.0073, -0.0659, -0.0889, -1.347, 7.1316, 1.6728, -0.0757, -0.0562, -0.0171] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17}, "note": "White bowl released inside the purple one. Lifting the left arm straight up to clear the rims."})
tool
executing move_to over 7 steps (0.7s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteWhite bowl is nested in the purple bowl. Parking the left arm at home to clear the way for the right arm.
move_to
left_x0.2900left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7193, 1.6062, 1.2667, -0.7509, -0.4881, -0.6449, 0.9957, -0.0216, 0.8181, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3464 left_y=-0.1885 left_z=0.1504 left_yaw=0.065 left_pitch=-0.3307 left_roll=0.0751 left_gripper=0.9957 right_x=0.2889 right_y=0.0003 right_z=0.1605 right_yaw=-0.001 right_pitch=-0.0748 right_roll=0.0007 right_gripper=0.9973 state[joint_eff]: [-0.0889, -9.0735, 8.7726, 1.0916, -0.3053, 0.0562, 0.0806, -0.0205, -1.3607, 7.1453, 1.6532, -0.0464, -0.0611, -0.0122] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": 0.0, "left_z": 0.18}, "note": "White bowl is nested in the purple bowl. Parking the left arm at home to clear the way for the right arm."})
tool
executing move_to over 17 steps (1.7s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteOverhead shows the white bowl leaning on the purple bowl's left rim rather than nested (white centre ~6 cm left of purple). Returning over the white bowl's left rim to re-grasp and shift it right.
move_to
left_x0.3500left_y-0.1800left_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1246, 1.0683, 0.9443, -0.7925, -0.1841, -0.1635, 0.9957, -0.0219, 0.8185, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.294 left_y=-0.0006 left_z=0.1793 left_yaw=0.1118 left_pitch=-0.3249 left_roll=0.0641 left_gripper=0.9957 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0014 right_pitch=-0.0751 right_roll=0.0007 right_gripper=0.9973 state[joint_eff]: [0.2393, -3.453, 6.4342, 1.4042, -0.1245, 0.1294, -0.0024, -0.212, -1.2786, 7.0496, 1.6728, -0.0464, -0.0611, -0.0171] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.18, "left_z": 0.14}, "note": "Overhead shows the white bowl leaning on the purple bowl's left rim rather than nested (white centre ~6 cm left of purple). Returning over the white bowl's left rim to re-grasp and shift it right."})
tool
executing move_to over 16 steps (1.6s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteWrist view shows the white bowl centred under the jaws with the tipped purple bowl to its right. Shifting ~4.5 cm left to line up on the white bowl's left rim.
move_to
left_x0.3600left_y-0.1300left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.693, 1.597, 1.1881, -0.725, -0.4721, -0.6579, 0.9957, -0.0219, 0.8211, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3396 left_y=-0.1729 left_z=0.1276 left_yaw=0.0993 left_pitch=-0.3709 left_roll=0.0888 left_gripper=0.9957 right_x=0.2891 right_y=0.0002 right_z=0.1597 right_yaw=-0.0014 right_pitch=-0.0778 right_roll=0.0008 right_gripper=0.9973 state[joint_eff]: [-0.2667, -7.1726, 9.0051, 1.16, -0.4664, -0.105, -0.0073, -0.1026, -1.5658, 7.0222, 1.6386, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.13, "left_z": 0.12}, "note": "Wrist view shows the white bowl centred under the jaws with the tipped purple bowl to its right. Shifting ~4.5 cm left to line up on the white bowl's left rim."})
tool
executing move_to over 4 steps (0.4s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteWhite bowl's left rim is now near the jaw column, just under the fingertips. Descending to straddle it.
move_to
left_z0.0350left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5442, 1.5894, 1.1191, -0.6579, -0.421, -0.5606, 0.9958, -0.0216, 0.8211, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3554 left_y=-0.1265 left_z=0.1095 left_yaw=0.1543 left_pitch=-0.4036 left_roll=0.1083 left_gripper=0.9958 right_x=0.2891 right_y=0.0003 right_z=0.1597 right_yaw=-0.001 right_pitch=-0.0778 right_roll=0.0008 right_gripper=0.9973 state[joint_eff]: [-0.7453, -9.4291, 6.4205, 1.3162, -0.2076, 0.1929, -0.0073, -0.1846, -1.4017, 7.2137, 1.6337, -0.0366, -0.0757, -0.0122] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.035, "left_yaw": 0.0}, "note": "White bowl's left rim is now near the jaw column, just under the fingertips. Descending to straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteDescent stopped at z≈0.09, likely a fingertip resting on the white bowl's rim. Moving 2–3 cm forward and retrying the descent so the jaws straddle the left wall.
move_to
left_x0.3800left_z0.0400left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5365, 1.5944, 1.058, -0.5964, -0.3973, -0.5236, 0.9958, -0.0219, 0.8215, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3515 left_y=-0.1254 left_z=0.0915 left_yaw=0.124 left_pitch=-0.423 left_roll=0.1157 left_gripper=0.9958 right_x=0.2891 right_y=0.0002 right_z=0.1596 right_yaw=-0.0014 right_pitch=-0.0782 right_roll=0.0008 right_gripper=0.9973 state[joint_eff]: [-0.3077, -7.241, 6.4205, 1.2137, -0.315, -0.0659, -0.0122, -0.0615, -1.1419, 7.0222, 1.6386, -0.0659, -0.0659, -0.0122] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_z": 0.04, "left_yaw": 0.0}, "note": "Descent stopped at z\u22480.09, likely a fingertip resting on the white bowl's rim. Moving 2\u20133 cm forward and retrying the descent so the jaws straddle the left wall."})
tool
executing move_to over 4 steps (0.4s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteLeft arm is stalled again at z≈0.09 with pitch drifted to -0.42. Backing up and raising with orientation reset to recover the controller.
move_to
left_x0.3200left_y-0.1300left_z0.1500left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5365, 1.5944, 1.058, -0.5938, -0.3973, -0.5236, 0.9958, -0.0219, 0.8215, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.352 left_y=-0.1257 left_z=0.0917 left_yaw=0.1233 left_pitch=-0.4209 left_roll=0.1139 left_gripper=0.9958 right_x=0.2891 right_y=0.0002 right_z=0.1596 right_yaw=-0.0014 right_pitch=-0.0782 right_roll=0.0008 right_gripper=0.9973 state[joint_eff]: [-0.3624, -7.2547, 6.3932, 1.1746, -0.3101, -0.0269, -0.0171, -0.0752, -1.2376, 7.0496, 1.7118, -0.0806, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.13, "left_z": 0.15, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Left arm is stalled again at z\u22480.09 with pitch drifted to -0.42. Backing up and raising with orientation reset to recover the controller."})
tool
executing move_to over 15 steps (1.5s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
assistant
agent noteRecovered. The purple bowl has tipped onto its side and the white bowl sits against it. White bowl's left rim is near the jaw column; descending with pitch held at 0 to straddle it.
move_to
left_x0.3300left_z0.0400left_pitch0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6617, 1.1973, 0.6815, -0.2337, -0.5285, -0.4576, 0.9958, -0.0216, 0.8242, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3169 left_y=-0.1293 left_z=0.1377 left_yaw=0.0028 left_pitch=-0.057 left_roll=0.0075 left_gripper=0.9958 right_x=0.2891 right_y=0.0003 right_z=0.1588 right_yaw=-0.001 right_pitch=-0.0812 right_roll=0.0008 right_gripper=0.9973 state[joint_eff]: [-0.7863, -4.8342, 6.7487, 1.7509, -0.3932, 0.1636, -0.0171, -0.0479, -1.4564, 7.1179, 1.6923, -0.0464, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). 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": {"left_x": 0.33, "left_z": 0.04, "left_pitch": 0.0, "left_yaw": 0.0}, "note": "Recovered. The purple bowl has tipped onto its side and the white bowl sits against it. White bowl's left rim is near the jaw column; descending with pitch held at 0 to straddle it."})
tool
executing move_to over 7 steps (0.7s)
step 181
assistant
agent noteWhite bowl's left wall is between the open jaws at table level. Closing to pinch it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.646, 1.5127, 0.4179, 0.3141, -0.5259, -0.4274, 0.9958, -0.0216, 0.8268, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.318 left_y=-0.1242 left_z=0.0286 left_yaw=0.0014 left_pitch=-0.0835 left_roll=0.0493 left_gripper=0.9958 right_x=0.2893 right_y=0.0003 right_z=0.1581 right_yaw=-0.001 right_pitch=-0.0835 right_roll=0.0009 right_gripper=0.9973 state[joint_eff]: [0.1846, -5.9282, 4.8205, 1.7656, -0.2662, 0.1148, -0.0171, -0.0479, -1.5932, 6.9812, 1.6532, -0.0611, -0.0659, -0.0171] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "White bowl's left wall is between the open jaws at table level. Closing to pinch it."})
tool
executing move_to over 10 steps (1.0s)
step 191
assistant
agent noteGripper settled at 0.10 on the white bowl's wall (a grasp), and the purple bowl has righted itself. Lifting the white bowl to carry height.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6464, 1.5085, 0.4137, 0.347, -0.5251, -0.4458, 0.1044, -0.0216, 0.8307, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3211 left_y=-0.1268 left_z=0.0337 left_yaw=0.0089 left_pitch=-0.0574 left_roll=0.0143 left_gripper=0.1044 right_x=0.2894 right_y=0.0003 right_z=0.157 right_yaw=-0.001 right_pitch=-0.0877 right_roll=0.001 right_gripper=0.9973 state[joint_eff]: [-0.0068, -4.6974, 5.9145, 1.1648, -0.2125, 0.1245, 0.4713, -0.0479, -1.5248, 7.0222, 1.663, -0.0708, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17}, "note": "Gripper settled at 0.10 on the white bowl's wall (a grasp), and the purple bowl has righted itself. Lifting the white bowl to carry height."})
tool
executing move_to over 9 steps (0.9s)
step 200
assistant
agent noteThe white bowl slipped out and is still on the table right below the jaws. Opening and nudging 1 cm left/forward to re-grasp the left wall lower down.
move_to
left_gripper1.0000left_y-0.1200left_x0.3300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6464, 1.2007, 0.757, -0.2993, -0.5251, -0.4534, 0.1041, -0.0219, 0.8314, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3236 left_y=-0.1287 left_z=0.1565 left_yaw=0.0129 left_pitch=-0.0534 left_roll=0.0051 left_gripper=0.1041 right_x=0.2895 right_y=0.0002 right_z=0.1568 right_yaw=-0.0014 right_pitch=-0.0885 right_roll=0.001 right_gripper=0.9973 state[joint_eff]: [-0.0752, -5.4359, 8.8274, 1.4969, -0.2466, 0.0611, -0.0415, -0.0889, -1.4701, 7.0085, 1.619, -0.0366, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_y": -0.12, "left_x": 0.33}, "note": "The white bowl slipped out and is still on the table right below the jaws. Opening and nudging 1 cm left/forward to re-grasp the left wall lower down."})
tool
executing move_to over 9 steps (0.9s)
step 209
assistant
agent noteWhite bowl's left wall sits between the open jaws. Descending to near table level for a deeper grip on the wall.
move_to
left_z0.0050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6029, 1.2026, 0.7578, -0.3019, -0.4946, -0.4335, 0.9949, -0.0216, 0.8314, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3276 left_y=-0.1194 left_z=0.154 left_yaw=0.0223 left_pitch=-0.069 left_roll=0.0068 left_gripper=0.9949 right_x=0.2895 right_y=0.0003 right_z=0.1568 right_yaw=-0.001 right_pitch=-0.0885 right_roll=0.001 right_gripper=0.9973 state[joint_eff]: [0.3897, -4.3009, 6.3658, 1.6972, -0.1392, 0.1734, -0.0708, -0.0889, -1.4291, 7.0085, 1.6337, -0.0806, -0.0611, -0.0122] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.005}, "note": "White bowl's left wall sits between the open jaws. Descending to near table level for a deeper grip on the wall."})
tool
executing move_to over 10 steps (1.0s)
step 219
assistant
agent noteJaws are low around the white bowl's left wall (wall fills the wrist view). Closing to grip it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6022, 1.626, 0.4007, 0.4202, -0.495, -0.4393, 0.9957, -0.0219, 0.8352, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3218 left_y=-0.115 left_z=0.003 left_yaw=0.0297 left_pitch=-0.1159 left_roll=0.0369 left_gripper=0.9957 right_x=0.2896 right_y=0.0002 right_z=0.1558 right_yaw=-0.0013 right_pitch=-0.0923 right_roll=0.0011 right_gripper=0.9973 state[joint_eff]: [-0.1846, -5.4359, 3.3983, 1.1502, -0.1392, 0.0366, 0.0708, -0.2256, -1.7299, 7.0085, 1.6288, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws are low around the white bowl's left wall (wall fills the wrist view). Closing to grip it."})
tool
executing move_to over 10 steps (1.0s)
step 229
assistant
agent noteGripper settled at 0.045 on the wall and the bowl looks tilted up in the overhead view — likely held. Lifting to carry height to confirm.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6048, 1.6051, 0.4168, 0.5098, -0.4973, -0.4694, 0.045, -0.0219, 0.8371, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3393 left_y=-0.1277 left_z=0.0297 left_yaw=0.0403 left_pitch=-0.0134 left_roll=-0.0617 left_gripper=0.045 right_x=0.2897 right_y=0.0002 right_z=0.1553 right_yaw=-0.0013 right_pitch=-0.0942 right_roll=0.0011 right_gripper=0.9973 state[joint_eff]: [0.1436, -3.8632, 3.7265, 0.6716, -0.149, 0.2564, 1.3309, -0.1573, -1.4974, 7.0085, 1.619, -0.0659, -0.0366, -0.0171] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17}, "note": "Gripper settled at 0.045 on the wall and the bowl looks tilted up in the overhead view \u2014 likely held. Lifting to carry height to confirm."})
tool
executing move_to over 10 steps (1.0s)
step 239
assistant
agent noteWhite bowl is held at carry height. Moving it ~15 cm right to hover over the purple bowl (overhead: white at px 95, purple at px 133).
move_to
left_x0.3500left_y-0.2800left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6048, 1.2411, 0.7349, -0.1848, -0.4953, -0.4725, 0.0475, -0.0216, 0.8379, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3392 left_y=-0.128 left_z=0.1519 left_yaw=0.0405 left_pitch=-0.0242 left_roll=-0.0576 left_gripper=0.0475 right_x=0.2898 right_y=0.0003 right_z=0.1551 right_yaw=-0.001 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9973 state[joint_eff]: [-0.1026, -5.7915, 9.4154, 1.6825, -0.2515, 0.0073, 1.0281, -0.0752, -1.5795, 7.1863, 1.6288, -0.0317, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.28, "left_z": 0.18}, "note": "White bowl is held at carry height. Moving it ~15 cm right to hover over the purple bowl (overhead: white at px 95, purple at px 133)."})
tool
executing move_to over 14 steps (1.4s)
step 253
assistant
agent noteWhite bowl hovers over the purple bowl in the overhead view. Lowering to nest it.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9443, 1.6848, 1.2411, -0.4511, -0.7147, -0.7609, 0.0506, -0.0219, 0.8379, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3455 left_y=-0.2739 left_z=0.1647 left_yaw=0.0237 left_pitch=-0.0585 left_roll=-0.0386 left_gripper=0.0506 right_x=0.2898 right_y=0.0002 right_z=0.1551 right_yaw=-0.0013 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9973 state[joint_eff]: [-0.5402, -8.3624, 9.3333, 1.2234, -0.5934, -0.0562, 1.0281, -0.1436, -1.4701, 7.0769, 1.6239, -0.0659, -0.0269, -0.0122] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.09}, "note": "White bowl hovers over the purple bowl in the overhead view. Lowering to nest it."})
tool
executing move_to over 5 steps (0.5s)
step 258
assistant
agent noteWrist view shows the purple rim hugging the white bowl's left edge — it's going in concentrically. Lowering further to seat it.
move_to
left_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9489, 1.7786, 1.0508, -0.2432, -0.7074, -0.7738, 0.0506, -0.0219, 0.8383, 0.5945, -0.4229, -0.0166, -0.0345, 0.9973] state[eef_state]: left_x=0.3366 left_y=-0.2664 left_z=0.0836 left_yaw=0.0268 left_pitch=-0.1064 left_roll=0.011 left_gripper=0.0506 right_x=0.2898 right_y=0.0002 right_z=0.155 right_yaw=-0.0011 right_pitch=-0.0954 right_roll=0.0008 right_gripper=0.9973 state[joint_eff]: [0.2803, -8.3761, 6.612, 1.6142, -0.442, 0.0757, 1.0281, -0.212, -1.4974, 7.0359, 1.6337, -0.0366, -0.0757, -0.0122] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.06}, "note": "Wrist view shows the purple rim hugging the white bowl's left edge \u2014 it's going in concentrically. Lowering further to seat it."})
tool
executing move_to over 2 steps (0.2s)
step 260
assistant
agent noteThe white bowl is seated in the purple bowl (descent stopped at z≈0.075). Releasing it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9485, 1.7996, 1.0225, -0.1593, -0.7048, -0.7753, 0.0506, -0.0216, 0.8383, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3395 left_y=-0.2708 left_z=0.0754 left_yaw=0.0235 left_pitch=-0.0887 left_roll=-0.0203 left_gripper=0.0506 right_x=0.2898 right_y=0.0003 right_z=0.155 right_yaw=-0.001 right_pitch=-0.0954 right_roll=0.0011 right_gripper=0.9973 state[joint_eff]: [-0.4034, -6.9402, 5.2444, 1.3748, -0.2955, -0.0269, 1.0281, -0.1026, -1.4701, 6.9812, 1.619, -0.0806, -0.0757, -0.0171] camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The white bowl is seated in the purple bowl (descent stopped at z\u22480.075). Releasing it."})
tool
executing move_to over 10 steps (1.0s)
step 270
assistant
agent noteWhite bowl is released and resting inside the purple bowl. Lifting the left arm straight up so it's clear of the stack.
move_to
left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9485, 1.8294, 1.0019, -0.1593, -0.7052, -0.7795, 0.9947, -0.0219, 0.8383, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973] state[eef_state]: left_x=0.3351 left_y=-0.2646 left_z=0.0569 left_yaw=0.0303 left_pitch=-0.1166 left_roll=0.0185 left_gripper=0.9947 right_x=0.2898 right_y=0.0002 right_z=0.155 right_yaw=-0.0013 right_pitch=-0.0954 right_roll=0.0011 right_gripper=0.9973 state[joint_eff]: [-0.3897, -9.0188, 5.8325, 1.3211, -0.3883, 0.0073, 0.022, -0.1983, -1.2923, 7.0085, 1.6532, -0.0611, -0.0562, -0.0122] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.18}, "note": "White bowl is released and resting inside the purple bowl. Lifting the left arm straight up so it's clear of the stack."})
tool
executing move_to over 8 steps (0.8s)
step 278
assistant
agent noteI only got part of the stack done: the white bowl is nested inside the purple bowl, but the pink bowl is still loose on the table next to them. I ran out of calls before I could move it. The first placement went wrong: the white bowl ended up leaning on the purple bowl's rim, and the purple bowl tipped over. When I re-gripped the white bowl, the purple one happened to tip back upright on its own. The first re-grip also slipped (gripper reading 0.10, bowl stayed on the table). A second grip, taken low at the base of the wall, held, and I set the white bowl down inside the purple one.
done
hindsight- Bowls here are about 10–12 cm wide (too wide to grip across), so grip one side wall: straddle the rim with yaw 0 and descend right to z≈0.00–0.01 before closing. Closing at z≈0.03 on the rim slipped once; closing low on the wall held (settled reading ≈0.045–0.05, even though that looks close to "empty"). Always lift and check. - The overhead camera's scale near the middle of the table is about 2.3 px/cm sideways. A 35 px sideways gap needed a ~15 cm move of left_y. The white bowl's centre sits ~5 cm to the right of the grasp point when you hold its left wall. - Starting layout: three bowls in a row about 15 cm apart, overhead x ≈ 80/125/170 px. The first bowl was further forward (x≈0.36–0.40) than a quick estimate suggested. Use the wrist camera at z≈0.12 to line up before descending. - The left arm froze twice at z≈0.06–0.09 with pitch drifted to −0.2 to −0.4: its joints didn't change across repeated commands. It recovered when I commanded a higher, backed-off pose with pitch/roll/yaw set to 0. Include pitch 0 in low moves. - A nested bowl stops the descent at z≈0.075 (gripping the wall); open there. - Budget: each bowl transfer takes about 8–10 calls (align, descend, close, lift, carry, lower, release, lift). Leave room for the third bowl and don't waste calls on a messy first placement. Aim the carried bowl's centre (not the gripper) over the target bowl's centre.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9485, 1.7088, 1.2858, -0.5831, -0.7044, -0.7864, 0.9957, -0.0216, 0.8383, 0.5945, -0.4229, -0.0162, -0.0341, 0.9973] state[eef_state]: left_x=0.3371 left_y=-0.2675 left_z=0.1548 left_yaw=0.0356 left_pitch=-0.1279 left_roll=0.0291 left_gripper=0.9957 right_x=0.2898 right_y=0.0002 right_z=0.155 right_yaw=-0.0013 right_pitch=-0.0954 right_roll=0.0009 right_gripper=0.9973 state[joint_eff]: [-0.0752, -11.2889, 8.9778, 1.1404, -0.3932, 0.0611, 0.0855, -0.0889, -1.4838, 6.9812, 1.6386, 0.0024, -0.0464, -0.0122] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
done({"summary": "I only got part of the stack done: the white bowl is nested inside the purple bowl, but the pink bowl is still loose on the table next to them. I ran out of calls before I could move it. The first placement went wrong: the white bowl ended up leaning on the purple bowl's rim, and the purple bowl tipped over. When I re-gripped the white bowl, the purple one happened to tip back upright on its own. The first re-grip also slipped (gripper reading 0.10, bowl stayed on the table). A second grip, taken low at the base of the wall, held, and I set the white bowl down inside the purple one.", "hindsight": "- Bowls here are about 10\u201312 cm wide (too wide to grip across), so grip one side wall: straddle the rim with yaw 0 and descend right to z\u22480.00\u20130.01 before closing. Closing at z\u22480.03 on the rim slipped once; closing low on the wall held (settled reading \u22480.045\u20130.05, even though that looks close to \"empty\"). Always lift and check.\n- The overhead camera's scale near the middle of the table is about 2.3 px/cm sideways. A 35 px sideways gap needed a ~15 cm move of left_y. The white bowl's centre sits ~5 cm to the right of the grasp point when you hold its left wall.\n- Starting layout: three bowls in a row about 15 cm apart, overhead x \u2248 80/125/170 px. The first bowl was further forward (x\u22480.36\u20130.40) than a quick estimate suggested. Use the wrist camera at z\u22480.12 to line up before descending.\n- The left arm froze twice at z\u22480.06\u20130.09 with pitch drifted to \u22120.2 to \u22120.4: its joints didn't change across repeated commands. It recovered when I commanded a higher, backed-off pose with pitch/roll/yaw set to 0. Include pitch 0 in low moves.\n- A nested bowl stops the descent at z\u22480.075 (gripping the wall); open there.\n- Budget: each bowl transfer takes about 8\u201310 calls (align, descend, close, lift, carry, lower, release, lift). Leave room for the third bowl and don't waste calls on a messy first placement. Aim the carried bowl's centre (not the gripper) over the target bowl's centre."})
tool
done: I only got part of the stack done: the white bowl is nested inside the purple bowl, but the pink bowl is still loose on the table next to them. I ran out of calls before I could move it. The first placement went wrong: the white bowl ended up leaning on the purple bowl's rim, and the purple bowl tipped over. When I re-gripped the white bowl, the purple one happened to tip back upright on its own. The first re-grip also slipped (gripper reading 0.10, bowl stayed on the table). A second grip, taken low at the base of the wall, held, and I set the white bowl down inside the purple one.
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 · 15.71 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, 0.7948, 0.6044, -0.3817, -0.0196, -0.041, 0.9996, -0.0204, 0.7929, 0.6018, -0.3801, -0.017, -0.0334, 0.9974]\nstate[eef_state]: left_x=0.2947 left_y=0.0013 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0006 right_z=0.1792 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9974\nstate[joint_eff]: [-0.6632, -1.5521, 10.1128, 1.7753, -0.0659, 0.2125, -0.0611, -0.5675, -1.3197, 10.3453, 1.8974, -0.0806, 0.1783, -0.2759]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ef233bad377c5d9cd2acddd3a89b2dfd3ac6b93ef8fcd5d80858eceaf1cab02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddfdb181ed6767f4ab679077054f783ae06d9395386eda20524a6bbfae9a350c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27e4f64850b6daf5ed2cc11d02ec9ae3d3c4389b79819580d8c6a3b31a226f3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 8.874 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, 0.7948, 0.6044, -0.3817, -0.0196, -0.041, 0.9996, -0.0204, 0.7929, 0.6018, -0.3801, -0.017, -0.0334, 0.9974]\nstate[eef_state]: left_x=0.2947 left_y=0.0013 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0006 right_z=0.1792 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9974\nstate[joint_eff]: [-0.6632, -1.5521, 10.1128, 1.7753, -0.0659, 0.2125, -0.0611, -0.5675, -1.3197, 10.3453, 1.8974, -0.0806, 0.1783, -0.2759]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ef233bad377c5d9cd2acddd3a89b2dfd3ac6b93ef8fcd5d80858eceaf1cab02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddfdb181ed6767f4ab679077054f783ae06d9395386eda20524a6bbfae9a350c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27e4f64850b6daf5ed2cc11d02ec9ae3d3c4389b79819580d8c6a3b31a226f3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T7sfrK5xzGrDNfyPsqHkq4",
      "input": {
        "note": "Three bowls in a row (teal left, blue middle, pink right). Plan: stack the outer bowls into the middle one. Moving the left arm above the left rim of the teal bowl (estimated centre left_y≈-0.17).",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.28,
          "left_y": -0.11,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01T7sfrK5xzGrDNfyPsqHkq4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6991, 0.955, 0.5678, -0.347, -0.5262, -0.4221, 0.9996, -0.0219, 0.8001, 0.6003, -0.3923, -0.0166, -0.0303, 0.9973]\nstate[eef_state]: left_x=0.2757 left_y=-0.1112 left_z=0.1414 left_yaw=-0.0561 left_pitch=-0.0463 left_roll=0.0258 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.174 right_yaw=-0.0035 right_pitch=-0.021 right_roll=0.0027 right_gripper=0.9973\nstate[joint_eff]: [-0.212, -2.6462, 7.241, 1.8388, -0.315, -0.2027, -0.0611, -0.0752, -1.8393, 7.1726, 1.8339, -0.0464, -0.0562, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3896d15c14b82aed848e9bab4824fbf92c26adc3ef366ed644df727ae9d417c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89d3cb995422853514982dd0bf3281c2c452fa7c28b72e461a5c07eec3b653fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eafa1c8ffc1702c9c65a7c220793b42163268b3542470e06c568b72b06a16bde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 4.066 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, 0.7948, 0.6044, -0.3817, -0.0196, -0.041, 0.9996, -0.0204, 0.7929, 0.6018, -0.3801, -0.017, -0.0334, 0.9974]\nstate[eef_state]: left_x=0.2947 left_y=0.0013 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0006 right_z=0.1792 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9974\nstate[joint_eff]: [-0.6632, -1.5521, 10.1128, 1.7753, -0.0659, 0.2125, -0.0611, -0.5675, -1.3197, 10.3453, 1.8974, -0.0806, 0.1783, -0.2759]",
      "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]: [-0.6991, 0.955, 0.5678, -0.347, -0.5262, -0.4221, 0.9996, -0.0219, 0.8001, 0.6003, -0.3923, -0.0166, -0.0303, 0.9973]\nstate[eef_state]: left_x=0.2757 left_y=-0.1112 left_z=0.1414 left_yaw=-0.0561 left_pitch=-0.0463 left_roll=0.0258 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.174 right_yaw=-0.0035 right_pitch=-0.021 right_roll=0.0027 right_gripper=0.9973\nstate[joint_eff]: [-0.212, -2.6462, 7.241, 1.8388, -0.315, -0.2027, -0.0611, -0.0752, -1.8393, 7.1726, 1.8339, -0.0464, -0.0562, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3896d15c14b82aed848e9bab4824fbf92c26adc3ef366ed644df727ae9d417c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89d3cb995422853514982dd0bf3281c2c452fa7c28b72e461a5c07eec3b653fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eafa1c8ffc1702c9c65a7c220793b42163268b3542470e06c568b72b06a16bde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TNQz9iYcJoodWpSFKk7442",
      "input": {
        "note": "Wrist cam shows the white/teal bowl nearly under the gripper, slightly forward, so its centre is ~(0.31,-0.11). Shifting to straddle its left rim at y≈-0.05 so the jaws pinch the rim wall.",
        "targets": {
          "left_x": 0.31,
          "left_y": -0.05,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TNQz9iYcJoodWpSFKk7442",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3096, 0.9722, 0.477, -0.1879, -0.2718, -0.2092, 0.9995, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.303 left_y=-0.0433 left_z=0.115 left_yaw=0.0131 left_pitch=-0.082 left_roll=0.0269 left_gripper=0.9995 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=-0.001 right_pitch=-0.0244 right_roll=-0.0003 right_gripper=0.9973\nstate[joint_eff]: [0.1709, -2.0991, 6.4068, 1.9463, 0.0366, 0.0952, -0.022, -0.1299, -1.3333, 7.0632, 1.7118, -0.0415, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96175f97f9e2ad2d8baaefc0d57929e6ae4f1e8afafa7514686f19f851055b20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1930bd8d86a3ed5c566112dcc722c6f6e379e6ae82ccf46a533be6977d8cada3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf5e00a77038eef7c9f48eb4d73b64cfb707d1f59c9d2b7fc5ca650fe09ed3b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 5.775 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, 0.7948, 0.6044, -0.3817, -0.0196, -0.041, 0.9996, -0.0204, 0.7929, 0.6018, -0.3801, -0.017, -0.0334, 0.9974]\nstate[eef_state]: left_x=0.2947 left_y=0.0013 left_z=0.1796 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2944 right_y=0.0006 right_z=0.1792 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9974\nstate[joint_eff]: [-0.6632, -1.5521, 10.1128, 1.7753, -0.0659, 0.2125, -0.0611, -0.5675, -1.3197, 10.3453, 1.8974, -0.0806, 0.1783, -0.2759]",
      "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]: [-0.6991, 0.955, 0.5678, -0.347, -0.5262, -0.4221, 0.9996, -0.0219, 0.8001, 0.6003, -0.3923, -0.0166, -0.0303, 0.9973]\nstate[eef_state]: left_x=0.2757 left_y=-0.1112 left_z=0.1414 left_yaw=-0.0561 left_pitch=-0.0463 left_roll=0.0258 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.174 right_yaw=-0.0035 right_pitch=-0.021 right_roll=0.0027 right_gripper=0.9973\nstate[joint_eff]: [-0.212, -2.6462, 7.241, 1.8388, -0.315, -0.2027, -0.0611, -0.0752, -1.8393, 7.1726, 1.8339, -0.0464, -0.0562, -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]: [-0.3096, 0.9722, 0.477, -0.1879, -0.2718, -0.2092, 0.9995, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.303 left_y=-0.0433 left_z=0.115 left_yaw=0.0131 left_pitch=-0.082 left_roll=0.0269 left_gripper=0.9995 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=-0.001 right_pitch=-0.0244 right_roll=-0.0003 right_gripper=0.9973\nstate[joint_eff]: [0.1709, -2.0991, 6.4068, 1.9463, 0.0366, 0.0952, -0.022, -0.1299, -1.3333, 7.0632, 1.7118, -0.0415, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96175f97f9e2ad2d8baaefc0d57929e6ae4f1e8afafa7514686f19f851055b20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1930bd8d86a3ed5c566112dcc722c6f6e379e6ae82ccf46a533be6977d8cada3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf5e00a77038eef7c9f48eb4d73b64cfb707d1f59c9d2b7fc5ca650fe09ed3b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgAgKEAgSGAI4AUIIdGhpbmtpbmcSDBrayfarVcq0ld4NcRoMYkI0EiUoaY5JFONHIjAhp8/kxSPuj4f92t+HVxwrLAfjN06ZbLkOQyp4TiG+TkBSzy2ee71oH0r/powlfQYqnQfqe18QleG9oKqerzEXgXNik39u56L39TfNCjg1DTkv3BY28A3BwLRFY+pme2gfAxSZuZCKoRDXM9Mps/k2Pst39Be+LKF8NjO/aCQvvsarmQrXCd/l5d/ZND7cMNupaZYpvpUsvinLxbw9Uhw3QaT59FMP4aKJ1IaGodqmd8EIPmwiAKctC8XASPb3mhx8tGCWX1TsMu/lmyiJ7pfLEw4+YUxWdqWLjeB5QUDPHrvBWNn/+/vMpa6gQ8W4j2SOq8ONBH4kj1Z9w3EoiUIv4GqDhmzXYYk+1f3+Cse1bF9IPAQ5dsCur/9UoyneCoU0W5QwpH0UBfLL5Sv2nVRPn6IKjmXJzs2qr7y1VpG9041JRd+WQwfOwQnnWGeQt+fWQA7/NdCkG97ZIoTRWv5jbGgJylfGaSDASld3y9h2RAadi66e+MKF30Hkvoyh3mvdFWDD5N0MZIR1Ab4UULhf0fw15OxUxyXH8SLt+POqVhQA+hlSHVp3eP8k8CD5XFO1i9GanSH6obU55m9PdrZSVdsRzAAojkxbW72C6TzP15tolg9Xth8mwJk4HNGq7mqK7OqobCtc3rUF/wfIOUSSrcceLnvhBIC4T2zXT4aO3WNK149v2chL8YP7RFi6pWtZTfmv9AXF0K9pKVNyX8QDBG+TIyCFKnrkpARtRE0V/bJtj4oXeRtW/3VUM4BTV+FYajp9P90/pYVYBEBmFEQhuo5hJ2pwO3xr22XlUEfABGd41SjIXUVtGao/tzid3rlxpVoto50C7pbxffR+55BE6sc5Yrr8S/HI+sllJHtCt83ofU7w31mxphBjICxnfQx+RnEOeEfHpnVBBSwAvOrxgQ6ZUxP0/M47d3YrjJCpRCFyf9twWO5HwUtTLvHvYCSXkUslMpZnJlDiotVyFYfeFuf8NMaSw3O9W/l0fV0RQHU15ekvLvSAyYeKKZWOpxjtW93CmNbaXpFX8q2KH1A8ug1/Ou9dtK+HM0yMj8nvhU/3chBrp2q0nHb8F44oS+67KR3j4nc1dL3byqs3LkGTMncAqzD2NvFIilKIlyOW7Nn/ua7uvaZAjadlEEPpkQwpDJV8RJ89v34cFH1q1xE/B2BIZf5Nb4N3hrxFa1i8gWM6pn9PICNCvkkYQ9FbkHE7K/aLFr4HO+MpByrrEwxD3+Hm+n7PYgj3uWzUT5A/jwAtjbMO7ddYkyRz9qdYGzrNAmMGqWO+D3lqf3oJd9tAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FmPqxUsFCqXdkFdhq1LSqW",
      "input": {
        "note": "The bowl's left rim now sits on the jaw column in the wrist view. Descending so the open jaws straddle the rim wall.",
        "targets": {
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01FmPqxUsFCqXdkFdhq1LSqW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3107, 1.2449, 0.2344, 0.2256, -0.2623, -0.2062, 0.9995, -0.0216, 0.8043, 0.5999, -0.3927, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.2882 left_y=-0.0407 left_z=0.0165 left_yaw=0.0066 left_pitch=-0.1807 left_roll=0.0555 left_gripper=0.9995 right_x=0.2932 right_y=0.0002 right_z=0.1726 right_yaw=-0.001 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -4.1778, 5.5316, 1.8339, -0.2515, -0.0464, -0.0171, -0.0752, -1.4017, 7.159, 1.6923, -0.0366, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43c68fab38582412fedb2dfe29f0a855512a8d6177d5f82fd0ec84fbe1cafdc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98c66fb46e0b4d089c3892303cc450d7730b523f7b04f4f08f95e43ea82b522a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1776f2599de5cefca0e2c72d415e93f7afa80aa3dbe63f6aa51b88975b073ced",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 5.443 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]: [-0.6991, 0.955, 0.5678, -0.347, -0.5262, -0.4221, 0.9996, -0.0219, 0.8001, 0.6003, -0.3923, -0.0166, -0.0303, 0.9973]\nstate[eef_state]: left_x=0.2757 left_y=-0.1112 left_z=0.1414 left_yaw=-0.0561 left_pitch=-0.0463 left_roll=0.0258 left_gripper=0.9996 right_x=0.293 right_y=0.0001 right_z=0.174 right_yaw=-0.0035 right_pitch=-0.021 right_roll=0.0027 right_gripper=0.9973\nstate[joint_eff]: [-0.212, -2.6462, 7.241, 1.8388, -0.315, -0.2027, -0.0611, -0.0752, -1.8393, 7.1726, 1.8339, -0.0464, -0.0562, -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]: [-0.3096, 0.9722, 0.477, -0.1879, -0.2718, -0.2092, 0.9995, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.303 left_y=-0.0433 left_z=0.115 left_yaw=0.0131 left_pitch=-0.082 left_roll=0.0269 left_gripper=0.9995 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=-0.001 right_pitch=-0.0244 right_roll=-0.0003 right_gripper=0.9973\nstate[joint_eff]: [0.1709, -2.0991, 6.4068, 1.9463, 0.0366, 0.0952, -0.022, -0.1299, -1.3333, 7.0632, 1.7118, -0.0415, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3107, 1.2449, 0.2344, 0.2256, -0.2623, -0.2062, 0.9995, -0.0216, 0.8043, 0.5999, -0.3927, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.2882 left_y=-0.0407 left_z=0.0165 left_yaw=0.0066 left_pitch=-0.1807 left_roll=0.0555 left_gripper=0.9995 right_x=0.2932 right_y=0.0002 right_z=0.1726 right_yaw=-0.001 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -4.1778, 5.5316, 1.8339, -0.2515, -0.0464, -0.0171, -0.0752, -1.4017, 7.159, 1.6923, -0.0366, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43c68fab38582412fedb2dfe29f0a855512a8d6177d5f82fd0ec84fbe1cafdc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98c66fb46e0b4d089c3892303cc450d7730b523f7b04f4f08f95e43ea82b522a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1776f2599de5cefca0e2c72d415e93f7afa80aa3dbe63f6aa51b88975b073ced",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwoKEAgSGAI4AUIIdGhpbmtpbmcSDAOvskZwL+rTtsFlYxoM5D9j6pOsZycFmpA+IjCI6VEAJOAC1I2ETDfxSpxR09doeJKPgl+GcJyEoX1B+81IY65VzJjLvIdPPslWNN4qzAle8JIcMGbQX11LkbQ2ah4b2c+OeZXSqIuep1MrugIw+SqIbV5QgF5I2zqNVtKSp00OIHlgWOqNu8GAPTlDAFMEdahEB7hqt85QKDbfWqMkRdf5mS2Dr9p3IQ7YirWCqqtKryxn4adeWL1oRHasB9ZKK0pXCRTulAKHU268AbA2eBjZIcasOUiQYlyHmVm+5EgnQgah/0m7yytU3qe9Q0yYsCNEK/znjxT1r5cusAQ63/fVlvxga2UKii+tE9ktBRf9Qm1LkljEwT9rgX5mt4UJRjSJWHcJvBvVBUwsLV/mSkxZWAeC26dHPWTmcwzYUQZYmd3jVuYqnQsPXgilPSr3yYXCMqIb3cSat0A+wIjeqqP7OagLdgSf35OkWV567Hhjv4Os4RM0Zf2/zd7QU4pVUmxT1rwQ23ViUBndyy7Clf16aZ2g3tAwVgkMRxFOTToitb116sT+KL+4H3P2z1LPFZY0A0YuD+pqBOAueskyBLGp1JsSfGU89vPXnUZ3s8qQOZSBX2y1JHajizqgeb6je9GTFkQXJT0uyQMjQWIbJRHRINh6h5PAoiUItYsFh78Q8oWtA4TqcqUhRCfjiusTEucz+weRU3xO2B4NUYi/q+7dX93NsyiJLkPwM8lEQDRDvoEIUeRsusb+ru0fu6OcLJdl9lUAxmJB7h9Z4J8lHI4iuhBRQ+yMwnLPnI999P0GRhW8fCCQ3Y2G25cGA6saFdnS6xhdSCPhs4JSMz/P5LoybmmJucJV9TCqDzUQBfLyT6Vy8cP7wcRIBxEhgJwATtO+miUFjBxf3JDTvVw7VGWJxlPFqN9qc7nZ+uhxlyqonrCUCMF9lKGkRKWvC+C/tfFE9C5xLVhPfN04O9tKAzbgLAzQBI7YoYHJrIXQueJJyQR6rupNs81nD28eX9yoCCh8HlJVhC3vd6o5Gl8yY3ow3BTBxIwkLHtYAne0RVK+FAOwHL2QIUmo0zsgIzuh+080j92YC66tFEE4unwiPcZVe8rPC+0T/xMrf1a7B6Si4Tuei7H3UZAlkLPuIdPBivXQoT0RgYglWuoi0RFjcqqfSlRsucWO9ah835ZTEolbwHULcnWsYe5ALPI/nhbhpNVXYs8CtFU+DN2GiW4D5+xRIokPlhNy53MhmBXWToQqnS7xSq1aFdqYZhOuFjggqgI6peaHBQQamUx9ARhc2Ah3Jj36OwMuL31MxlwZoj3n4b/HW1KbBreLBlIqg2zT+9g165KE+Xyj/vP3IBuq/Gz1Xft5JQTAAiGVWnN61VGwxlmfuHFs+swMFFmvLSRfDOXpw7i6V6xYPAEWU53tOmFAeSOxSSiGQL+ve74DhpkgyT7pRoZgqZ3ktMqjKVZcSZ0sGVGlQ86dP264nr+0JKApHVWbYOpern66bO/m1Ct6nPUyHhYZPMFfO0QmLtFfFzcKOf5fJNdZba34i7KCOzTNMGFjC9uVRo9cAZ6aflB5DN772wvZbY6ayhPUeq2Ee+Ivgi6ZSdgVG1/mloNETajrYgEEmcgDffv6mf3fVFipOjfdjx1OV2aOnHPAL9qdDYTqTOWSOCqB2d4FAcdFlM46ZTalzELajU4l1cLFGUR/8VUWuFEjx1ku5Wug9i6HujSMWfI3uxqqi8r9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TRZydjX6pcKoNmxacmrgoV",
      "input": {
        "note": "At low height the bowl appears ahead of the fingertips (rim lateral alignment is fine). Lifting a bit and advancing ~4 cm so the jaws come down over the rim wall.",
        "targets": {
          "left_x": 0.33,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01TRZydjX6pcKoNmxacmrgoV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2539, 1.2545, 0.4564, 0.0536, -0.2344, -0.1932, 0.9994, -0.0219, 0.8051, 0.598, -0.3965, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3305 left_y=-0.0397 left_z=0.0656 left_yaw=0.0312 left_pitch=-0.1482 left_roll=0.0344 left_gripper=0.9994 right_x=0.2924 right_y=0.0001 right_z=0.1708 right_yaw=-0.0014 right_pitch=-0.0324 right_roll=-0.0002 right_gripper=0.9973\nstate[joint_eff]: [0.2393, -4.3966, 7.0496, 1.3504, -0.0073, 0.2711, -0.0171, -0.1846, -1.3607, 7.1726, 1.7753, -0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc39f022c600e3d60c0c8611cf70619630135157a966841def7ada7dda9a4b8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee6df08fb254504663f9a47559f5e24f00e5a3cd01b62f1407ad3362eeb9b2be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:87c22017d8ee21a814a39b2ca087d0e9baa9cd21abfb32777dcd8981102e8506",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 5.159 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]: [-0.3096, 0.9722, 0.477, -0.1879, -0.2718, -0.2092, 0.9995, -0.0216, 0.8024, 0.5999, -0.3931, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.303 left_y=-0.0433 left_z=0.115 left_yaw=0.0131 left_pitch=-0.082 left_roll=0.0269 left_gripper=0.9995 right_x=0.293 right_y=0.0002 right_z=0.1731 right_yaw=-0.001 right_pitch=-0.0244 right_roll=-0.0003 right_gripper=0.9973\nstate[joint_eff]: [0.1709, -2.0991, 6.4068, 1.9463, 0.0366, 0.0952, -0.022, -0.1299, -1.3333, 7.0632, 1.7118, -0.0415, 0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3107, 1.2449, 0.2344, 0.2256, -0.2623, -0.2062, 0.9995, -0.0216, 0.8043, 0.5999, -0.3927, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.2882 left_y=-0.0407 left_z=0.0165 left_yaw=0.0066 left_pitch=-0.1807 left_roll=0.0555 left_gripper=0.9995 right_x=0.2932 right_y=0.0002 right_z=0.1726 right_yaw=-0.001 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -4.1778, 5.5316, 1.8339, -0.2515, -0.0464, -0.0171, -0.0752, -1.4017, 7.159, 1.6923, -0.0366, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2539, 1.2545, 0.4564, 0.0536, -0.2344, -0.1932, 0.9994, -0.0219, 0.8051, 0.598, -0.3965, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3305 left_y=-0.0397 left_z=0.0656 left_yaw=0.0312 left_pitch=-0.1482 left_roll=0.0344 left_gripper=0.9994 right_x=0.2924 right_y=0.0001 right_z=0.1708 right_yaw=-0.0014 right_pitch=-0.0324 right_roll=-0.0002 right_gripper=0.9973\nstate[joint_eff]: [0.2393, -4.3966, 7.0496, 1.3504, -0.0073, 0.2711, -0.0171, -0.1846, -1.3607, 7.1726, 1.7753, -0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc39f022c600e3d60c0c8611cf70619630135157a966841def7ada7dda9a4b8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee6df08fb254504663f9a47559f5e24f00e5a3cd01b62f1407ad3362eeb9b2be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87c22017d8ee21a814a39b2ca087d0e9baa9cd21abfb32777dcd8981102e8506",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSuAkKEAgSGAI4AUIIdGhpbmtpbmcSDJzWM4g20MVbiwMJeBoMdr+OqLJEr2IH7sStIjCodQ0FHaWp4b5UdHikKR8ZYdyVwR5RueLuoeUs2RIK35mt9Y0preORylxL8CpeVJsq1QhG/KDLrqdXtYIzKJ+LatzXaBdAcevVoWp7jkrGOgQapCqSduy5amJokJRt0bY7IdjbajPcXDGuNmtDqDFCQAnCykIS6OqP/tg/wiLGkRwXu5HzuJzNI+y659ufRn7YtGA01mHHrQxzhVIfunSs4B2nPZDn04ji3AZGx8kBpJRKdf9fIznIrTfH7bg413KoDEElg8Sg24jOF4jOVLQwxmdqwXbAoOG1lXsXxA5mPEqEhcbIy2qKfu9OEMrYQvAJTR88PTVS9yWLRFQd5S7wBCzM9ZVyT5yDM9kw8Xm/U59hmVeocr/M/Rnfe0vN+j+BK8NkbA+ojYKN1B9BWa8hkExgA4aFQVLDv42eJ98volPIJAXya3OvkqlEnjIHVoXFuECJIoqnnQhBVneiyUHLfx3HZ5LUf2lLO2C2ce4F0jVD7giCoohM1w0qrwmULMhhWEF5t8MJavBIZ9KSajPoky+XDTY6KIMtHdRpDtf0q4LHiJ56aC8LUrvQ7nYo/vhXSayac92H1w2MxsvLMSWbOHUTYTaIlHpHHi4c9yiKsif6uN4/DJJlwWGqbCWQF4/TYdOB3xHrIDoR4cNfhclHc53NPV+PKo0GU4d/v9AJ1r1V+Yg7q2rn49Hsz8z13m6K6stuRPjt8zRVkdExBmoXzYCk0ZcO5NWdcJAml4dnmoygzJ+tTxVtBYHlj+3Cp+5wAnY3O1xJHx4Y3XSe83L0cxdH/7cJMWEe69r+2AiPpRTnR1aQhwKh/QEVhhOER6njwmrhmm7TzppHQc8hjKDTRTOT8NdOYxd4Iq7RwRJiEkqgmuNZPxSjc+d6nJHBz7DWqPHEAKWzuogrf9PK7K+Rrduut59apcL8YvwJdkf0bG/NuTlI7BskbN5D53uw8Rl/iGUG91G6OVQi3ZENa+Jt47+5s9DsP6S2CZWKZNothX5kCNq7sIFzIIvFqk2IhktDlXzuiv1MC3N7yqvzBfCDBNXaLTckI5kOhCxCvUzglc993D/PB40FEjaf/A3cuRY//nXc0z4jvxhwXZma8mup8yE4Ept4bKv6PxN359+sp5W5q+h4yaHyy6/g832C+PIu91Ext8ga9tYU3jeYVG1XckiyWTWiIHed/5WnARhFNUaeaGK9Ihr8OwfHc5mz6XHIZsl2VKEPPq+hC2ID5QrJ8mlwcmQq1zn924lBjq2ZUSBrIp4EqOcf66kcSioJbmDysjG9YzGdf7iKs1msu+gqWvrFkbVd0SZzMOf1d4C0D8z+1ypQarABvCQh1K2Iy6d3jRxRTl2ML4Za3DgS+ESAYVYGdRTzOlaLzbc3wYn0fDgQbPFqbBmagMfRq8PomquzJdjjk0LTuid85qYdSxxl15l+R5/YjzsECnp7q8La6bX+UdR3h0qifhmMh2L2Ppq8Wm5pCqqzcMqcV+nbe0XWt3A8r7Fxp9S5yvSeDzarDINp6LW1L6GjflQHeDoB9za635bdteQmuhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X9hxizr99vb5BzW3byUYxH",
      "input": {
        "note": "Bowl still appears ahead of the jaws in both views; top cam shows gripper just behind-left of the white bowl. Advancing another 4 cm to put the jaws on the left rim.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.045,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01X9hxizr99vb5BzW3byUYxH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2512, 1.301, 0.487, 0.0311, -0.2329, -0.1837, 0.9994, -0.0219, 0.8085, 0.5957, -0.3962, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3336 left_y=-0.0398 left_z=0.059 left_yaw=0.0292 left_pitch=-0.1857 left_roll=0.0514 left_gripper=0.9994 right_x=0.2924 right_y=0.0001 right_z=0.1689 right_yaw=-0.0014 right_pitch=-0.0378 right_roll=-0.0001 right_gripper=0.9973\nstate[joint_eff]: [0.0479, -4.4376, 6.3111, 1.8584, -0.1441, -0.0855, -0.0073, -0.0068, -1.1556, 7.2, 1.7314, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e63df11efc31bfc5fe5319b23f028da4a2e543ee5eac3a18378ba22cfe90636",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c9a1316b1305cca7ac1c0325749316ecc0b19d8c01cf1059b258998757ba9d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2530f8fdc2297d834a4ffbf2b34acb78ebd2f68744f453eee0dab30a34427409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 3.322 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]: [-0.3107, 1.2449, 0.2344, 0.2256, -0.2623, -0.2062, 0.9995, -0.0216, 0.8043, 0.5999, -0.3927, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.2882 left_y=-0.0407 left_z=0.0165 left_yaw=0.0066 left_pitch=-0.1807 left_roll=0.0555 left_gripper=0.9995 right_x=0.2932 right_y=0.0002 right_z=0.1726 right_yaw=-0.001 right_pitch=-0.0259 right_roll=-0.0003 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -4.1778, 5.5316, 1.8339, -0.2515, -0.0464, -0.0171, -0.0752, -1.4017, 7.159, 1.6923, -0.0366, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2539, 1.2545, 0.4564, 0.0536, -0.2344, -0.1932, 0.9994, -0.0219, 0.8051, 0.598, -0.3965, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3305 left_y=-0.0397 left_z=0.0656 left_yaw=0.0312 left_pitch=-0.1482 left_roll=0.0344 left_gripper=0.9994 right_x=0.2924 right_y=0.0001 right_z=0.1708 right_yaw=-0.0014 right_pitch=-0.0324 right_roll=-0.0002 right_gripper=0.9973\nstate[joint_eff]: [0.2393, -4.3966, 7.0496, 1.3504, -0.0073, 0.2711, -0.0171, -0.1846, -1.3607, 7.1726, 1.7753, -0.0659, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2512, 1.301, 0.487, 0.0311, -0.2329, -0.1837, 0.9994, -0.0219, 0.8085, 0.5957, -0.3962, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3336 left_y=-0.0398 left_z=0.059 left_yaw=0.0292 left_pitch=-0.1857 left_roll=0.0514 left_gripper=0.9994 right_x=0.2924 right_y=0.0001 right_z=0.1689 right_yaw=-0.0014 right_pitch=-0.0378 right_roll=-0.0001 right_gripper=0.9973\nstate[joint_eff]: [0.0479, -4.4376, 6.3111, 1.8584, -0.1441, -0.0855, -0.0073, -0.0068, -1.1556, 7.2, 1.7314, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e63df11efc31bfc5fe5319b23f028da4a2e543ee5eac3a18378ba22cfe90636",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c9a1316b1305cca7ac1c0325749316ecc0b19d8c01cf1059b258998757ba9d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2530f8fdc2297d834a4ffbf2b34acb78ebd2f68744f453eee0dab30a34427409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSggkKEAgSGAI4AUIIdGhpbmtpbmcSDEHEAepkX7lHGwCyHxoM+059NBmXFqq2aDRMIjDIfPiNKjeomGRTFUL/+sdMevPoC09T4xgxHnSeboodgRhmlBwYBrhzthdl8edxYYAqnwgsfMa/tQIKgDFiIqZHzpCg6N/+intHGMaf9fY4447HMrED/zss3J2nCDD6Ztdneg0YzRNuhryrQtYFdJn+mQBPL5/FwFFFkY78pipYBQY2/qr/lIVe65AdulWtSd/SmILNsltDFApBktMpB3GAgPlk+shtPcFW5lGZgrL26H/2u/f0rw6SG36V+Jlrgwf3krddh4ATJmmx/KWVJXWHsVqg6hA5SL9S8twH5o06MYVz4Fx0aMjxLaWwF3/+m5Jl0rwL+rZE6uplndfXlyAQLuwUk9Fq8xccu92GHC6DGcoUrsIuzoFO2zweqQ8V2xCouZU2Mx45kuNFSzRvOX3lIIA013f2cUBcOLddsMZVnkKsclY3zypawP12BtHfV11NGj89ZkEWjJXRejxjUwLqTI9gu+FIt8LeJVLl6KXxl8pKz73WoXUni1+oOazG4nKdw9buNpXvsIkrW55AGsgeh+UAvLkQYXro02IJ1/SeuUnKxMyfYOmV4Fs5ZO5b96/y9AlSEkOKntyI7el9QLgx1rU0bQeM0Dsy/I6SWBOKxPe3qea4DDjO0UbvX9Xaw1ygherpR7kCn1pkE+3DT9Va2K2nU3UGSo2SqvfANbRUFh2lVF/wMqfqkDvDPfj0cWRmzknZN9bG3IiIjlgV1jpyO6l9FcfygOeSoP38M6JtO1GicHHy+OdzEk0waatYFGgkzVNMIzvnGXkUBMrjJsSdRRSuwnCxWoxXo2e1/u2ISQhLpu6EhynJvNI+X8NyeGSgO8gwx99QIqWz3eq390bUSD9IeVvK/7TG4d+WuWT1d4Eu0BBRu6ph5XXDINtp9Up7RnOtiji/6m57TeqJHLD1ERAUNUI4NthVgkqAyBeIUDLBYscSr38vPqZx+VcdDmCn7+K0ZJgqcWiMgdmQaila1lDw6i7oIVAOL4v0DuttMr9+IWSmhqQAB8ewblCN5duCbUjXcBpusIu8ISgwksQ2pdInmRAKaI47SOE/jz6MNocUyT3W3xGnmO2vsuXrbSQg8Mvq8bFaiC5TFJusKRde7PkC2yNpbh1lKrhb/1P1dm1ZXgKBQqS+rsHVjg2eKusZ5Q6kFakbgh7bVN34jKa/gA0ywndSSJL8393BMy6ueaIs3lYdAx9YghXHIP78PhwXqIgSiADnc8wOxP0/Tjyu+O6P2nsileG2oILbR2eVrNvLQwp3KeSrci2WCW2sJIfr4GZ4tIPnTNb2C6Z5+g1MOs9hK9VGEom6Qp/QvAyWuD0o1+BPLnzF/koipNSQg9d5Xd/C6yVsMBM5NmGovreUp7rI4PL+6cLPgwOx27Jt9eCnSZw4rI1M2Jd8MOtfOiHOPHtMi5Wn6NqaEw/vgo2TXgb19PVQZX5YWpmIcbTGSftgC4kMPtmL4PBy4zMLqg4V2RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J3FUVWuNkpC7eeeo3wr1Lj",
      "input": {
        "note": "The forward move stalled at x≈0.33 (likely the finger touching the bowl's outer wall). Raising above the bowl height before advancing over the rim.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.045,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01J3FUVWuNkpC7eeeo3wr1Lj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2512, 1.301, 0.487, 0.0349, -0.2329, -0.1875, 0.9994, -0.0219, 0.8097, 0.5957, -0.3969, -0.0166, -0.0345, 0.9973]\nstate[eef_state]: left_x=0.3343 left_y=-0.04 left_z=0.0596 left_yaw=0.0311 left_pitch=-0.182 left_roll=0.0475 left_gripper=0.9994 right_x=0.2924 right_y=0.0001 right_z=0.1684 right_yaw=-0.0012 right_pitch=-0.0397 right_roll=-0.0003 right_gripper=0.9973\nstate[joint_eff]: [0.0342, -4.4239, 6.3248, 1.8779, -0.1343, -0.0415, -0.0073, -0.1709, -1.4154, 7.0496, 1.7509, -0.0513, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b393e6859aaebaa5e58dd7516589da49a2404dcb31e34ef118eabdbc0be41e9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1aff046580f0eca6d8604530ca42b1890ed2056b2704464e1769e313dbb18a85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2fb48051b3e7222f88ec9fd150ea9aed3fa431ac807a5ff8064ff82868bd484",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 4.591 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]: [-0.2539, 1.2545, 0.4564, 0.0536, -0.2344, -0.1932, 0.9994, -0.0219, 0.8051, 0.598, -0.3965, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3305 left_y=-0.0397 left_z=0.0656 left_yaw=0.0312 left_pitch=-0.1482 left_roll=0.0344 left_gripper=0.9994 right_x=0.2924 right_y=0.0001 right_z=0.1708 right_yaw=-0.0014 right_pitch=-0.0324 right_roll=-0.0002 right_gripper=0.9973\nstate[joint_eff]: [0.2393, -4.3966, 7.0496, 1.3504, -0.0073, 0.2711, -0.0171, -0.1846, -1.3607, 7.1726, 1.7753, -0.0659, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2512, 1.301, 0.487, 0.0311, -0.2329, -0.1837, 0.9994, -0.0219, 0.8085, 0.5957, -0.3962, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3336 left_y=-0.0398 left_z=0.059 left_yaw=0.0292 left_pitch=-0.1857 left_roll=0.0514 left_gripper=0.9994 right_x=0.2924 right_y=0.0001 right_z=0.1689 right_yaw=-0.0014 right_pitch=-0.0378 right_roll=-0.0001 right_gripper=0.9973\nstate[joint_eff]: [0.0479, -4.4376, 6.3111, 1.8584, -0.1441, -0.0855, -0.0073, -0.0068, -1.1556, 7.2, 1.7314, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2512, 1.301, 0.487, 0.0349, -0.2329, -0.1875, 0.9994, -0.0219, 0.8097, 0.5957, -0.3969, -0.0166, -0.0345, 0.9973]\nstate[eef_state]: left_x=0.3343 left_y=-0.04 left_z=0.0596 left_yaw=0.0311 left_pitch=-0.182 left_roll=0.0475 left_gripper=0.9994 right_x=0.2924 right_y=0.0001 right_z=0.1684 right_yaw=-0.0012 right_pitch=-0.0397 right_roll=-0.0003 right_gripper=0.9973\nstate[joint_eff]: [0.0342, -4.4239, 6.3248, 1.8779, -0.1343, -0.0415, -0.0073, -0.1709, -1.4154, 7.0496, 1.7509, -0.0513, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b393e6859aaebaa5e58dd7516589da49a2404dcb31e34ef118eabdbc0be41e9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1aff046580f0eca6d8604530ca42b1890ed2056b2704464e1769e313dbb18a85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2fb48051b3e7222f88ec9fd150ea9aed3fa431ac807a5ff8064ff82868bd484",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQcKEAgSGAI4AUIIdGhpbmtpbmcSDE4X6cuVUboJFv0MVBoM9i/e5te2JsiaehLhIjDRU6VP4QKcewLuJiBRCYO0NjS8YH3+rxc4xd4GMTky4is94KILSSxaGaaQccRYNXAqvgbaVjcvJN8GMADhVPMKTzzkZUhsmxIHimmqrRD+56rqShpuvRDr/hYQKnQCzPJNyhl6hSUeZ/2sdZvk4upQrrCIS/HAci6BA52R08MnVHSFDTeV7vk4cDwjkKyjIDY0Q5A5t+BUVAC3CqBNzJ17c3cI0x1QpdklXvSR2gVGGzQXa9w4vbDSkjWzdq7R9SbkP30x+Tv5x1665haPRGfEmQRfvSRQypHrejF3vd3v2p3xp4aCeDLfCqlb84yeIthcQmuJjMXuMI6h1NqCMgz90NuREx6gA/2vD+VpTiyAOhUgDqLb0d3yaZWzLCTyfnmJ6CdTndjApnHArGerX2SL2rpS/bVBQZ+cKA1EOkyuS1noejb2yBpkFPgHmunnlZpNphxWsTdZNsWTjlgkKkFIc4PnmoX8Ylj9GGH4S1tn0CuemJJtdw6IQsoVL+GdDh2LGuIWIq9j8XHtOTb+gsAtXxx+fERRir55nsxFPLRAHLfsZryM0HrdJ7XxjaJUjkMVnlHVZACkoQzW9izvS7eDb7MXOoB3/6rhhV/z17UyQE7GcTa2KtcfofxAS01yi4cGO5P5w5oiUP0OJQwTUPbOSdh5t9/b3T88WOIWMvoPGWIg3Ykd2pIlg1q+wwtwu5NRiieiPoHIl8tkVqArUgKUpeMdM96gksVHbO8/rU57JEReNebxDTwVVR++U2YgdgtZeIWpfYasyzwR2ZgJBVA7DakrvTdotDCOlGmHrtxaWDCLns6+ttxHZ8xxWG/NXvTftpD3+LmV+NtOYQaLhdf1F0E9cgoE4bCFNKf0kpuXC0N/rCF++uUIbvt1qkvbSPvr2kFuWuvgLRN9rwy6cMQzrVEx0UhkbChEYaGcfRW5JQC0gK9PfmqfK6nrrhKCV/aB324+yXTm51bH8PYFkhN+LDtidwtkawATJHEcqiAgGPRqlRVloOIsK22b74k7d9poOi8iVyzg2SwPL3gRtJ+eO3gRTCpPVvM6PLYVXDpNuL6vaoSlZCV3Sst3i0twc0fYC/Oe2Y6j5DZ9vNVys04z2GBkcwgr/gSWksIkJt5T+MEzfH46PLy+WljEmB5UHHmV+qPkfOOpwTNhqs+oKmhf/hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T6hwXduniXuJTo1Ym5gaNt",
      "input": {
        "note": "The left arm did not respond to the last target; trying a small pure lift to free it.",
        "targets": {
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01T6hwXduniXuJTo1Ym5gaNt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2512, 1.301, 0.487, 0.0406, -0.2329, -0.1913, 0.9994, -0.0216, 0.8101, 0.5953, -0.3969, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3352 left_y=-0.0402 left_z=0.0606 left_yaw=0.0329 left_pitch=-0.1764 left_roll=0.043 left_gripper=0.9994 right_x=0.2923 right_y=0.0002 right_z=0.1681 right_yaw=-0.001 right_pitch=-0.0404 right_roll=-0.0 right_gripper=0.9973\nstate[joint_eff]: [-0.1162, -4.4513, 6.3248, 1.8046, -0.1197, -0.0562, -0.0073, -0.0342, -1.3744, 7.0222, 1.7021, -0.0757, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bf0e0b2ae58fa35ac4448be3d3e57900920de536e6b94c6c0dee078471209a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67c0e7e089865a8aa99fdea9b9dd8b6212bde2cee06f0960cf112ca45e0400f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e3b1cf8c14cd6152c0091a8db07617050c23c7afeeaaa001234b7ede610260dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 7.255 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]: [-0.2512, 1.301, 0.487, 0.0311, -0.2329, -0.1837, 0.9994, -0.0219, 0.8085, 0.5957, -0.3962, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3336 left_y=-0.0398 left_z=0.059 left_yaw=0.0292 left_pitch=-0.1857 left_roll=0.0514 left_gripper=0.9994 right_x=0.2924 right_y=0.0001 right_z=0.1689 right_yaw=-0.0014 right_pitch=-0.0378 right_roll=-0.0001 right_gripper=0.9973\nstate[joint_eff]: [0.0479, -4.4376, 6.3111, 1.8584, -0.1441, -0.0855, -0.0073, -0.0068, -1.1556, 7.2, 1.7314, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2512, 1.301, 0.487, 0.0349, -0.2329, -0.1875, 0.9994, -0.0219, 0.8097, 0.5957, -0.3969, -0.0166, -0.0345, 0.9973]\nstate[eef_state]: left_x=0.3343 left_y=-0.04 left_z=0.0596 left_yaw=0.0311 left_pitch=-0.182 left_roll=0.0475 left_gripper=0.9994 right_x=0.2924 right_y=0.0001 right_z=0.1684 right_yaw=-0.0012 right_pitch=-0.0397 right_roll=-0.0003 right_gripper=0.9973\nstate[joint_eff]: [0.0342, -4.4239, 6.3248, 1.8779, -0.1343, -0.0415, -0.0073, -0.1709, -1.4154, 7.0496, 1.7509, -0.0513, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2512, 1.301, 0.487, 0.0406, -0.2329, -0.1913, 0.9994, -0.0216, 0.8101, 0.5953, -0.3969, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3352 left_y=-0.0402 left_z=0.0606 left_yaw=0.0329 left_pitch=-0.1764 left_roll=0.043 left_gripper=0.9994 right_x=0.2923 right_y=0.0002 right_z=0.1681 right_yaw=-0.001 right_pitch=-0.0404 right_roll=-0.0 right_gripper=0.9973\nstate[joint_eff]: [-0.1162, -4.4513, 6.3248, 1.8046, -0.1197, -0.0562, -0.0073, -0.0342, -1.3744, 7.0222, 1.7021, -0.0757, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bf0e0b2ae58fa35ac4448be3d3e57900920de536e6b94c6c0dee078471209a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67c0e7e089865a8aa99fdea9b9dd8b6212bde2cee06f0960cf112ca45e0400f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3b1cf8c14cd6152c0091a8db07617050c23c7afeeaaa001234b7ede610260dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQStggKEAgSGAI4AUIIdGhpbmtpbmcSDEHbdczsakwkixrmaRoMA3srPCReI62X++syIjDCeMGw+qLI5fm8CQ1hsYUeVw05lMjbv1YcgzI84L2wEFkRfirA6TAveHB2wbh0qYoq0wem61DJGbftc6AqRNczegThWz3tIZJjNf2oyj4PlSJ0DYQLvvydrq1Sp2tOMXeyKS8KFs8kU/lnrAwQKIkp0dpbczeE3TA3qFIapI9F7WdSeCHSfDHvFOJGHNYfUIZghpd6vzebzQOs2PIyb39LHhdyKed+qDoNggaJS0jDI3iD4Fr7KWFAWzAIx+N7l6+Bza1WTmt7v4seO8CqOaI0GdWqa3MDPtqJ+DXsv85yylUWbh7RLojDEVw7acxf+BF8UqkMKSaORuGrh2rk6bFK93IvDkBv8bmLoCthyWBeE3MYEnY0nKt1jQm1Yx77JF4YiI6HzJdKTf/Gl6K+AO0aKza+u+3MOjjsb0RP61agKZOblz6DgPkEqExhZVVUcW7Kb61rqk/vp/6MHIu1vgnbJ8qy2xHjvaUivYuAmndyRlnZXwhapahQdqgP2pxjRwN/ugYHplY0VbUsxNjJPpXbyQQaSysvPO5G7u35bAakBk5nuhyUPxio8w88UGE5QA2vc8IJSmgWTt5KEv/p0bgzCVJRPabylfz57S5aeqwmHmu3y0Yv+OJGVM0bngYe5hxsyhDhCbiAFQadfAqI1v5my8CZRhM6dF5hqrhJ10NP6pFTz1/J0vQPPKgVSM0Q62pOL89/QWOa0mSlmOvkWoGOs2bG0jxh4YbfgfOGnTbSRjlEfwDffU6+xMN8cEcv6omH1TzUZTk9hRAN4gvU+S2nbzPzjnyrXezYc54air4CJkhw1TZ63D1mnSz0l6jVRQZP68qOBz6wRl5skR3Uh9qktMKZ5OKrVjYALz+wFkefCMgJeBgrQ/UDxlKwBNLFJvRjb/xPTQ7Jp1rd2+hR7o3ewqGWaVQMKaXf5dBn9POMfP+6ppXd+R3v1y4RiS4X9IDbihrnMAczwaJ4b1ena1NGrYMQTWmUuSo9pHGRhzsGBJZBdj0unhGbc5QdeadhbmxEDZDDJ24el/FVzxGVcB0vyYAUuvie00RyCp2UrU8k3BYcRphsrAzk7xL+dYmpQorXPAkV7W34YhQYoz6CSsdwjVvu3LZS3D/nsLIF4M9vJUmxcYVVaI1/yG3KDgsi/Kkem0uU3d7gJwMd0NIHOVGDl6mT4JkmC9Y9fXubltVPKC8BBUXg+L3UuVnlL0kZaZaaTOUF5GF1xrTou6h72S7wJhpMxG87otDOUm/G4COHJba/N8/NmeOoNfxAVRfdlRfclt8wpwyp++1QZ7vOePnIhPXKGaWvkDG4rlCFJKBXEwMBDgZWqpE9MTH/S4BUn/UNiTywg9YXcKV306gZKFoSypRPAlf1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sbk6nPVLkbutTWBwHqrvdK",
      "input": {
        "note": "Left arm appears stuck at x≈0.335, z≈0.06 (joints unchanged over two commands). Commanding a previously reached pose to see if it recovers.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.045,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Sbk6nPVLkbutTWBwHqrvdK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3176, 1.0431, 0.5549, -0.247, -0.2646, -0.2329, 0.9994, -0.0216, 0.8139, 0.5953, -0.4049, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3101 left_y=-0.0495 left_z=0.1169 left_yaw=0.0138 left_pitch=-0.1326 left_roll=0.0208 left_gripper=0.9994 right_x=0.2914 right_y=0.0002 right_z=0.1655 right_yaw=-0.001 right_pitch=-0.0523 right_roll=0.0002 right_gripper=0.9973\nstate[joint_eff]: [-0.5949, -2.4547, 8.8957, 1.4823, -0.3004, -0.0513, -0.0122, -0.0205, -1.2513, 7.0222, 1.79, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6905657e048fdf7791ca4156d5e65fd4570a4808d67357b82063c26ccb9b3b2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec9ffd4c93b9e6867b2eda0deecf3b65d38137e0a55de8462c4a728b16ea4a59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40e62cdd200eac35a2832e76bb2c86366752ab60a5d03453067a2c37cd3d26ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 4.608 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]: [-0.2512, 1.301, 0.487, 0.0349, -0.2329, -0.1875, 0.9994, -0.0219, 0.8097, 0.5957, -0.3969, -0.0166, -0.0345, 0.9973]\nstate[eef_state]: left_x=0.3343 left_y=-0.04 left_z=0.0596 left_yaw=0.0311 left_pitch=-0.182 left_roll=0.0475 left_gripper=0.9994 right_x=0.2924 right_y=0.0001 right_z=0.1684 right_yaw=-0.0012 right_pitch=-0.0397 right_roll=-0.0003 right_gripper=0.9973\nstate[joint_eff]: [0.0342, -4.4239, 6.3248, 1.8779, -0.1343, -0.0415, -0.0073, -0.1709, -1.4154, 7.0496, 1.7509, -0.0513, -0.0659, -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]: [-0.2512, 1.301, 0.487, 0.0406, -0.2329, -0.1913, 0.9994, -0.0216, 0.8101, 0.5953, -0.3969, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3352 left_y=-0.0402 left_z=0.0606 left_yaw=0.0329 left_pitch=-0.1764 left_roll=0.043 left_gripper=0.9994 right_x=0.2923 right_y=0.0002 right_z=0.1681 right_yaw=-0.001 right_pitch=-0.0404 right_roll=-0.0 right_gripper=0.9973\nstate[joint_eff]: [-0.1162, -4.4513, 6.3248, 1.8046, -0.1197, -0.0562, -0.0073, -0.0342, -1.3744, 7.0222, 1.7021, -0.0757, -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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3176, 1.0431, 0.5549, -0.247, -0.2646, -0.2329, 0.9994, -0.0216, 0.8139, 0.5953, -0.4049, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3101 left_y=-0.0495 left_z=0.1169 left_yaw=0.0138 left_pitch=-0.1326 left_roll=0.0208 left_gripper=0.9994 right_x=0.2914 right_y=0.0002 right_z=0.1655 right_yaw=-0.001 right_pitch=-0.0523 right_roll=0.0002 right_gripper=0.9973\nstate[joint_eff]: [-0.5949, -2.4547, 8.8957, 1.4823, -0.3004, -0.0513, -0.0122, -0.0205, -1.2513, 7.0222, 1.79, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6905657e048fdf7791ca4156d5e65fd4570a4808d67357b82063c26ccb9b3b2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec9ffd4c93b9e6867b2eda0deecf3b65d38137e0a55de8462c4a728b16ea4a59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40e62cdd200eac35a2832e76bb2c86366752ab60a5d03453067a2c37cd3d26ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W1MiYrMTHMoDvm5t8EJkZJ",
      "input": {
        "note": "Arm recovered. Overhead view shows the white bowl further forward than I thought (~x 0.40, y -0.11). Moving above its left rim at height.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.06,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01W1MiYrMTHMoDvm5t8EJkZJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2562, 1.4105, 0.8131, -0.1814, -0.2317, -0.218, 0.9994, -0.0216, 0.8173, 0.5945, -0.4152, -0.0166, -0.0345, 0.9973]\nstate[eef_state]: left_x=0.3851 left_y=-0.0552 left_z=0.1146 left_yaw=0.0419 left_pitch=-0.1811 left_roll=0.024 left_gripper=0.9994 right_x=0.2899 right_y=0.0003 right_z=0.1621 right_yaw=-0.0008 right_pitch=-0.0667 right_roll=0.0002 right_gripper=0.9973\nstate[joint_eff]: [0.3624, -6.1744, 8.5812, 1.6142, 0.0562, 0.1636, -0.0073, -0.0342, -1.6068, 7.0359, 1.7802, -0.0611, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8a96aaffd07dfcab8720bcaf9f259a0b5f5febdd6e1c59d06e9b858bd0e5d65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:deeef8167bab8e339b188746e9d7e8f3fb092fe8a455a83b24f7cf309ebf51d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c27a22cac4cbc28b4d7bc0770d1d6af9a29e97cd5d2d44fd2fcdc4415b6bc186",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 4.497 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]: [-0.2512, 1.301, 0.487, 0.0406, -0.2329, -0.1913, 0.9994, -0.0216, 0.8101, 0.5953, -0.3969, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3352 left_y=-0.0402 left_z=0.0606 left_yaw=0.0329 left_pitch=-0.1764 left_roll=0.043 left_gripper=0.9994 right_x=0.2923 right_y=0.0002 right_z=0.1681 right_yaw=-0.001 right_pitch=-0.0404 right_roll=-0.0 right_gripper=0.9973\nstate[joint_eff]: [-0.1162, -4.4513, 6.3248, 1.8046, -0.1197, -0.0562, -0.0073, -0.0342, -1.3744, 7.0222, 1.7021, -0.0757, -0.0464, -0.0171]\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]: [-0.3176, 1.0431, 0.5549, -0.247, -0.2646, -0.2329, 0.9994, -0.0216, 0.8139, 0.5953, -0.4049, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3101 left_y=-0.0495 left_z=0.1169 left_yaw=0.0138 left_pitch=-0.1326 left_roll=0.0208 left_gripper=0.9994 right_x=0.2914 right_y=0.0002 right_z=0.1655 right_yaw=-0.001 right_pitch=-0.0523 right_roll=0.0002 right_gripper=0.9973\nstate[joint_eff]: [-0.5949, -2.4547, 8.8957, 1.4823, -0.3004, -0.0513, -0.0122, -0.0205, -1.2513, 7.0222, 1.79, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2562, 1.4105, 0.8131, -0.1814, -0.2317, -0.218, 0.9994, -0.0216, 0.8173, 0.5945, -0.4152, -0.0166, -0.0345, 0.9973]\nstate[eef_state]: left_x=0.3851 left_y=-0.0552 left_z=0.1146 left_yaw=0.0419 left_pitch=-0.1811 left_roll=0.024 left_gripper=0.9994 right_x=0.2899 right_y=0.0003 right_z=0.1621 right_yaw=-0.0008 right_pitch=-0.0667 right_roll=0.0002 right_gripper=0.9973\nstate[joint_eff]: [0.3624, -6.1744, 8.5812, 1.6142, 0.0562, 0.1636, -0.0073, -0.0342, -1.6068, 7.0359, 1.7802, -0.0611, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8a96aaffd07dfcab8720bcaf9f259a0b5f5febdd6e1c59d06e9b858bd0e5d65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:deeef8167bab8e339b188746e9d7e8f3fb092fe8a455a83b24f7cf309ebf51d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c27a22cac4cbc28b4d7bc0770d1d6af9a29e97cd5d2d44fd2fcdc4415b6bc186",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7wgKEAgSGAI4AUIIdGhpbmtpbmcSDOXqqGarYx4FTpz40BoMza4lL1vnrOgKUwIlIjDBDkpZCn6DMNLmt6p5ci/JNCuYmZtfZs2uG/SQ4FBtPBR70aHPzuCOE9aIl1Ow4REqjAjQSbgvCSZMI/zqf+MZsIY1mQ4QLymuZSWM8yJXTDF6vrgb0W4rBjYxw8fvOJhiOdx415va+sP7Vr4kaFSw0ZnpzFqHWc0q2/OQIxMXalSjcRnyX9K9VdVrkx8MflchgWVrhQuJ0qA496/nwSew8uv1jqcpzLOqdqmKc1nGeDLQ9HpK1YYb4Ula5u010/NWoOyJ8cjB32Fe4qxUlyC0O4hWQRAVQm496ncShiwAjFrvg+b7zRFAqYEiFXM5xPIMadIFzfNux6i8WjmffRqIRekFFCt63Ir3EZIVzszoSUC/u2Cg0psVvL1qr93RFZbBAt8t14EZA32O0yqkWACFUzTpoFzcSFj2l0zxOLs5THN1BbpnL8Sf43Fo3AMjBHvTOHkDVsSZWBERbXEC04IEFUheK/73o4qUhE4jDxKd1FOeeoxaSVtfcnZnPkA1actYk67qbJC4BInN6955hzpw+swwTTI9tzAFaXZOTeC+Evhav+/fKfjvxMR3QNpBPGg+yo7AjftZYyw/lqalOi8f+kVFyZIpnS8l5Bl/ZrEPHghCHe/hirv9PUmCvKhaydCy3tmaPprwh5Y8BwGYPGsIC2aoLSD1vCA+RbnR8iwckHmbXtj6uw8DPbdq5DwFoQDOZpifHYNJAy88C0oVfAcbtsvqWJQcig34bPwTRPgC9Ybzvg4sukrrAhQYnUdYth4LJJm8g52WdnDJZn8DqCjy2Oe9VaGv1mBR0MPL3dH+7SIrvHpVSsOQC5SYxa1WtqBHfKjjYZvrxzGa9k1S9aIRaKKWsjdzcexm+uU2jplx/UIWItlbT1I8rNYoQvi2A7M6znDmAfBfdC0fMc2Ni63mfDmvuEvLyYfYW3KlbaqbkjtMSxlRq5yYasgxRZF3sANeoFGm42zit8pa5dQ369CXQbqSV++gaHxuKFvkFO9W3g2rcfdbAv/OYvwQ5oXc6diVudQQiaE/OzgtJHG+ZevohbVOdYaAOiwFEqU2ra4AQTYN9jnAfxc9BYqULbNH0nOaOf68PC6SbGy7Q+LuE6L6YmB9G3NRTaaTUlC2+C+RJtN9GOiRuVDGos52PoGAOH5b2cLB/NY7jB6PPkN1MtrKXJP9hX4WpKfZaNnreqR9Jn+bGDmXGBBVfsJS+DIfM2XuPX9GU/av4DZBgn6l/sXB0m7PtHhdP+pAyRVW5q4e1QChsv3zhyPm4ncIgXeeICEkLYEY2K4vwbE7HNAuItPdiU67Gyp1ZsahgeHQYmAJ2zJISiu629ywxV5Ex5RLCFEEPpAxuoep361VLoE6Vq9Bm1zU66BKzXtXtachkNCUpC5uWcsvImsmQq1bsW5ms92PVJSFMQ0JMHLLzbPoNQzzEjH27p3QrXkQyvhm3cE/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UYyFnmGiDcLLimctqcE1Re",
      "input": {
        "note": "Wrist view shows the white bowl's left rim right on the jaw column and running under the fingertips; overhead shows gripper over the bowl's left side. Descending to straddle the rim.",
        "targets": {
          "left_y": -0.05,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01UYyFnmGiDcLLimctqcE1Re",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2417, 1.597, 0.6205, 0.1402, -0.2245, -0.2062, 0.9994, -0.0219, 0.8177, 0.5945, -0.4156, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3756 left_y=-0.0484 left_z=0.0268 left_yaw=0.0473 left_pitch=-0.2381 left_roll=0.0445 left_gripper=0.9994 right_x=0.2899 right_y=0.0002 right_z=0.162 right_yaw=-0.0014 right_pitch=-0.0675 right_roll=0.0005 right_gripper=0.9973\nstate[joint_eff]: [0.4308, -6.065, 5.012, 1.6093, -0.0659, -0.0317, -0.0073, 0.0205, -1.3197, 6.9949, 1.6532, -0.0757, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:165251059cc9cfd4a7fe339e8bb35723a034efc321af9ca5dd8a0cc8bf283a4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47a4a8c568d4a1b10607f946bce15d269cc0b564098bf13da64561a1258017a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b9251abac24384cdc0f1b82a955b4f28d0b1b68ac7aa239ddf2936471f95405",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 4.255 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]: [-0.3176, 1.0431, 0.5549, -0.247, -0.2646, -0.2329, 0.9994, -0.0216, 0.8139, 0.5953, -0.4049, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3101 left_y=-0.0495 left_z=0.1169 left_yaw=0.0138 left_pitch=-0.1326 left_roll=0.0208 left_gripper=0.9994 right_x=0.2914 right_y=0.0002 right_z=0.1655 right_yaw=-0.001 right_pitch=-0.0523 right_roll=0.0002 right_gripper=0.9973\nstate[joint_eff]: [-0.5949, -2.4547, 8.8957, 1.4823, -0.3004, -0.0513, -0.0122, -0.0205, -1.2513, 7.0222, 1.79, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2562, 1.4105, 0.8131, -0.1814, -0.2317, -0.218, 0.9994, -0.0216, 0.8173, 0.5945, -0.4152, -0.0166, -0.0345, 0.9973]\nstate[eef_state]: left_x=0.3851 left_y=-0.0552 left_z=0.1146 left_yaw=0.0419 left_pitch=-0.1811 left_roll=0.024 left_gripper=0.9994 right_x=0.2899 right_y=0.0003 right_z=0.1621 right_yaw=-0.0008 right_pitch=-0.0667 right_roll=0.0002 right_gripper=0.9973\nstate[joint_eff]: [0.3624, -6.1744, 8.5812, 1.6142, 0.0562, 0.1636, -0.0073, -0.0342, -1.6068, 7.0359, 1.7802, -0.0611, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2417, 1.597, 0.6205, 0.1402, -0.2245, -0.2062, 0.9994, -0.0219, 0.8177, 0.5945, -0.4156, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3756 left_y=-0.0484 left_z=0.0268 left_yaw=0.0473 left_pitch=-0.2381 left_roll=0.0445 left_gripper=0.9994 right_x=0.2899 right_y=0.0002 right_z=0.162 right_yaw=-0.0014 right_pitch=-0.0675 right_roll=0.0005 right_gripper=0.9973\nstate[joint_eff]: [0.4308, -6.065, 5.012, 1.6093, -0.0659, -0.0317, -0.0073, 0.0205, -1.3197, 6.9949, 1.6532, -0.0757, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:165251059cc9cfd4a7fe339e8bb35723a034efc321af9ca5dd8a0cc8bf283a4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47a4a8c568d4a1b10607f946bce15d269cc0b564098bf13da64561a1258017a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b9251abac24384cdc0f1b82a955b4f28d0b1b68ac7aa239ddf2936471f95405",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4AgKEAgSGAI4AUIIdGhpbmtpbmcSDMtcBqE5Qy+m2Edk6hoMYv3+00jNxo9v1g7RIjAaZE+yM3nUM1W4mcBmdN18Dan5r2Bsf0XvnfwCRdIgxdYCxl4y8nW6cfBoJI4BHB4q/QcwLjP0N8UUKAytu1Si3d5hP5KGZW3iopKdnLmDiukLpQC6JgVVqDoTQQZhQe+OBGcyuwWpd15owQDB+CMCPVyzqFw8W8UrAmwAO7QUFzaYqRa0YyZEIlJtgxLoJixolGin66KO8k3PXTMCulcrMuenWWJuX6LAfU90ckUBlfJpc9lyhTU8fe9PX2ajSdWQBkrFOOkHSYWTgr1n93GmKlXWfnG/D8XV6tkdPo06yuh3ngrHIeUU1FddXuDQVQ6ATNDbDJuDQ2mmb+Y8Z+VhKP0MyVc6HdlgPnQkoW2CsNObHbCZ/SD435hLW3WcBqtpt5irx3/LERmx9nxGsyNICk189sCOw7wMz2AmLKfF+IyuO8gVkJaid1dlmGauV3nqHZx14zhZt6PQVxnkLv/PbZUb7jP1p7ILUo85UJK+pA8/y0jZm0Dek6AD31MbN1pDvSJaz8Sg46NXRtGNowRkO2TB9LiXJof3wYfHYltUt8pzX6DgbTu4dDHltTIhr+aC8it1/1/WFD+hXcPcrIZjNNIXx++VDkQDx3tN5wlzseEMWMMszAPKnJr45IBQK9rnFoVmHHayOThjrQiO0TYqF3d1c7aeFOHGMfBtGmyokjO5t92r2hL7YsiNut7/IA5S6Oek7xUlI7jG56LHxQWI3A84qtv63kClIMkqwTGCApqutiufD4oo/22leqPBIn9K1xdkL5MMTAg3pDnByqIBZkvxAALr/+jRkdu3/gZ8mYHYB9J6kI+Kb4gDfy1jdRJqF5kZFGUCdBDB4pC28jyYO45KfSxr8jyyySSEOCkZtQVSFu0KUUaG2ROKqyNnO7Kz91+wUNFYkdLDXsh7w17rXVym8Dj1K7oDyg9fV85D0ViB3j0m+M1FTDk6rqmVj2hQLTUYDl6A9BVtNAcBexEp1EtP7vYbKV6swzsLR/G14kVr1DBSS+y01oiqsz8cn0MtaIdggtosiR0fP6/sweDhCf+BSTVYNtai0Q3QZfxTGCRZGbBddeDabyZd603XQYBaHriwxKgHBKEyilo2GL8rYLTG46iwhGeME7ZsrW+BDmRJ6hTn2bdSvofrGyxhgzJzEUeKIdlikYFhyotaz2ydb38WRI3SQmQOCBvkfCv/ZzNt19xD0wQ08uoEpnggFV+lkVMqNOGjmSJNtp1iFD36PvaIV5lpYkGfGxjdH8WsjMTBcr/0CMamWTVreB8sMWLaHdFnZtuBW3DGDMcq7wWKEOI+aiwmKVV9rAfyWu2FIMmz6IxaFfeVqIVG2rwA09Lya8nUhU7GfAq03gUAlG8HRms5Xo3bkx/3CsF9fHKd7obxHcpYlh6EuGa8bNaC+xIVieZ1NshN1jT2t2ld+nCbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DBNu3ZZqzUXecEvzh2XHBA",
      "input": {
        "note": "The bowl's left wall is between the jaws near the fingertips. Closing to pinch the rim.",
        "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_01DBNu3ZZqzUXecEvzh2XHBA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2413, 1.5932, 0.6147, 0.1646, -0.2173, -0.223, 0.034, -0.0219, 0.8177, 0.5945, -0.4156, -0.0162, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3781 left_y=-0.0501 left_z=0.03 left_yaw=0.0494 left_pitch=-0.2177 left_roll=0.0206 left_gripper=0.034 right_x=0.2899 right_y=0.0001 right_z=0.162 right_yaw=-0.0017 right_pitch=-0.0675 right_roll=0.0003 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -6.0103, 6.3111, 1.1746, -0.1294, 0.1441, 0.4615, -0.1846, -1.3333, 6.9812, 1.6728, -0.0073, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:392c7697dfc3c2034eb5eb683cb0d3e4542c2311a8d03515fde1502ef853ef61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f0bf488546a82557a69d6f148cb7d742bb9164fd022a6b073886ead4c35b582",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2949c13a2da0cd2c09d4df1bfc715565cef96c9ba787ebd79eb8f03313b091a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.597 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]: [-0.2562, 1.4105, 0.8131, -0.1814, -0.2317, -0.218, 0.9994, -0.0216, 0.8173, 0.5945, -0.4152, -0.0166, -0.0345, 0.9973]\nstate[eef_state]: left_x=0.3851 left_y=-0.0552 left_z=0.1146 left_yaw=0.0419 left_pitch=-0.1811 left_roll=0.024 left_gripper=0.9994 right_x=0.2899 right_y=0.0003 right_z=0.1621 right_yaw=-0.0008 right_pitch=-0.0667 right_roll=0.0002 right_gripper=0.9973\nstate[joint_eff]: [0.3624, -6.1744, 8.5812, 1.6142, 0.0562, 0.1636, -0.0073, -0.0342, -1.6068, 7.0359, 1.7802, -0.0611, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2417, 1.597, 0.6205, 0.1402, -0.2245, -0.2062, 0.9994, -0.0219, 0.8177, 0.5945, -0.4156, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3756 left_y=-0.0484 left_z=0.0268 left_yaw=0.0473 left_pitch=-0.2381 left_roll=0.0445 left_gripper=0.9994 right_x=0.2899 right_y=0.0002 right_z=0.162 right_yaw=-0.0014 right_pitch=-0.0675 right_roll=0.0005 right_gripper=0.9973\nstate[joint_eff]: [0.4308, -6.065, 5.012, 1.6093, -0.0659, -0.0317, -0.0073, 0.0205, -1.3197, 6.9949, 1.6532, -0.0757, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2413, 1.5932, 0.6147, 0.1646, -0.2173, -0.223, 0.034, -0.0219, 0.8177, 0.5945, -0.4156, -0.0162, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3781 left_y=-0.0501 left_z=0.03 left_yaw=0.0494 left_pitch=-0.2177 left_roll=0.0206 left_gripper=0.034 right_x=0.2899 right_y=0.0001 right_z=0.162 right_yaw=-0.0017 right_pitch=-0.0675 right_roll=0.0003 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -6.0103, 6.3111, 1.1746, -0.1294, 0.1441, 0.4615, -0.1846, -1.3333, 6.9812, 1.6728, -0.0073, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:392c7697dfc3c2034eb5eb683cb0d3e4542c2311a8d03515fde1502ef853ef61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f0bf488546a82557a69d6f148cb7d742bb9164fd022a6b073886ead4c35b582",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2949c13a2da0cd2c09d4df1bfc715565cef96c9ba787ebd79eb8f03313b091a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0AcKEAgSGAI4AUIIdGhpbmtpbmcSDKF1ZW4ZwRPATyAk0hoMLE7PCfZ5bDz4TtxmIjATJutjwCMmUUdW+7hTe5EwR+J+F2dLm6FpFGTzzoZiSiGtKNAhNtag3qQUVTI8eI8q7QYiwaPE+KFXrscEbsbC1cljwDodNyo+YvBj/ue7KkigeRAoEKJP3t9Q/WFYseAwKlWolo5qfdYMkYtB79SkBm5vlyZe/MfjbwzmdON/PtxzluOYJRXDdIIGtqVNQaUA0+m42b7qZ3ZohFR7lleD+/yf+8ggDFoFt/tPUgzicIA8hWdNVYzxRL1pscB4EkJS4TIg55LdqO7x5oUixh/7F+iELn++nvF6pI4c1tWOvCWwPZljiWnjhnCSYLsSLggBkBXmb4+WTx+MS5zqrpYYE7ObU2fNXDw1uPKYe76cn59wwTP1YNuqDsXIB7Hczxv8RStbmyuHLUVojU/Dh5bM9IKyggCwsOq0OXbde0SNIctl5ERFgbW2DlGKaaZJGXj7IZIdWoVjQW63TcX2pMUnQfCRx5IVtMMOU9dIndB0igA6DOAccE+93mO+moj3Sby2Og9biZm9mcqDAnu9ni4zMAH+6xnQgr+3pLC+P5Yy1L36vN3YKV2Bfcj/89jzjelAbEjHsV1BmoZ28Wk0AX2q1MZYkT71mbf/n9enOJuVNOnmh1dmSDq7vH6dAgLZC0kpaLJ5ZQanSaImR6N+ubjpV9pF8DlI/vgYMPRn1zeHNLMwqaPYGW8uQ0rLCZagJD14Pn84k6MeUepysW973d156S7eaccyX/U7D2HzytpzNK1bPVQVmtevOWNliHeVH0rhAt+P0gGXr/VxFEh1dtou2E3EEETfXx+mepj40orgej1B5PrsQmW7H+h8gjF/YpmhJ8iD3OqmUpdz1kzbFzJfmA7YQu36GNW40pEK1a573yvTe+0WbbavdkLmJkIDNM7I2YErE0IOHCG/ZegwusCFCIT0+SamJblitmYz4RSDYf1/4MABs9P2LBqNTdOwVLfecYwNxfBGn88p2Lvs8iQOtY1b134XmRKSMTwDkuOv6C+Wz48IAlH7bXpjNZ+pM3L6q2AJ6jC/Iy7mCGSRXuhycTGUNVlPOIl/9dII37n10ILhXJ8mEuTgFA9GvnpigAYpnID20TsZC00BscHnUlXWWOjfZIIsmwKSlbqXO3mMyLJaVwU1IpKsxuXVd2WrRxBqpYlPG9/vT3sf4HbP07QlrCgnEfhOkZfWhyNiwIp+IYFqeWjH/gjwsKWaI0X5XEyb74NEJJa7Q9pUYVn1SoIfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BRXx4uP4RrXS2KK6xyQ6Kj",
      "input": {
        "note": "Gripper closed to 0.034 with the jaws right at the bowl's wall — possibly a thin rim pinch. Lifting 6 cm to see if the bowl comes along.",
        "targets": {
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BRXx4uP4RrXS2KK6xyQ6Kj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2413, 1.4681, 0.7109, -0.0658, -0.2173, -0.2287, 0.0454, -0.0216, 0.8177, 0.5945, -0.416, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3762 left_y=-0.0497 left_z=0.0722 left_yaw=0.0532 left_pitch=-0.2263 left_roll=0.0192 left_gripper=0.0454 right_x=0.2899 right_y=0.0003 right_z=0.1619 right_yaw=-0.001 right_pitch=-0.0679 right_roll=0.0005 right_gripper=0.9973\nstate[joint_eff]: [-0.1162, -7.2, 8.5128, 1.5311, -0.1441, 0.0415, 1.033, -0.0752, -1.3744, 7.2821, 1.6825, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ab9270ea3d2234e8e0ddb2612ee3d499950acfba1994798e28fe03badcba3ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca4f73b2f5d2514f56d61c22c7900b7581ca198ebd409547f59132fcde47b7e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:614a47bbb94ed8a9f19de442b9b38531743901afb338fb0939003b2c57a90ae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 5.425 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]: [-0.2417, 1.597, 0.6205, 0.1402, -0.2245, -0.2062, 0.9994, -0.0219, 0.8177, 0.5945, -0.4156, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3756 left_y=-0.0484 left_z=0.0268 left_yaw=0.0473 left_pitch=-0.2381 left_roll=0.0445 left_gripper=0.9994 right_x=0.2899 right_y=0.0002 right_z=0.162 right_yaw=-0.0014 right_pitch=-0.0675 right_roll=0.0005 right_gripper=0.9973\nstate[joint_eff]: [0.4308, -6.065, 5.012, 1.6093, -0.0659, -0.0317, -0.0073, 0.0205, -1.3197, 6.9949, 1.6532, -0.0757, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2413, 1.5932, 0.6147, 0.1646, -0.2173, -0.223, 0.034, -0.0219, 0.8177, 0.5945, -0.4156, -0.0162, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3781 left_y=-0.0501 left_z=0.03 left_yaw=0.0494 left_pitch=-0.2177 left_roll=0.0206 left_gripper=0.034 right_x=0.2899 right_y=0.0001 right_z=0.162 right_yaw=-0.0017 right_pitch=-0.0675 right_roll=0.0003 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -6.0103, 6.3111, 1.1746, -0.1294, 0.1441, 0.4615, -0.1846, -1.3333, 6.9812, 1.6728, -0.0073, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2413, 1.4681, 0.7109, -0.0658, -0.2173, -0.2287, 0.0454, -0.0216, 0.8177, 0.5945, -0.416, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3762 left_y=-0.0497 left_z=0.0722 left_yaw=0.0532 left_pitch=-0.2263 left_roll=0.0192 left_gripper=0.0454 right_x=0.2899 right_y=0.0003 right_z=0.1619 right_yaw=-0.001 right_pitch=-0.0679 right_roll=0.0005 right_gripper=0.9973\nstate[joint_eff]: [-0.1162, -7.2, 8.5128, 1.5311, -0.1441, 0.0415, 1.033, -0.0752, -1.3744, 7.2821, 1.6825, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ab9270ea3d2234e8e0ddb2612ee3d499950acfba1994798e28fe03badcba3ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca4f73b2f5d2514f56d61c22c7900b7581ca198ebd409547f59132fcde47b7e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:614a47bbb94ed8a9f19de442b9b38531743901afb338fb0939003b2c57a90ae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSmwkKEAgSGAI4AUIIdGhpbmtpbmcSDBdnbBvyeQJTZbZbBhoMPgab2Ox4PQrnVONZIjCzKs2D16TDK5wvR3iFzRErlGOPXRdneOm365xrHjNHrgpeI84zr3XV/4sZVu/xxKQquAjPSfvwtwVT5Sr15CpalGxT9V/Fsy+GV7ID9aC6Djbt9ZCO7lHgheBCxChxJq/jlFfzrDq3OXXAKoj549aNqqWZBP7X/Rgy4Va5EScdTHLlbN8eoUdwQvlqVaQCGr8RA47vrac491llIogii1cSQh3xIoNyz5rs5x06YNMgECbcA8+O+pjeSG/UpBHiEceJxrRyHqvd6042Qh6ISGNOCX2Ht61y7cosPNBbu28/ymSElS8AdSck/fmgzhzN1xhaTguIzZm3DVnzztJdWDbbyf+nZEy99NRm0M6Q7y6bQIzuRx8LMo6Fq0XOmZXUzNHnvpAAIOTS6NlUKVyQ9Ps8nfKGggvWggmD8fZzZIEME2rvPpCogCTLGVM8knU9wgt/uNljGGnQIJR46BGDq5N4jNVN5I/sOgtB11Jphy7wYA/3R3ucm7cd3Mgb6RASup/IRh+xj6ESoOiqgGkGamkiRefdMIDzzG/lLKhgJdCcWz1m2UA5uHrl2GeZEPAqFh1iuNnIs2fBigTwmUEAHMOzzY9gkfja5M1N2qaURSlOhZw68aDBPPHXqQPVF3zY7Znd5UkT2b5sOSonlB6SlYupzaAbfw5V0FyP9IG440nWWblB0vdZOt65zC/TT4TCR0EctBcegfV/PEexuYvMcrVLJhJnALlaZ4PXtnAcqlFFt08Lriv+u2NsFNGBq/idF+HMpqPUJ8ltGecSgnuZ6kg+IhBBoSkL13qUof0bRYc5AelgSinLh4GUtOvisBu1Oc2lJp0Ng8CKoE0XvnUrgdD7BrLeY9TXrzEOiA/9nmt2bwf4X0Bf7l6cGcg1u1P1Sdjihfu9txWg/5awJnBwv9tEl3kWg2pnjiI0DQHBUNn9E3CVw7XM+ukWxOdotoTO19tklfUHCVngCD1Jv6W150hSIZRlEu3GS7vkDaV7hJQGTaWYvAyghsinMBjS+urCaU11AVQjodZrNlCXeNosiQH2NfxgUr5W8/QbDc2MdvynCDvOrFMcGy26c5NOPAfw1BY8/I1QJZPkYoWfgShhLok51qGPjvgF10mkHf2mT3vDT8U+VnzElbi6wTmnqVwgcU5o8vwAVjaa/nK9Y8WDQkizeUdEQW1hM4XTeHWvZEKQxHckGZsGJwrXkLrR1Kx2mM+zpHnow7zH539ytzkgWPnTSrZtyIt1XQDU36y54BQl4FhH+jkIATksGZMIKVypMbGDx+QJrOsaFNjHzSYzi34QYlb1CJrGV7eTZ2SCQVDv5Ipwo2OErwU4LIG1+gH3IaIOm3vBIZvOlqDlsFmBb6gYLc9MIwgGW80h9shuLkH4MwEZDW4PuzvqEU8kOiH21tss0DajyRp7uKbus2T/wHGt7MYhyQA1MqCFmS5qd7M7s4JtnuXbksr92KI8BgD9w0/V/RU6hi/kYlNcm3DB1deB6Jqc2WL3lJuPXCQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W4cGALUypTTwfN6K6VhEis",
      "input": {
        "note": "Wrist view unchanged after lift, so the white bowl is held by its rim. Raising to carry height before moving over the purple bowl.",
        "targets": {
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01W4cGALUypTTwfN6K6VhEis",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2413, 1.3666, 0.9745, -0.4458, -0.2173, -0.2325, 0.0469, -0.0219, 0.8181, 0.5945, -0.4156, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3772 left_y=-0.0499 left_z=0.1522 left_yaw=0.0564 left_pitch=-0.2405 left_roll=0.021 left_gripper=0.0469 right_x=0.2899 right_y=0.0002 right_z=0.1619 right_yaw=-0.0014 right_pitch=-0.0679 right_roll=0.0005 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -7.1726, 9.0325, 1.4628, -0.1685, 0.0073, 1.0281, -0.0342, -1.2923, 7.1179, 1.6435, -0.0611, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a20f75edad5820b34eac406bd64c418460c7eb0cd9862d3d1c00b990b64932b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2c210054e978dac99492017ab05faefb42b22c9d9026c35a3734ef0bea568d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:712b968a3706b0708e64cf03c9ea0b86860e69a143e0d4843c1381769a14ac56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 4.047 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]: [-0.2413, 1.5932, 0.6147, 0.1646, -0.2173, -0.223, 0.034, -0.0219, 0.8177, 0.5945, -0.4156, -0.0162, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3781 left_y=-0.0501 left_z=0.03 left_yaw=0.0494 left_pitch=-0.2177 left_roll=0.0206 left_gripper=0.034 right_x=0.2899 right_y=0.0001 right_z=0.162 right_yaw=-0.0017 right_pitch=-0.0675 right_roll=0.0003 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -6.0103, 6.3111, 1.1746, -0.1294, 0.1441, 0.4615, -0.1846, -1.3333, 6.9812, 1.6728, -0.0073, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2413, 1.4681, 0.7109, -0.0658, -0.2173, -0.2287, 0.0454, -0.0216, 0.8177, 0.5945, -0.416, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3762 left_y=-0.0497 left_z=0.0722 left_yaw=0.0532 left_pitch=-0.2263 left_roll=0.0192 left_gripper=0.0454 right_x=0.2899 right_y=0.0003 right_z=0.1619 right_yaw=-0.001 right_pitch=-0.0679 right_roll=0.0005 right_gripper=0.9973\nstate[joint_eff]: [-0.1162, -7.2, 8.5128, 1.5311, -0.1441, 0.0415, 1.033, -0.0752, -1.3744, 7.2821, 1.6825, -0.0611, -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]: [-0.2413, 1.3666, 0.9745, -0.4458, -0.2173, -0.2325, 0.0469, -0.0219, 0.8181, 0.5945, -0.4156, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3772 left_y=-0.0499 left_z=0.1522 left_yaw=0.0564 left_pitch=-0.2405 left_roll=0.021 left_gripper=0.0469 right_x=0.2899 right_y=0.0002 right_z=0.1619 right_yaw=-0.0014 right_pitch=-0.0679 right_roll=0.0005 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -7.1726, 9.0325, 1.4628, -0.1685, 0.0073, 1.0281, -0.0342, -1.2923, 7.1179, 1.6435, -0.0611, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a20f75edad5820b34eac406bd64c418460c7eb0cd9862d3d1c00b990b64932b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2c210054e978dac99492017ab05faefb42b22c9d9026c35a3734ef0bea568d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:712b968a3706b0708e64cf03c9ea0b86860e69a143e0d4843c1381769a14ac56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS1wkKEAgSGAI4AUIIdGhpbmtpbmcSDKPZqpF4i7wtLBU35BoMISuImq78h/KqqpywIjBNjFGg7aCSzStQQ7hhuatAV6DPJaG2/8pvG/ppw5+6b4Nfb2TE39dbJDSlmifsOo8q9Ag4FaYyjwaNCLZBb0ILhlgynLSOAwdgF6HmNwNSmo+CfppQWh/29Nl6bRgrm+QRYcgxDRZmKAmDZ3hHEXs/0U8xTdJIB3JHXV7Zibr/HSVccQWAE86236FfX20c7oGOZXvT+rjcEJZK0++q8odbsGmTCSrdfk4rlaOEcWPK9k3OlMu249FWlCjPpxex32GW3uQRCz+CoMzsV9xE4V1QUs6sWGohgogNxme1WHF3+DLivCg4QRSO6WHteLslz93xAShNfa8LINePnj2n9KuMKcYCPegMa4GBGa/d+7dmgJvheq9XOwIKHqe5ELZHg2v4CGL+iRThSPQs04x/v9LBq5EYAX1PyFrbZuNONQtL1/r1SEuAiA5zlwhyq61nYwFF1vAGS1XZjI++gMAo4V960eNqRjxnqeYxzNuFt2oIcJcLI89xwyxB4d80hEKl85nQy7Vkv+ODMStL+3lJ0v/QN6UDiN/uGgx3fkVUifrYtJcTQ9imlwc5Z1ktqRBTkT+xF0J1dHjvWpcXj2XgCZcrse5EIZH/oBg61xboSzUHFVGg7Zh0MdDBSsgrw4O4MgUwUbWaSmqfU+hub+nixmKm17cpJMmKi0iaJz8egI4nfo8rwkX/0canfRwwyNZj8ITZR5WWSvFCau/Tw4riv5hdp1nK2swabsYTC4zc7B+d6DKWyQSqmqgTTy010pVr17w4ADo/+ty0YFRVWBarAUFFVjwk+74csw4QVCiXE5hvWvz3hK0j1d73d8jBJSgqgWGla5PoaR6Ca/cdOWZmOpw4kXbeR9FMLAOhVNJs4m8CpZ61DtxLdZBssH4QUrkqcyV4zRk6thzDKYOr+0MPj//1tdfLz5VhIJhr62t6OdXOmu6FNnmggXM2N3N5GcpwYzMialJNPDbKJN7mUPtcmlmfAkdmPsvQrVj2p0Xm0anLeuJ3jNxaURpwlY4qNDFHHsmMOZO69N+oNPOBY1B/hkS7uTScHUhOrlz8VGZbc3lkrX4k0lBttNUFALHT2X9xneyKM0QyVCv3XtOZHRjtLnyfJG08MPif1Da/AzU9xRW8HIuDyVcc/MnOttCgZs3vePjUybDFWEsdw1kyh+pqTRoNBS22YhgH5XQo5vXpK4zNV+1NEOf21PKl1NHc8a72q7cMJDIFDcB5lSxIItz4McH/eL/Ihfg1leIE+OpOxpUS1zIn7pDt6aJ+vAsx+PP7CE8pmJUy1LsDxznjDkzvpxN/B7eIe2H9IRRzvl9aP6bp74BvWifexrbsi4Souwg2uFTZPlQdRry6oojcCafo/wRh9I42cFgQioBn5xOEaFWw+B1rp9PSZEQD8iIhfEpwV974JpqBDz0vH2RzzZEdCJKjnSuQxR4Uqh7biYiZDpLbyVUe9L6FBFKUmFoI7PkcanaQKMHZod/Qt8caiQBx2frUIepSlguAM8R4JMUFsxIzRv1lvSMhQC4XSzcgO6BfbReeWup51fYbOe9OtS9NxiQUB9Opdvm57jLNfqw7BF15OdWC1ZZYdr0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AUfuEZubr9J2RgnGMFzD7x",
      "input": {
        "note": "Carrying the white bowl by its left rim; moving it ~15 cm right so it sits above the purple bowl.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.2,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01AUfuEZubr9J2RgnGMFzD7x",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7177, 1.5909, 1.2381, -0.6674, -0.4843, -0.6212, 0.0475, -0.0216, 0.8181, 0.5945, -0.4191, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3535 left_y=-0.1947 left_z=0.1548 left_yaw=0.035 left_pitch=-0.2833 left_roll=0.0372 left_gripper=0.0475 right_x=0.2894 right_y=0.0003 right_z=0.1612 right_yaw=-0.001 right_pitch=-0.0713 right_roll=0.0006 right_gripper=0.9973\nstate[joint_eff]: [-0.3214, -7.1179, 9.6479, 1.1941, -0.4664, -0.0464, 0.9792, -0.1162, -1.1145, 7.0222, 1.6972, -0.0317, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8af07c99447f870932dbb795ff7063ea06c1fccf648a5be3eb9044cd894e0294",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a05190479805710cf9018126d59370a933291b01df171962920dc5764e69798",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d5b4f72d4efc6a9f1cebd424fa821c7e39052dea4aa7930237a70d19830fe51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 3.955 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]: [-0.2413, 1.4681, 0.7109, -0.0658, -0.2173, -0.2287, 0.0454, -0.0216, 0.8177, 0.5945, -0.416, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3762 left_y=-0.0497 left_z=0.0722 left_yaw=0.0532 left_pitch=-0.2263 left_roll=0.0192 left_gripper=0.0454 right_x=0.2899 right_y=0.0003 right_z=0.1619 right_yaw=-0.001 right_pitch=-0.0679 right_roll=0.0005 right_gripper=0.9973\nstate[joint_eff]: [-0.1162, -7.2, 8.5128, 1.5311, -0.1441, 0.0415, 1.033, -0.0752, -1.3744, 7.2821, 1.6825, -0.0611, -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]: [-0.2413, 1.3666, 0.9745, -0.4458, -0.2173, -0.2325, 0.0469, -0.0219, 0.8181, 0.5945, -0.4156, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3772 left_y=-0.0499 left_z=0.1522 left_yaw=0.0564 left_pitch=-0.2405 left_roll=0.021 left_gripper=0.0469 right_x=0.2899 right_y=0.0002 right_z=0.1619 right_yaw=-0.0014 right_pitch=-0.0679 right_roll=0.0005 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -7.1726, 9.0325, 1.4628, -0.1685, 0.0073, 1.0281, -0.0342, -1.2923, 7.1179, 1.6435, -0.0611, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7177, 1.5909, 1.2381, -0.6674, -0.4843, -0.6212, 0.0475, -0.0216, 0.8181, 0.5945, -0.4191, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3535 left_y=-0.1947 left_z=0.1548 left_yaw=0.035 left_pitch=-0.2833 left_roll=0.0372 left_gripper=0.0475 right_x=0.2894 right_y=0.0003 right_z=0.1612 right_yaw=-0.001 right_pitch=-0.0713 right_roll=0.0006 right_gripper=0.9973\nstate[joint_eff]: [-0.3214, -7.1179, 9.6479, 1.1941, -0.4664, -0.0464, 0.9792, -0.1162, -1.1145, 7.0222, 1.6972, -0.0317, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8af07c99447f870932dbb795ff7063ea06c1fccf648a5be3eb9044cd894e0294",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a05190479805710cf9018126d59370a933291b01df171962920dc5764e69798",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d5b4f72d4efc6a9f1cebd424fa821c7e39052dea4aa7930237a70d19830fe51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqAgKEAgSGAI4AUIIdGhpbmtpbmcSDMPt7/iuLFc6ynpibRoM3HJqyA0mV16H9ga3IjAypXch5DlwEh1XHIDSG4Kyf1PHYqaw6JjfmtIIehdiYdZie9MJhT+814niM+kqBNgqxQeFNleYVUago6HRN6SSQcOspNoUGf0mftIDnzIGsQwwV6vQ8ub07u1OvEECI+LYaVrzlbEIXNGP2fG9P5eXtXgdJuSx5BS7KM6blYrO531O2DWhVTXNsgc8LYBSHK6Ofcr74gj/hL0vNz36hpyVhJm1DjRgoJnUVEpmOXfMj3nvDXBiwDWl6TiYg19v7ZsPBBqHYzLXxFIMSWExkHJg1jrsDhFtMPifucUCC1GoSFKaxXyPV89DrvdgdUxa7Jz5OSUZfP4U5LRsKPS+tRPzx6gXIqji8MiLj/rP3Y6IOfsOsFnZaoBdv7HG9+VwcXcwaPV6IujNr/zTm4Say1DPwtrsVS7Mdsdx6WSuDBk2mqgF6xVeXkH/FuD34UK7Lz3TXJ+a+L6YWXAgPTAn8VUcyEvFBGsGLOvH1KHNiNbQhBkzWW6ykoQgKCGu+Entoo76GQSuDZOm+WQIIYJN0+OkCJezpBmq8EzvUqY52Xcv4j9nqglEtd9MhgbgujAa4ZzlPxHIUyTNjp5Xzn5VNbhbydhxFkdItizf79ti+J8ViIDGud34GuqeUgiifXV7yscQNOwzbbBXD1rDhSadrycRlIFjyKiNN4AlpVhvYDpCa3pzclRqDA8ztVDnN2YIRuLMTjLDhhEJ+8gRpSYrmxvQ2x8op8v7wd6k+J27jDTWX+FCBIq2qo7uC4h9d0xOkTy5QKWVtUUgWZGnLmAvmnLIlsHxW6NeRKBcHX/+/9LTCxodBpmV3hFiw+6yIil7rBlIbMYrP8WSB46kCLMxasJgAvKPu75o5cROWnGs/ZcjM5zPj9XxnQnZDCNN5XHjsebHhW2b/73wezMrpLtxOV0xWlcEV7hCL4anHOvZdgn2e3lQXpwaXTRGl0iaNcwEWLOYo4y2h18jrJ9sTnijv3ynvMozSQFbjAlHS6YgxnR0+CMowgVotXE+Sxp/ig/SEqW2/CnoCQNHdf/I+Lkq1eQ1U/XeBTeHPNrpY7148quVxGhkMVzye1FhUADzUvbW7vfQUlI2HBZ3exAyjzb39PUNtluHS6OPQ25bLlU+8FeIQkB978T3umWlMB2mRbDLxfHLkrfrgYdtG9iHlJlGXZeguXg0kwb8KJ0rzwG5YjRBscp87AuQ1HNmn6g1AzuJICGeagT7uVHXuHbPJ/k+oAmCfpRxqAa6Zm39cIXGQMu2s3IRQfOlgtKWjJq9Sfx7lxTrvTG8EF969vnxAt1kdMUwGBpjwnmGpFNlaV5WweKbZyCQkuwwGr2mPtma2tiYfkEYc8rA5VaV2xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xi2EMqSeXxKbF6ExCmChZu",
      "input": {
        "note": "Overhead view shows the held white bowl directly over the purple bowl. Lowering to nest it.",
        "targets": {
          "left_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_01Xi2EMqSeXxKbF6ExCmChZu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7193, 1.6585, 1.0218, -0.4526, -0.4873, -0.6319, 0.0495, -0.0219, 0.8185, 0.5945, -0.4191, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3431 left_y=-0.1858 left_z=0.0773 left_yaw=0.0568 left_pitch=-0.331 left_roll=0.0822 left_gripper=0.0495 right_x=0.2894 right_y=0.0002 right_z=0.1611 right_yaw=-0.0014 right_pitch=-0.0717 right_roll=0.0006 right_gripper=0.9973\nstate[joint_eff]: [0.0205, -7.2547, 6.2427, 1.4042, -0.2466, 0.0464, 0.9841, -0.1026, -1.265, 7.0632, 1.7265, -0.0317, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bbc4a35a81776be8a212568978e3ca2bacf297d2cec261716a3e6dce4229b6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2484a60cb188a53cb49be63b7d77bc39a615933e00a670956e6488d62b6a6b3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3079e5f348453ee5ec59d66ce61d589637b79056a5faecce72c71b623e6d7e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 3.23 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]: [-0.2413, 1.3666, 0.9745, -0.4458, -0.2173, -0.2325, 0.0469, -0.0219, 0.8181, 0.5945, -0.4156, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3772 left_y=-0.0499 left_z=0.1522 left_yaw=0.0564 left_pitch=-0.2405 left_roll=0.021 left_gripper=0.0469 right_x=0.2899 right_y=0.0002 right_z=0.1619 right_yaw=-0.0014 right_pitch=-0.0679 right_roll=0.0005 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -7.1726, 9.0325, 1.4628, -0.1685, 0.0073, 1.0281, -0.0342, -1.2923, 7.1179, 1.6435, -0.0611, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7177, 1.5909, 1.2381, -0.6674, -0.4843, -0.6212, 0.0475, -0.0216, 0.8181, 0.5945, -0.4191, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3535 left_y=-0.1947 left_z=0.1548 left_yaw=0.035 left_pitch=-0.2833 left_roll=0.0372 left_gripper=0.0475 right_x=0.2894 right_y=0.0003 right_z=0.1612 right_yaw=-0.001 right_pitch=-0.0713 right_roll=0.0006 right_gripper=0.9973\nstate[joint_eff]: [-0.3214, -7.1179, 9.6479, 1.1941, -0.4664, -0.0464, 0.9792, -0.1162, -1.1145, 7.0222, 1.6972, -0.0317, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7193, 1.6585, 1.0218, -0.4526, -0.4873, -0.6319, 0.0495, -0.0219, 0.8185, 0.5945, -0.4191, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3431 left_y=-0.1858 left_z=0.0773 left_yaw=0.0568 left_pitch=-0.331 left_roll=0.0822 left_gripper=0.0495 right_x=0.2894 right_y=0.0002 right_z=0.1611 right_yaw=-0.0014 right_pitch=-0.0717 right_roll=0.0006 right_gripper=0.9973\nstate[joint_eff]: [0.0205, -7.2547, 6.2427, 1.4042, -0.2466, 0.0464, 0.9841, -0.1026, -1.265, 7.0632, 1.7265, -0.0317, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bbc4a35a81776be8a212568978e3ca2bacf297d2cec261716a3e6dce4229b6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2484a60cb188a53cb49be63b7d77bc39a615933e00a670956e6488d62b6a6b3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3079e5f348453ee5ec59d66ce61d589637b79056a5faecce72c71b623e6d7e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS+QcKEAgSGAI4AUIIdGhpbmtpbmcSDBIkTKRFK6mVCNzpaBoMS1QsieVjF3c0hbseIjAKMlhlOZHDBj8F5K/sefBXX7ZpfBCdtw0650E06fMAV9d2zj5fI3j4qWKw4v58UVUqlgdl9jnve/0EA+jDZ9yatorlXSIOcINOypumIdf8GOF9CIv4PUK9bwQCCmzx8ioaZFnGFj249hvL35+gQM5EEediATGiBbPtdp1hTUcvpM7ZHn4bGWNfGbxcr5USsS4CSvdeLfqt/VPHfy4eJb+fI4IO1omfUB7sT1AE45TeEjR9SE79joX/jNPype/e/b3ErjXkSiSmndBIqWjHL/hkJmbZTUpToO6gJSYUEAQ54Z5VJd5Fuf0QUQ3fAUGJ0C7i1ZZIj9D8Y/ze3wt71lLp/yWi21ODrV+wT2WYKDSKnrudd5ovxJRAZL61IJ1OlAvI0M0aTJypnLFXbah/B52fSPHm4xmDQgS2pt7UmQqXOHLuey7XKj2DfHCbKSnNUmMbSxoGJsXraSnw/+WxiV29Li/AtmBOWqIlvOXJhqciLVUXKuj3VHeJwDwm5KVRErnLXzCzqfBPSuuJW3tI6EMUF/Ut+uxRgpip8CntG0DOSAaRoDlHBp1f8r0NGHmLz/rOYnlzJswp1H3oQLOMZutO0ailVeRc26uoCKLzWuZmSFD2UtMsT8DT0IRx4oqP6V3OwtMRAEsXIO9l3L9/cqmyMfsINnY4Uq3B9V/g8JJ9JRiiduXS6EIARIBarTPy3G7588K/c3lB93jnNvO2zZcOFtIO+ttVo+A/cOwad61hwT5LiIabLz2rqATX3tQ8HIlQUl9SZFBMXpNQuzov2/zYxItnW5lZyEaSqfdor4fHZ0++iyc9ZKFF8D/50dREXAKNnqybURzb4YA7ezsILLwD23rcm35CLbI+cInOc6ZkaPXiIOI2qtp8F1hXi/GDFhrp7W+X6r+ny3hi7ieAZnN2yCqLS9Q6uSpIjC2/8HeHAkvbZxj/LJu46uuQ+tGhheFGSR3FfJz6OicSVY8uDrGqfY+LsdHnFn+YlpcTpO5nQJHyqL6q/abGY4hYUVyHYcJx2hLCXasApR5ZpODVtgDS+mera/+14fS8bn0sLDwOXnMY+D+awjAr4Mv5b70wCkkKbyVpvFjCjEcB4yzjXFEs7U7Z7rYvOvWwwiOOJIx50WZHmfvhivhmT4THlE5cFSWv6qLngEO5z8cKqLgzq+QvWmzhu/BEugO8+GLYw+pt3jRWbtdve2h1p2OjuxaO6UZyqzWYT63Q9QobxG0wByR6tKVnMBGSt0y3K9o/oDnIzQWrHe/BWF3ce3RnMDG0sedw8TsntVVSY9AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BcAdrPn3WXpgGCgyp9BiK7",
      "input": {
        "note": "White bowl appears to be inside the purple bowl's rim. Lowering a little more until it seats.",
        "targets": {
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01BcAdrPn3WXpgGCgyp9BiK7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7193, 1.6695, 0.9958, -0.3771, -0.4885, -0.6334, 0.0497, -0.0219, 0.8185, 0.5945, -0.4194, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3483 left_y=-0.1901 left_z=0.0727 left_yaw=0.0496 left_pitch=-0.3026 left_roll=0.0537 left_gripper=0.0497 right_x=0.2894 right_y=0.0002 right_z=0.161 right_yaw=-0.0014 right_pitch=-0.0721 right_roll=0.0006 right_gripper=0.9973\nstate[joint_eff]: [-0.212, -6.2291, 5.4222, 1.1502, -0.3101, -0.0415, 0.9792, -0.1573, -1.2923, 6.9949, 1.6484, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c7147afd3f4e02300c19403f4560f96a4ae5ff052ca1e820144608f689b8d4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57976de26dedf793a92de1a7f59babf1f6512132b6c0655012c406d2f493ec7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b0a35e780ed7e4306ec9d166d60d3d3c9bbaed6d2d4bbc09aac727ab15f9072",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 4.054 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]: [-0.7177, 1.5909, 1.2381, -0.6674, -0.4843, -0.6212, 0.0475, -0.0216, 0.8181, 0.5945, -0.4191, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3535 left_y=-0.1947 left_z=0.1548 left_yaw=0.035 left_pitch=-0.2833 left_roll=0.0372 left_gripper=0.0475 right_x=0.2894 right_y=0.0003 right_z=0.1612 right_yaw=-0.001 right_pitch=-0.0713 right_roll=0.0006 right_gripper=0.9973\nstate[joint_eff]: [-0.3214, -7.1179, 9.6479, 1.1941, -0.4664, -0.0464, 0.9792, -0.1162, -1.1145, 7.0222, 1.6972, -0.0317, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7193, 1.6585, 1.0218, -0.4526, -0.4873, -0.6319, 0.0495, -0.0219, 0.8185, 0.5945, -0.4191, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3431 left_y=-0.1858 left_z=0.0773 left_yaw=0.0568 left_pitch=-0.331 left_roll=0.0822 left_gripper=0.0495 right_x=0.2894 right_y=0.0002 right_z=0.1611 right_yaw=-0.0014 right_pitch=-0.0717 right_roll=0.0006 right_gripper=0.9973\nstate[joint_eff]: [0.0205, -7.2547, 6.2427, 1.4042, -0.2466, 0.0464, 0.9841, -0.1026, -1.265, 7.0632, 1.7265, -0.0317, -0.0806, -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]: [-0.7193, 1.6695, 0.9958, -0.3771, -0.4885, -0.6334, 0.0497, -0.0219, 0.8185, 0.5945, -0.4194, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3483 left_y=-0.1901 left_z=0.0727 left_yaw=0.0496 left_pitch=-0.3026 left_roll=0.0537 left_gripper=0.0497 right_x=0.2894 right_y=0.0002 right_z=0.161 right_yaw=-0.0014 right_pitch=-0.0721 right_roll=0.0006 right_gripper=0.9973\nstate[joint_eff]: [-0.212, -6.2291, 5.4222, 1.1502, -0.3101, -0.0415, 0.9792, -0.1573, -1.2923, 6.9949, 1.6484, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c7147afd3f4e02300c19403f4560f96a4ae5ff052ca1e820144608f689b8d4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57976de26dedf793a92de1a7f59babf1f6512132b6c0655012c406d2f493ec7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b0a35e780ed7e4306ec9d166d60d3d3c9bbaed6d2d4bbc09aac727ab15f9072",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Stopped at 0.073 — seated in contact. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YJ9e5RYHAFQXX6pBryUK1N",
      "input": {
        "note": "Descent stopped at z≈0.073, so the white bowl is seated in the purple bowl. Opening to release.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YJ9e5RYHAFQXX6pBryUK1N",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7193, 1.6825, 0.9794, -0.3801, -0.4881, -0.6369, 0.9948, -0.0219, 0.8185, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3436 left_y=-0.186 left_z=0.0621 left_yaw=0.0587 left_pitch=-0.3259 left_roll=0.0749 left_gripper=0.9948 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0014 right_pitch=-0.0751 right_roll=0.0007 right_gripper=0.9973\nstate[joint_eff]: [-0.2256, -8.5675, 7.4598, 1.1551, -0.2613, -0.0073, -0.0659, -0.0889, -1.347, 7.1316, 1.6728, -0.0757, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dec88774dc0c0162c709881652408eaca3d1ff213b44f7b0c67601e690de8a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:272f3f019d970c437776f579f745a28f3582bb520704b02fe1b34a992b93e16c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8ef71c50341f6fad82309847c5c47876564903d5fb88b01b52a0f68e908714f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 2.965 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]: [-0.7193, 1.6585, 1.0218, -0.4526, -0.4873, -0.6319, 0.0495, -0.0219, 0.8185, 0.5945, -0.4191, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3431 left_y=-0.1858 left_z=0.0773 left_yaw=0.0568 left_pitch=-0.331 left_roll=0.0822 left_gripper=0.0495 right_x=0.2894 right_y=0.0002 right_z=0.1611 right_yaw=-0.0014 right_pitch=-0.0717 right_roll=0.0006 right_gripper=0.9973\nstate[joint_eff]: [0.0205, -7.2547, 6.2427, 1.4042, -0.2466, 0.0464, 0.9841, -0.1026, -1.265, 7.0632, 1.7265, -0.0317, -0.0806, -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]: [-0.7193, 1.6695, 0.9958, -0.3771, -0.4885, -0.6334, 0.0497, -0.0219, 0.8185, 0.5945, -0.4194, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3483 left_y=-0.1901 left_z=0.0727 left_yaw=0.0496 left_pitch=-0.3026 left_roll=0.0537 left_gripper=0.0497 right_x=0.2894 right_y=0.0002 right_z=0.161 right_yaw=-0.0014 right_pitch=-0.0721 right_roll=0.0006 right_gripper=0.9973\nstate[joint_eff]: [-0.212, -6.2291, 5.4222, 1.1502, -0.3101, -0.0415, 0.9792, -0.1573, -1.2923, 6.9949, 1.6484, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7193, 1.6825, 0.9794, -0.3801, -0.4881, -0.6369, 0.9948, -0.0219, 0.8185, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3436 left_y=-0.186 left_z=0.0621 left_yaw=0.0587 left_pitch=-0.3259 left_roll=0.0749 left_gripper=0.9948 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0014 right_pitch=-0.0751 right_roll=0.0007 right_gripper=0.9973\nstate[joint_eff]: [-0.2256, -8.5675, 7.4598, 1.1551, -0.2613, -0.0073, -0.0659, -0.0889, -1.347, 7.1316, 1.6728, -0.0757, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dec88774dc0c0162c709881652408eaca3d1ff213b44f7b0c67601e690de8a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:272f3f019d970c437776f579f745a28f3582bb520704b02fe1b34a992b93e16c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8ef71c50341f6fad82309847c5c47876564903d5fb88b01b52a0f68e908714f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwggKEAgSGAI4AUIIdGhpbmtpbmcSDOgaZ/F0Migid6CDbxoM267zGg2Rb1xumuG5IjAVzQerDPaOQ7Y7kaNLXQygTh6wxA66gTR+vLiVBgFMs6Ta0UAp3LGlS+mrKag9QfUq3wePGiDqmI6IkhrH7pqNdfq/Qpz0yL0zKNFCdVkFup9clZ84EbTagXW1moBUSC9dHsHRMovI8GPlGZQcaFMcn10EAgnHtdpD62gmsfFdObLOK4mRI5RbHmIGkY7xl34NwjI3/UTdRhaN6W0I5nK7DHqXSylsh+4E5nLgG1sJ7JHFAYsUAvJzn05Zws/eGKqWreKJiJ5mB4aj+NkaHLtXmwcPzdakE12lQcNcZt59Kpu4ufESL+0CPhx4hTXmTWU5ngi1AtFJnXEvtupoWKCrYxp5/Ny3wCFYW+NHmdrqBLl5uHcUErwU89c25XsSbFczGqWZaskTeTa3RqlcEXVhHdIj3eaK6JRWaftJTxGvmwiGF+QSHIhKIWtKUbddB8tHxovkhwS3hEkko0MeZeitdjQl1uCsumuVShqCZNc9flB7LVQ0J3WaJgzz4/JTTrchHhFIdTo2hC7v60NXYIBWT2DFrxZoUY+7rUzCGmmL2Sdz+0eJtmgolAcVIXhzCF5fW28Lngv015MAiYgafCLJB3jvsgT8sf0pDwvXppvxezEkZul8NEsFBzdzIiRrwqJkTNTM0r9HBowx8eacolHsztVh3tq7QN+8cpy3Sp48K5gz5M9T/TUKHlZgDTDT/9DQrkL+S3bD6B1MwsMbBBQVxjq/9FOraMN1FsvxAGECOzs/EcRCeHsxb4nKwfAanwetpB+e0UESDyD/P5PQMNTW4+Ab1RWRSrAImWR1i2gAvpfFeNTdz5pp7U5QZO1+pNxJKzvj2A+sdHwrJzXx/yzcd8wExqGBk3yGjkoHMHmc/+k66ruHEDaXNB6BOT31v6juRoi4s4sFN5jPhHUBVgGmtyt6O3WqfXTuJj3idS+F8TU1KFgwff6Z+4yCWz6jN2Ttc199DN35leKLzPCYYzfarW6LmbAZFxezanS14B8DRcVS3uB38FV9SbDygIPJtL6yLf2xk+5NRUz2KayVli7/THcUVSUewEu5aDqD8LUo2t78aCSQpO75F41K/w+5JEM6v91NcfrEU2dc3N7WK99kgOiRLdjVxfeVN24ZfzzFGRyKLw2I9Zb2cL+SA9JjNaRrtcAG55y8hV72k6RsYb63SbjZxMDASjhWeFM5M7JiAJxsaC3nhxDBT018BQtfVqVRgMXUbA58OChdomMDEaVI50qo0NNIiKh22khlfpoDVPNjWl/xhlF6crVtY/TPUSG3LvE/xDyFQJEUDY1w3iie35IZ40iFpeFECcmAiZfukmcn6bfiGkWiz7gWHSiOkD+ZaUu4SZhQHxz/pe0ZGqZtuC4M7LI8n4IXOUUxoUzW4lpXGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N5TV8PqK1ogw9fh9TxAW9R",
      "input": {
        "note": "White bowl released inside the purple one. Lifting the left arm straight up to clear the rims.",
        "targets": {
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01N5TV8PqK1ogw9fh9TxAW9R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7193, 1.6062, 1.2667, -0.7509, -0.4881, -0.6449, 0.9957, -0.0216, 0.8181, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3464 left_y=-0.1885 left_z=0.1504 left_yaw=0.065 left_pitch=-0.3307 left_roll=0.0751 left_gripper=0.9957 right_x=0.2889 right_y=0.0003 right_z=0.1605 right_yaw=-0.001 right_pitch=-0.0748 right_roll=0.0007 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -9.0735, 8.7726, 1.0916, -0.3053, 0.0562, 0.0806, -0.0205, -1.3607, 7.1453, 1.6532, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40587fce73e40c246ebb6f0cfb73f4b26d94e3933ed17274d4f0417490f9b77b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b63b0c49e1b327b35d940a36e0e83d133cf79cae76c1f6403efc65bec5c20099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ced66147a730bcde4ad57c5cf15a4f9041a010c232e5376e65653b62ad8ee20c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 10.26 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]: [-0.7193, 1.6695, 0.9958, -0.3771, -0.4885, -0.6334, 0.0497, -0.0219, 0.8185, 0.5945, -0.4194, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3483 left_y=-0.1901 left_z=0.0727 left_yaw=0.0496 left_pitch=-0.3026 left_roll=0.0537 left_gripper=0.0497 right_x=0.2894 right_y=0.0002 right_z=0.161 right_yaw=-0.0014 right_pitch=-0.0721 right_roll=0.0006 right_gripper=0.9973\nstate[joint_eff]: [-0.212, -6.2291, 5.4222, 1.1502, -0.3101, -0.0415, 0.9792, -0.1573, -1.2923, 6.9949, 1.6484, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7193, 1.6825, 0.9794, -0.3801, -0.4881, -0.6369, 0.9948, -0.0219, 0.8185, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3436 left_y=-0.186 left_z=0.0621 left_yaw=0.0587 left_pitch=-0.3259 left_roll=0.0749 left_gripper=0.9948 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0014 right_pitch=-0.0751 right_roll=0.0007 right_gripper=0.9973\nstate[joint_eff]: [-0.2256, -8.5675, 7.4598, 1.1551, -0.2613, -0.0073, -0.0659, -0.0889, -1.347, 7.1316, 1.6728, -0.0757, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7193, 1.6062, 1.2667, -0.7509, -0.4881, -0.6449, 0.9957, -0.0216, 0.8181, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3464 left_y=-0.1885 left_z=0.1504 left_yaw=0.065 left_pitch=-0.3307 left_roll=0.0751 left_gripper=0.9957 right_x=0.2889 right_y=0.0003 right_z=0.1605 right_yaw=-0.001 right_pitch=-0.0748 right_roll=0.0007 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -9.0735, 8.7726, 1.0916, -0.3053, 0.0562, 0.0806, -0.0205, -1.3607, 7.1453, 1.6532, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40587fce73e40c246ebb6f0cfb73f4b26d94e3933ed17274d4f0417490f9b77b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b63b0c49e1b327b35d940a36e0e83d133cf79cae76c1f6403efc65bec5c20099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ced66147a730bcde4ad57c5cf15a4f9041a010c232e5376e65653b62ad8ee20c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018HQQNSkyLV8eScVH2dtQyF",
      "input": {
        "note": "White bowl is nested in the purple bowl. Parking the left arm at home to clear the way for the right arm.",
        "targets": {
          "left_x": 0.29,
          "left_y": 0.0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_018HQQNSkyLV8eScVH2dtQyF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1246, 1.0683, 0.9443, -0.7925, -0.1841, -0.1635, 0.9957, -0.0219, 0.8185, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.294 left_y=-0.0006 left_z=0.1793 left_yaw=0.1118 left_pitch=-0.3249 left_roll=0.0641 left_gripper=0.9957 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0014 right_pitch=-0.0751 right_roll=0.0007 right_gripper=0.9973\nstate[joint_eff]: [0.2393, -3.453, 6.4342, 1.4042, -0.1245, 0.1294, -0.0024, -0.212, -1.2786, 7.0496, 1.6728, -0.0464, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae25fe1768c9f16b07920f577e2bb59891e53f577c3a4063caf94763b12e5de1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc48f5640f033edaa0a1ecc8014e74346e160b0379dfe4e2deef3ab2b3d95015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:16a113558bcaa89ca49314e950f945e8f4404580f7851ca24d97f1f53cbbf8f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 6.215 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]: [-0.7193, 1.6825, 0.9794, -0.3801, -0.4881, -0.6369, 0.9948, -0.0219, 0.8185, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3436 left_y=-0.186 left_z=0.0621 left_yaw=0.0587 left_pitch=-0.3259 left_roll=0.0749 left_gripper=0.9948 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0014 right_pitch=-0.0751 right_roll=0.0007 right_gripper=0.9973\nstate[joint_eff]: [-0.2256, -8.5675, 7.4598, 1.1551, -0.2613, -0.0073, -0.0659, -0.0889, -1.347, 7.1316, 1.6728, -0.0757, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7193, 1.6062, 1.2667, -0.7509, -0.4881, -0.6449, 0.9957, -0.0216, 0.8181, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3464 left_y=-0.1885 left_z=0.1504 left_yaw=0.065 left_pitch=-0.3307 left_roll=0.0751 left_gripper=0.9957 right_x=0.2889 right_y=0.0003 right_z=0.1605 right_yaw=-0.001 right_pitch=-0.0748 right_roll=0.0007 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -9.0735, 8.7726, 1.0916, -0.3053, 0.0562, 0.0806, -0.0205, -1.3607, 7.1453, 1.6532, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1246, 1.0683, 0.9443, -0.7925, -0.1841, -0.1635, 0.9957, -0.0219, 0.8185, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.294 left_y=-0.0006 left_z=0.1793 left_yaw=0.1118 left_pitch=-0.3249 left_roll=0.0641 left_gripper=0.9957 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0014 right_pitch=-0.0751 right_roll=0.0007 right_gripper=0.9973\nstate[joint_eff]: [0.2393, -3.453, 6.4342, 1.4042, -0.1245, 0.1294, -0.0024, -0.212, -1.2786, 7.0496, 1.6728, -0.0464, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae25fe1768c9f16b07920f577e2bb59891e53f577c3a4063caf94763b12e5de1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc48f5640f033edaa0a1ecc8014e74346e160b0379dfe4e2deef3ab2b3d95015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16a113558bcaa89ca49314e950f945e8f4404580f7851ca24d97f1f53cbbf8f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HkZvm8gCLNyhTdVySG3VWe",
      "input": {
        "note": "Overhead shows the white bowl leaning on the purple bowl's left rim rather than nested (white centre ~6 cm left of purple). Returning over the white bowl's left rim to re-grasp and shift it right.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.18,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01HkZvm8gCLNyhTdVySG3VWe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.693, 1.597, 1.1881, -0.725, -0.4721, -0.6579, 0.9957, -0.0219, 0.8211, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3396 left_y=-0.1729 left_z=0.1276 left_yaw=0.0993 left_pitch=-0.3709 left_roll=0.0888 left_gripper=0.9957 right_x=0.2891 right_y=0.0002 right_z=0.1597 right_yaw=-0.0014 right_pitch=-0.0778 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.2667, -7.1726, 9.0051, 1.16, -0.4664, -0.105, -0.0073, -0.1026, -1.5658, 7.0222, 1.6386, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60e5b41074ca0e24f3a18cb224f92b298e594b5931897d5575c4a87743a82cb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4067db1998e40f7e7b0d5b2ae59fe98a15546123c9cca9c51a62928de82ec38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:766afb484b44fa41cadc8886ee1c46cdd86a1840c3bb3ee6786000bf92e2aebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 4.227 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]: [-0.7193, 1.6062, 1.2667, -0.7509, -0.4881, -0.6449, 0.9957, -0.0216, 0.8181, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3464 left_y=-0.1885 left_z=0.1504 left_yaw=0.065 left_pitch=-0.3307 left_roll=0.0751 left_gripper=0.9957 right_x=0.2889 right_y=0.0003 right_z=0.1605 right_yaw=-0.001 right_pitch=-0.0748 right_roll=0.0007 right_gripper=0.9973\nstate[joint_eff]: [-0.0889, -9.0735, 8.7726, 1.0916, -0.3053, 0.0562, 0.0806, -0.0205, -1.3607, 7.1453, 1.6532, -0.0464, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1246, 1.0683, 0.9443, -0.7925, -0.1841, -0.1635, 0.9957, -0.0219, 0.8185, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.294 left_y=-0.0006 left_z=0.1793 left_yaw=0.1118 left_pitch=-0.3249 left_roll=0.0641 left_gripper=0.9957 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0014 right_pitch=-0.0751 right_roll=0.0007 right_gripper=0.9973\nstate[joint_eff]: [0.2393, -3.453, 6.4342, 1.4042, -0.1245, 0.1294, -0.0024, -0.212, -1.2786, 7.0496, 1.6728, -0.0464, -0.0611, -0.0171]",
      "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]: [-0.693, 1.597, 1.1881, -0.725, -0.4721, -0.6579, 0.9957, -0.0219, 0.8211, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3396 left_y=-0.1729 left_z=0.1276 left_yaw=0.0993 left_pitch=-0.3709 left_roll=0.0888 left_gripper=0.9957 right_x=0.2891 right_y=0.0002 right_z=0.1597 right_yaw=-0.0014 right_pitch=-0.0778 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.2667, -7.1726, 9.0051, 1.16, -0.4664, -0.105, -0.0073, -0.1026, -1.5658, 7.0222, 1.6386, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60e5b41074ca0e24f3a18cb224f92b298e594b5931897d5575c4a87743a82cb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4067db1998e40f7e7b0d5b2ae59fe98a15546123c9cca9c51a62928de82ec38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:766afb484b44fa41cadc8886ee1c46cdd86a1840c3bb3ee6786000bf92e2aebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpgsKEAgSGAI4AUIIdGhpbmtpbmcSDLbTx5ckVRm0sCEcXhoMffTgccFHhaqDUP0OIjCMZfvW03XfuOSeB0I929tyjT4bjegkNK/DNJHGYLvCWT9SBqdRafcYTwAjHrrUDnYqwwqfI41RFO0WdUu0NDAUoonIQapmLqmYr1f5PvRggRlBq2tuPu1TB8wMl+1KDSNFd6TC+lbASb1FyMOzCrpPkaUJyblLSrjBzQ3Q7erVpHqY0gqv3S5nSEP8FFWGynR1y6oBRAWqnL6chhCcEfmfzKJnpSvz4lTFYWjIbhcztTvxUxQQzUbtKGQtJE3NVlv1jqXWi5uQbVrwZ9W6+DdI2iV0+CcDQUAw8MIVPqByw8JdGu+nuzCeqU/NjShH8XafGU5wsLunx518Y+HD5vkL2n4Jizegta2uUu8kEtnYO0Zln7LqGcm0F6asy0nlyv2tWZkSZw2TYVDckf2kqAWnOKA9Vy4VqYRSYSbtanVct7CxTW+5CfEwm0cwqFpTqOaz8vQ6NJ92qTK2i9CfMSzs/6NNXpUX58o1b5R2SG9KNpGszHkRrpyY0Xp2AW1z2/dVm4blh5D0O4K2LNid7r8ZVQffcdRw6iwiT9Tjm2j2gTBvwJ6X8rNOJj5sGCqlaAUijgbK99k80LlbqcOllIL1aICZ6Qex/gWBMJ5V24TU//5gYWXB3sgVHVR6uhanWSHEBADz+7snMPLJl6UZfLr/3vc8mucUnPsStBdq6TKvEKrVhDOeXZx54ey5HQCf7Bf7S+w200tfGcnPIUeORmzI8WhyhzbVANsT8z3E313iZDq5JdWQv0LSze1hpVCz35JNp0+0cHZJNfJ1oct1TKuwhesf5/U2oHVuv/YCf9Eh3jOVl+ACbugk8MXuin2p/6WDTYtrpF6bR/jy03gFHxdfHtPESGye3Rb5ZSqjqhSxB/5EkIRn5Oy+L3iLYLrNUBX387+vVgGKS0w0pZYLfIb7LwN8EXlYp3grsnAQeS53htoYx2vpaEZY2G/TuO3W7cL0ZNVFCTSAQTdj0N3txEWZgptqPmmvalhWbjGrQvQiLR5bowbAFZ3bo2/hAD+dG112U4xsX4/mjKH7RKMCp5A1eFeT89i3sW0SyOvZrPUZIkxjWknSLc4eeNGSWUwxCDa9RrAQEesCU7FwG6d/vE0M2ex3IX37ZfOWuN7F4kH605myuwHnSNBtBb0n7bLBobD5Uq0WJyJeByGDhJGlOFBYoyu4+ffKOmCxyPBtQajDJO11ERRLuivjD7gIWx+vmsg0EY+jLx5NWXa4RCq1b7woWMiFfyRoddcDKex3IQ7f4+kvxxKOi9hkDuotfdvQQUH0LZvf6YN8uCaNAC7EW+grmKx7fKRnXAcIp9pbuQY/fNH0UD/7hGk6Mt0FA4M1gNoNz9ozglF3T22Ps3dpGhtmolJVhCbS5HhviyLjVDg2TKk2lr26NKO4+yUXckipXvypyQ6DouvjbqgqJDzYns8X37y1917m1btQVoXy3MbsUPkl5V2FwY6BtL29X92WX5IFez1JFtIKqorS32QFSY4EVyMARGWMoVulx57osmhBiEl6NlzB/7Qa8KObgI6j1aSDK07SMOCy30LClCSpLN0u07ksU/IH/tUThKvcJ2l+Maq/HO1pumV/ZTEcAg3qWIzEafCtn3vdL4nSba78Y0u6HZjAnGx17Nr/nx4NUEoQPT25594JSTaasQhW8RJUUQPO54hJeyQXAM2oYObobJwIXDEUrG70r7zy/GVnpItAW9TP1NYnZmvBdTNiQJQ6SVPmHYZaKb3v0me2j/+P6hjTaFqpchjwcRszwz5DiB1LCnn8+bbmMhF5bk5R0YpfwvevHLbgos9eZ9suEIvtx9W0kWJnPN6eI0N/Ol5kp68eN3etjIlUvszIOQeGE8v95b39GOTsHUAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HAuYbaSaE7nim3Gq5XbfsT",
      "input": {
        "note": "Wrist view shows the white bowl centred under the jaws with the tipped purple bowl to its right. Shifting ~4.5 cm left to line up on the white bowl's left rim.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.13,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HAuYbaSaE7nim3Gq5XbfsT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5442, 1.5894, 1.1191, -0.6579, -0.421, -0.5606, 0.9958, -0.0216, 0.8211, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3554 left_y=-0.1265 left_z=0.1095 left_yaw=0.1543 left_pitch=-0.4036 left_roll=0.1083 left_gripper=0.9958 right_x=0.2891 right_y=0.0003 right_z=0.1597 right_yaw=-0.001 right_pitch=-0.0778 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.7453, -9.4291, 6.4205, 1.3162, -0.2076, 0.1929, -0.0073, -0.1846, -1.4017, 7.2137, 1.6337, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b231bc86d6888e6201cac8ca476b4c9ef847be79a98a7b4b096c65f2267b1a07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad414f8fa675da040070ec5e94117fcb33e8d77a40025472cb2afa975011d53b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb4a27eacb64d08987aa785991ef47e4598811f674fe419639128beec099c292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 6.565 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]: [-0.1246, 1.0683, 0.9443, -0.7925, -0.1841, -0.1635, 0.9957, -0.0219, 0.8185, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.294 left_y=-0.0006 left_z=0.1793 left_yaw=0.1118 left_pitch=-0.3249 left_roll=0.0641 left_gripper=0.9957 right_x=0.2889 right_y=0.0002 right_z=0.1604 right_yaw=-0.0014 right_pitch=-0.0751 right_roll=0.0007 right_gripper=0.9973\nstate[joint_eff]: [0.2393, -3.453, 6.4342, 1.4042, -0.1245, 0.1294, -0.0024, -0.212, -1.2786, 7.0496, 1.6728, -0.0464, -0.0611, -0.0171]",
      "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]: [-0.693, 1.597, 1.1881, -0.725, -0.4721, -0.6579, 0.9957, -0.0219, 0.8211, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3396 left_y=-0.1729 left_z=0.1276 left_yaw=0.0993 left_pitch=-0.3709 left_roll=0.0888 left_gripper=0.9957 right_x=0.2891 right_y=0.0002 right_z=0.1597 right_yaw=-0.0014 right_pitch=-0.0778 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.2667, -7.1726, 9.0051, 1.16, -0.4664, -0.105, -0.0073, -0.1026, -1.5658, 7.0222, 1.6386, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5442, 1.5894, 1.1191, -0.6579, -0.421, -0.5606, 0.9958, -0.0216, 0.8211, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3554 left_y=-0.1265 left_z=0.1095 left_yaw=0.1543 left_pitch=-0.4036 left_roll=0.1083 left_gripper=0.9958 right_x=0.2891 right_y=0.0003 right_z=0.1597 right_yaw=-0.001 right_pitch=-0.0778 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.7453, -9.4291, 6.4205, 1.3162, -0.2076, 0.1929, -0.0073, -0.1846, -1.4017, 7.2137, 1.6337, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b231bc86d6888e6201cac8ca476b4c9ef847be79a98a7b4b096c65f2267b1a07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad414f8fa675da040070ec5e94117fcb33e8d77a40025472cb2afa975011d53b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb4a27eacb64d08987aa785991ef47e4598811f674fe419639128beec099c292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShAkKEAgSGAI4AUIIdGhpbmtpbmcSDP0/YB1r/bcWOMTkxBoMsl+OQdlEPAWuw6HJIjAtsVN7As+mVyMoIcD+vEz6dqbnkEqWDFRrUgi/5FI3kFe+T+IyN+gnroki/RmRAmAqoQjGNfYi74XDKFXqTTtUAPFZymedMJGSxSj6bp09zPlWTJsjrKqQt12XC45gx4OGrR4FH0fKAwIMQcL0WS/b5a8rSCzM3nOjGFiL+a/MqeadZy5d2xr3vNKlR00S9LEEQ1a2zOJ+l38o7A/sMMhFEYpYehhJahk8c8kI1n4y3x4BH6YHUbSM3ifBIVGESblnGoB9FQd+mJzad2tQOUTvz/K1D56qxg6fnj06cC5RxHoQhsJK9ko0542xFZjXLwD3eG1b8wTFyYeQfaye/+DyunRxaVfY92rcgfPt5ZiBklnl0DZZJdUEJc7r99gjIKcA43Wlo9NWOHVX6IbcsVIGK1FLYyD8ttMbhtSFSa+n3mjdBIJpczNcj1ix+ZUVKnR0F00iq9l1Qq1t+IU+fyOmHE3EdusrPtNCNUr0KcxAREDnHLVuUJmIlMNosNBolwa6hBJjP/VnaAIIHiu00NLt9yWGgKEP5taEasSzw0ojCPkvQMgfT0pOn4tKDPfSO5I3J6AfqjfvnXGInP1ebLkPWv9pi7EbWq0qeOCuM8KOxxUfC5N4KuK8i4AWWQiogwfnPHZ5p9A+RXgGVeMo4vaVIoMeTNRxY7Y/GI1R3+4+FThjq8RO0Ukl/vCAFDcUxkMCvgH7AvBAv3nt33bNwERBY0CLVerXm/Y4INa5coHpr/tMqFT9XO9BeD7GcWTprcbq6UrgGZhWgC67evnCCOzl96A+JoPA6SI4wGevjMezADZxCdftPndmAPjuMM1UFvQIImpWRQNE26hdfudYdUUlf+AVWZsqjYe1w1GtNwiyT1x9YaSjaqgJw1ii2gjDjpdKNiojT8am4IfLDQlR5OC7+CxK9kuR7qCuJKW5Wfut7RBrmFygN/ZXFkOvbmxVYxL5rUbHbpMNFWs37iiOMMlpWalyvF3S3t280E5TENcCwbCKtIBaYDR77L896NrcGbhjir9sFY8uUeJC5Wr/K4m3TQuaxIzvUInUrpllYJ04ciAYbHdnhvVaPpzTEbEwa5Zxas/PQV78clTCa+DTLTUh54Q/8LmRIT4aemFGh04NDNpzDKtCXwAzFRfryqscSnGuFxqqZqGBUJQWCeiQk8atbNNq+Y8sumVKdc2T/ZnlYaJPLspUcdhL175GiOUXQKavutZlCHZhfG2QC6L5notfuMQBGupMPo3VLbFA4KhOqHEuzJS84KYsXOC1n64i8rUyaKo0FzA5386oiY3iobAl9qO2O2kgnESoKyIeeJaKZ4NNqx8z5kaVMvBeIHqONY7gGHG8Am6p+to79aRCO4HLR8jaqig9mvL8dqmUNwydnvtZaYa8lYwlBfIeqPEMcM/kp+zgFJDh6M6q80w26GpKECYJ9uw4sSinmDDiuxh79Zl2dunRYdqln/51MzfksmOj1Eu5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UfQ1AFRKtpgbGFi5SibxBN",
      "input": {
        "note": "White bowl's left rim is now near the jaw column, just under the fingertips. Descending to straddle it.",
        "targets": {
          "left_yaw": 0.0,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01UfQ1AFRKtpgbGFi5SibxBN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.5944, 1.058, -0.5964, -0.3973, -0.5236, 0.9958, -0.0219, 0.8215, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3515 left_y=-0.1254 left_z=0.0915 left_yaw=0.124 left_pitch=-0.423 left_roll=0.1157 left_gripper=0.9958 right_x=0.2891 right_y=0.0002 right_z=0.1596 right_yaw=-0.0014 right_pitch=-0.0782 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.3077, -7.241, 6.4205, 1.2137, -0.315, -0.0659, -0.0122, -0.0615, -1.1419, 7.0222, 1.6386, -0.0659, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2ed03ad7287e256a09e431eab9e47abd6eabbc92b7a7c24995b7f010cd3819a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98ea1855fab40618ad5f85bab6da090f7e6f18ccf3be384f8120ecf2e34feb42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:93c1f3b709af7498f2327a85653cba85f059fd82c20a1e02ef021c246d6cc318",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 6.006 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]: [-0.693, 1.597, 1.1881, -0.725, -0.4721, -0.6579, 0.9957, -0.0219, 0.8211, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3396 left_y=-0.1729 left_z=0.1276 left_yaw=0.0993 left_pitch=-0.3709 left_roll=0.0888 left_gripper=0.9957 right_x=0.2891 right_y=0.0002 right_z=0.1597 right_yaw=-0.0014 right_pitch=-0.0778 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.2667, -7.1726, 9.0051, 1.16, -0.4664, -0.105, -0.0073, -0.1026, -1.5658, 7.0222, 1.6386, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5442, 1.5894, 1.1191, -0.6579, -0.421, -0.5606, 0.9958, -0.0216, 0.8211, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3554 left_y=-0.1265 left_z=0.1095 left_yaw=0.1543 left_pitch=-0.4036 left_roll=0.1083 left_gripper=0.9958 right_x=0.2891 right_y=0.0003 right_z=0.1597 right_yaw=-0.001 right_pitch=-0.0778 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.7453, -9.4291, 6.4205, 1.3162, -0.2076, 0.1929, -0.0073, -0.1846, -1.4017, 7.2137, 1.6337, -0.0366, -0.0757, -0.0122]",
      "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]: [-0.5365, 1.5944, 1.058, -0.5964, -0.3973, -0.5236, 0.9958, -0.0219, 0.8215, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3515 left_y=-0.1254 left_z=0.0915 left_yaw=0.124 left_pitch=-0.423 left_roll=0.1157 left_gripper=0.9958 right_x=0.2891 right_y=0.0002 right_z=0.1596 right_yaw=-0.0014 right_pitch=-0.0782 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.3077, -7.241, 6.4205, 1.2137, -0.315, -0.0659, -0.0122, -0.0615, -1.1419, 7.0222, 1.6386, -0.0659, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2ed03ad7287e256a09e431eab9e47abd6eabbc92b7a7c24995b7f010cd3819a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98ea1855fab40618ad5f85bab6da090f7e6f18ccf3be384f8120ecf2e34feb42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93c1f3b709af7498f2327a85653cba85f059fd82c20a1e02ef021c246d6cc318",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SL97Am8Mxo5kGCL74jSNJY",
      "input": {
        "note": "Descent stopped at z≈0.09, likely a fingertip resting on the white bowl's rim. Moving 2–3 cm forward and retrying the descent so the jaws straddle the left wall.",
        "targets": {
          "left_x": 0.38,
          "left_yaw": 0.0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SL97Am8Mxo5kGCL74jSNJY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5365, 1.5944, 1.058, -0.5938, -0.3973, -0.5236, 0.9958, -0.0219, 0.8215, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.352 left_y=-0.1257 left_z=0.0917 left_yaw=0.1233 left_pitch=-0.4209 left_roll=0.1139 left_gripper=0.9958 right_x=0.2891 right_y=0.0002 right_z=0.1596 right_yaw=-0.0014 right_pitch=-0.0782 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.3624, -7.2547, 6.3932, 1.1746, -0.3101, -0.0269, -0.0171, -0.0752, -1.2376, 7.0496, 1.7118, -0.0806, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e754fcc9f5e023733740fb6d8e54511386bd1c1f12d4e8b3ab0974a24e442c9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6637bda4bdd80f651a6f5ef3f8d52936efed27ee51443bbf5440781ce0d79e12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd1c41ef37f3ec187198fcd5fd98aafcceab5d717f27740b71c7a2c1a8f2b5e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 7.597 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]: [-0.5442, 1.5894, 1.1191, -0.6579, -0.421, -0.5606, 0.9958, -0.0216, 0.8211, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3554 left_y=-0.1265 left_z=0.1095 left_yaw=0.1543 left_pitch=-0.4036 left_roll=0.1083 left_gripper=0.9958 right_x=0.2891 right_y=0.0003 right_z=0.1597 right_yaw=-0.001 right_pitch=-0.0778 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.7453, -9.4291, 6.4205, 1.3162, -0.2076, 0.1929, -0.0073, -0.1846, -1.4017, 7.2137, 1.6337, -0.0366, -0.0757, -0.0122]",
      "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]: [-0.5365, 1.5944, 1.058, -0.5964, -0.3973, -0.5236, 0.9958, -0.0219, 0.8215, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3515 left_y=-0.1254 left_z=0.0915 left_yaw=0.124 left_pitch=-0.423 left_roll=0.1157 left_gripper=0.9958 right_x=0.2891 right_y=0.0002 right_z=0.1596 right_yaw=-0.0014 right_pitch=-0.0782 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.3077, -7.241, 6.4205, 1.2137, -0.315, -0.0659, -0.0122, -0.0615, -1.1419, 7.0222, 1.6386, -0.0659, -0.0659, -0.0122]",
      "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]: [-0.5365, 1.5944, 1.058, -0.5938, -0.3973, -0.5236, 0.9958, -0.0219, 0.8215, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.352 left_y=-0.1257 left_z=0.0917 left_yaw=0.1233 left_pitch=-0.4209 left_roll=0.1139 left_gripper=0.9958 right_x=0.2891 right_y=0.0002 right_z=0.1596 right_yaw=-0.0014 right_pitch=-0.0782 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.3624, -7.2547, 6.3932, 1.1746, -0.3101, -0.0269, -0.0171, -0.0752, -1.2376, 7.0496, 1.7118, -0.0806, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e754fcc9f5e023733740fb6d8e54511386bd1c1f12d4e8b3ab0974a24e442c9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6637bda4bdd80f651a6f5ef3f8d52936efed27ee51443bbf5440781ce0d79e12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd1c41ef37f3ec187198fcd5fd98aafcceab5d717f27740b71c7a2c1a8f2b5e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSwgoKEAgSGAI4AUIIdGhpbmtpbmcSDM1/hlbP3iWxE7Cd2RoM0ZYhu0rx5nXvHSTUIjBUi63kJvLVz4ycjyW2wTfp+c3qC+wzovVxUvf5Ju5TEaqkDMGmmi1TBUBw+98F1qkq3wli0zXdu7lAasyWNuzECrbabPLeQlVUrKagSzftcQGROQjBasqvBHaSihEklRKOYj2EMtaBnqXigmitLK3y6pDr8Es36SiQ+F4G8aJXNOTO9ne89jAO/agYDoMQLPdhcncilz+y13KcnWmTIJqlUoii+fCQbEKpLWpuNffgHODlCHjxvhP/sk7rruhON4NhKdzvlli6lA/rDlytjtgfLYExWdMTDovRKELeebsEbjAOzkD+niEdBxb1OfJLprOqsOdn6n4xH/zC3LimcgwYTEB1luT0iSo5/bbf8GNR7uSCLQJ0nbEGqBu46jXOvH4q9o9iaDtYsjM/8oicuZbFbLcpwo9kd/U/4kRqJCl7nYXQfoPl5J8R1a1eso8mrk/OGAK5GaiTaIOkjeMoozvilBSsbwgSp+WmmEN7YHZF6Bc1RHEPP3jau0FpHg4krANxpdvjO0gzqk6iVmtVpd4hatYL9tyr7X9W3hoWmRbHH95tKybEMlRdi0hP0ezFnSIqzxh9v+lkkxNGV3K0DLyKjZuOOerAeBZSlZqso/EyJAxbBYG9YuMZd9j2fvBME2ILSuRLJrbyf4aCaL5ChkNgexWSfEYKaqLHnmJVAEzvY+Ilg0u5u76MrgdRY+C7POK9Qvkd3NP7Ox8iGw2JgVSCo+x1hPTjG3xPZ2B9yhQdcfC86QmBSmnAfqNpx6CDq0AIrMov1IxXVCquM6agMkOWOknt3xXkypEgHkH+oHkxYaVmZKabYYAnUsJ3Xqi33QMv4TLhogocJcIGlhfEDGflJ/L4Ux00DAXZgGrhdUF7IAa5k+sIBx5pHbOCIrIBXn9rDBaS+t/yVkd7d0uHnBZEeBTpLcfzpxDJ7L0r3M674FqutDOMbzCE/YKYe9GN17ifhsHrZ8GyzQyjkcxs9QaeARw2OfiAVlxTuLOWTGnXZUmkp6wfLS5McBxBXAN9Ju2FpDvJDt0i5Q2qbxL92vLsjoV/eyYgTRebMmUYTSV5AeiCuIM37WehQ/m6mAl4BBGYIwZ7hJ0ePTnk9nEBpiCYVVx3p1UBj6ghGepcPqJsIJMHlX2304KC/ytpN02YxTsDK7cDszBmfWgFsd7ehEzlWdsbj4yTxlLvoLtjAU/IzPTkH0BbyB9GW4xKrtPSVVS/Ld8wF89/bXWeLml0X2hUxLGPwredIaQ6N6OyEK3LRjMzC6fcKq9pYWuH8rmq2QfA7LQhDxpszGXgPgwKduF1M9n9dhyuk2rmQFfSekujdOdecEj13IOH3R+vjfkKGXVWZ6pOBki/GBimXdPaZj7yRn75CgHbkx7/U9X2UgahBM2OCGiSLOWrJGrxlvOdBgfYTHTVCPJqopzU+KVwDCjZJ0Lkr+MWsYlXzo6FHHR9XUVJ8eFX0zJAKcnVRPEFnqkfyFWZ3k1FknV3inoUVhKvwD13PLNwrN3WwHyXMUOpvp/GVAO3b8USEJ5RWBc2jO65MOGt/6NciLFLIPp9c3uHF1tUOOpD/byCdy/W05vQ22Jk5QwEPIxnkk+I8x2sw+ynVE7WPwS7RPswLfJmwQqkRW0xZGzTEe2fXf1nqtLv2G//RNx2qV1XqSXla+koUTIuw2SOxTQFX1Ie38G2t03fIW+XBwD/B5/3JOPsvwrL5YngnBx7Z1e05K0YGDuIKSIp/BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PjoPfAhKgW3qdQRYrtQV54",
      "input": {
        "note": "Left arm is stalled again at z≈0.09 with pitch drifted to -0.42. Backing up and raising with orientation reset to recover the controller.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.32,
          "left_y": -0.13,
          "left_yaw": 0.0,
          "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_01PjoPfAhKgW3qdQRYrtQV54",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6617, 1.1973, 0.6815, -0.2337, -0.5285, -0.4576, 0.9958, -0.0216, 0.8242, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3169 left_y=-0.1293 left_z=0.1377 left_yaw=0.0028 left_pitch=-0.057 left_roll=0.0075 left_gripper=0.9958 right_x=0.2891 right_y=0.0003 right_z=0.1588 right_yaw=-0.001 right_pitch=-0.0812 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.7863, -4.8342, 6.7487, 1.7509, -0.3932, 0.1636, -0.0171, -0.0479, -1.4564, 7.1179, 1.6923, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fa8c693d7a28e485a299c02fa2280332d5db148e26f0d00c67fe45010dadf50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63e4e5a932b8db5acadd2eb36366858b44b748af18abe9ca70422f8f313bf7ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:367395b2b0952020184ebdbd2caeb28c26a7cc99b98bf683e561ffdd9782e8a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 4.005 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]: [-0.5365, 1.5944, 1.058, -0.5964, -0.3973, -0.5236, 0.9958, -0.0219, 0.8215, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3515 left_y=-0.1254 left_z=0.0915 left_yaw=0.124 left_pitch=-0.423 left_roll=0.1157 left_gripper=0.9958 right_x=0.2891 right_y=0.0002 right_z=0.1596 right_yaw=-0.0014 right_pitch=-0.0782 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.3077, -7.241, 6.4205, 1.2137, -0.315, -0.0659, -0.0122, -0.0615, -1.1419, 7.0222, 1.6386, -0.0659, -0.0659, -0.0122]",
      "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]: [-0.5365, 1.5944, 1.058, -0.5938, -0.3973, -0.5236, 0.9958, -0.0219, 0.8215, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.352 left_y=-0.1257 left_z=0.0917 left_yaw=0.1233 left_pitch=-0.4209 left_roll=0.1139 left_gripper=0.9958 right_x=0.2891 right_y=0.0002 right_z=0.1596 right_yaw=-0.0014 right_pitch=-0.0782 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.3624, -7.2547, 6.3932, 1.1746, -0.3101, -0.0269, -0.0171, -0.0752, -1.2376, 7.0496, 1.7118, -0.0806, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6617, 1.1973, 0.6815, -0.2337, -0.5285, -0.4576, 0.9958, -0.0216, 0.8242, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3169 left_y=-0.1293 left_z=0.1377 left_yaw=0.0028 left_pitch=-0.057 left_roll=0.0075 left_gripper=0.9958 right_x=0.2891 right_y=0.0003 right_z=0.1588 right_yaw=-0.001 right_pitch=-0.0812 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.7863, -4.8342, 6.7487, 1.7509, -0.3932, 0.1636, -0.0171, -0.0479, -1.4564, 7.1179, 1.6923, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fa8c693d7a28e485a299c02fa2280332d5db148e26f0d00c67fe45010dadf50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63e4e5a932b8db5acadd2eb36366858b44b748af18abe9ca70422f8f313bf7ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:367395b2b0952020184ebdbd2caeb28c26a7cc99b98bf683e561ffdd9782e8a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017wdoViN4sUzmpofQxXouZA",
      "input": {
        "note": "Recovered. The purple bowl has tipped onto its side and the white bowl sits against it. White bowl's left rim is near the jaw column; descending with pitch held at 0 to straddle it.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.33,
          "left_yaw": 0.0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_017wdoViN4sUzmpofQxXouZA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.646, 1.5127, 0.4179, 0.3141, -0.5259, -0.4274, 0.9958, -0.0216, 0.8268, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.318 left_y=-0.1242 left_z=0.0286 left_yaw=0.0014 left_pitch=-0.0835 left_roll=0.0493 left_gripper=0.9958 right_x=0.2893 right_y=0.0003 right_z=0.1581 right_yaw=-0.001 right_pitch=-0.0835 right_roll=0.0009 right_gripper=0.9973\nstate[joint_eff]: [0.1846, -5.9282, 4.8205, 1.7656, -0.2662, 0.1148, -0.0171, -0.0479, -1.5932, 6.9812, 1.6532, -0.0611, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c56fef9cb7c1e382e8494b3502b7d9d699b9e84a933a80d3713a8fe3069c99d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:428a531fc05e0414b47ef167f9ae728b4a29f73f08d6a2168122396d21928555",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b316928ddc95b11203473c999d53c690a1b367ee3694c2f44d0163734c8857ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 7.149 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]: [-0.5365, 1.5944, 1.058, -0.5938, -0.3973, -0.5236, 0.9958, -0.0219, 0.8215, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.352 left_y=-0.1257 left_z=0.0917 left_yaw=0.1233 left_pitch=-0.4209 left_roll=0.1139 left_gripper=0.9958 right_x=0.2891 right_y=0.0002 right_z=0.1596 right_yaw=-0.0014 right_pitch=-0.0782 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.3624, -7.2547, 6.3932, 1.1746, -0.3101, -0.0269, -0.0171, -0.0752, -1.2376, 7.0496, 1.7118, -0.0806, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6617, 1.1973, 0.6815, -0.2337, -0.5285, -0.4576, 0.9958, -0.0216, 0.8242, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3169 left_y=-0.1293 left_z=0.1377 left_yaw=0.0028 left_pitch=-0.057 left_roll=0.0075 left_gripper=0.9958 right_x=0.2891 right_y=0.0003 right_z=0.1588 right_yaw=-0.001 right_pitch=-0.0812 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.7863, -4.8342, 6.7487, 1.7509, -0.3932, 0.1636, -0.0171, -0.0479, -1.4564, 7.1179, 1.6923, -0.0464, -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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.646, 1.5127, 0.4179, 0.3141, -0.5259, -0.4274, 0.9958, -0.0216, 0.8268, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.318 left_y=-0.1242 left_z=0.0286 left_yaw=0.0014 left_pitch=-0.0835 left_roll=0.0493 left_gripper=0.9958 right_x=0.2893 right_y=0.0003 right_z=0.1581 right_yaw=-0.001 right_pitch=-0.0835 right_roll=0.0009 right_gripper=0.9973\nstate[joint_eff]: [0.1846, -5.9282, 4.8205, 1.7656, -0.2662, 0.1148, -0.0171, -0.0479, -1.5932, 6.9812, 1.6532, -0.0611, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c56fef9cb7c1e382e8494b3502b7d9d699b9e84a933a80d3713a8fe3069c99d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:428a531fc05e0414b47ef167f9ae728b4a29f73f08d6a2168122396d21928555",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b316928ddc95b11203473c999d53c690a1b367ee3694c2f44d0163734c8857ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsggKEAgSGAI4AUIIdGhpbmtpbmcSDF3gc0ZGEM0QPgU6LhoMOvbu3I+NQ+6hKWpxIjBjud0s+agmNZ7UMjy0d/VPKqKftM+O5a16fTRHLFFx2iImgSHssQi2oQLGOj0y6YEqzwcbqc60RaMFz9jiharuvU7b//1Q/YyrBcQ2ACRfOJtSqUPBmkSyKg3dzRvIadwzlWp7rdeF2bjA6mXE5Z8SNo9FZzKRgwGAsdMarLHwNkXTM5cSMAkEGniIfCPiiiK3sItjOVWWzhFuxdutUI8hM1tvj87bp+LfrWpvxRcSK81G7ICAwzIFUPxWQSgyIWigrN5MKPnfaPveNoMQkapN4Hx/OILjFFzfeuuR62sNtrvPPXS5HAerW3z0MsTat2TI4d3jth7m5bb73fWwthytMIYMsDZG2TJeQQDeE72Gvp5cU2cg0Ea5RSMPhF119uunlIV8P8c/X3JCxp2yHMkhWCcv8t3p4W/0q4nSTVL6oVPlix7L80iwAibo91XEpcMzonibGAkxgomXLDF28spESoUndBjEpH3p580lYz+HUDfqnfkZGVjt1mKz6GYvHHtOtNH6ESvRg124ZfdqS/fJ3yfgp70wi0G5BmvIkwtd76MLu8vsomscn36qb1D3t1n0j9CzFtQNsl8G9oiJol2UPKM8agNolg1nL0xi7LUU3vFCKoIlyXj8aY7QQhqIB8Y5X8TLl/9fDTDoJDCbHLl69iqKTKo/Oha3r3YeKP41ehwqacKDefftC+GgWABMwNrqOnYj1/NTQXdmcmWLKh5BZ6XNROnlSVk3okGBtnvCtbaRpEQB5Z9w+kZjSuWTWO5h0YQgMhb+4oSTbIUrVWQspBdntG2OYWf5EQuI5uQL5f+wgBrvk508ga/SfJoLlX1APnmQdQfQqCtWy4nutVICNrCAWzdfPsRgutSjIO7PJtiRNw7PKfof2Ss16KLkvTJkHjxPLoIgl8eyXIsS21ACNg8/+MBZMLjnMbToS7vOo+rSJf3OPMsS+e01WOAz7C7CjOGivEqC7504Ba7wfyqdV4wWKMaQ/rZKuT6oLRuMzkvTlL1MG52oj2QQSjyqnJ9q7RBL6aMDKPGXPyHEefF+MZc73xMTyPHBtfAWS/ttOL2yBIOebaqCfhlX1kKBB7/Z0QtDwGsuw4ejPdybCanfEypGq65OcAKGRxlBYC8ZuacS4UYoquou/Qrv49+L8NwPqYeGC4mSv6/WxD7n6rFQ48Y8te8vkIxwSNQWrWpD4CKtPHYNhtQrP2TpeCPF8+vcouuScEUiQUBkj/glHj9OnICcGKLRbOK7sml+UlU3jPqDeAWlbh7pULxCZdRghQM9hE2lCUNcNn1RZJYa809ovnGdiY2luOoYEiNRWc8Uu1UGvcGbpA5ZpmoRLyC80lbUDEcIv2zV3Hb5kCxQjvPvUEsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016fC465BNMLTCmK1Qa5VGzh",
      "input": {
        "note": "White bowl's left wall is between the open jaws at table level. Closing to pinch it.",
        "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_016fC465BNMLTCmK1Qa5VGzh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6464, 1.5085, 0.4137, 0.347, -0.5251, -0.4458, 0.1044, -0.0216, 0.8307, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3211 left_y=-0.1268 left_z=0.0337 left_yaw=0.0089 left_pitch=-0.0574 left_roll=0.0143 left_gripper=0.1044 right_x=0.2894 right_y=0.0003 right_z=0.157 right_yaw=-0.001 right_pitch=-0.0877 right_roll=0.001 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -4.6974, 5.9145, 1.1648, -0.2125, 0.1245, 0.4713, -0.0479, -1.5248, 7.0222, 1.663, -0.0708, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95c96f374793d349912bd47276a4039d01ad8045b35d060673c91e2141c6a4da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c603fa6348491b33a809fd2905fec15076da6f4e9c0e25c4cd372e8f885a9724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5478f0e132d155dfbb7882b69e4432f7de502932933802c5e42545386ac42ad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 8.613 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]: [-0.6617, 1.1973, 0.6815, -0.2337, -0.5285, -0.4576, 0.9958, -0.0216, 0.8242, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3169 left_y=-0.1293 left_z=0.1377 left_yaw=0.0028 left_pitch=-0.057 left_roll=0.0075 left_gripper=0.9958 right_x=0.2891 right_y=0.0003 right_z=0.1588 right_yaw=-0.001 right_pitch=-0.0812 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [-0.7863, -4.8342, 6.7487, 1.7509, -0.3932, 0.1636, -0.0171, -0.0479, -1.4564, 7.1179, 1.6923, -0.0464, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.646, 1.5127, 0.4179, 0.3141, -0.5259, -0.4274, 0.9958, -0.0216, 0.8268, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.318 left_y=-0.1242 left_z=0.0286 left_yaw=0.0014 left_pitch=-0.0835 left_roll=0.0493 left_gripper=0.9958 right_x=0.2893 right_y=0.0003 right_z=0.1581 right_yaw=-0.001 right_pitch=-0.0835 right_roll=0.0009 right_gripper=0.9973\nstate[joint_eff]: [0.1846, -5.9282, 4.8205, 1.7656, -0.2662, 0.1148, -0.0171, -0.0479, -1.5932, 6.9812, 1.6532, -0.0611, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6464, 1.5085, 0.4137, 0.347, -0.5251, -0.4458, 0.1044, -0.0216, 0.8307, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3211 left_y=-0.1268 left_z=0.0337 left_yaw=0.0089 left_pitch=-0.0574 left_roll=0.0143 left_gripper=0.1044 right_x=0.2894 right_y=0.0003 right_z=0.157 right_yaw=-0.001 right_pitch=-0.0877 right_roll=0.001 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -4.6974, 5.9145, 1.1648, -0.2125, 0.1245, 0.4713, -0.0479, -1.5248, 7.0222, 1.663, -0.0708, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95c96f374793d349912bd47276a4039d01ad8045b35d060673c91e2141c6a4da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c603fa6348491b33a809fd2905fec15076da6f4e9c0e25c4cd372e8f885a9724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5478f0e132d155dfbb7882b69e4432f7de502932933802c5e42545386ac42ad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017iCkCZFDTTGhzgDLyNQztK",
      "input": {
        "note": "Gripper settled at 0.10 on the white bowl's wall (a grasp), and the purple bowl has righted itself. Lifting the white bowl to carry height.",
        "targets": {
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_017iCkCZFDTTGhzgDLyNQztK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6464, 1.2007, 0.757, -0.2993, -0.5251, -0.4534, 0.1041, -0.0219, 0.8314, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3236 left_y=-0.1287 left_z=0.1565 left_yaw=0.0129 left_pitch=-0.0534 left_roll=0.0051 left_gripper=0.1041 right_x=0.2895 right_y=0.0002 right_z=0.1568 right_yaw=-0.0014 right_pitch=-0.0885 right_roll=0.001 right_gripper=0.9973\nstate[joint_eff]: [-0.0752, -5.4359, 8.8274, 1.4969, -0.2466, 0.0611, -0.0415, -0.0889, -1.4701, 7.0085, 1.619, -0.0366, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:044cfabc554994ebf54bd9a9e5cdf81742cb2460e8a5cfc4858794261b106c5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:482c05033fbabcc6ab70da9f17a38575a0b4247e49d9ef22beba9f08a02d0c4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b0b723e06d119345be83540788705312428def8c94e5282c62371de5ddb10bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 3.743 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]: [-0.646, 1.5127, 0.4179, 0.3141, -0.5259, -0.4274, 0.9958, -0.0216, 0.8268, 0.5945, -0.4225, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.318 left_y=-0.1242 left_z=0.0286 left_yaw=0.0014 left_pitch=-0.0835 left_roll=0.0493 left_gripper=0.9958 right_x=0.2893 right_y=0.0003 right_z=0.1581 right_yaw=-0.001 right_pitch=-0.0835 right_roll=0.0009 right_gripper=0.9973\nstate[joint_eff]: [0.1846, -5.9282, 4.8205, 1.7656, -0.2662, 0.1148, -0.0171, -0.0479, -1.5932, 6.9812, 1.6532, -0.0611, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6464, 1.5085, 0.4137, 0.347, -0.5251, -0.4458, 0.1044, -0.0216, 0.8307, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3211 left_y=-0.1268 left_z=0.0337 left_yaw=0.0089 left_pitch=-0.0574 left_roll=0.0143 left_gripper=0.1044 right_x=0.2894 right_y=0.0003 right_z=0.157 right_yaw=-0.001 right_pitch=-0.0877 right_roll=0.001 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -4.6974, 5.9145, 1.1648, -0.2125, 0.1245, 0.4713, -0.0479, -1.5248, 7.0222, 1.663, -0.0708, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6464, 1.2007, 0.757, -0.2993, -0.5251, -0.4534, 0.1041, -0.0219, 0.8314, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3236 left_y=-0.1287 left_z=0.1565 left_yaw=0.0129 left_pitch=-0.0534 left_roll=0.0051 left_gripper=0.1041 right_x=0.2895 right_y=0.0002 right_z=0.1568 right_yaw=-0.0014 right_pitch=-0.0885 right_roll=0.001 right_gripper=0.9973\nstate[joint_eff]: [-0.0752, -5.4359, 8.8274, 1.4969, -0.2466, 0.0611, -0.0415, -0.0889, -1.4701, 7.0085, 1.619, -0.0366, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:044cfabc554994ebf54bd9a9e5cdf81742cb2460e8a5cfc4858794261b106c5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:482c05033fbabcc6ab70da9f17a38575a0b4247e49d9ef22beba9f08a02d0c4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b0b723e06d119345be83540788705312428def8c94e5282c62371de5ddb10bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VdvBAEdD74cMugFMurhHvY",
      "input": {
        "note": "The white bowl slipped out and is still on the table right below the jaws. Opening and nudging 1 cm left/forward to re-grasp the left wall lower down.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.33,
          "left_y": -0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01VdvBAEdD74cMugFMurhHvY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6029, 1.2026, 0.7578, -0.3019, -0.4946, -0.4335, 0.9949, -0.0216, 0.8314, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3276 left_y=-0.1194 left_z=0.154 left_yaw=0.0223 left_pitch=-0.069 left_roll=0.0068 left_gripper=0.9949 right_x=0.2895 right_y=0.0003 right_z=0.1568 right_yaw=-0.001 right_pitch=-0.0885 right_roll=0.001 right_gripper=0.9973\nstate[joint_eff]: [0.3897, -4.3009, 6.3658, 1.6972, -0.1392, 0.1734, -0.0708, -0.0889, -1.4291, 7.0085, 1.6337, -0.0806, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2fb7a71ba14f3e43cd07a68d79b36294673a9db5c4f44bd10a3c2d24248882a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b052e416616c9564ec2c721f27132d552941025ec9cf2bfc83e4a7d65829388",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8fe92b6f3b0d812e2b586de0a0acf42fa2af6f2d20847fbf316047fa2888ec65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /messages · status 200 · 3.704 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]: [-0.6464, 1.5085, 0.4137, 0.347, -0.5251, -0.4458, 0.1044, -0.0216, 0.8307, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3211 left_y=-0.1268 left_z=0.0337 left_yaw=0.0089 left_pitch=-0.0574 left_roll=0.0143 left_gripper=0.1044 right_x=0.2894 right_y=0.0003 right_z=0.157 right_yaw=-0.001 right_pitch=-0.0877 right_roll=0.001 right_gripper=0.9973\nstate[joint_eff]: [-0.0068, -4.6974, 5.9145, 1.1648, -0.2125, 0.1245, 0.4713, -0.0479, -1.5248, 7.0222, 1.663, -0.0708, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.6464, 1.2007, 0.757, -0.2993, -0.5251, -0.4534, 0.1041, -0.0219, 0.8314, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3236 left_y=-0.1287 left_z=0.1565 left_yaw=0.0129 left_pitch=-0.0534 left_roll=0.0051 left_gripper=0.1041 right_x=0.2895 right_y=0.0002 right_z=0.1568 right_yaw=-0.0014 right_pitch=-0.0885 right_roll=0.001 right_gripper=0.9973\nstate[joint_eff]: [-0.0752, -5.4359, 8.8274, 1.4969, -0.2466, 0.0611, -0.0415, -0.0889, -1.4701, 7.0085, 1.619, -0.0366, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6029, 1.2026, 0.7578, -0.3019, -0.4946, -0.4335, 0.9949, -0.0216, 0.8314, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3276 left_y=-0.1194 left_z=0.154 left_yaw=0.0223 left_pitch=-0.069 left_roll=0.0068 left_gripper=0.9949 right_x=0.2895 right_y=0.0003 right_z=0.1568 right_yaw=-0.001 right_pitch=-0.0885 right_roll=0.001 right_gripper=0.9973\nstate[joint_eff]: [0.3897, -4.3009, 6.3658, 1.6972, -0.1392, 0.1734, -0.0708, -0.0889, -1.4291, 7.0085, 1.6337, -0.0806, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2fb7a71ba14f3e43cd07a68d79b36294673a9db5c4f44bd10a3c2d24248882a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b052e416616c9564ec2c721f27132d552941025ec9cf2bfc83e4a7d65829388",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fe92b6f3b0d812e2b586de0a0acf42fa2af6f2d20847fbf316047fa2888ec65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsAcKEAgSGAI4AUIIdGhpbmtpbmcSDPwf1uvqQmkgLe03eRoMxHhY+X0Zvb649bJcIjAXGq1IR19wGjivJccs49P4oIPvqTCQZqASm2R16IHI741rSIonAGzdtm6jPxNVp7gqzQZPGz8EI780RIVDxd+Ne8i55wQ/Bmbxyo5ERWWoEUYzpOrUwrcxodgwisOUav6D5eopWvPvOJUkj/a8LNKyofzDnopyKSZRxASEbYtaFE02IJNG5Zsjos9VdncyIQ5huWfGEP7SLKbXnfBge1wHiOUXwkdrmEoVG+T62p/NxvfqTYmOp6xy0/eqZmbZRN8DgVlTwa9QM877AzxqVwNMeGAAYCCFC2R2sRiJC9TfNafuu6E7Hmu2EevhpMQHucLo9lMqKtLjULKhXk/ykMLnfoqGsbjib9HWTeY5/nrX0HjSDPuQIfQm7tRwNoaZajb860rtPLekuqZQEiVHIn7JeDIPtfecLFZWWJE2EgbmNjRW7O3VJL6Apz3f3wfJraKeQNnM0/23WBuqhv+ws+NsnxSpuOINYO5IYMjC1vxBquPuyFfU99td1TQ7JmBQNlZUgOQmEw1/UR6VrTlf8uNZRHDWOtPzGgzQyzB8d3BsMT29sQ2MwhXgBBzGu4Y2l+o4589huFGvD88hKToXYR4GgYPIDsp/0vypRHmYqcqeQG/LmEUHMruB+ptuWGHFwN+fZ1taCfxOXmcEpE10Hzxo1ICjDMPT37BxChdQv4vlNlvsgfcP/RmsWkoadwWCNWo/tks/ORtcWPkQ8ZXgt/WD23bSmm5knn7RFCvjJIh0QWjgfaWd6N3P/pEbUalL9OYaNcpSLxdNaoRpEOAEGT7dz1aJBbZO03kwS9gASX2bdsGsbqjA5B0zuJgGNItz6k6QGp1rm+S0AQQvLrf0ctsk+bqzIYMyFtL4dIVJdrU98jJsP1QEdy2FeyB9SI7LhD8rO0yJ2M38OvCEEf+b7NWstizFvIdW7TbiFSw0x4hQl20QA+u/aotnDBlY37JViIFzO6e8g9lCvz+EgKM2nInVakMXtPi3LFThTu/op5XawalZkVgRQrhjIa8hlU+IJ44Wmow3gWxt+Y6Ov6ZmSHAus6Xc6gms6RnGK1dOjNEfgsBmAt0EFvSOwLA6ykyz/YN/6J1lFxlJhIHlC74vRC/fF6jz2vORe2hkVHKVRmmL0gBYgE6UhmtnOs79ZkIzF314luoTy7rxjm8XMM5ebWvw1xGit5ktGEPgpAEcOzps1hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RNWdFHTQEdaND5ugvA5HWY",
      "input": {
        "note": "White bowl's left wall sits between the open jaws. Descending to near table level for a deeper grip on the wall.",
        "targets": {
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RNWdFHTQEdaND5ugvA5HWY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6022, 1.626, 0.4007, 0.4202, -0.495, -0.4393, 0.9957, -0.0219, 0.8352, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3218 left_y=-0.115 left_z=0.003 left_yaw=0.0297 left_pitch=-0.1159 left_roll=0.0369 left_gripper=0.9957 right_x=0.2896 right_y=0.0002 right_z=0.1558 right_yaw=-0.0013 right_pitch=-0.0923 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -5.4359, 3.3983, 1.1502, -0.1392, 0.0366, 0.0708, -0.2256, -1.7299, 7.0085, 1.6288, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab765825cf4f75db4f2288216bd9ea7a63709eaf37c8f3e919c8d34beb5a54cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:223d9d6e9cd002f94af76ec36248fe2131d560eb9dcacd4862a643a021d59393",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da0f4d60dc62697302f8437596da1a84c7b74a3111db940c9ceacdc7fe158e1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 3.645 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]: [-0.6464, 1.2007, 0.757, -0.2993, -0.5251, -0.4534, 0.1041, -0.0219, 0.8314, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3236 left_y=-0.1287 left_z=0.1565 left_yaw=0.0129 left_pitch=-0.0534 left_roll=0.0051 left_gripper=0.1041 right_x=0.2895 right_y=0.0002 right_z=0.1568 right_yaw=-0.0014 right_pitch=-0.0885 right_roll=0.001 right_gripper=0.9973\nstate[joint_eff]: [-0.0752, -5.4359, 8.8274, 1.4969, -0.2466, 0.0611, -0.0415, -0.0889, -1.4701, 7.0085, 1.619, -0.0366, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6029, 1.2026, 0.7578, -0.3019, -0.4946, -0.4335, 0.9949, -0.0216, 0.8314, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3276 left_y=-0.1194 left_z=0.154 left_yaw=0.0223 left_pitch=-0.069 left_roll=0.0068 left_gripper=0.9949 right_x=0.2895 right_y=0.0003 right_z=0.1568 right_yaw=-0.001 right_pitch=-0.0885 right_roll=0.001 right_gripper=0.9973\nstate[joint_eff]: [0.3897, -4.3009, 6.3658, 1.6972, -0.1392, 0.1734, -0.0708, -0.0889, -1.4291, 7.0085, 1.6337, -0.0806, -0.0611, -0.0122]",
      "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]: [-0.6022, 1.626, 0.4007, 0.4202, -0.495, -0.4393, 0.9957, -0.0219, 0.8352, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3218 left_y=-0.115 left_z=0.003 left_yaw=0.0297 left_pitch=-0.1159 left_roll=0.0369 left_gripper=0.9957 right_x=0.2896 right_y=0.0002 right_z=0.1558 right_yaw=-0.0013 right_pitch=-0.0923 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -5.4359, 3.3983, 1.1502, -0.1392, 0.0366, 0.0708, -0.2256, -1.7299, 7.0085, 1.6288, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab765825cf4f75db4f2288216bd9ea7a63709eaf37c8f3e919c8d34beb5a54cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:223d9d6e9cd002f94af76ec36248fe2131d560eb9dcacd4862a643a021d59393",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da0f4d60dc62697302f8437596da1a84c7b74a3111db940c9ceacdc7fe158e1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7wYKEAgSGAI4AUIIdGhpbmtpbmcSDLrcju4SqPySLarblxoM+B1y+3EUC/Hjq9uxIjA8bcNxE1/+Ened82Yc2FwpR8C1e3MUFdAPvpmjPuxkBxCFOki823Wr51W9p3YlPjMqjAZ1PSXFqXKXlqXnjZoFvHWvMQq2U/guaFKnvQhDg71D8nldeSV68YAamB8A5Aex7w8K577hieyQGaL68/EQPMz0hTcI4KHgLH7usWvh7/Ex4lxcHgSRz8BusCXIC5Ze2zprQEv8eNRpGIluxj5GWAgN+z1uBs071y8ikjSCWHvAMzEPTzuy1O35YxstFMf5yoQ/f/vBm8+bn2bCczTusqyJxc0O/VVvymCAG+gsc2mPK03OWB7fP9PFWa1OmhXarASmGvzmHqqr3ynRO71OVaapBDQ+ivAU6SEnaq1sXhXUsqR7ZmfzDQcC2AyIHHNeViBzpVHYJuool+YXvt9iRth5UESqlujIIrMhA8XKA0bA7qhR6iwJkWS701HLjLukcdNKOtnQGC2isP3KHTQc7ir5IDIwGGU2HcPrChTB1ZMCyy6lQ162wlrVs9d5KOjAEQSOL/3pa/3fpS4vWqZPMT+qKZxS3PoIT1a2tfdnP0oxzBAso5nf4QMlgInvRcUT4ncIbPEX+MU0Kn7/A4FFbzYlISxeG8Z9/uBPGyri1E1NiLx8JCx/lGIxeFDsxXnvTwn2k3t1QeJbMsGGvmKH8/AmgVbB84i491RP5qNmgRzsULRs0pCOG9JupTzr8WUHCQF09d3kNOl/z+3IgFFDGkRbQQhU7L/LrSYgS8A6saVjvDYLVNc80gp1ldHJZgwIW7Zpstepgt7kOPona2DJnT7EymBmn7ngqevkoZcKOPoxVdLkcqWFi7L4nRBjAYZeUb8WCskYrU8AJ65IOqX7SIkLQTiU6ShZdTNCcDhwqIGc3wky6S29NnDkdaQbwQ4d3IcyxMDzFQm1BQCwrRsudrMHdoSKOSWdajoGMZLnV5ZK/hvVRYHtotUMSaqaxbb8YtW25bsZc5lrBLkj0c1+75cYuRRH8hFsOZ1NEs04/R0OdeD0bEhAirrnEtokZvqWGVHYACfikEQcYHdquNCOHm1iSSqnF09FLKaAcbSwuRSaPaEFLPRhaREESf5KU50G7kKwLmBDbOBbll2QSyQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014bbwjj1ECAEgmRfarkQcDk",
      "input": {
        "note": "Jaws are low around the white bowl's left wall (wall fills the wrist view). Closing to grip it.",
        "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_014bbwjj1ECAEgmRfarkQcDk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6048, 1.6051, 0.4168, 0.5098, -0.4973, -0.4694, 0.045, -0.0219, 0.8371, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3393 left_y=-0.1277 left_z=0.0297 left_yaw=0.0403 left_pitch=-0.0134 left_roll=-0.0617 left_gripper=0.045 right_x=0.2897 right_y=0.0002 right_z=0.1553 right_yaw=-0.0013 right_pitch=-0.0942 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [0.1436, -3.8632, 3.7265, 0.6716, -0.149, 0.2564, 1.3309, -0.1573, -1.4974, 7.0085, 1.619, -0.0659, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f28bfdc5653b9498911b80d26dd84f59c3053a992b95d1ef6a72e943e4f08309",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33f1d85262e025071e07cf3ed86ffb3088222f27302194731db0298767830532",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fc71ad07efd89a107d0c2b6e0d482b93028c81b3d7475e721a411ce163fc820f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 5.265 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]: [-0.6029, 1.2026, 0.7578, -0.3019, -0.4946, -0.4335, 0.9949, -0.0216, 0.8314, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3276 left_y=-0.1194 left_z=0.154 left_yaw=0.0223 left_pitch=-0.069 left_roll=0.0068 left_gripper=0.9949 right_x=0.2895 right_y=0.0003 right_z=0.1568 right_yaw=-0.001 right_pitch=-0.0885 right_roll=0.001 right_gripper=0.9973\nstate[joint_eff]: [0.3897, -4.3009, 6.3658, 1.6972, -0.1392, 0.1734, -0.0708, -0.0889, -1.4291, 7.0085, 1.6337, -0.0806, -0.0611, -0.0122]",
      "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]: [-0.6022, 1.626, 0.4007, 0.4202, -0.495, -0.4393, 0.9957, -0.0219, 0.8352, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3218 left_y=-0.115 left_z=0.003 left_yaw=0.0297 left_pitch=-0.1159 left_roll=0.0369 left_gripper=0.9957 right_x=0.2896 right_y=0.0002 right_z=0.1558 right_yaw=-0.0013 right_pitch=-0.0923 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -5.4359, 3.3983, 1.1502, -0.1392, 0.0366, 0.0708, -0.2256, -1.7299, 7.0085, 1.6288, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6048, 1.6051, 0.4168, 0.5098, -0.4973, -0.4694, 0.045, -0.0219, 0.8371, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3393 left_y=-0.1277 left_z=0.0297 left_yaw=0.0403 left_pitch=-0.0134 left_roll=-0.0617 left_gripper=0.045 right_x=0.2897 right_y=0.0002 right_z=0.1553 right_yaw=-0.0013 right_pitch=-0.0942 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [0.1436, -3.8632, 3.7265, 0.6716, -0.149, 0.2564, 1.3309, -0.1573, -1.4974, 7.0085, 1.619, -0.0659, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f28bfdc5653b9498911b80d26dd84f59c3053a992b95d1ef6a72e943e4f08309",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33f1d85262e025071e07cf3ed86ffb3088222f27302194731db0298767830532",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc71ad07efd89a107d0c2b6e0d482b93028c81b3d7475e721a411ce163fc820f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0gcKEAgSGAI4AUIIdGhpbmtpbmcSDN+QZ494lgodma5SMhoMH+BQbc8bqgeoyBS2IjDTI9fJhNMVL8ahjFtNxR2ck0e6Js2pap0D8ikYD/kB8dwwzzy2Pmx29hpprRz7qe8q7wbOGxcbx/UZOEM3S1pDiauJuvlChgqw5FBomCVt8AfpXZCCg/DKubeidUwGNK+tjU0lBw8oAbCNSZzo0k9GZwPjTZ1nXiicHKuDr0jjXZi0Eed5JLjC1TuuEYUurBTfCZGe73mQcUBRioqwhWN9IpKMlBZ8UOC0feW9C8ud7di/rIqhoWbvgoSHTX6mNmG8yPDakNNoUqZfjsF5BiEetlQTV0zy3uS82TawbkNfXAcyds0yHQuTnmdoSO+lee9hE4xHLH5TVZgySXCakCt3jEjh6JY0L2EnzC09rDHX3eE8nLf8qxNaZTzCy/uG3I9U+Lk06k5A1MfdQTuBANjm4TdsvFyqtdiSjPDMv1LtCcWbnTDmUNCUMpI2lhgz+vBBynLelabOlqLgRRgIuW+6h3HwmgVQ6cjr7uUBzK9ufeTnb/xFXTHUkMFh+Rp1cBIcwIxhwDNnS/rF59mVZJ340xbsp0OoaJJZpEPFJ4rxuOetbnllhXpkC+aBG/xJqhThDX9APO89Esw+DC3zsjYO6xZaJGF3JhGPUD0SRs6M+pzb7alra+gfa3DlappULz/RQ0tQOwN5PmkhUk00PFWT/bNt9rKUUVcT9Ytea7Ie/O33vUfmsrxcqIsXt42MR9E5dfk6t8W7QDxraftj2Wa08vUSSn/p4ZjsnaX5mFt+MQng6420wofkkHhf+bDAXd6m2ipgZpDWv3glBvySrK0xh/e2xKJZRBlScuLoebhq1NrLgAqAv/A+78Grr4Jn9aeNOKwO4hbPj+lhQO0TFgDb1lVv5JNqrmwUtQ21O20S6wxv1xT5UbuMEGMaEDP8wS95PX4wCQmGVbk2VGhKl/0vosawcgrnbp88nlRV4HYFVGU3OKi9F4IYAYmbkw//gjy1/6Qu8wH5GkbRp6Oq8osah5vNMhWuHD16fjBAS/YTM1urQIlNEC7cFgm1c++l2wXNebqWz4ytfs4F2HEkY8X/9ewGEus2Ilb7Ob4Wt1yb/IEthjF9Uzad0Ny1ciE25qjbUBu7PDoTU+kxSc3A9cWfj3KphCZZY3t8+Vezw2b9dSt/NpOFqE3I6YPQHyLsDiygRiCCGpgYxfu4mnkVR1an1WFgTkTXdTRjjoA+pNgZ90IudhZhoiuOfQkp2WjWitT+HspzJkVf6ngPKdKKpk7Sse4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0132esyn8jZ7MPeNQEMuXzbq",
      "input": {
        "note": "Gripper settled at 0.045 on the wall and the bowl looks tilted up in the overhead view — likely held. Lifting to carry height to confirm.",
        "targets": {
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0132esyn8jZ7MPeNQEMuXzbq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6048, 1.2411, 0.7349, -0.1848, -0.4953, -0.4725, 0.0475, -0.0216, 0.8379, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3392 left_y=-0.128 left_z=0.1519 left_yaw=0.0405 left_pitch=-0.0242 left_roll=-0.0576 left_gripper=0.0475 right_x=0.2898 right_y=0.0003 right_z=0.1551 right_yaw=-0.001 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -5.7915, 9.4154, 1.6825, -0.2515, 0.0073, 1.0281, -0.0752, -1.5795, 7.1863, 1.6288, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9182fc1a8a9e58873c0d8e4b171ad6eecbb45967af0496e4fa96b4fe050a805",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:027c33b66971e6436a228e724e32f024c55a336b1088f861177e6bf3898b6529",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23a4fe4ba7c31dee66c4bdb3ac4936c47c28eb3d55d6aab569d231f60ab6adf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 3.66 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]: [-0.6022, 1.626, 0.4007, 0.4202, -0.495, -0.4393, 0.9957, -0.0219, 0.8352, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3218 left_y=-0.115 left_z=0.003 left_yaw=0.0297 left_pitch=-0.1159 left_roll=0.0369 left_gripper=0.9957 right_x=0.2896 right_y=0.0002 right_z=0.1558 right_yaw=-0.0013 right_pitch=-0.0923 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -5.4359, 3.3983, 1.1502, -0.1392, 0.0366, 0.0708, -0.2256, -1.7299, 7.0085, 1.6288, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6048, 1.6051, 0.4168, 0.5098, -0.4973, -0.4694, 0.045, -0.0219, 0.8371, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3393 left_y=-0.1277 left_z=0.0297 left_yaw=0.0403 left_pitch=-0.0134 left_roll=-0.0617 left_gripper=0.045 right_x=0.2897 right_y=0.0002 right_z=0.1553 right_yaw=-0.0013 right_pitch=-0.0942 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [0.1436, -3.8632, 3.7265, 0.6716, -0.149, 0.2564, 1.3309, -0.1573, -1.4974, 7.0085, 1.619, -0.0659, -0.0366, -0.0171]",
      "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]: [-0.6048, 1.2411, 0.7349, -0.1848, -0.4953, -0.4725, 0.0475, -0.0216, 0.8379, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3392 left_y=-0.128 left_z=0.1519 left_yaw=0.0405 left_pitch=-0.0242 left_roll=-0.0576 left_gripper=0.0475 right_x=0.2898 right_y=0.0003 right_z=0.1551 right_yaw=-0.001 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -5.7915, 9.4154, 1.6825, -0.2515, 0.0073, 1.0281, -0.0752, -1.5795, 7.1863, 1.6288, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9182fc1a8a9e58873c0d8e4b171ad6eecbb45967af0496e4fa96b4fe050a805",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:027c33b66971e6436a228e724e32f024c55a336b1088f861177e6bf3898b6529",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23a4fe4ba7c31dee66c4bdb3ac4936c47c28eb3d55d6aab569d231f60ab6adf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSugkKEAgSGAI4AUIIdGhpbmtpbmcSDHALfI2Yb0HfHKYsQBoMZjb6HrJ9IDHR7/rQIjCpHJNj1F5tw3WnzFy6FXEg4wnNMMj4H2+LIqUlg4IWya4cp0IADd+ezS8TrAlGtdsq1wjl3ejFKwS6y/H3T+qnKnGHzdHd9e+CTERrPccXLmPJ4Dts0Qj48RNSZulfSKTM7mIz/wvoMi6yVPrtaevq3zunQXHdff9DnSU/FVa3JRuM8QOT/ajgsMn7Hm3yAlX75M9k8j0mWZjTXO6GlyMjuBmjaT4KS30wzAqgIHAlB8v8NTGqZ3r0pTVQ71vl7XvUNhmhy1LeqA/inbgklAJcrw2UyE5q/YmbF5TPhpQkvKFSqr3a4paP7KImsTysiP8s4d/bC2zs8lqtdyOcnHtim2weS06QAJbnBHZp4yc2AHvpL0vxg1Zg/i9deOLrxO2Pac8NByiGCO8utjXnbC/q/+nOC3n0KnWGyqu8ALgsocxy3BropTEi33Ys4zySPkjMYKt7b6hOuGOui+OslaA5EeHZ2BFnbqk9ErqcURHxpewpD4hJR2FwfoEKroaY2ADnQefq8Z6eyHUr2/NXSvcBxud/0sbEG0FsYjiC44yUuXE7zHBZcvyAcJGlDQb2vVPzuLbZJFufgdXBeaJMbwkT4G1BxOehYWj5RDl1D6JJ+w1rIWqVw5EMdOWKrok2SFElHaY3Q2+/4Iozbt8Gl9PLcjvCSniCQm8p6Q1m+26EMBjmpfSVwWaNLiqwH6YnC85iDnxty/VVZXAUVRmd/1ab7yV6BTX4MRDNbENTepCZoezpxfZMuWhnOE+8FXNHUWeopWc3Ubs4Mfbn5uX1qZb/CLZ+qmzY94o/kyu+mRM+ufcT7mDTCjo/yndWxH45QcCFi83sVrSZVtDDtVxIeDKlc9NpYp4e0UvvvDH2y8KOw4yN5rk9rfOqN5XNwfuXYzjnL45KanRLyQbatDAjVLyd5A0cZhbtBCRngF/bW4cZhBjxpGEH0ze0atisIMjfauiu9Ouiin+qu94p+QfPQkE+TpRGf9NEQ4U1e42tEfjfCZuyiBB3Qez3HjNqib6TkJOjNMAnKpWMDSE75DXqBs9saekWeAbBk2TlJ158yC4ExdYyECtk5FFt6JOm2d1HSKjU/oXlIkY/lIZW7zBXVGvW4fE4dXzh1Qtb+lQs5S20+ivfKFrM5+G3u3PCVpOLX1InHnX23V5hA5vBB9+nhk83FAlt7hJ9j1lKaM2bisPoFnGmaq4WuBLSiTgopvep4RYYgj3vR21WOTRX3r9aMUfDqamOIj1PJJBqMWLduNDYLCJSI4OVH+eLXtjhHAJXZOVxyBX+JgfFC9NmtKwjBG0jyllf9JDNszoKYN1US2oMRWMEO6JLG1+9Q2TvO9y30JsUnsCCdF9GHe4rmVtyTVouSHg6qqAUwliWlHXRz93rqQWauojE9QEezQ1KQ7Jij1NVYZO10yRehhTASRGajdrTtMN2wA+ZiB6A/VN/GNmHh00Tx9/OZYAybCT6SqYMosgVBVd7Rz9FodkmcC+QZDuMNRWnpW9E1YuQhHj6FCigSC+VbXcsePHZdw0B6HWfPbllKX1Fe02dmoocGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ei3MB2qfC1BjvkDvfEaLdr",
      "input": {
        "note": "White bowl is held at carry height. Moving it ~15 cm right to hover over the purple bowl (overhead: white at px 95, purple at px 133).",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.28,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01Ei3MB2qfC1BjvkDvfEaLdr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9443, 1.6848, 1.2411, -0.4511, -0.7147, -0.7609, 0.0506, -0.0219, 0.8379, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3455 left_y=-0.2739 left_z=0.1647 left_yaw=0.0237 left_pitch=-0.0585 left_roll=-0.0386 left_gripper=0.0506 right_x=0.2898 right_y=0.0002 right_z=0.1551 right_yaw=-0.0013 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [-0.5402, -8.3624, 9.3333, 1.2234, -0.5934, -0.0562, 1.0281, -0.1436, -1.4701, 7.0769, 1.6239, -0.0659, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b73170abb3e18ec4bea79462deaac359ad1da0a06b47a73f7eed89deeba690fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01eecb441180f8cf94115843a29fe78f8a7f4f94688292869470660e7a3ed7ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8b5d3d3f8d323c8ece3d6011448b234111d1ab7175c8dd93af06c135e2b0c2b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 4.198 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]: [-0.6048, 1.6051, 0.4168, 0.5098, -0.4973, -0.4694, 0.045, -0.0219, 0.8371, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3393 left_y=-0.1277 left_z=0.0297 left_yaw=0.0403 left_pitch=-0.0134 left_roll=-0.0617 left_gripper=0.045 right_x=0.2897 right_y=0.0002 right_z=0.1553 right_yaw=-0.0013 right_pitch=-0.0942 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [0.1436, -3.8632, 3.7265, 0.6716, -0.149, 0.2564, 1.3309, -0.1573, -1.4974, 7.0085, 1.619, -0.0659, -0.0366, -0.0171]",
      "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]: [-0.6048, 1.2411, 0.7349, -0.1848, -0.4953, -0.4725, 0.0475, -0.0216, 0.8379, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3392 left_y=-0.128 left_z=0.1519 left_yaw=0.0405 left_pitch=-0.0242 left_roll=-0.0576 left_gripper=0.0475 right_x=0.2898 right_y=0.0003 right_z=0.1551 right_yaw=-0.001 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -5.7915, 9.4154, 1.6825, -0.2515, 0.0073, 1.0281, -0.0752, -1.5795, 7.1863, 1.6288, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9443, 1.6848, 1.2411, -0.4511, -0.7147, -0.7609, 0.0506, -0.0219, 0.8379, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3455 left_y=-0.2739 left_z=0.1647 left_yaw=0.0237 left_pitch=-0.0585 left_roll=-0.0386 left_gripper=0.0506 right_x=0.2898 right_y=0.0002 right_z=0.1551 right_yaw=-0.0013 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [-0.5402, -8.3624, 9.3333, 1.2234, -0.5934, -0.0562, 1.0281, -0.1436, -1.4701, 7.0769, 1.6239, -0.0659, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b73170abb3e18ec4bea79462deaac359ad1da0a06b47a73f7eed89deeba690fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01eecb441180f8cf94115843a29fe78f8a7f4f94688292869470660e7a3ed7ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b5d3d3f8d323c8ece3d6011448b234111d1ab7175c8dd93af06c135e2b0c2b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzwcKEAgSGAI4AUIIdGhpbmtpbmcSDLZkicyN7wJcRkx8QBoM0JstCzCU3V41LGsuIjCOlKTOi3tI8KBcpbUp/1ayrCfvybA2d7CQyPmIuY8uSJFaRfUVk8D0qzQ3l2zeRckq7Abq/fViz4HdwSg7nHSw+HPlAPzRa9EN5OxSLbfDOW+iFKoUsriyhc5UwcE8yo/tUMrs7KyPnGuODsNBVp7a2V5MA2QsgJfaQAyj83qivDVDnkA6c361E6co/4I8Zygh+OTOFfWbUBu519UkaeVUanJOpVTo50GN1Lp1d/88X/i90Fw/VSmnSWUX+pwOUq8WAkPg2XLtmcDNFMxCKxDTi9mY2A6LsbiacranukwzR7PXXoprmQCj+5YIr0RqG67RmC3LA7rZU3fvFz6Ha3rfo1tqHMbv4Ii44DaU36lC/SGcvtcAWFKWNqDbzX1GaErZv24r6vlSOz/ySPXgGjwTet3ySZqee6I2EQUJoZwUub4BK4Du/aydk0dXI5y3Tfr6tf29WS5dkRYDQBjDcA9TkkvgxGyPey1wkwDVOmRdSweM+7q3wBs2bm5M575VzNM8/P7+pw2ILgl8NiAfywMM0YyLpnn5I7vAec/5nG5unu5ShVm2D/1/PwcZsXy/hWp6/JbIWxVJe5fB6R0QcTr4vQQIsExtn41kDIqm483eBs6mBuo8qO7NL3WgXhvGwtcwi0qH8IcENVeRhYShScqieqZiiinVcvm1XpPCzHLkuiGDKP7bQYQjTntA7x98DDMQ5bsw+6pNdw82kv08R4g/TaZCVLy6JBWm1Gfku/f/1XBw9enBpwx2s89MGVn1z/KYW/C5FS2cABvHsm05lcXi7j+PUg0ooQYMedgl49uRRnpQNFx1E479J2Qhomm64ItMTr1sX4V+5DwK/DBr3gUIVyMPg0FhJ1DjWG85GOTlMz2qghNUN4OsV21gi1PT8KFvlBOYB5yZwtO/rlvQe3ZvO87JpenzkMdmCFlzQRoRs3+gobNJswOijPQrFxQp3i5deZhwSCu9ljvncae8WnYwbohDSeBXaQVNhqQZyG0F/WVj/GXGm6peBryNSEsHnYmPvmcBchHyvD6uvXSV/b4/9uRBSHElGFfa0u0uIAyHlXprFuxKk2Ud9VmZb37QdqJu8lJ/Fkbw/W5fRShJAKYRCZBy4JS4KwuU/GEVyEMjjlo8hxDoGkzzzBIZq8NVDH0y2KvXDWyYhblGUm8+8fDafB4WPRgl7i0e7cc+zYri1xTsQ9p8FR9/bbZ0ohQ/cdugj5yp/DDgchlaVMvE1YoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JmpNvmyk4roNUbf89HhyeS",
      "input": {
        "note": "White bowl hovers over the purple bowl in the overhead view. Lowering to nest it.",
        "targets": {
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01JmpNvmyk4roNUbf89HhyeS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9489, 1.7786, 1.0508, -0.2432, -0.7074, -0.7738, 0.0506, -0.0219, 0.8383, 0.5945, -0.4229, -0.0166, -0.0345, 0.9973]\nstate[eef_state]: left_x=0.3366 left_y=-0.2664 left_z=0.0836 left_yaw=0.0268 left_pitch=-0.1064 left_roll=0.011 left_gripper=0.0506 right_x=0.2898 right_y=0.0002 right_z=0.155 right_yaw=-0.0011 right_pitch=-0.0954 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [0.2803, -8.3761, 6.612, 1.6142, -0.442, 0.0757, 1.0281, -0.212, -1.4974, 7.0359, 1.6337, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf37a86a58d6cbb6ede467b164255417d6cf0deb0733c5186500a14599aa80e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c78e941a7fa4d0242442b83134736900a1cc7622d9c3b44076dd8ca201172785",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3123bab9015b9c70642f3ae7bb5fbcaafd9610eff2ee75dc5e3872758ae8c55d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 4.028 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]: [-0.6048, 1.2411, 0.7349, -0.1848, -0.4953, -0.4725, 0.0475, -0.0216, 0.8379, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3392 left_y=-0.128 left_z=0.1519 left_yaw=0.0405 left_pitch=-0.0242 left_roll=-0.0576 left_gripper=0.0475 right_x=0.2898 right_y=0.0003 right_z=0.1551 right_yaw=-0.001 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -5.7915, 9.4154, 1.6825, -0.2515, 0.0073, 1.0281, -0.0752, -1.5795, 7.1863, 1.6288, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.9443, 1.6848, 1.2411, -0.4511, -0.7147, -0.7609, 0.0506, -0.0219, 0.8379, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3455 left_y=-0.2739 left_z=0.1647 left_yaw=0.0237 left_pitch=-0.0585 left_roll=-0.0386 left_gripper=0.0506 right_x=0.2898 right_y=0.0002 right_z=0.1551 right_yaw=-0.0013 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [-0.5402, -8.3624, 9.3333, 1.2234, -0.5934, -0.0562, 1.0281, -0.1436, -1.4701, 7.0769, 1.6239, -0.0659, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9489, 1.7786, 1.0508, -0.2432, -0.7074, -0.7738, 0.0506, -0.0219, 0.8383, 0.5945, -0.4229, -0.0166, -0.0345, 0.9973]\nstate[eef_state]: left_x=0.3366 left_y=-0.2664 left_z=0.0836 left_yaw=0.0268 left_pitch=-0.1064 left_roll=0.011 left_gripper=0.0506 right_x=0.2898 right_y=0.0002 right_z=0.155 right_yaw=-0.0011 right_pitch=-0.0954 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [0.2803, -8.3761, 6.612, 1.6142, -0.442, 0.0757, 1.0281, -0.212, -1.4974, 7.0359, 1.6337, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf37a86a58d6cbb6ede467b164255417d6cf0deb0733c5186500a14599aa80e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c78e941a7fa4d0242442b83134736900a1cc7622d9c3b44076dd8ca201172785",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3123bab9015b9c70642f3ae7bb5fbcaafd9610eff2ee75dc5e3872758ae8c55d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQcKEAgSGAI4AUIIdGhpbmtpbmcSDHqnejozIzg3nOS2nxoMGexj+afIW5fqlc8qIjBwD3Y1tQLmOR93ld3W/9A1cM5V+5Nx8oCnFQMgOXV5Z4MYpQXoSjY5CK5wow/jDv0q4gZ4Dggsdkqm6lIhoQ1IqWxdSPzNDesV53HBiTyYhfVakJYPzid+AcEAbATZC3V4E8aHsEYQKSW60GWTEUu19Hj+8yi2ufNdFR8dh/jVu9bthTf1lHscUnKHhpJsbutDDFRN2E04RTtMX1up+WiO35LZTY/iycGXs0PdEZoSYzhApEBCZAuNpFxufXvzh3kG+MRvqPnXCsj+0TCP2ARMvaO59wn6QLJ3WvM6dp5Sycmf3xa77jQv7h3yqTopF6HKY6uDQfxf9/AZ/okoZEU0V2chM+lFcWTPR5fEwKiAOV5whmeurBqcu6TyzTJvihXc+Kw9YaQX12p7V3Nakw+LlWrc1YALD9UMKurl+0AZJVCftFw+BZ6Z7U/tk2omT5Tphxx3aMfxC+U2DKDwrbmgfnhoUfkUXSnqTOm0qrUnq2wTEAISaCqPsuFYSayqkY9oVsUPQW+CKwFch2qXl2QzmLZCMV20YHpktpV9Zj6rhbATa42U+916+rzb3hM2XU45PwlMNDVNzeBbm/zCmJPjxKyrN1D4U7qkCH6Blv2vVIEySHCqVOKdA8DRr7JkVHoCBxJSZeVk02RRJaV7cbq+cKaBjQTAeba3+3HOqKGIj2bbE+XKG99mdQXbbdrMH6d6Y98uadw0oapMO5xvOiViCJaIlOVyIbDkyXn4tendCkamb7f8BUc34xi0SBrmsQpGEmRA/Ku1jqH/G28Y6uKLoRS5Y2qlDaimBda8VspK8tZULHUluVKNS44Y0mPhEahRM1+CK6ZS7H0Y3kMov766h7cKopqaCAgY5iptElqJCiu2WYEW0eGgaM5FsKtNVUJOJeb+yiK5lpdVPG7jtIIl9CTKbrqj856AD/wxm9fQzK+AdBLw2IxOQmTy/NSYro1SbsiDnu5817C4X138f9n8Gjmo+y55NRsOqWocdKlTbt4K23F0cXkV6o9GgUGUDcoMxAhqFieLyfrsqMRDaqbcaBhEt0l+ZPoZE/37RIyOf4USSTJLsWtFmJT2GdHMomZYNDSu7B7ijs9q8bJDNpppFwYcB1gWU2GIpBzTTOuDSlHIxpL5o4SHMyaZizc/CheIxQsTnENr7r1STj72c+FMMX8PJ71AATIRKxyptN2mkIjugaMUSSl5Ia3GfCyt2oxxtmLShBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RLzxhb6tguqjso8LFLPXLg",
      "input": {
        "note": "Wrist view shows the purple rim hugging the white bowl's left edge — it's going in concentrically. Lowering further to seat it.",
        "targets": {
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01RLzxhb6tguqjso8LFLPXLg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9485, 1.7996, 1.0225, -0.1593, -0.7048, -0.7753, 0.0506, -0.0216, 0.8383, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3395 left_y=-0.2708 left_z=0.0754 left_yaw=0.0235 left_pitch=-0.0887 left_roll=-0.0203 left_gripper=0.0506 right_x=0.2898 right_y=0.0003 right_z=0.155 right_yaw=-0.001 right_pitch=-0.0954 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [-0.4034, -6.9402, 5.2444, 1.3748, -0.2955, -0.0269, 1.0281, -0.1026, -1.4701, 6.9812, 1.619, -0.0806, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cc4fbe241d729dc528f9c65a703f441ca70187d8948e89610b865f89121b998",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9b65cd5921d036b1b1915e40c7e1a67d4007b11f385e5ba106dbc9f33ffa766",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9e9374908b8a5a67ed2e4b521f7b59a3a09527d878482c56b18536f0cc9d4b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 3.762 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]: [-0.9443, 1.6848, 1.2411, -0.4511, -0.7147, -0.7609, 0.0506, -0.0219, 0.8379, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3455 left_y=-0.2739 left_z=0.1647 left_yaw=0.0237 left_pitch=-0.0585 left_roll=-0.0386 left_gripper=0.0506 right_x=0.2898 right_y=0.0002 right_z=0.1551 right_yaw=-0.0013 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [-0.5402, -8.3624, 9.3333, 1.2234, -0.5934, -0.0562, 1.0281, -0.1436, -1.4701, 7.0769, 1.6239, -0.0659, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9489, 1.7786, 1.0508, -0.2432, -0.7074, -0.7738, 0.0506, -0.0219, 0.8383, 0.5945, -0.4229, -0.0166, -0.0345, 0.9973]\nstate[eef_state]: left_x=0.3366 left_y=-0.2664 left_z=0.0836 left_yaw=0.0268 left_pitch=-0.1064 left_roll=0.011 left_gripper=0.0506 right_x=0.2898 right_y=0.0002 right_z=0.155 right_yaw=-0.0011 right_pitch=-0.0954 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [0.2803, -8.3761, 6.612, 1.6142, -0.442, 0.0757, 1.0281, -0.212, -1.4974, 7.0359, 1.6337, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9485, 1.7996, 1.0225, -0.1593, -0.7048, -0.7753, 0.0506, -0.0216, 0.8383, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3395 left_y=-0.2708 left_z=0.0754 left_yaw=0.0235 left_pitch=-0.0887 left_roll=-0.0203 left_gripper=0.0506 right_x=0.2898 right_y=0.0003 right_z=0.155 right_yaw=-0.001 right_pitch=-0.0954 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [-0.4034, -6.9402, 5.2444, 1.3748, -0.2955, -0.0269, 1.0281, -0.1026, -1.4701, 6.9812, 1.619, -0.0806, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cc4fbe241d729dc528f9c65a703f441ca70187d8948e89610b865f89121b998",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9b65cd5921d036b1b1915e40c7e1a67d4007b11f385e5ba106dbc9f33ffa766",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9e9374908b8a5a67ed2e4b521f7b59a3a09527d878482c56b18536f0cc9d4b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8wcKEAgSGAI4AUIIdGhpbmtpbmcSDAEtaIr3Dta8lOULNBoMGGz4RkjDz1FmUqaFIjChraB4bPtWpKrEGCIi5ga+fjuP5vAJrad9ZzvbRWl/iRveMD9NgpE1ys1ndfbGDEUqkAeldEHgYzl5MzviZ37E877zq0rH9iaS+fsnDekbgGDwweeRhI3WXpRKr4x3OIRNtNrhXjeUTGlU3FjqH3RU3S/fW15XRYF8RaSxfSPnEjUuaEQiDqIrKb4olCEOM/5smypslyRBRUhTuu1aYHZyNoo7lkJYzqC4bOwe/RqtDfc+Sd8VAMw+VzcUVAumXJ9B4YCgm3zJKvjEOFK9nH2F/BphqvgunvpKiMvpIaDrH/IkXVNe/1dfKaJ/9sUtfpsMnyjpuOe/C7DqBx1lG9+kQIyJYqnP8+hUtMnxY09W2t4/+roJVFGZKC0t+jciMQVQK2dMM75OVstMT/n3/x5lmurk7Kf1GQCYp4gw5B4y9LmSWR5hXmQ6oY4arV5aUC2nrYTlc0RdEa17AuogWEUlhCcBIcOxCnSu4vD2DEMzldTi8BIobiD/i4ShIsZbJruBUiKywrp7eNogN8NemkRMQTb+FOHptRG9CcOKEBRgq8pbHPZeV7xhMb9pqVAGI4wREJzkJ1p2Op4pL5zY0VvaGlwRdb+lAUPsJd2GCuXSZQxaL1/Srya48iO0ndteL2M8hQWv3VYILeMyT16/UR3TLgxA5twf/FL8VmM0p6wkj5QnH640+cpvsSPU2K7SPt0IHUyDX1x5UCSys/ldc6ac1DlF6ZN5mmxAcc5a2xft0PHXsiPv3TH0GtZlAYQN7ylFIPIehAsDVSE2gOrcMfW559X1Zqh2w7E81BLhiIm2nbkumonZTUTW1Jqby/ZXt/5Isp8gQlofUP9plvqyZtIvb84ntEFqagoOhnBxxtwq+0Ki1krOCQxQS5Wg5bpW4N5qbmTVtQKtklaspZbj82UQmeq9H7A6V8dh6xit4J4aZDEsUsacSorPYffReDe3d34+Gtjch4bee39S7+wYFo/KVZag5JE9ytIWy+WHtqYX1b7kLvO6hu6WrIVbHXLBkc9IL5SLSjXxAgAgolUSeOxxgyvQ+hmurTcYSaftQJSunmzRJnTAt0oq2GWY+2rcPfU2GOmboTFFSmSAW5K0U+uKX7nCOc+pRVrXdQeq47fNnmJEXy9cBgtERmWfCCjg/G96vgj8Mryv2uoFzRvZnaoFLGLR/Wn4cujCArOoLihBukmNLJPpOG6f2czYlLm8n+rk9jFwZfp5ioZmvtxGYQuAPm9Evzt4OcLu3Thh78ZmMG4gkR73h14TGP2fRizb2CO5iRwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fs7HYvNB6ikK3h58W5NUmc",
      "input": {
        "note": "The white bowl is seated in the purple bowl (descent stopped at z≈0.075). Releasing it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Fs7HYvNB6ikK3h58W5NUmc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9485, 1.8294, 1.0019, -0.1593, -0.7052, -0.7795, 0.9947, -0.0219, 0.8383, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3351 left_y=-0.2646 left_z=0.0569 left_yaw=0.0303 left_pitch=-0.1166 left_roll=0.0185 left_gripper=0.9947 right_x=0.2898 right_y=0.0002 right_z=0.155 right_yaw=-0.0013 right_pitch=-0.0954 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [-0.3897, -9.0188, 5.8325, 1.3211, -0.3883, 0.0073, 0.022, -0.1983, -1.2923, 7.0085, 1.6532, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcf385308b3e3d6450f0236121c6cc096a779ef6ceeb93ebf95e9eee69492fb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7642e8fbd7faf6ed3bbb8ce674c62f89831626e80542ba73a87ad7b5fa3b9a71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cbff562c870f5f1bfef8d0d65aa8f97b6016afe8f48d96dfda7ff2c16be3c240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 11.53 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]: [-0.9489, 1.7786, 1.0508, -0.2432, -0.7074, -0.7738, 0.0506, -0.0219, 0.8383, 0.5945, -0.4229, -0.0166, -0.0345, 0.9973]\nstate[eef_state]: left_x=0.3366 left_y=-0.2664 left_z=0.0836 left_yaw=0.0268 left_pitch=-0.1064 left_roll=0.011 left_gripper=0.0506 right_x=0.2898 right_y=0.0002 right_z=0.155 right_yaw=-0.0011 right_pitch=-0.0954 right_roll=0.0008 right_gripper=0.9973\nstate[joint_eff]: [0.2803, -8.3761, 6.612, 1.6142, -0.442, 0.0757, 1.0281, -0.212, -1.4974, 7.0359, 1.6337, -0.0366, -0.0757, -0.0122]",
      "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]: [-0.9485, 1.7996, 1.0225, -0.1593, -0.7048, -0.7753, 0.0506, -0.0216, 0.8383, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3395 left_y=-0.2708 left_z=0.0754 left_yaw=0.0235 left_pitch=-0.0887 left_roll=-0.0203 left_gripper=0.0506 right_x=0.2898 right_y=0.0003 right_z=0.155 right_yaw=-0.001 right_pitch=-0.0954 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [-0.4034, -6.9402, 5.2444, 1.3748, -0.2955, -0.0269, 1.0281, -0.1026, -1.4701, 6.9812, 1.619, -0.0806, -0.0757, -0.0171]",
      "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]: [-0.9485, 1.8294, 1.0019, -0.1593, -0.7052, -0.7795, 0.9947, -0.0219, 0.8383, 0.5945, -0.4229, -0.0166, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3351 left_y=-0.2646 left_z=0.0569 left_yaw=0.0303 left_pitch=-0.1166 left_roll=0.0185 left_gripper=0.9947 right_x=0.2898 right_y=0.0002 right_z=0.155 right_yaw=-0.0013 right_pitch=-0.0954 right_roll=0.0011 right_gripper=0.9973\nstate[joint_eff]: [-0.3897, -9.0188, 5.8325, 1.3211, -0.3883, 0.0073, 0.022, -0.1983, -1.2923, 7.0085, 1.6532, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcf385308b3e3d6450f0236121c6cc096a779ef6ceeb93ebf95e9eee69492fb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7642e8fbd7faf6ed3bbb8ce674c62f89831626e80542ba73a87ad7b5fa3b9a71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbff562c870f5f1bfef8d0d65aa8f97b6016afe8f48d96dfda7ff2c16be3c240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSnQgKEAgSGAI4AUIIdGhpbmtpbmcSDJfod4yjQn+fmEfUsBoMDYJYhIKBRKDpiWIoIjAwaHOyuBAgBCh1aZ1T4oBTD8BQnGnALk1K+eLjbQOnISGwIwJvEB8s5qb6eOccEAYqugf3R+Z9OpClaND7peWAQKt52TmSiCpF4Wh9Fz/Mx2e4VnBpguyqDXAIYPHGI+1+AmV20+hb+9Yc97t7DG9rhHIARlhZYAGneuZGa3bfLGmC4+GA1qmScjumcSuAzQY8nbqAEM3LoJCm0YE5rfPsd4wc3xIuNCJut6Kpp4svBWnq/5YqEPZhIdsGVK4MqT6FXi/KGs9oJI3POfnHX8nSBJVeJey38QwAGsIfCHRgWMWaphjSTSQcsXq/l7nmSJZaLj447R9+053mHn0xN5rvw3pGxdlop2XQx9Mqu3XjC+hrndCCpP3MH2iQbWN4LJOtAmo0d2nJqF5QLCEgx1aplXUML8YA+xypU45qOzVtHEkeFK0n7XTNa5OMwVeb6OPfctzbagdiTbU2yaucBLENwrW/lSaZUBWVmBiRC0RSOqSZHitc9qatd5OjT8pupMpy8B2B45JfEgIIhYqUIoCZt5k6Z4RfBR1SRj4qavfPv9cVliF6938MnHRZgug59M6ndJWuOAHBSJQ+zLM++WCsY1pZD6hKhJgaMBTGCi3HggEV5bLSXzdtRMM/jdeVIys1O7yHNL5w69d803brcknuQ4U7E64CNr//ikcUvOWeoarVcUST+BRDOsaQ9FhI7v9zKeoLZFmhkMQCmKbF5Ogg53xMhWqH1CytcRm3MKgd7HVYUjGdx4EXmiBiCd8AUDuRQYSN7aeYRvBwJ9m/5TGKk2g3FvXPBSWVmhda1KXxeeTZpyls12Sb42kPpyPwkt6B7NOjmAwnIdqVa5K3YfKpWBz9NAkP5OBYXZkwTXdiNmpCMUWBAvlLjUIvxwBzPVToyudKuQEqu1abydDSNXa12YCC6XII4XDbJFMq9u8mw8F20bul/PztFUC+BYg+9MZWmCb+JtJcQz6MWYYY6X4IG2EhEevRp2ytE/CChUwFQ6cl7vfbk+gVeKZWptb4Q0N9xW26a8dTtocI5dFalHs1UWmJU0w5Lai7z/83aB3X+voYW4fpixGp7Vne0iVzVfuYamoetbylJ+Nd1yP6RvcLsittSGmbfvuVj1S+bN0Wp69m7ht5YiK76p0pg/hnchXz2r8Kil8sqHJEJtrZdu+BWtiX6wPPdv72pRL4ITzJ3h4lacvNvG1DEFjfc175k1J+VdiYpD77+0APmjNNd8c2bnTDr2DgA1PqsP3IHVwoG86+XzF2q182LrOILr4h2cMS6pd8XG+z/VwBEn+7wNkUZCpUZwxyrGbqjujBatFrGhTgezecbINAJmk/c94YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KaDrJww3hVUKuuz9Wegc4z",
      "input": {
        "note": "White bowl is released and resting inside the purple bowl. Lifting the left arm straight up so it's clear of the stack.",
        "targets": {
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KaDrJww3hVUKuuz9Wegc4z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9485, 1.7088, 1.2858, -0.5831, -0.7044, -0.7864, 0.9957, -0.0216, 0.8383, 0.5945, -0.4229, -0.0162, -0.0341, 0.9973]\nstate[eef_state]: left_x=0.3371 left_y=-0.2675 left_z=0.1548 left_yaw=0.0356 left_pitch=-0.1279 left_roll=0.0291 left_gripper=0.9957 right_x=0.2898 right_y=0.0002 right_z=0.155 right_yaw=-0.0013 right_pitch=-0.0954 right_roll=0.0009 right_gripper=0.9973\nstate[joint_eff]: [-0.0752, -11.2889, 8.9778, 1.1404, -0.3932, 0.0611, 0.0855, -0.0889, -1.4838, 6.9812, 1.6386, 0.0024, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86e7abc304a4f3d624ee4c98ba711a15ff2db8b74dea2b6e1f8c7f45aa3308c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:729f3c652b7d2fbbb16e8aeaf50ec0449193a63b35abb2cd00b2a3ab806f8f2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f215c6fbbff1380d381be8b2e85b65c5cca0de9a20103a504ed48bad7d531116",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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